+ python -m lidar_slam --no-model /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 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 0.026296757 Adjusted end_distance from 9.223372036854776e+18 to 238.266296757 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026296757 meters Centerline goodness [0,1] 0.9269910066096002 Centerline is valid? [0, False] SLAMing on 0.056296757 meters Centerline goodness [0,1] 0.9101450583166016 Centerline is valid? [False, False] Translation: X:0.08, Y:0.05, Z:0.00 [[ 9.99685061e-01 2.13509650e-02 -1.31876807e-02 7.59776497e-02] [-2.14269886e-02 9.99754447e-01 -5.65058813e-03 5.29867794e-02] [ 1.30637970e-02 5.93138083e-03 9.99897073e-01 3.40518973e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.086296757 meters Centerline goodness [0,1] 0.9047432208562212 Centerline is valid? [False, False] Translation: X:0.13, Y:0.02, Z:0.01 [[ 0.99954756 0.0148001 -0.02618448 0.13175473] [-0.01515964 0.99979278 -0.01358607 0.01670504] [ 0.02597798 0.01397687 0.9995648 0.01026409] [ 0. 0. 0. 1. ]] SLAMing on 0.11629675700000001 meters Centerline goodness [0,1] 0.8977872121446031 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.06, Z:0.01 [[ 0.99933676 0.00724695 -0.03568637 0.1600946 ] [-0.00780248 0.99985016 -0.01545253 -0.05947138] [ 0.03556904 0.01572073 0.99924357 0.0078305 ] [ 0. 0. 0. 1. ]] SLAMing on 0.146296757 meters Centerline goodness [0,1] 0.8941110824963516 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.10, Z:0.00 [[ 9.99543748e-01 -1.95331508e-03 -3.01409970e-02 1.72082536e-01] [ 1.59264920e-03 9.99926905e-01 -1.19853287e-02 -1.03055088e-01] [ 3.01622050e-02 1.19318563e-02 9.99473798e-01 5.38889334e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17629675700000003 meters Centerline goodness [0,1] 0.8808364611260053 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.15, Z:0.00 [[ 0.99951327 0.00339097 -0.03101162 0.21184197] [-0.00361998 0.99996657 -0.00733149 -0.14894992] [ 0.03098572 0.00744019 0.99949214 0.00154694] [ 0. 0. 0. 1. ]] SLAMing on 0.20629675700000003 meters Centerline goodness [0,1] 0.8738523726590552 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.22, Z:0.00 [[ 0.99957448 -0.00842054 -0.02792753 0.23309058] [ 0.00825383 0.99994746 -0.00607921 -0.2198124 ] [ 0.02797725 0.00584611 0.99959146 0.0029437 ] [ 0. 0. 0. 1. ]] SLAMing on 0.23629675700000002 meters Centerline goodness [0,1] 0.8705558871174013 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.29, Z:0.00 [[ 0.99974126 -0.00235973 -0.02262413 0.18967232] [ 0.00243625 0.9999914 0.00335522 -0.28644015] [ 0.02261602 -0.00340947 0.99973841 0.00355635] [ 0. 0. 0. 1. ]] SLAMing on 0.266296757 meters Centerline goodness [0,1] 0.8622871779418412 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.22, Z:-0.00 [[ 9.99122816e-01 -4.75927454e-03 -4.16046670e-02 2.80158755e-01] [ 4.76556346e-03 9.99988643e-01 5.19818081e-05 -2.21561158e-01] [ 4.16039471e-02 -2.50205891e-04 9.99134150e-01 -1.21319690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.296296757 meters Centerline goodness [0,1] 0.8580159242522057 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99897444 -0.01686476 -0.04201968 0.30802382] [ 0.01702023 0.99984955 0.00334488 -0.24252268] [ 0.04195695 -0.00405663 0.99911118 -0.00653349] [ 0. 0. 0. 1. ]] SLAMing on 0.32629675700000005 meters Centerline goodness [0,1] 0.8572712103709408 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99897308 -0.01688406 -0.0420442 0.30817317] [ 0.0170388 0.9998493 0.00332493 -0.24234921] [ 0.04198173 -0.0040379 0.99911022 -0.00668203] [ 0. 0. 0. 1. ]] SLAMing on 0.356296757 meters Centerline goodness [0,1] 0.8598860337598108 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99897142 -0.01712863 -0.04198463 0.30792515] [ 0.01726316 0.99984694 0.00284376 -0.24103073] [ 0.0419295 -0.00356562 0.99911421 -0.00660541] [ 0. 0. 0. 1. ]] SLAMing on 0.38629675700000005 meters Centerline goodness [0,1] 0.8608092435891929 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99896984 -0.0171869 -0.04199856 0.30810472] [ 0.01731479 0.99984649 0.00268334 -0.24066847] [ 0.041946 -0.00340777 0.99911407 -0.00682179] [ 0. 0. 0. 1. ]] SLAMing on 0.416296757 meters Centerline goodness [0,1] 0.8612255406797116 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99897802 -0.01708564 -0.04184498 0.30823131] [ 0.01721635 0.99984796 0.00276537 -0.24132374] [ 0.04179137 -0.00348296 0.99912029 -0.00731094] [ 0. 0. 0. 1. ]] SLAMing on 0.44629675700000004 meters Centerline goodness [0,1] 0.8605432711860779 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99896539 -0.01768242 -0.04189842 0.30829723] [ 0.0177764 0.99984024 0.0018714 -0.23838762] [ 0.04185864 -0.00261427 0.99912012 -0.00722997] [ 0. 0. 0. 1. ]] SLAMing on 0.476296757 meters Centerline goodness [0,1] 0.8608890035250624 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.24, Z:-0.01 [[ 0.99894413 -0.01825645 -0.04215829 0.30849485] [ 0.01831711 0.99983167 0.00105318 -0.23517211] [ 0.04213197 -0.00182429 0.99911039 -0.00686451] [ 0. 0. 0. 1. ]] SLAMing on 0.506296757 meters Centerline goodness [0,1] 0.8616720257234727 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 9.98931838e-01 -1.85971242e-02 -4.23004624e-02 3.08821585e-01] [ 1.86414876e-02 9.99826018e-01 6.54529980e-04 -2.33917111e-01] [ 4.22809305e-02 -1.44237438e-03 9.99104720e-01 -6.86728839e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.536296757 meters Centerline goodness [0,1] 0.8630060533207401 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 9.98927375e-01 -1.89224864e-02 -4.22615622e-02 3.09499785e-01] [ 1.89593819e-02 9.99820143e-01 4.72356884e-04 -2.34462949e-01] [ 4.22450230e-02 -1.27310332e-03 9.99106469e-01 -7.50299797e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.566296757 meters Centerline goodness [0,1] 0.861635084851483 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 9.98925916e-01 -1.91622675e-02 -4.21879348e-02 3.09583917e-01] [ 1.91902399e-02 9.99815817e-01 2.58126768e-04 -2.34261072e-01] [ 4.21752182e-02 -1.06744611e-03 9.99109659e-01 -7.58338739e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5962967570000001 meters Centerline goodness [0,1] 0.8652642446925212 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 9.98887767e-01 -2.01662251e-02 -4.26210260e-02 3.11055684e-01] [ 2.01662329e-02 9.99796548e-01 -4.29808416e-04 -2.33017265e-01] [ 4.26210223e-02 -4.30175168e-04 9.99091219e-01 -7.81514803e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6262967570000001 meters Centerline goodness [0,1] 0.8646888879306628 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.23, Z:-0.01 [[ 9.98871150e-01 -2.06887123e-02 -4.27598365e-02 3.11996327e-01] [ 2.06645721e-02 9.99785958e-01 -1.00653283e-03 -2.31478118e-01] [ 4.27715080e-02 1.21782878e-04 9.99084873e-01 -8.47716235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.656296757 meters Centerline goodness [0,1] 0.8665094845139856 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.23, Z:-0.01 [[ 9.98819209e-01 -2.14296808e-02 -4.35999667e-02 3.16522753e-01] [ 2.13949955e-02 9.99770304e-01 -1.26206568e-03 -2.27674045e-01] [ 4.36169976e-02 3.27754358e-04 9.99048272e-01 -1.09515316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.686296757 meters Centerline goodness [0,1] 0.8665205997336427 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.23, Z:-0.01 [[ 0.99879811 -0.02194286 -0.04382751 0.317804 ] [ 0.02187386 0.99975863 -0.00205332 -0.22531216] [ 0.04386199 0.00109218 0.999037 -0.01162709] [ 0. 0. 0. 1. ]] SLAMing on 0.7162967570000001 meters Centerline goodness [0,1] 0.8679622503600835 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.22, Z:-0.01 [[ 0.99877859 -0.02245183 -0.04401408 0.31919237] [ 0.02234635 0.99974612 -0.00288718 -0.22301763] [ 0.04406772 0.0019001 0.99902674 -0.01249316] [ 0. 0. 0. 1. ]] SLAMing on 0.7462967570000001 meters Centerline goodness [0,1] 0.8645459430413756 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.02 [[ 0.99894874 -0.02360015 -0.03929952 0.33246766] [ 0.02382305 0.9997026 0.00521323 -0.22123444] [ 0.0391648 -0.00614398 0.99921388 -0.01793575] [ 0. 0. 0. 1. ]] SLAMing on 0.7762967570000001 meters Centerline goodness [0,1] 0.8645459430413756 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.02 [[ 0.99894874 -0.02360015 -0.03929952 0.33246766] [ 0.02382305 0.9997026 0.00521323 -0.22123444] [ 0.0391648 -0.00614398 0.99921388 -0.01793575] [ 0. 0. 0. 1. ]] SLAMing on 0.806296757 meters Centerline goodness [0,1] 0.8613432707220403 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.22, Z:-0.02 [[ 0.99891617 -0.02450823 -0.03957068 0.33401767] [ 0.02468895 0.99968684 0.00408458 -0.21767441] [ 0.03945818 -0.00505711 0.99920843 -0.01852698] [ 0. 0. 0. 1. ]] SLAMing on 0.8362967570000001 meters Centerline goodness [0,1] 0.8647391875309466 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.21, Z:-0.02 [[ 0.99906964 -0.02614124 -0.03430013 0.34872783] [ 0.0265447 0.99958307 0.01136032 -0.21428103] [ 0.03398886 -0.01226024 0.99934701 -0.02481994] [ 0. 0. 0. 1. ]] SLAMing on 0.8662967570000001 meters Centerline goodness [0,1] 0.8585353341028601 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.21, Z:-0.03 [[ 0.99902312 -0.02697887 -0.03499934 0.35143284] [ 0.02735932 0.99957118 0.01043708 -0.21002122] [ 0.03470275 -0.01138444 0.99933283 -0.02575494] [ 0. 0. 0. 1. ]] SLAMing on 0.8962967570000001 meters Centerline goodness [0,1] 0.8619143109731117 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.21, Z:-0.03 [[ 0.99898004 -0.02814579 -0.03530856 0.3527929 ] [ 0.02848035 0.99955376 0.0090083 -0.20566007] [ 0.03503926 -0.01000471 0.99933586 -0.02611435] [ 0. 0. 0. 1. ]] SLAMing on 0.926296757 meters Centerline goodness [0,1] 0.8629359809167687 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.03 [[ 0.99914294 -0.02523986 -0.03280743 0.36719208] [ 0.02537325 0.99967136 0.00365587 -0.19889778] [ 0.03270437 -0.00448517 0.99945501 -0.02884212] [ 0. 0. 0. 1. ]] SLAMing on 0.956296757 meters Centerline goodness [0,1] 0.8610465616662364 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.20, Z:-0.03 [[ 0.99913437 -0.02517035 -0.03312055 0.37098098] [ 0.02529709 0.99967415 0.00341301 -0.19704363] [ 0.03302385 -0.00424791 0.99944554 -0.03188608] [ 0. 0. 0. 1. ]] SLAMing on 0.9862967570000001 meters Centerline goodness [0,1] 0.8547873256414672 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.20, Z:-0.04 [[ 0.99910265 -0.02555334 -0.03377753 0.37898842] [ 0.02568924 0.99966351 0.00359545 -0.1955162 ] [ 0.03367428 -0.00445994 0.99942291 -0.03773548] [ 0. 0. 0. 1. ]] SLAMing on 1.016296757 meters Centerline goodness [0,1] 0.8536127417127072 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.19, Z:-0.04 [[ 0.99909045 -0.02513764 -0.03444389 0.38397752] [ 0.0252869 0.99967261 0.00390467 -0.19337871] [ 0.03433446 -0.00477209 0.99939901 -0.04125797] [ 0. 0. 0. 1. ]] SLAMing on 1.046296757 meters Centerline goodness [0,1] 0.8485598656735696 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.19, Z:-0.05 [[ 0.9990964 -0.02378321 -0.0352241 0.38998511] [ 0.02399358 0.99969664 0.00556165 -0.19085862] [ 0.03508114 -0.00640178 0.99936396 -0.04562026] [ 0. 0. 0. 1. ]] SLAMing on 1.076296757 meters Centerline goodness [0,1] 0.8386305965334824 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.19, Z:-0.05 [[ 0.99909505 -0.02162476 -0.03662592 0.40016804] [ 0.02196828 0.99971813 0.00900261 -0.18649099] [ 0.03642091 -0.00979907 0.99928849 -0.05171606] [ 0. 0. 0. 1. ]] SLAMing on 1.106296757 meters Centerline goodness [0,1] 0.8365361751799572 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.18, Z:-0.05 [[ 0.99906246 -0.02253671 -0.03696347 0.40299321] [ 0.02284288 0.999708 0.00788173 -0.18392318] [ 0.03677505 -0.00871869 0.99928554 -0.05366686] [ 0. 0. 0. 1. ]] SLAMing on 1.136296757 meters Centerline goodness [0,1] 0.8308301592797784 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.18, Z:-0.06 [[ 0.99898775 -0.02402618 -0.03802911 0.41186882] [ 0.02432125 0.99967743 0.00731533 -0.18093913] [ 0.03784108 -0.00823284 0.99924986 -0.0597704 ] [ 0. 0. 0. 1. ]] SLAMing on 1.166296757 meters Centerline goodness [0,1] 0.8286530223702999 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.06 [[ 0.99893385 -0.02508306 -0.0387557 0.41734735] [ 0.02535516 0.99965708 0.0065453 -0.17981466] [ 0.03857824 -0.00752098 0.99922728 -0.0639216 ] [ 0. 0. 0. 1. ]] SLAMing on 1.196296757 meters Centerline goodness [0,1] 0.8250654436103239 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.18, Z:-0.07 [[ 0.99886351 -0.02649874 -0.03961699 0.42300253] [ 0.0267427 0.99962644 0.0056407 -0.17902088] [ 0.03945272 -0.00669375 0.99919902 -0.06798865] [ 0. 0. 0. 1. ]] SLAMing on 1.226296757 meters Centerline goodness [0,1] 0.8189203129029485 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.18, Z:-0.08 [[ 0.99872078 -0.0297468 -0.04088934 0.43481926] [ 0.02994729 0.99954223 0.00429933 -0.17815834] [ 0.04074273 -0.00551836 0.99915443 -0.07623086] [ 0. 0. 0. 1. ]] SLAMing on 1.256296757 meters Centerline goodness [0,1] 0.8155223625446075 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.18, Z:-0.08 [[ 0.99865872 -0.03058864 -0.04177437 0.44083151] [ 0.03078106 0.99951826 0.00397078 -0.17724967] [ 0.04163279 -0.00525131 0.99911918 -0.08048776] [ 0. 0. 0. 1. ]] SLAMing on 1.286296757 meters Centerline goodness [0,1] 0.8050845627146468 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.18, Z:-0.09 [[ 0.99855431 -0.03231944 -0.04295055 0.44910788] [ 0.03251594 0.99946367 0.00388406 -0.17526356] [ 0.04280198 -0.00527503 0.99906965 -0.08529377] [ 0. 0. 0. 1. ]] SLAMing on 1.316296757 meters Centerline goodness [0,1] 0.8014302380849501 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.17, Z:-0.09 [[ 0.99850216 -0.03288039 -0.04373008 0.45466999] [ 0.03306963 0.99944653 0.00361074 -0.17426271] [ 0.04358716 -0.00505147 0.99903686 -0.08931057] [ 0. 0. 0. 1. ]] SLAMing on 1.346296757 meters Centerline goodness [0,1] 0.7980956082394093 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.17, Z:-0.09 [[ 0.99846543 -0.03307015 -0.04442013 0.46000493] [ 0.03326184 0.99944025 0.00358302 -0.17332057] [ 0.04427678 -0.00505502 0.99900651 -0.09323293] [ 0. 0. 0. 1. ]] SLAMing on 1.376296757 meters Centerline goodness [0,1] 0.7926004365396667 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.17, Z:-0.10 [[ 0.99843144 -0.03286358 -0.0453282 0.46581656] [ 0.03306976 0.9994458 0.00380604 -0.17196992] [ 0.045178 -0.00529906 0.9989649 -0.09731906] [ 0. 0. 0. 1. ]] SLAMing on 1.406296757 meters Centerline goodness [0,1] 0.7834359261331841 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.10 [[ 0.9983339 -0.03382521 -0.0467469 0.47688676] [ 0.03405249 0.99941174 0.00407407 -0.16875938] [ 0.04658159 -0.00565913 0.99889846 -0.1046392 ] [ 0. 0. 0. 1. ]] SLAMing on 1.436296757 meters Centerline goodness [0,1] 0.7808890520088948 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.17, Z:-0.11 [[ 0.99825969 -0.03498758 -0.04747072 0.48192893] [ 0.03517902 0.99937589 0.00320299 -0.16721445] [ 0.04732903 -0.00486739 0.99886749 -0.10815121] [ 0. 0. 0. 1. ]] SLAMing on 1.466296757 meters Centerline goodness [0,1] 0.7753844157529358 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.11 [[ 0.99781154 -0.04255274 -0.05061016 0.49837621] [ 0.04279539 0.99907693 0.00372003 -0.16419418] [ 0.05040515 -0.00587777 0.99871156 -0.11210648] [ 0. 0. 0. 1. ]] SLAMing on 1.496296757 meters Centerline goodness [0,1] 0.7641772343321307 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.16, Z:-0.12 [[ 0.99770779 -0.04393481 -0.05146752 0.5038318 ] [ 0.04412819 0.99902242 0.00262654 -0.16204944] [ 0.05130181 -0.00489168 0.99867121 -0.1156425 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5262967570000001 meters Centerline goodness [0,1] 0.7593694742743778 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.12 [[ 0.99761442 -0.04724126 -0.05033621 0.52382217] [ 0.04761477 0.99884624 0.00624635 -0.15678814] [ 0.04998305 -0.00862819 0.9987128 -0.12361349] [ 0. 0. 0. 1. ]] SLAMing on 1.556296757 meters Centerline goodness [0,1] 0.752748558221915 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.15, Z:-0.13 [[ 9.97908743e-01 -4.40376993e-02 -4.73161793e-02 5.36441384e-01] [ 4.41084416e-02 9.99026647e-01 4.51525289e-04 -1.51739601e-01] [ 4.72502398e-02 -2.53762396e-03 9.98879860e-01 -1.26250430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.586296757 meters Centerline goodness [0,1] 0.7369578339225662 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.15, Z:-0.13 [[ 0.99807378 -0.04381521 -0.04391984 0.55530418] [ 0.04395227 0.9990313 0.00215939 -0.14862971] [ 0.04378268 -0.0040856 0.99903272 -0.12741198] [ 0. 0. 0. 1. ]] SLAMing on 1.616296757 meters Centerline goodness [0,1] 0.7412815148704898 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.14, Z:-0.13 [[ 0.99844988 -0.04031337 -0.03837535 0.56723745] [ 0.04023872 0.9991864 -0.00271572 -0.14375506] [ 0.03845361 0.00116733 0.9992597 -0.13121087] [ 0. 0. 0. 1. ]] SLAMing on 1.646296757 meters Centerline goodness [0,1] 0.735244156793601 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.14, Z:-0.13 [[ 9.98662592e-01 -3.81472994e-02 -3.48971390e-02 5.88170860e-01] [ 3.81709965e-02 9.99271222e-01 1.28325452e-05 -1.38244902e-01] [ 3.48712172e-02 -1.34487395e-03 9.99390909e-01 -1.33194617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.676296757 meters Centerline goodness [0,1] 0.7385678608336204 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.13, Z:-0.14 [[ 0.99899506 -0.03397258 -0.02923581 0.5993578 ] [ 0.03385054 0.99941605 -0.00465912 -0.13352723] [ 0.02937702 0.00366479 0.99956168 -0.136253 ] [ 0. 0. 0. 1. ]] SLAMing on 1.706296757 meters Centerline goodness [0,1] 0.7306500881985974 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.13, Z:-0.14 [[ 0.99913139 -0.03268712 -0.02584603 0.62054459] [ 0.0326109 0.99946246 -0.00336519 -0.12878105] [ 0.02594214 0.0025194 0.99966027 -0.13888815] [ 0. 0. 0. 1. ]] SLAMing on 1.736296757 meters Centerline goodness [0,1] 0.7282774308461555 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.12, Z:-0.14 [[ 0.99936364 -0.02936112 -0.02025461 0.63252384] [ 0.02918861 0.99953553 -0.00876081 -0.12489727] [ 0.02050243 0.00816403 0.99975647 -0.14290484] [ 0. 0. 0. 1. ]] SLAMing on 1.766296757 meters Centerline goodness [0,1] 0.7299933400648806 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.12, Z:-0.14 [[ 0.99936039 -0.02859622 -0.0214723 0.63701467] [ 0.02843662 0.99956593 -0.0077016 -0.12348662] [ 0.02168322 0.00708607 0.99973978 -0.14484393] [ 0. 0. 0. 1. ]] SLAMing on 1.7962967570000001 meters Centerline goodness [0,1] 0.7292194138093808 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.15 [[ 0.99945109 -0.0282319 -0.01733424 0.65781208] [ 0.02817782 0.99959729 -0.00335665 -0.121755 ] [ 0.01742203 0.00286636 0.99984412 -0.14751372] [ 0. 0. 0. 1. ]] SLAMing on 1.826296757 meters Centerline goodness [0,1] 0.7427993718944266 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.15 [[ 0.99942295 -0.02884445 -0.01793782 0.66003103] [ 0.02879914 0.99958136 -0.00277893 -0.12187127] [ 0.01801047 0.00226073 0.99983524 -0.1473008 ] [ 0. 0. 0. 1. ]] SLAMing on 1.856296757 meters Centerline goodness [0,1] 0.734416821909595 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.15 [[ 0.99942917 -0.03216515 -0.01033126 0.67192508] [ 0.03218652 0.99948006 0.00190917 -0.12351422] [ 0.01026448 -0.00224061 0.99994481 -0.15180069] [ 0. 0. 0. 1. ]] SLAMing on 1.886296757 meters Centerline goodness [0,1] 0.7445632300114006 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.15 [[ 0.99908196 -0.04061751 -0.01361788 0.68363796] [ 0.04067555 0.99916435 0.00401244 -0.12368096] [ 0.01344353 -0.00456267 0.99989922 -0.14922793] [ 0. 0. 0. 1. ]] SLAMing on 1.916296757 meters Centerline goodness [0,1] 0.749510847362876 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.15 [[ 0.99895381 -0.04329342 -0.01472988 0.68829164] [ 0.04333169 0.99905812 0.00228847 -0.12380306] [ 0.01461693 -0.00292435 0.99988889 -0.15128113] [ 0. 0. 0. 1. ]] SLAMing on 1.946296757 meters Centerline goodness [0,1] 0.7527637329676922 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.15 [[ 0.99869372 -0.04973796 -0.01170431 0.7098727 ] [ 0.04975912 0.99876009 0.00152287 -0.12736189] [ 0.01161405 -0.00210328 0.99993034 -0.15443282] [ 0. 0. 0. 1. ]] SLAMing on 1.976296757 meters Centerline goodness [0,1] 0.7596429572454237 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.13, Z:-0.16 [[ 9.98511566e-01 -5.30613495e-02 -1.26153076e-02 7.13483898e-01] [ 5.30511052e-02 9.98591142e-01 -1.14554529e-03 -1.29003949e-01] [ 1.26583186e-02 4.74584210e-04 9.99919768e-01 -1.55755409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0062967570000003 meters Centerline goodness [0,1] 0.7520063346673229 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.16 [[ 0.99831575 -0.05639984 -0.01359085 0.71748504] [ 0.05635047 0.99840308 -0.00398935 -0.13086453] [ 0.01379415 0.00321678 0.99989968 -0.15740147] [ 0. 0. 0. 1. ]] SLAMing on 2.036296757 meters Centerline goodness [0,1] 0.7649903914667588 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.16 [[ 0.99813414 -0.05942853 -0.01401745 0.72190299] [ 0.05936481 0.99822423 -0.00491919 -0.13678882] [ 0.0142849 0.00407787 0.99988965 -0.15903138] [ 0. 0. 0. 1. ]] SLAMing on 2.066296757 meters Centerline goodness [0,1] 0.7615052835885271 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.14, Z:-0.16 [[ 0.99814295 -0.05902852 -0.01504266 0.72535541] [ 0.05897821 0.99825216 -0.00376699 -0.13891641] [ 0.01523873 0.00287281 0.99987976 -0.16057041] [ 0. 0. 0. 1. ]] SLAMing on 2.096296757 meters Centerline goodness [0,1] 0.754491789202533 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.16 [[ 9.98219701e-01 -5.85163589e-02 -1.15439776e-02 7.45816432e-01] [ 5.85282564e-02 9.98285510e-01 6.95208579e-04 -1.41494115e-01] [ 1.14835045e-02 -1.36961978e-03 9.99933124e-01 -1.63528503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.126296757 meters Centerline goodness [0,1] 0.7616771344665709 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.16 [[ 0.99825591 -0.0576561 -0.01268525 0.74902708] [ 0.05768502 0.99833298 0.00192558 -0.14214153] [ 0.01255308 -0.00265397 0.99991768 -0.16438007] [ 0. 0. 0. 1. ]] SLAMing on 2.1562967570000002 meters Centerline goodness [0,1] 0.7650862531955573 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.14, Z:-0.16 [[ 0.99825486 -0.05748186 -0.01353024 0.75099234] [ 0.05752312 0.99834058 0.00268029 -0.1434581 ] [ 0.01335372 -0.00345391 0.99990487 -0.16429292] [ 0. 0. 0. 1. ]] SLAMing on 2.186296757 meters Centerline goodness [0,1] 0.768494774270014 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.16 [[ 0.99813387 -0.06057888 -0.0076798 0.76625819] [ 0.06059259 0.99816135 0.00156471 -0.14537849] [ 0.00757089 -0.00202713 0.99996929 -0.16277951] [ 0. 0. 0. 1. ]] SLAMing on 2.2162967570000003 meters Centerline goodness [0,1] 0.664283406912889 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.16 [[ 0.99814344 -0.06028565 -0.00867857 0.76851839] [ 0.06031015 0.99817632 0.00259035 -0.14791783] [ 0.00850658 -0.00310895 0.99995899 -0.16278529] [ 0. 0. 0. 1. ]] SLAMing on 2.246296757 meters Centerline goodness [0,1] 0.7684330557886357 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.15, Z:-0.16 [[ 0.99818076 -0.05959618 -0.00913567 0.77069151] [ 0.05964489 0.99820635 0.0051555 -0.15284065] [ 0.00881204 -0.00569102 0.99994498 -0.16211308] [ 0. 0. 0. 1. ]] SLAMing on 2.276296757 meters Centerline goodness [0,1] 0.6672601299899183 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.16, Z:-0.16 [[ 0.99820245 -0.05908962 -0.01001471 0.77256737] [ 0.05915448 0.9982289 0.00630929 -0.15536607] [ 0.00962416 -0.00689036 0.99992995 -0.16180929] [ 0. 0. 0. 1. ]] SLAMing on 2.306296757 meters Centerline goodness [0,1] 0.6528967789943658 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.16, Z:-0.16 [[ 0.99836161 -0.05673446 -0.0074356 0.7983852 ] [ 0.05676429 0.99838013 0.0038644 -0.15951605] [ 0.00720431 -0.00428015 0.99996489 -0.15944187] [ 0. 0. 0. 1. ]] SLAMing on 2.336296757 meters Centerline goodness [0,1] 0.6586897741063255 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.16, Z:-0.16 [[ 0.99838225 -0.0562501 -0.00829528 0.8004595 ] [ 0.05629366 0.99840115 0.0051154 -0.16250727] [ 0.00799428 -0.00557409 0.99995251 -0.15961643] [ 0. 0. 0. 1. ]] SLAMing on 2.366296757 meters Centerline goodness [0,1] 0.6486181972789116 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.17, Z:-0.16 [[ 0.99840174 -0.05577713 -0.00910417 0.8023271 ] [ 0.05583636 0.99841951 0.00638604 -0.16548677] [ 0.00873359 -0.00688418 0.99993816 -0.15957459] [ 0. 0. 0. 1. ]] SLAMing on 2.396296757 meters Centerline goodness [0,1] 0.6635664840531703 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.17, Z:-0.16 [[ 0.99832233 -0.05706985 -0.00977542 0.80577142] [ 0.05713709 0.99834358 0.00674236 -0.17073681] [ 0.00937445 -0.00728959 0.99992949 -0.16006365] [ 0. 0. 0. 1. ]] SLAMing on 2.4262967570000002 meters Centerline goodness [0,1] 0.674063064019535 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.17, Z:-0.16 [[ 0.99832613 -0.05683949 -0.01068733 0.80777769] [ 0.05692472 0.99834764 0.00784645 -0.1737941 ] [ 0.01022368 -0.00844169 0.9999121 -0.15999898] [ 0. 0. 0. 1. ]] SLAMing on 2.456296757 meters Centerline goodness [0,1] 0.6912726037863995 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:-0.16 [[ 0.99813724 -0.05999131 -0.01109452 0.81001234] [ 0.06006511 0.99817367 0.0064419 -0.17995946] [ 0.0106878 -0.00709629 0.9999177 -0.15940432] [ 0. 0. 0. 1. ]] SLAMing on 2.4862967570000003 meters Centerline goodness [0,1] 0.6935662312242032 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.18, Z:-0.16 [[ 0.99795486 -0.06284365 -0.01169509 0.81220509] [ 0.06289297 0.99801266 0.00389856 -0.18280137] [ 0.01142685 -0.00462613 0.99992401 -0.15985057] [ 0. 0. 0. 1. ]] SLAMing on 2.516296757 meters Centerline goodness [0,1] 0.7002868373525974 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.19, Z:-0.16 [[ 0.99776729 -0.06564795 -0.012279 0.8146188 ] [ 0.06567049 0.99784032 0.00144071 -0.1858255 ] [ 0.0121579 -0.00224386 0.99992357 -0.16065334] [ 0. 0. 0. 1. ]] SLAMing on 2.546296757 meters Centerline goodness [0,1] 0.7061000510464523 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.19, Z:-0.16 [[ 0.99777005 -0.06545409 -0.01306451 0.81667108] [ 0.06549437 0.99784934 0.00267907 -0.19006774] [ 0.01286106 -0.00352875 0.99991107 -0.16100557] [ 0. 0. 0. 1. ]] SLAMing on 2.576296757 meters Centerline goodness [0,1] 0.7220500848896434 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.16 [[ 0.99777636 -0.06526612 -0.01351562 0.81786977] [ 0.06533448 0.99785245 0.00467937 -0.19589258] [ 0.01318119 -0.005552 0.99989771 -0.15988445] [ 0. 0. 0. 1. ]] SLAMing on 2.606296757 meters Centerline goodness [0,1] 0.7277918108297425 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.20, Z:-0.16 [[ 0.99779494 -0.06485265 -0.01412084 0.81870043] [ 0.06493985 0.99787229 0.00580669 -0.19915262] [ 0.01371421 -0.00671089 0.99988344 -0.15901726] [ 0. 0. 0. 1. ]] SLAMing on 2.636296757 meters Centerline goodness [0,1] 0.7881026686198331 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.21, Z:-0.16 [[ 0.9977624 -0.06661678 -0.00569244 0.82878446] [ 0.06664285 0.99776666 0.00451997 -0.2055953 ] [ 0.00537862 -0.00488922 0.99997358 -0.15640052] [ 0. 0. 0. 1. ]] SLAMing on 2.666296757 meters Centerline goodness [0,1] 0.7881026686198331 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.21, Z:-0.16 [[ 0.9977624 -0.06661678 -0.00569244 0.82878446] [ 0.06664285 0.99776666 0.00451997 -0.2055953 ] [ 0.00537862 -0.00488922 0.99997358 -0.15640052] [ 0. 0. 0. 1. ]] SLAMing on 2.6962967570000003 meters Centerline goodness [0,1] 0.793152548136184 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.21, Z:-0.16 [[ 0.99781796 -0.06571526 -0.00638984 0.82996797] [ 0.06575425 0.99781723 0.00609498 -0.21009504] [ 0.00597536 -0.00650184 0.99996101 -0.15585627] [ 0. 0. 0. 1. ]] SLAMing on 2.726296757 meters Centerline goodness [0,1] 0.8024659809621159 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.21, Z:-0.16 [[ 0.99787201 -0.0648223 -0.00703691 0.83116758] [ 0.0648749 0.99786505 0.00752269 -0.21372988] [ 0.00653425 -0.0079632 0.99994694 -0.15554945] [ 0. 0. 0. 1. ]] SLAMing on 2.7562967570000003 meters Centerline goodness [0,1] 0.8011766704897838 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.22, Z:-0.15 [[ 0.99811038 -0.06033134 -0.01165324 0.84262594] [ 0.06041453 0.99814937 0.0069228 -0.22107983] [ 0.01121401 -0.00761375 0.99990813 -0.15413347] [ 0. 0. 0. 1. ]] SLAMing on 2.786296757 meters Centerline goodness [0,1] 0.7989215811149323 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.23, Z:-0.15 [[ 0.99817606 -0.05909168 -0.01235812 0.84450642] [ 0.05920176 0.99820778 0.00873941 -0.22566989] [ 0.01181955 -0.0094551 0.99988544 -0.15461136] [ 0. 0. 0. 1. ]] SLAMing on 2.816296757 meters Centerline goodness [0,1] 0.7935961950867358 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.23, Z:-0.16 [[ 0.99825051 -0.05767717 -0.01300997 0.84640584] [ 0.05781721 0.9982703 0.01065768 -0.23017777] [ 0.01237276 -0.01139123 0.99985857 -0.1552577 ] [ 0. 0. 0. 1. ]] SLAMing on 2.846296757 meters Centerline goodness [0,1] 0.7886159910148551 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.24, Z:-0.15 [[ 0.99854004 -0.05112478 -0.01743681 0.85612168] [ 0.0513636 0.99858829 0.01353506 -0.23837451] [ 0.01672021 -0.01441092 0.99975635 -0.15412129] [ 0. 0. 0. 1. ]] SLAMing on 2.876296757 meters Centerline goodness [0,1] 0.7851020494759622 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.24, Z:-0.16 [[ 0.99859684 -0.04975092 -0.01814373 0.85840829] [ 0.05003072 0.99863036 0.01530784 -0.24190414] [ 0.0173573 -0.01619411 0.9997182 -0.15522353] [ 0. 0. 0. 1. ]] SLAMing on 2.9062967570000002 meters Centerline goodness [0,1] 0.7788673331074212 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.25, Z:-0.16 [[ 0.99869194 -0.0459213 -0.02248669 0.87013856] [ 0.04626004 0.99882004 0.01478299 -0.25031166] [ 0.0217813 -0.01580389 0.99963784 -0.1554245 ] [ 0. 0. 0. 1. ]] SLAMing on 2.936296757 meters Centerline goodness [0,1] 0.7702645592088581 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.25, Z:-0.16 [[ 0.99858941 -0.04772707 -0.02326642 0.87315826] [ 0.04804008 0.9987597 0.01308494 -0.25426007] [ 0.02261305 -0.01418421 0.99964367 -0.15684935] [ 0. 0. 0. 1. ]] SLAMing on 2.9662967570000003 meters Centerline goodness [0,1] 0.7645031712473573 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.16 [[ 0.998463 -0.04994345 -0.02402683 0.87589409] [ 0.05022055 0.99867679 0.01107104 -0.25790412] [ 0.02344211 -0.01226066 0.99965001 -0.15796517] [ 0. 0. 0. 1. ]] SLAMing on 2.996296757 meters Centerline goodness [0,1] 0.7668441964663116 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.26, Z:-0.16 [[ 0.99836874 -0.05140062 -0.0248563 0.87970722] [ 0.05167229 0.9986098 0.01041308 -0.26415792] [ 0.02428651 -0.01168047 0.9996368 -0.15997853] [ 0. 0. 0. 1. ]] SLAMing on 3.0262967570000003 meters Centerline goodness [0,1] 0.7700729155658882 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.27, Z:-0.16 [[ 0.99832465 -0.05187562 -0.02562819 0.88281419] [ 0.05215603 0.99858483 0.01039671 -0.26587903] [ 0.02505258 -0.01171595 0.99961748 -0.16175816] [ 0. 0. 0. 1. ]] SLAMing on 3.056296757 meters Centerline goodness [0,1] 0.768581971534001 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.17 [[ 0.99827133 -0.05232086 -0.02677443 0.88815069] [ 0.05262207 0.99855748 0.01067128 -0.26941478] [ 0.02617748 -0.01206176 0.99958454 -0.1651353 ] [ 0. 0. 0. 1. ]] SLAMing on 3.086296757 meters Centerline goodness [0,1] 0.7805315712807954 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.17 [[ 0.9982537 -0.05238854 -0.02729452 0.88963968] [ 0.05269983 0.99855186 0.01081265 -0.26999438] [ 0.02668853 -0.01223218 0.99956896 -0.16570382] [ 0. 0. 0. 1. ]] SLAMing on 3.116296757 meters Centerline goodness [0,1] 0.7843629384346066 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.17 [[ 0.99822891 -0.05255565 -0.02787367 0.8910604 ] [ 0.05287851 0.99854064 0.01097484 -0.27082424] [ 0.0272562 -0.01242932 0.99955121 -0.16596489] [ 0. 0. 0. 1. ]] SLAMing on 3.146296757 meters Centerline goodness [0,1] 0.7948160499820588 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.17 [[ 0.99799399 -0.05664628 -0.02827008 0.89223332] [ 0.05687783 0.99835332 0.00745443 -0.27262714] [ 0.02780126 -0.00904742 0.99957253 -0.16550125] [ 0. 0. 0. 1. ]] SLAMing on 3.1762967570000002 meters Centerline goodness [0,1] 0.8020965156500464 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.17 [[ 0.99774962 -0.06073177 -0.02841393 0.89297635] [ 0.06084794 0.99814178 0.00324127 -0.27216304] [ 0.02816428 -0.0049629 0.99959099 -0.16548928] [ 0. 0. 0. 1. ]] SLAMing on 3.206296757 meters Centerline goodness [0,1] 0.8108426883464268 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.27, Z:-0.17 [[ 0.99770226 -0.06133831 -0.02877189 0.89368386] [ 0.06145586 0.99810461 0.00321854 -0.2739049 ] [ 0.02851994 -0.00497935 0.99958082 -0.16513428] [ 0. 0. 0. 1. ]] SLAMing on 3.2362967570000003 meters Centerline goodness [0,1] 0.8184041319700643 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.27, Z:-0.17 [[ 0.99771519 -0.06572881 -0.01562462 0.89687512] [ 0.06576993 0.99783254 0.00213189 -0.27081181] [ 0.01545063 -0.00315464 0.99987566 -0.16970461] [ 0. 0. 0. 1. ]] SLAMing on 3.266296757 meters Centerline goodness [0,1] 0.8195932832672348 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.27, Z:-0.17 [[ 0.99788465 -0.06301381 -0.0159837 0.89678811] [ 0.06310782 0.99799186 0.00544602 -0.27080792] [ 0.01560843 -0.0064432 0.99985742 -0.1689298 ] [ 0. 0. 0. 1. ]] SLAMing on 3.2962967570000004 meters Centerline goodness [0,1] 0.8246442500263519 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.27, Z:-0.17 [[ 0.99786194 -0.06334266 -0.01610168 0.8960048 ] [ 0.06342046 0.99797734 0.00436739 -0.26710536] [ 0.01579246 -0.00537923 0.99986082 -0.16724674] [ 0. 0. 0. 1. ]] SLAMing on 3.326296757 meters Centerline goodness [0,1] 0.8270724161878906 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.27, Z:-0.17 [[ 0.99786181 -0.06325957 -0.0164327 0.89595669] [ 0.06332994 0.99798542 0.00379724 -0.26508791] [ 0.01615938 -0.0048298 0.99985776 -0.16631714] [ 0. 0. 0. 1. ]] SLAMing on 3.356296757 meters Centerline goodness [0,1] 0.8241797432239657 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.99786057 -0.0631641 -0.01686938 0.89642958] [ 0.06322862 0.99799355 0.00331885 -0.26340199] [ 0.0166259 -0.00437838 0.99985219 -0.16584371] [ 0. 0. 0. 1. ]] SLAMing on 3.386296757 meters Centerline goodness [0,1] 0.8260970171231437 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.99789452 -0.06255448 -0.01713051 0.89723638] [ 0.062611 0.99803413 0.00278262 -0.26034139] [ 0.01692277 -0.00384932 0.99984939 -0.166441 ] [ 0. 0. 0. 1. ]] SLAMing on 3.416296757 meters Centerline goodness [0,1] 0.8276675016313385 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.99802363 -0.06026472 -0.01780448 0.89946231] [ 0.06036277 0.99816387 0.00502159 -0.25930579] [ 0.01746916 -0.00608639 0.99982888 -0.16785681] [ 0. 0. 0. 1. ]] SLAMing on 3.4462967570000003 meters Centerline goodness [0,1] 0.8241878012995179 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.26, Z:-0.17 [[ 0.9981735 -0.0575376 -0.01841446 0.90132379] [ 0.05767687 0.99830989 0.0071234 -0.25521058] [ 0.01797348 -0.00817248 0.99980506 -0.16920542] [ 0. 0. 0. 1. ]] SLAMing on 3.476296757 meters Centerline goodness [0,1] 0.8243512974051896 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.17 [[ 0.99815745 -0.05774242 -0.01864179 0.90174646] [ 0.05787025 0.99830365 0.0063919 -0.25273569] [ 0.01824108 -0.00745893 0.99980579 -0.16928084] [ 0. 0. 0. 1. ]] SLAMing on 3.5062967570000003 meters Centerline goodness [0,1] 0.8248328638102846 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.25, Z:-0.17 [[ 0.99814512 -0.0578734 -0.01889404 0.90272185] [ 0.0579938 0.99829958 0.00588719 -0.25091084] [ 0.0185212 -0.006972 0.99980416 -0.17004138] [ 0. 0. 0. 1. ]] SLAMing on 3.536296757 meters Centerline goodness [0,1] 0.8255874892564409 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.17 [[ 0.99813867 -0.05780718 -0.01943025 0.90624686] [ 0.05792795 0.99830443 0.00571095 -0.24791331] [ 0.01906717 -0.00682587 0.9997949 -0.17320012] [ 0. 0. 0. 1. ]] SLAMing on 3.5662967570000004 meters Centerline goodness [0,1] 0.8281647499106448 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.17 [[ 0.99810988 -0.0582046 -0.01972036 0.9072355 ] [ 0.05831883 0.99828411 0.0052677 -0.24694144] [ 0.01937992 -0.00640782 0.99979166 -0.17376195] [ 0. 0. 0. 1. ]] SLAMing on 3.596296757 meters Centerline goodness [0,1] 0.825123619147817 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.18 [[ 0.99790762 -0.06145982 -0.02007675 0.91045269] [ 0.06151277 0.99810423 0.00203027 -0.2464866 ] [ 0.01991391 -0.003261 0.99979638 -0.1763357 ] [ 0. 0. 0. 1. ]] SLAMing on 3.626296757 meters Centerline goodness [0,1] 0.8281052897149104 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.18 [[ 0.99788546 -0.06175099 -0.02028334 0.91139043] [ 0.06180238 0.99808657 0.00191572 -0.24632873] [ 0.02012623 -0.00316522 0.99979244 -0.17706829] [ 0. 0. 0. 1. ]] SLAMing on 3.6562967570000002 meters Centerline goodness [0,1] 0.8265233125736409 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.25, Z:-0.18 [[ 0.9978636 -0.06204469 -0.02046193 0.91247261] [ 0.06209042 0.99806924 0.00160662 -0.24522755] [ 0.02032274 -0.00287368 0.99978934 -0.17809577] [ 0. 0. 0. 1. ]] SLAMing on 3.686296757 meters Centerline goodness [0,1] 0.8256774654697585 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 9.97794117e-01 -6.28923802e-02 -2.12473189e-02 9.17463554e-01] [ 6.29239992e-02 9.98017983e-01 8.22210990e-04 -2.43143611e-01] [ 2.11534956e-02 -2.15736357e-03 9.99773912e-01 -1.82347706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7162967570000003 meters Centerline goodness [0,1] 0.8244871308816715 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 9.97786690e-01 -6.29580593e-02 -2.14010251e-02 9.18232891e-01] [ 6.29916333e-02 9.98013651e-01 8.97651911e-04 -2.43718890e-01] [ 2.13020008e-02 -2.24375065e-03 9.99770569e-01 -1.82954349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.746296757 meters Centerline goodness [0,1] 0.8233634430337102 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 9.97789616e-01 -6.29321445e-02 -2.13407277e-02 9.18493273e-01] [ 6.29634941e-02 9.98015510e-01 7.99611167e-04 -2.42937520e-01] [ 2.12480560e-02 -2.14153050e-03 9.99771941e-01 -1.83445339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7762967570000003 meters Centerline goodness [0,1] 0.8227029297490287 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 9.97791065e-01 -6.28551768e-02 -2.14992215e-02 9.18905601e-01] [ 6.28866887e-02 9.98020359e-01 7.92119251e-04 -2.42615054e-01] [ 2.14068720e-02 -2.14238436e-03 9.99768551e-01 -1.83540602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806296757 meters Centerline goodness [0,1] 0.8232363575212309 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 9.97801445e-01 -6.26617518e-02 -2.15819826e-02 9.18995914e-01] [ 6.26938515e-02 9.98032474e-01 8.13290855e-04 -2.42267279e-01] [ 2.14885573e-02 -2.16456040e-03 9.99766751e-01 -1.83454285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8362967570000004 meters Centerline goodness [0,1] 0.8252692696061932 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 0.99804455 -0.05865908 -0.02159131 0.91856066] [ 0.05877812 0.99825895 0.0049202 -0.24300506] [ 0.0212651 -0.00617968 0.99975477 -0.18322563] [ 0. 0. 0. 1. ]] SLAMing on 3.866296757 meters Centerline goodness [0,1] 0.8179641221694745 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 0.99805714 -0.05838666 -0.02174708 0.91916072] [ 0.05850331 0.99827583 0.00476661 -0.2415876 ] [ 0.02143128 -0.00602962 0.99975214 -0.18372866] [ 0. 0. 0. 1. ]] SLAMing on 3.896296757 meters Centerline goodness [0,1] 0.8207376566574144 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.18 [[ 0.99827878 -0.05434636 -0.02204413 0.91998555] [ 0.05454351 0.9984757 0.00844244 -0.24031903] [ 0.02155171 -0.00963027 0.99972135 -0.18463879] [ 0. 0. 0. 1. ]] SLAMing on 3.9262967570000002 meters Centerline goodness [0,1] 0.8196233063467427 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.19 [[ 0.99828361 -0.05415136 -0.02230404 0.92113761] [ 0.05434664 0.9984881 0.00824392 -0.23904417] [ 0.0218239 -0.00944192 0.99971724 -0.18558258] [ 0. 0. 0. 1. ]] SLAMing on 3.956296757 meters Centerline goodness [0,1] 0.8197915570060006 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.19 [[ 0.99828507 -0.05408281 -0.02240474 0.92168948] [ 0.05427626 0.99849296 0.00811745 -0.23845045] [ 0.02193196 -0.00931958 0.99971603 -0.18612506] [ 0. 0. 0. 1. ]] SLAMing on 3.9862967570000003 meters Centerline goodness [0,1] 0.823016839541427 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.19 [[ 0.99829051 -0.05394259 -0.02250012 0.9223822 ] [ 0.05413369 0.99850188 0.00797174 -0.23794834] [ 0.02203639 -0.00917613 0.99971506 -0.18673476] [ 0. 0. 0. 1. ]] SLAMing on 4.016296757 meters Centerline goodness [0,1] 0.8218098520511097 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.19 [[ 0.99828613 -0.0539769 -0.02261208 0.92280427] [ 0.05416804 0.99850037 0.00792698 -0.23776053] [ 0.0221503 -0.00913824 0.99971289 -0.18701267] [ 0. 0. 0. 1. ]] SLAMing on 4.046296757 meters Centerline goodness [0,1] 0.822307547051048 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.19 [[ 0.99827167 -0.05413496 -0.02287097 0.9238361 ] [ 0.05432616 0.9984926 0.00782268 -0.23780578] [ 0.02241301 -0.00905165 0.99970782 -0.18770326] [ 0. 0. 0. 1. ]] SLAMing on 4.076296757000001 meters Centerline goodness [0,1] 0.8212449426837491 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.24, Z:-0.19 [[ 0.99825731 -0.05443665 -0.02278125 0.92426347] [ 0.05462372 0.99847755 0.00767083 -0.2379901 ] [ 0.02232899 -0.00890186 0.99971104 -0.18842508] [ 0. 0. 0. 1. ]] SLAMing on 4.106296757 meters Centerline goodness [0,1] 0.8203284341554701 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.19 [[ 0.99824078 -0.05463337 -0.02303334 0.92516073] [ 0.05482127 0.99846721 0.00760651 -0.23801498] [ 0.02258247 -0.00885585 0.99970576 -0.18895339] [ 0. 0. 0. 1. ]] SLAMing on 4.136296757 meters Centerline goodness [0,1] 0.817227422210979 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.19 [[ 0.99821874 -0.05508909 -0.02290276 0.92532328] [ 0.05526992 0.99844448 0.00733862 -0.23785831] [ 0.02246285 -0.00859138 0.99971076 -0.18943153] [ 0. 0. 0. 1. ]] SLAMing on 4.1662967570000005 meters Centerline goodness [0,1] 0.8172567488016147 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.19 [[ 0.9982094 -0.05519912 -0.0230444 0.92544986] [ 0.05537922 0.99843906 0.0072513 -0.23806375] [ 0.02260816 -0.0085145 0.99970814 -0.18915256] [ 0. 0. 0. 1. ]] SLAMing on 4.196296757 meters Centerline goodness [0,1] 0.8177844412534843 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.19 [[ 0.99823479 -0.05474472 -0.02302846 0.92518288] [ 0.05492262 0.99846491 0.00716429 -0.23692498] [ 0.0226009 -0.00841643 0.99970914 -0.18878029] [ 0. 0. 0. 1. ]] SLAMing on 4.226296757 meters Centerline goodness [0,1] 0.8185848180359706 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.19 [[ 0.99824129 -0.05457217 -0.02315593 0.9258026 ] [ 0.05474747 0.99847566 0.00700466 -0.23615839] [ 0.02273837 -0.00826007 0.99970733 -0.18934268] [ 0. 0. 0. 1. ]] SLAMing on 4.256296757 meters Centerline goodness [0,1] 0.8187542258282623 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.24, Z:-0.19 [[ 0.99824768 -0.05438537 -0.02331964 0.92655386] [ 0.05455871 0.99848699 0.00686191 -0.23522948] [ 0.02291117 -0.00812218 0.99970451 -0.19002375] [ 0. 0. 0. 1. ]] SLAMing on 4.286296757000001 meters Centerline goodness [0,1] 0.8168695578662609 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.19 [[ 0.99825475 -0.05422863 -0.02338186 0.92736442] [ 0.05439828 0.99849697 0.0066811 -0.2339871 ] [ 0.02298441 -0.00794137 0.99970428 -0.19107461] [ 0. 0. 0. 1. ]] SLAMing on 4.316296757 meters Centerline goodness [0,1] 0.8138575749243883 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.19 [[ 0.99840427 -0.0512203 -0.02377784 0.93008321] [ 0.05145808 0.99862999 0.00949775 -0.23135448] [ 0.02325879 -0.01070616 0.99967215 -0.1941739 ] [ 0. 0. 0. 1. ]] SLAMing on 4.346296757 meters Centerline goodness [0,1] 0.8114224137931034 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.20 [[ 0.99842424 -0.05054313 -0.02438081 0.93291717] [ 0.0507954 0.9986606 0.00984048 -0.22996216] [ 0.02385079 -0.01106341 0.99965431 -0.19639855] [ 0. 0. 0. 1. ]] SLAMing on 4.376296757 meters Centerline goodness [0,1] 0.8097404108574693 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.23, Z:-0.20 [[ 0.99841517 -0.05067105 -0.02448677 0.93405732] [ 0.05091646 0.99865769 0.00950429 -0.23008202] [ 0.0239723 -0.01073601 0.99965497 -0.19753845] [ 0. 0. 0. 1. ]] SLAMing on 4.406296757000001 meters Centerline goodness [0,1] 0.807702079010882 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99840952 -0.05067429 -0.02470917 0.93506024] [ 0.05092014 0.99865826 0.00942384 -0.23051299] [ 0.02419847 -0.01066705 0.99965026 -0.19824372] [ 0. 0. 0. 1. ]] SLAMing on 4.436296757 meters Centerline goodness [0,1] 0.8085384907731937 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.9983992 -0.05076477 -0.02493927 0.93585949] [ 0.05101004 0.99865485 0.00929882 -0.23062558] [ 0.02443367 -0.01055609 0.99964572 -0.19864689] [ 0. 0. 0. 1. ]] SLAMing on 4.466296757 meters Centerline goodness [0,1] 0.8069701700350196 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99838215 -0.05101812 -0.02510452 0.93669705] [ 0.05125601 0.99864566 0.00892517 -0.22982378] [ 0.02461518 -0.01019748 0.99964499 -0.19925066] [ 0. 0. 0. 1. ]] SLAMing on 4.4962967570000005 meters Centerline goodness [0,1] 0.8098518628093235 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99837321 -0.05114734 -0.02519676 0.93705116] [ 0.05138256 0.99864047 0.0087777 -0.22919692] [ 0.02471355 -0.01005809 0.99964397 -0.19949709] [ 0. 0. 0. 1. ]] SLAMing on 4.526296757 meters Centerline goodness [0,1] 0.8148155953635405 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99833335 -0.05193553 -0.02516376 0.93799178] [ 0.05215562 0.99860555 0.00816962 -0.22637995] [ 0.02470438 -0.00946843 0.99964996 -0.20086316] [ 0. 0. 0. 1. ]] SLAMing on 4.556296757 meters Centerline goodness [0,1] 0.8204296974319858 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99830821 -0.05233628 -0.02533056 0.93857549] [ 0.05255481 0.99858568 0.00803902 -0.22625731] [ 0.024874 -0.00935666 0.99964681 -0.20121626] [ 0. 0. 0. 1. ]] SLAMing on 4.586296757 meters Centerline goodness [0,1] 0.8204296974319858 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99830821 -0.05233628 -0.02533056 0.93857549] [ 0.05255481 0.99858568 0.00803902 -0.22625731] [ 0.024874 -0.00935666 0.99964681 -0.20121626] [ 0. 0. 0. 1. ]] SLAMing on 4.616296757000001 meters Centerline goodness [0,1] 0.818352178215737 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99814107 -0.05522613 -0.02577753 0.94135955] [ 0.05537626 0.99845229 0.00514669 -0.22616181] [ 0.0254534 -0.00656459 0.99965446 -0.20310261] [ 0. 0. 0. 1. ]] SLAMing on 4.646296757 meters Centerline goodness [0,1] 0.8190586501000316 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 0.99787899 -0.05997483 -0.02530891 0.94150307] [ 0.06002761 0.99819583 0.00133015 -0.23033686] [ 0.02518347 -0.00284656 0.99967879 -0.20337295] [ 0. 0. 0. 1. ]] SLAMing on 4.676296757 meters Centerline goodness [0,1] 0.821091962467726 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 9.97629157e-01 -6.40167477e-02 -2.52571048e-02 9.42223915e-01] [ 6.39711603e-02 9.97948336e-01 -2.60964559e-03 -2.30955364e-01] [ 2.53723467e-02 9.87732226e-04 9.99677582e-01 -2.03791310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7062967570000005 meters Centerline goodness [0,1] 0.8222897245207919 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 9.97604689e-01 -6.43836310e-02 -2.52909525e-02 9.42839600e-01] [ 6.43495049e-02 9.97925081e-01 -2.16173906e-03 -2.33484107e-01] [ 2.53776564e-02 5.29100753e-04 9.99677795e-01 -2.04388027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.736296757 meters Centerline goodness [0,1] 0.822906966900872 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.23, Z:-0.20 [[ 9.97521596e-01 -6.56979149e-02 -2.51882967e-02 9.43033796e-01] [ 6.56546421e-02 9.97839168e-01 -2.54202882e-03 -2.34606847e-01] [ 2.53008751e-02 8.82000037e-04 9.99679493e-01 -2.04714535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.766296757 meters Centerline goodness [0,1] 0.8220865332158295 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 9.97762147e-01 -6.56917791e-02 -1.24614375e-02 9.47696453e-01] [ 6.56900644e-02 9.97839925e-01 -5.47307858e-04 -2.35182745e-01] [ 1.24704735e-02 -2.72509568e-04 9.99922203e-01 -2.11588016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.796296757 meters Centerline goodness [0,1] 0.822978096040438 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 9.97749689e-01 -6.58749774e-02 -1.24918313e-02 9.47380890e-01] [ 6.58761068e-02 9.97827758e-01 -3.21488320e-04 -2.36475975e-01] [ 1.24858741e-02 -5.02148343e-04 9.99921922e-01 -2.10823297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826296757000001 meters Centerline goodness [0,1] 0.8229754782169041 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 9.97756038e-01 -6.57418288e-02 -1.26846594e-02 9.47818555e-01] [ 6.57451593e-02 9.97836435e-01 -1.54702529e-04 -2.36362320e-01] [ 1.26673857e-02 -6.79599567e-04 9.99919535e-01 -2.10947460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.856296757 meters Centerline goodness [0,1] 0.8241572440029589 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99791385 -0.06328182 -0.01278086 0.94754509] [ 0.06332582 0.99798819 0.00306727 -0.23732733] [ 0.01256105 -0.00387023 0.99991362 -0.21073061] [ 0. 0. 0. 1. ]] SLAMing on 4.886296757 meters Centerline goodness [0,1] 0.8245035928398317 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99805793 -0.06097571 -0.01274092 0.94613741] [ 0.06104982 0.99811951 0.00551066 -0.23578982] [ 0.01238094 -0.00627779 0.99990365 -0.20948415] [ 0. 0. 0. 1. ]] SLAMing on 4.9162967570000005 meters Centerline goodness [0,1] 0.8254756871035941 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.9980644 -0.06080106 -0.01306487 0.94687345] [ 0.06087494 0.99813115 0.00533382 -0.23506479] [ 0.01271615 -0.00611882 0.99990042 -0.20965331] [ 0. 0. 0. 1. ]] SLAMing on 4.946296757000001 meters Centerline goodness [0,1] 0.8258113590263692 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99808871 -0.06031312 -0.01346324 0.94786649] [ 0.06039056 0.99816011 0.00542074 -0.23541337] [ 0.01311153 -0.00622343 0.99989467 -0.20985538] [ 0. 0. 0. 1. ]] SLAMing on 4.976296757 meters Centerline goodness [0,1] 0.8278562232212584 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99809562 -0.06015921 -0.01363815 0.94799122] [ 0.060239 0.99816874 0.0055169 -0.23583078] [ 0.01328128 -0.00632794 0.99989178 -0.20952032] [ 0. 0. 0. 1. ]] SLAMing on 5.006296757 meters Centerline goodness [0,1] 0.8295363286698508 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99810097 -0.06004416 -0.01375303 0.94759519] [ 0.06012849 0.99817378 0.00580231 -0.23678268] [ 0.01337952 -0.00661824 0.99988859 -0.20856937] [ 0. 0. 0. 1. ]] SLAMing on 5.036296757000001 meters Centerline goodness [0,1] 0.8321475458433913 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99808695 -0.06026512 -0.01380383 0.94721651] [ 0.06035657 0.99815695 0.00630707 -0.23902006] [ 0.0133983 -0.00712816 0.99988483 -0.20765352] [ 0. 0. 0. 1. ]] SLAMing on 5.066296757 meters Centerline goodness [0,1] 0.8332088835790327 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.99808944 -0.06021523 -0.0138416 0.94732239] [ 0.06031232 0.99815702 0.00670756 -0.23983599] [ 0.01341219 -0.00752956 0.9998817 -0.20769474] [ 0. 0. 0. 1. ]] SLAMing on 5.096296757 meters Centerline goodness [0,1] 0.8322477650063858 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.24, Z:-0.21 [[ 0.9980816 -0.06028704 -0.01409203 0.94845697] [ 0.06040021 0.99814417 0.00774767 -0.24351145] [ 0.01359879 -0.00858397 0.99987069 -0.20839769] [ 0. 0. 0. 1. ]] SLAMing on 5.126296757 meters Centerline goodness [0,1] 0.8324668435013263 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.21 [[ 0.99809606 -0.05997504 -0.01439633 0.94951665] [ 0.06010447 0.9981539 0.00873228 -0.2462776 ] [ 0.01384604 -0.00958094 0.99985824 -0.20895225] [ 0. 0. 0. 1. ]] SLAMing on 5.156296757000001 meters Centerline goodness [0,1] 0.8252498996174897 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.21 [[ 0.99803492 -0.0608551 -0.01493189 0.95213912] [ 0.06098304 0.99810456 0.00826758 -0.24838528] [ 0.01440047 -0.00916192 0.99985433 -0.21063116] [ 0. 0. 0. 1. ]] SLAMing on 5.186296757 meters Centerline goodness [0,1] 0.8248349307774228 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.25, Z:-0.21 [[ 0.99795803 -0.06224061 -0.01434836 0.94985884] [ 0.06234867 0.99802838 0.00721071 -0.25190965] [ 0.01387127 -0.00809058 0.99987106 -0.20871825] [ 0. 0. 0. 1. ]] SLAMing on 5.216296757 meters Centerline goodness [0,1] 0.834419651387444 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.26, Z:-0.21 [[ 0.99782178 -0.06437964 -0.0143863 0.95057242] [ 0.06447092 0.99790171 0.00597342 -0.2605662 ] [ 0.01397155 -0.0068879 0.99987867 -0.20841033] [ 0. 0. 0. 1. ]] SLAMing on 5.2462967570000005 meters Centerline goodness [0,1] 0.8249616890856462 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.26, Z:-0.21 [[ 0.9978697 -0.06357959 -0.01461869 0.95107249] [ 0.06369375 0.99794146 0.00748 -0.26467917] [ 0.01411302 -0.00839518 0.99986516 -0.20831874] [ 0. 0. 0. 1. ]] SLAMing on 5.276296757 meters Centerline goodness [0,1] 0.8310195043011669 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.27, Z:-0.21 [[ 0.99798545 -0.06162078 -0.01509697 0.95289404] [ 0.06177939 0.99803694 0.01027458 -0.27014446] [ 0.0144342 -0.01118657 0.99983324 -0.2093517 ] [ 0. 0. 0. 1. ]] SLAMing on 5.306296757 meters Centerline goodness [0,1] 0.8297917552061198 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.27, Z:-0.21 [[ 0.9980299 -0.06084581 -0.01530056 0.95343083] [ 0.06102253 0.99807173 0.01136068 -0.27236027] [ 0.01457981 -0.01227198 0.9998184 -0.20952683] [ 0. 0. 0. 1. ]] SLAMing on 5.336296757 meters Centerline goodness [0,1] 0.8286462292036145 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.21 [[ 0.99831498 -0.057024 -0.01074552 0.96024916] [ 0.05707917 0.99835763 0.00489989 -0.27751909] [ 0.01044846 -0.00550498 0.99993026 -0.20893966] [ 0. 0. 0. 1. ]] SLAMing on 5.366296757000001 meters Centerline goodness [0,1] 0.836023322629711 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.28, Z:-0.21 [[ 0.99834765 -0.05643542 -0.01081762 0.96011534] [ 0.056507 0.9983815 0.00642905 -0.28199388] [ 0.01043729 -0.00702969 0.99992082 -0.20836646] [ 0. 0. 0. 1. ]] SLAMing on 5.396296757 meters Centerline goodness [0,1] 0.829925925925926 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99836847 -0.0560652 -0.01082053 0.96002741] [ 0.05614953 0.99839304 0.00765343 -0.28570657] [ 0.01037405 -0.00824851 0.99991217 -0.20805301] [ 0. 0. 0. 1. ]] SLAMing on 5.426296757 meters Centerline goodness [0,1] 0.8353972950126796 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99817651 -0.05940161 -0.01072872 0.96029896] [ 0.05945836 0.99821801 0.00505049 -0.28928135] [ 0.01040959 -0.00567919 0.99992969 -0.20789399] [ 0. 0. 0. 1. ]] SLAMing on 5.4562967570000005 meters Centerline goodness [0,1] 0.8320135149403443 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99819431 -0.0590746 -0.01087717 0.96061812] [ 0.05914203 0.99823164 0.005985 -0.29197602] [ 0.01050437 -0.00661749 0.99992293 -0.20778108] [ 0. 0. 0. 1. ]] SLAMing on 5.486296757000001 meters Centerline goodness [0,1] 0.831705611931445 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.9982243 -0.058549 -0.01096669 0.96019797] [ 0.05862441 0.99825772 0.00668581 -0.29340245] [ 0.01055614 -0.00731686 0.99991751 -0.20687459] [ 0. 0. 0. 1. ]] SLAMing on 5.516296757 meters Centerline goodness [0,1] 0.8333579460348938 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99823429 -0.0583455 -0.01114024 0.95996472] [ 0.05842168 0.99826992 0.00663911 -0.29268687] [ 0.01073361 -0.00727822 0.99991591 -0.20611519] [ 0. 0. 0. 1. ]] SLAMing on 5.546296757 meters Centerline goodness [0,1] 0.8322729290409858 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.9982474 -0.05813172 -0.01108277 0.95922569] [ 0.05820872 0.99828157 0.00675663 -0.29241714] [ 0.01067095 -0.0073899 0.99991576 -0.2052854 ] [ 0. 0. 0. 1. ]] SLAMing on 5.576296757000001 meters Centerline goodness [0,1] 0.836917676415234 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99824297 -0.05819131 -0.01116923 0.95944364] [ 0.05826732 0.99827916 0.0066052 -0.29164712] [ 0.01076564 -0.00724439 0.99991581 -0.20540071] [ 0. 0. 0. 1. ]] SLAMing on 5.606296757 meters Centerline goodness [0,1] 0.8323478481226507 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99822132 -0.05849404 -0.01151723 0.96104343] [ 0.05856668 0.99826502 0.00607367 -0.28982813] [ 0.01114197 -0.00673739 0.99991523 -0.20672516] [ 0. 0. 0. 1. ]] SLAMing on 5.636296757 meters Centerline goodness [0,1] 0.8317869090450041 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99821211 -0.05859565 -0.01179551 0.96217595] [ 0.05867141 0.99825821 0.00618202 -0.29057004] [ 0.01141272 -0.00686303 0.99991132 -0.20746401] [ 0. 0. 0. 1. ]] SLAMing on 5.6662967570000005 meters Centerline goodness [0,1] 0.8311819366774587 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99820234 -0.05871192 -0.01204179 0.96355042] [ 0.05879324 0.99824893 0.00651423 -0.29291531] [ 0.01163824 -0.0072105 0.99990628 -0.2083852 ] [ 0. 0. 0. 1. ]] SLAMing on 5.696296757000001 meters Centerline goodness [0,1] 0.8309545798001847 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.29, Z:-0.21 [[ 0.99821808 -0.05837683 -0.01236201 0.96470692] [ 0.05846251 0.99826721 0.00668701 -0.2931454 ] [ 0.01195022 -0.00739781 0.99990123 -0.20915124] [ 0. 0. 0. 1. ]] SLAMing on 5.726296757 meters Centerline goodness [0,1] 0.8348122292779343 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.99830223 -0.05681674 -0.01282633 0.96621959] [ 0.0569188 0.99834883 0.007737 -0.29328138] [ 0.01236556 -0.00845393 0.99988781 -0.21009186] [ 0. 0. 0. 1. ]] SLAMing on 5.756296757 meters Centerline goodness [0,1] 0.8358359409454607 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.998582 -0.05145722 -0.01364383 0.96845507] [ 0.05162859 0.99858786 0.01252083 -0.29250873] [ 0.01298028 -0.01320748 0.99982852 -0.21162633] [ 0. 0. 0. 1. ]] SLAMing on 5.786296757000001 meters Centerline goodness [0,1] 0.8340291835357625 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.99877593 -0.04743085 -0.01403423 0.96909256] [ 0.04765994 0.99872789 0.01646613 -0.29207456] [ 0.01323537 -0.01711484 0.99976593 -0.21199152] [ 0. 0. 0. 1. ]] SLAMing on 5.816296757 meters Centerline goodness [0,1] 0.8352386366028759 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.99895852 -0.0432375 -0.01457372 0.9700692 ] [ 0.04352787 0.9988473 0.02023363 -0.29060011] [ 0.01368207 -0.02084692 0.99968906 -0.21243174] [ 0. 0. 0. 1. ]] SLAMing on 5.846296757 meters Centerline goodness [0,1] 0.8353229968738853 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.99896568 -0.04297954 -0.0148433 0.97049274] [ 0.04327712 0.99885594 0.02034473 -0.29063656] [ 0.01395191 -0.02096607 0.99968283 -0.21227645] [ 0. 0. 0. 1. ]] SLAMing on 5.876296757 meters Centerline goodness [0,1] 0.8362923291021802 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.99897068 -0.04281937 -0.01496961 0.9705927 ] [ 0.04312226 0.99885879 0.02053277 -0.2914198 ] [ 0.01407332 -0.02115716 0.99967711 -0.21198649] [ 0. 0. 0. 1. ]] SLAMing on 5.906296757000001 meters Centerline goodness [0,1] 0.8366509553067923 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.21 [[ 0.99913999 -0.03965249 -0.01212235 0.9753256 ] [ 0.03979516 0.99913861 0.01176373 -0.28927479] [ 0.01164544 -0.01223602 0.99985732 -0.20817222] [ 0. 0. 0. 1. ]] SLAMing on 5.936296757 meters Centerline goodness [0,1] 0.8365161181291985 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.29, Z:-0.21 [[ 0.99914921 -0.03936228 -0.01230681 0.97490343] [ 0.03950603 0.99915125 0.01166398 -0.28838247] [ 0.01183724 -0.01214025 0.99985624 -0.20713034] [ 0. 0. 0. 1. ]] SLAMing on 5.966296757 meters Centerline goodness [0,1] 0.8382073278958712 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.20 [[ 0.99930949 -0.03556215 -0.01076422 0.97834932] [ 0.03560594 0.99935828 0.00390436 -0.28768493] [ 0.01061847 -0.00428493 0.99993444 -0.20077794] [ 0. 0. 0. 1. ]] SLAMing on 5.9962967570000005 meters Centerline goodness [0,1] 0.83961846075928 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.20 [[ 0.9993186 -0.03522574 -0.01102195 0.97819317] [ 0.03527333 0.99936907 0.00415311 -0.28791878] [ 0.0108687 -0.00453906 0.99993063 -0.19984782] [ 0. 0. 0. 1. ]] SLAMing on 6.026296757000001 meters Centerline goodness [0,1] 0.8399376106567743 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.20 [[ 0.99932703 -0.03492146 -0.0112237 0.97782971] [ 0.03496915 0.99938006 0.00408137 -0.28656907] [ 0.01107422 -0.00447111 0.99992868 -0.19880343] [ 0. 0. 0. 1. ]] SLAMing on 6.056296757 meters Centerline goodness [0,1] 0.8418278050734875 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.28, Z:-0.19 [[ 9.99533937e-01 -2.88601095e-02 -9.94999773e-03 9.79925372e-01] [ 2.88517481e-02 9.99583218e-01 -9.82891235e-04 -2.83747386e-01] [ 9.97421711e-03 6.95358318e-04 9.99950014e-01 -1.91117431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.086296757 meters Centerline goodness [0,1] 0.8393467527535131 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.28, Z:-0.19 [[ 9.99537900e-01 -2.86299297e-02 -1.02133711e-02 9.80265932e-01] [ 2.86213594e-02 9.99589840e-01 -9.84335477e-04 -2.83264883e-01] [ 1.02373634e-02 6.91560051e-04 9.99947358e-01 -1.90860409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.116296757000001 meters Centerline goodness [0,1] 0.8410267244111123 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.19 [[ 9.99537027e-01 -2.84749161e-02 -1.07196892e-02 9.81403116e-01] [ 2.84732768e-02 9.99594507e-01 -3.05544765e-04 -2.85796971e-01] [ 1.07240428e-02 1.78629125e-07 9.99942496e-01 -1.90878826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146296757 meters Centerline goodness [0,1] 0.8422798233939625 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.19 [[ 9.99540608e-01 -2.82232764e-02 -1.10462059e-02 9.82219530e-01] [ 2.82313538e-02 9.99601250e-01 5.75955077e-04 -2.88815443e-01] [ 1.10255458e-02 -8.87539834e-04 9.99938823e-01 -1.90987603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.176296757 meters Centerline goodness [0,1] 0.8473466283589657 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.19 [[ 0.99944473 -0.03139824 -0.01115293 0.98208005] [ 0.03137721 0.9995055 -0.00205585 -0.29262281] [ 0.01121197 0.00170476 0.99993569 -0.18998627] [ 0. 0. 0. 1. ]] SLAMing on 6.2062967570000005 meters Centerline goodness [0,1] 0.8477183062933817 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.19 [[ 0.99945048 -0.03117962 -0.01125074 0.98185656] [ 0.03116468 0.99951314 -0.00150078 -0.2937663 ] [ 0.01129206 0.00114933 0.99993558 -0.18934379] [ 0. 0. 0. 1. ]] SLAMing on 6.236296757000001 meters Centerline goodness [0,1] 0.8507280016881198 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.30, Z:-0.19 [[ 0.99954825 -0.0278215 -0.01136928 0.98171244] [ 0.02785496 0.99960807 0.00279504 -0.29571196] [ 0.01128706 -0.00311046 0.99993146 -0.18884969] [ 0. 0. 0. 1. ]] SLAMing on 6.266296757 meters Centerline goodness [0,1] 0.8490100054882425 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.19 [[ 0.99954596 -0.02775235 -0.01173377 0.98138402] [ 0.02778558 0.99961032 0.00267905 -0.29435792] [ 0.01165484 -0.00300386 0.99992757 -0.18733888] [ 0. 0. 0. 1. ]] SLAMing on 6.296296757 meters Centerline goodness [0,1] 0.851038212120572 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.29, Z:-0.19 [[ 0.99954463 -0.02761914 -0.0121537 0.98204637] [ 0.02765522 0.99961357 0.00281077 -0.29474267] [ 0.01207137 -0.0031456 0.99992219 -0.18709036] [ 0. 0. 0. 1. ]] SLAMing on 6.326296757000001 meters Centerline goodness [0,1] 0.8521491181750978 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.30, Z:-0.19 [[ 0.99954205 -0.0275168 -0.0125901 0.98318598] [ 0.02755844 0.99961524 0.00314594 -0.29640636] [ 0.01249869 -0.00349146 0.99991579 -0.18740673] [ 0. 0. 0. 1. ]] SLAMing on 6.356296757 meters Centerline goodness [0,1] 0.8508768223114304 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99439100e-01 -3.07746138e-02 -1.32063449e-02 9.87903514e-01] [ 3.07754219e-02 9.99526314e-01 -1.42081686e-04 -2.96930603e-01] [ 1.32044617e-02 -2.64428844e-04 9.99912782e-01 -1.91665615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386296757 meters Centerline goodness [0,1] 0.851002198917456 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99433505e-01 -3.08633137e-02 -1.34210773e-02 9.89230462e-01] [ 3.08651545e-02 9.99523555e-01 -7.00004681e-05 -2.97089004e-01] [ 1.34168433e-02 -3.44282811e-04 9.99909931e-01 -1.92945412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4162967570000005 meters Centerline goodness [0,1] 0.8521837919717243 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99399298e-01 -3.18015183e-02 -1.37733795e-02 9.90683871e-01] [ 3.17920092e-02 9.99494093e-01 -9.08854956e-04 -2.95378399e-01] [ 1.37953144e-02 4.70425597e-04 9.99904729e-01 -1.93831055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446296757000001 meters Centerline goodness [0,1] 0.8533316501504344 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99398162e-01 -3.17622923e-02 -1.39452369e-02 9.90711564e-01] [ 3.17540109e-02 9.99495382e-01 -8.14926835e-04 -2.95246686e-01] [ 1.39640839e-02 3.71619176e-04 9.99902428e-01 -1.93369092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476296757 meters Centerline goodness [0,1] 0.8562718136327321 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99397967e-01 -3.16309569e-02 -1.42543139e-02 9.91146592e-01] [ 3.16290786e-02 9.99499612e-01 -3.57243330e-04 -2.96524007e-01] [ 1.42584812e-02 -9.38225576e-05 9.99898338e-01 -1.93036981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506296757 meters Centerline goodness [0,1] 0.8562718136327321 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99397967e-01 -3.16309569e-02 -1.42543139e-02 9.91146592e-01] [ 3.16290786e-02 9.99499612e-01 -3.57243330e-04 -2.96524007e-01] [ 1.42584812e-02 -9.38225576e-05 9.99898338e-01 -1.93036981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536296757000001 meters Centerline goodness [0,1] 0.8552706432649966 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99395076e-01 -3.16516319e-02 -1.44102509e-02 9.91469032e-01] [ 3.16597684e-02 9.99498647e-01 3.36806425e-04 -2.99104901e-01] [ 1.43923658e-02 -7.92827889e-04 9.99896110e-01 -1.92792976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566296757000001 meters Centerline goodness [0,1] 0.856745948221427 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99393880e-01 -3.15914496e-02 -1.46236842e-02 9.91799044e-01] [ 3.16014642e-02 9.99500446e-01 4.54195935e-04 -2.99027195e-01] [ 1.46020302e-02 -9.16050471e-04 9.99892965e-01 -1.92627448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.596296757 meters Centerline goodness [0,1] 0.8588546922300706 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99388139e-01 -3.15830546e-02 -1.50286070e-02 9.92498527e-01] [ 3.15941825e-02 9.99500652e-01 5.03545460e-04 -2.98702357e-01] [ 1.50051990e-02 -9.78053914e-04 9.99886937e-01 -1.92368540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.626296757 meters Centerline goodness [0,1] 0.8584137800492144 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99389256e-01 -3.14724627e-02 -1.51854796e-02 9.93189477e-01] [ 3.14859605e-02 9.99503983e-01 6.50549796e-04 -2.98832552e-01] [ 1.51574730e-02 -1.12828189e-03 9.99884482e-01 -1.92881399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.656296757000001 meters Centerline goodness [0,1] 0.8611081883036259 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.30, Z:-0.19 [[ 9.99380755e-01 -3.16122287e-02 -1.54522688e-02 9.94702299e-01] [ 3.16229223e-02 9.99499770e-01 4.48136316e-04 -2.98116893e-01] [ 1.54303725e-02 -9.36504706e-04 9.99880506e-01 -1.94255313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.686296757 meters Centerline goodness [0,1] 0.8563668519454269 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.30, Z:-0.20 [[ 9.99348618e-01 -3.22909128e-02 -1.61132624e-02 9.98513950e-01] [ 3.22952882e-02 9.99478371e-01 1.13366577e-05 -2.98481866e-01] [ 1.61044912e-02 -5.31711728e-04 9.99870173e-01 -1.97281703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.716296757 meters Centerline goodness [0,1] 0.855378929463892 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.30, Z:-0.20 [[ 9.99334655e-01 -3.25236370e-02 -1.65063542e-02 1.00028679e+00] [ 3.25346927e-02 9.99470526e-01 4.01620691e-04 -3.01161556e-01] [ 1.64845523e-02 -9.38382635e-04 9.99863680e-01 -1.98414940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7462967570000005 meters Centerline goodness [0,1] 0.8589603167916421 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.30, Z:-0.20 [[ 0.9993353 -0.0323271 -0.01684988 1.00269466] [ 0.03234912 0.99947609 0.00103632 -0.3024107 ] [ 0.01680755 -0.00158071 0.99985749 -0.20052263] [ 0. 0. 0. 1. ]] SLAMing on 6.776296757000001 meters Centerline goodness [0,1] 0.8592411260709915 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.20 [[ 0.99939794 -0.03002352 -0.0173879 1.00514646] [ 0.03009594 0.99953934 0.003918 -0.3029189 ] [ 0.01726226 -0.00443895 0.99984114 -0.20229087] [ 0. 0. 0. 1. ]] SLAMing on 6.806296757 meters Centerline goodness [0,1] 0.8590810457791729 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.20 [[ 0.99939369 -0.02998715 -0.01769245 1.00613736] [ 0.03006294 0.99953987 0.00403299 -0.30281083] [ 0.01756337 -0.00456243 0.99983534 -0.20276984] [ 0. 0. 0. 1. ]] SLAMing on 6.836296757 meters Centerline goodness [0,1] 0.8627492042218127 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.31, Z:-0.20 [[ 0.99934733 -0.03108452 -0.01840267 1.00925431] [ 0.03114557 0.99951024 0.00303966 -0.30643286] [ 0.01829917 -0.00361083 0.99982604 -0.2043613 ] [ 0. 0. 0. 1. ]] SLAMing on 6.866296757000001 meters Centerline goodness [0,1] 0.8636039587352177 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.31, Z:-0.20 [[ 0.99935874 -0.03063954 -0.01852911 1.00956089] [ 0.03072162 0.99951932 0.00416126 -0.31000292] [ 0.01839271 -0.00472784 0.99981966 -0.20421022] [ 0. 0. 0. 1. ]] SLAMing on 6.896296757 meters Centerline goodness [0,1] 0.8610378373815604 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.31, Z:-0.20 [[ 0.99937139 -0.03023393 -0.01851317 1.00899442] [ 0.03033767 0.9995254 0.00534876 -0.31409756] [ 0.01834267 -0.00590704 0.99981431 -0.20309785] [ 0. 0. 0. 1. ]] SLAMing on 6.926296757 meters Centerline goodness [0,1] 0.8619191258674879 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.31, Z:-0.20 [[ 0.99952627 -0.02784121 -0.01311864 1.01633465] [ 0.02780093 0.99960822 -0.0032433 -0.31316834] [ 0.0132038 0.00287706 0.99990869 -0.20417571] [ 0. 0. 0. 1. ]] SLAMing on 6.9562967570000005 meters Centerline goodness [0,1] 0.863155013789764 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.31, Z:-0.21 [[ 0.99966713 -0.02558904 -0.00329003 1.02393709] [ 0.02556895 0.999655 -0.0060093 -0.31323211] [ 0.00344267 0.00592318 0.99997653 -0.20584958] [ 0. 0. 0. 1. ]] SLAMing on 6.986296757000001 meters Centerline goodness [0,1] 0.8646351750316322 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.32, Z:-0.20 [[ 0.99975612 -0.02179181 -0.00357931 1.0238657 ] [ 0.02178767 0.99976191 -0.00119129 -0.31681542] [ 0.00360441 0.00111301 0.99999288 -0.20472814] [ 0. 0. 0. 1. ]] SLAMing on 7.016296757 meters Centerline goodness [0,1] 0.8637053590251718 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.21 [[ 0.99981859 -0.01861336 -0.00404142 1.0252332 ] [ 0.01862483 0.99982256 0.00282053 -0.31904021] [ 0.0039882 -0.00289529 0.99998786 -0.20532084] [ 0. 0. 0. 1. ]] SLAMing on 7.046296757 meters Centerline goodness [0,1] 0.8630122562439456 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.21 [[ 0.99982464 -0.01818775 -0.00446138 1.02714383] [ 0.01820323 0.99982834 0.00345471 -0.32127906] [ 0.00439778 -0.00353531 0.99998408 -0.20650401] [ 0. 0. 0. 1. ]] SLAMing on 7.076296757000001 meters Centerline goodness [0,1] 0.8650686662734856 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.21 [[ 0.99982985 -0.017814 -0.00478849 1.02834785] [ 0.0178336 0.99983264 0.00408222 -0.3231678 ] [ 0.00471497 -0.00416692 0.9999802 -0.20718482] [ 0. 0. 0. 1. ]] SLAMing on 7.106296757000001 meters Centerline goodness [0,1] 0.8647771573069223 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.21 [[ 0.9998334 -0.01753643 -0.0050632 1.02926926] [ 0.01755999 0.99983501 0.0046467 -0.32531074] [ 0.00498088 -0.00473484 0.99997639 -0.2075779 ] [ 0. 0. 0. 1. ]] SLAMing on 7.136296757 meters Centerline goodness [0,1] 0.868448098663926 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.32, Z:-0.21 [[ 0.99989429 -0.01431459 0.00254794 1.03642383] [ 0.01432002 0.9998952 -0.00212619 -0.32353941] [-0.00251724 0.00216245 0.99999449 -0.20974283] [ 0. 0. 0. 1. ]] SLAMing on 7.1662967570000005 meters Centerline goodness [0,1] 0.8693149591412306 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:-0.21 [[ 0.99994277 -0.01041834 0.0024309 1.03590499] [ 0.01041207 0.99994247 0.00257923 -0.32546458] [-0.00245764 -0.00255377 0.99999372 -0.20853182] [ 0. 0. 0. 1. ]] SLAMing on 7.196296757000001 meters Centerline goodness [0,1] 0.8700453476654351 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:-0.21 [[ 0.99994966 -0.00977179 0.00227947 1.0357309 ] [ 0.00976425 0.9999469 0.00329531 -0.32623892] [-0.00231155 -0.00327289 0.99999197 -0.20776382] [ 0. 0. 0. 1. ]] SLAMing on 7.226296757 meters Centerline goodness [0,1] 0.8718735550044138 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:-0.21 [[ 0.99996996 -0.00750969 0.00191805 1.03516226] [ 0.00749947 0.99995793 0.00528104 -0.33040643] [-0.00195763 -0.00526649 0.99998422 -0.20566919] [ 0. 0. 0. 1. ]] SLAMing on 7.256296757 meters Centerline goodness [0,1] 0.8706154169292165 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:-0.21 [[ 0.99998525 -0.00524977 0.00139152 1.03683056] [ 0.00523954 0.99995996 0.00725455 -0.33409991] [-0.00142955 -0.00724716 0.99997272 -0.20613899] [ 0. 0. 0. 1. ]] SLAMing on 7.286296757000001 meters Centerline goodness [0,1] 0.8704073272692897 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:-0.21 [[ 0.99998719 -0.0048794 0.00134847 1.03721629] [ 0.00486919 0.99996022 0.00747354 -0.33404963] [-0.00138488 -0.00746688 0.99997116 -0.20653178] [ 0. 0. 0. 1. ]] SLAMing on 7.316296757000001 meters Centerline goodness [0,1] 0.8700342070470715 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.33, Z:-0.21 [[ 0.99999033 -0.00426197 0.00108063 1.03848541] [ 0.00425324 0.99995929 0.00795839 -0.33410036] [-0.0011145 -0.00795372 0.99996775 -0.20756643] [ 0. 0. 0. 1. ]] SLAMing on 7.346296757 meters Centerline goodness [0,1] 0.8678782028413741 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.34, Z:-0.21 [[ 9.99991957e-01 -3.92227056e-03 8.38100587e-04 1.03968164e+00] [ 3.91507141e-03 9.99956841e-01 8.42543312e-03 -3.35297254e-01] [-8.71111244e-04 -8.42208413e-03 9.99964154e-01 -2.08513569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.376296757 meters Centerline goodness [0,1] 0.8652989153283444 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.34, Z:-0.21 [[ 9.99995148e-01 -3.09424643e-03 3.59774267e-04 1.04290701e+00] [ 3.09068424e-03 9.99949977e-01 9.51264135e-03 -3.39875164e-01] [-3.89190727e-04 -9.51148324e-03 9.99954689e-01 -2.11107213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.406296757000001 meters Centerline goodness [0,1] 0.8627459223137717 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.34, Z:-0.21 [[ 9.99998200e-01 -1.89388822e-03 1.16374145e-04 1.04525987e+00] [ 1.89250299e-03 9.99938463e-01 1.09310775e-02 -3.43376857e-01] [-1.37069223e-04 -1.09308376e-02 9.99940247e-01 -2.13221227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.436296757 meters Centerline goodness [0,1] 0.8565813259343339 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.34, Z:-0.21 [[ 9.99998702e-01 -1.61071864e-03 -3.69077197e-05 1.04611574e+00] [ 1.61103249e-03 9.99935076e-01 1.12804144e-02 -3.44202204e-01] [ 1.87357497e-05 -1.12804593e-02 9.99936373e-01 -2.13923265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.466296757 meters Centerline goodness [0,1] 0.8642076502732241 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.21 [[ 9.99999010e-01 -1.40315883e-03 -1.08998229e-04 1.04670628e+00] [ 1.40432988e-03 9.99931598e-01 1.16115206e-02 -3.45073743e-01] [ 9.26979653e-05 -1.16116621e-02 9.99932578e-01 -2.14412164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4962967570000005 meters Centerline goodness [0,1] 0.8583720783455704 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.21 [[ 9.99999109e-01 -1.30644856e-03 -2.74127884e-04 1.04732940e+00] [ 1.30959065e-03 9.99929598e-01 1.17933877e-02 -3.45632055e-01] [ 2.58701131e-04 -1.17937362e-02 9.99930418e-01 -2.14744429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526296757000001 meters Centerline goodness [0,1] 0.8571518429991194 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.22 [[ 9.99999217e-01 -1.14520564e-03 -5.03964354e-04 1.04849227e+00] [ 1.15110232e-03 9.99929004e-01 1.18601389e-02 -3.45361914e-01] [ 4.90346277e-04 -1.18607097e-02 9.99929539e-01 -2.15593946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.556296757 meters Centerline goodness [0,1] 0.8602338565258612 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.21 [[ 9.99990913e-01 -4.26130976e-03 -1.22246593e-04 1.04686417e+00] [ 4.26220789e-03 9.99953494e-01 8.65119182e-03 -3.46334128e-01] [ 8.53754997e-05 -8.65163425e-03 9.99962570e-01 -2.14183051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586296757 meters Centerline goodness [0,1] 0.8628759022706707 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.22 [[ 9.99984932e-01 -5.45717812e-03 -5.95732264e-04 1.04893812e+00] [ 5.46155239e-03 9.99956158e-01 7.60616294e-03 -3.46783970e-01] [ 5.54197960e-04 -7.60930195e-03 9.99970895e-01 -2.15539988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.616296757000001 meters Centerline goodness [0,1] 0.8593417251776414 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.22 [[ 9.99981637e-01 -6.00725136e-03 -7.99107313e-04 1.04977840e+00] [ 6.01301418e-03 9.99954422e-01 7.41602301e-03 -3.47439132e-01] [ 7.54520977e-04 -7.42069187e-03 9.99972182e-01 -2.16086396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646296757000001 meters Centerline goodness [0,1] 0.8608730527293452 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.35, Z:-0.22 [[ 9.99977193e-01 -6.66971153e-03 -1.06269865e-03 1.05074260e+00] [ 6.67696645e-03 9.99953374e-01 6.97621634e-03 -3.47452948e-01] [ 1.01611975e-03 -6.98315283e-03 9.99975101e-01 -2.16637754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.676296757 meters Centerline goodness [0,1] 0.8625367111073549 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.34, Z:-0.22 [[ 0.99997161 -0.0074228 -0.00129542 1.05185738] [ 0.00743037 0.99995477 0.00593742 -0.34488697] [ 0.00125129 -0.00594687 0.99998153 -0.2174369 ] [ 0. 0. 0. 1. ]] SLAMing on 7.7062967570000005 meters Centerline goodness [0,1] 0.8611023089760652 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.34, Z:-0.22 [[ 0.99996936 -0.00768874 -0.00146838 1.05259654] [ 0.00769675 0.99995511 0.005527 -0.34377578] [ 0.00142582 -0.00553813 0.99998365 -0.21803982] [ 0. 0. 0. 1. ]] SLAMing on 7.736296757000001 meters Centerline goodness [0,1] 0.8610771629651481 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.34, Z:-0.22 [[ 0.99997113 -0.00732776 -0.00200939 1.05620535] [ 0.00733843 0.99995874 0.00535413 -0.34024644] [ 0.00197007 -0.00536872 0.99998365 -0.22128092] [ 0. 0. 0. 1. ]] SLAMing on 7.766296757 meters Centerline goodness [0,1] 0.8582400609356156 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.34, Z:-0.22 [[ 0.99997015 -0.00741705 -0.00216581 1.05680066] [ 0.00742747 0.99996068 0.00484569 -0.33798761] [ 0.00212979 -0.00486163 0.99998591 -0.22178687] [ 0. 0. 0. 1. ]] SLAMing on 7.796296757 meters Centerline goodness [0,1] 0.8583068783068784 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.34, Z:-0.22 [[ 0.99996935 -0.00743446 -0.00245333 1.05763758] [ 0.00744524 0.99996253 0.00441645 -0.33609113] [ 0.0024204 -0.00443458 0.99998724 -0.2222905 ] [ 0. 0. 0. 1. ]] SLAMing on 7.826296757000001 meters Centerline goodness [0,1] 0.8528813989922513 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.33, Z:-0.22 [[ 0.99996988 -0.00727456 -0.00270377 1.05947823] [ 0.0072858 0.99996475 0.00417311 -0.33482999] [ 0.00267331 -0.00419269 0.99998764 -0.22425235] [ 0. 0. 0. 1. ]] SLAMing on 7.856296757000001 meters Centerline goodness [0,1] 0.8562217242399899 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.33, Z:-0.23 [[ 0.99997135 -0.0067549 -0.00341554 1.06324094] [ 0.00677003 0.99996723 0.00443992 -0.33380393] [ 0.00338544 -0.00446292 0.99998431 -0.22746684] [ 0. 0. 0. 1. ]] SLAMing on 7.886296757 meters Centerline goodness [0,1] 0.8544088789483679 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.99998481 -0.0038286 -0.00396383 1.06638224] [ 0.00385542 0.99996959 0.00677889 -0.3301537 ] [ 0.00393775 -0.00679407 0.99996917 -0.23035269] [ 0. 0. 0. 1. ]] SLAMing on 7.9162967570000005 meters Centerline goodness [0,1] 0.8510476512335248 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.99998463 -0.00368172 -0.00414431 1.0671339 ] [ 0.00370981 0.99997007 0.00678941 -0.33028528] [ 0.00411919 -0.00680468 0.99996836 -0.23093071] [ 0. 0. 0. 1. ]] SLAMing on 7.946296757000001 meters Centerline goodness [0,1] 0.8528690430885026 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.999984 -0.00356966 -0.00438913 1.06799974] [ 0.00360093 0.99996805 0.00713629 -0.33208704] [ 0.00436352 -0.00715198 0.9999649 -0.23142443] [ 0. 0. 0. 1. ]] SLAMing on 7.976296757000001 meters Centerline goodness [0,1] 0.8485553534413469 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.99998451 -0.00303152 -0.00466694 1.06922214] [ 0.00306743 0.99996559 0.00770773 -0.33470142] [ 0.00464341 -0.00772192 0.9999594 -0.23215853] [ 0. 0. 0. 1. ]] SLAMing on 8.006296757000001 meters Centerline goodness [0,1] 0.8510764285412172 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.99998375 -0.00288984 -0.00491439 1.07013303] [ 0.00292675 0.99996744 0.00752032 -0.3333822 ] [ 0.0048925 -0.00753458 0.99995965 -0.23282815] [ 0. 0. 0. 1. ]] SLAMing on 8.036296757 meters Centerline goodness [0,1] 0.8509592986319936 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.99998414 -0.00245562 -0.00506821 1.07066948] [ 0.002493 0.99996964 0.00738218 -0.33124169] [ 0.00504993 -0.0073947 0.99995991 -0.23311841] [ 0. 0. 0. 1. ]] SLAMing on 8.066296757000002 meters Centerline goodness [0,1] 0.8513430561141333 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.23 [[ 0.99998206 -0.00255172 -0.00541942 1.07183415] [ 0.00259173 0.99996934 0.0073893 -0.33203534] [ 0.0054004 -0.00740322 0.99995801 -0.2337986 ] [ 0. 0. 0. 1. ]] SLAMing on 8.096296757000001 meters Centerline goodness [0,1] 0.850225106212086 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.33, Z:-0.24 [[ 0.99997124 -0.00486779 -0.00581638 1.07379068] [ 0.00489769 0.99997481 0.00513812 -0.33486932] [ 0.00579122 -0.00516646 0.99996988 -0.23517462] [ 0. 0. 0. 1. ]] SLAMing on 8.126296757000002 meters Centerline goodness [0,1] 0.8480394230362506 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.34, Z:-0.24 [[ 0.99997125 -0.00481953 -0.00585479 1.07397934] [ 0.00485217 0.9999727 0.0055724 -0.33690462] [ 0.00582777 -0.00560065 0.99996733 -0.23521311] [ 0. 0. 0. 1. ]] SLAMing on 8.156296757000002 meters Centerline goodness [0,1] 0.8496638051338437 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.34, Z:-0.23 [[ 0.99997096 -0.00476587 -0.0059461 1.07404757] [ 0.00480135 0.99997067 0.0059667 -0.33836791] [ 0.00591749 -0.00599508 0.99996452 -0.23496938] [ 0. 0. 0. 1. ]] SLAMing on 8.186296757000001 meters Centerline goodness [0,1] 0.8519403111261413 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.34, Z:-0.23 [[ 0.99997011 -0.00480092 -0.00606027 1.07412234] [ 0.00483894 0.99996861 0.00627462 -0.3392859 ] [ 0.00602995 -0.00630376 0.99996195 -0.23445687] [ 0. 0. 0. 1. ]] SLAMing on 8.216296757000002 meters Centerline goodness [0,1] 0.8513850181572502 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.34, Z:-0.23 [[ 0.99996896 -0.00480578 -0.00624446 1.07451282] [ 0.00484614 0.99996737 0.00646305 -0.33979415] [ 0.00621319 -0.00649312 0.99995962 -0.23444058] [ 0. 0. 0. 1. ]] SLAMing on 8.246296757000001 meters Centerline goodness [0,1] 0.8546810482851606 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.23 [[ 0.99996775 -0.00475557 -0.00647197 1.07510766] [ 0.00480132 0.99996347 0.00707153 -0.34194206] [ 0.0064381 -0.00710238 0.99995405 -0.23441968] [ 0. 0. 0. 1. ]] SLAMing on 8.276296757 meters Centerline goodness [0,1] 0.8543687273340643 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.23 [[ 0.99996612 -0.00475876 -0.00671681 1.07567302] [ 0.00480794 0.99996161 0.00732516 -0.34296138] [ 0.00668169 -0.00735721 0.99995061 -0.234499 ] [ 0. 0. 0. 1. ]] SLAMing on 8.306296757000002 meters Centerline goodness [0,1] 0.8547968885047537 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.24 [[ 0.99996313 -0.00497295 -0.007001 1.07666649] [ 0.00502413 0.99996065 0.00731172 -0.34380157] [ 0.00696437 -0.00734663 0.99994876 -0.23508871] [ 0. 0. 0. 1. ]] SLAMing on 8.336296757000001 meters Centerline goodness [0,1] 0.8560274433874906 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.24 [[ 0.9999489 -0.0068072 -0.00747405 1.07930693] [ 0.00685032 0.99995995 0.00575866 -0.34387781] [ 0.00743455 -0.00580956 0.99995549 -0.2371751 ] [ 0. 0. 0. 1. ]] SLAMing on 8.366296757 meters Centerline goodness [0,1] 0.8583784011279224 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.24 [[ 0.99994327 -0.00727978 -0.00777604 1.08043322] [ 0.00732293 0.99995786 0.00553624 -0.34415755] [ 0.00773541 -0.00559287 0.99995444 -0.23784886] [ 0. 0. 0. 1. ]] SLAMing on 8.396296757000002 meters Centerline goodness [0,1] 0.8583784011279224 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.24 [[ 0.99994327 -0.00727978 -0.00777604 1.08043322] [ 0.00732293 0.99995786 0.00553624 -0.34415755] [ 0.00773541 -0.00559287 0.99995444 -0.23784886] [ 0. 0. 0. 1. ]] SLAMing on 8.426296757000001 meters Centerline goodness [0,1] 0.859193827212548 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.34, Z:-0.24 [[ 0.9999087 -0.01061612 -0.00836045 1.08327149] [ 0.01063824 0.99994002 0.00260519 -0.344999 ] [ 0.00833229 -0.00269389 0.99996166 -0.2398767 ] [ 0. 0. 0. 1. ]] SLAMing on 8.456296757000002 meters Centerline goodness [0,1] 0.859364805421674 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.35, Z:-0.24 [[ 0.99990112 -0.01105517 -0.00869122 1.08434986] [ 0.01107881 0.99993504 0.00267733 -0.34594947] [ 0.00866106 -0.00277336 0.99995865 -0.24046347] [ 0. 0. 0. 1. ]] SLAMing on 8.486296757000002 meters Centerline goodness [0,1] 0.8561459559441735 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.35, Z:-0.24 [[ 0.99988994 -0.01167906 -0.00914948 1.08578289] [ 0.01170294 0.99992824 0.00256091 -0.34647191] [ 0.00911892 -0.00266771 0.99995486 -0.24115621] [ 0. 0. 0. 1. ]] SLAMing on 8.516296757000001 meters Centerline goodness [0,1] 0.8554477941640545 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.34, Z:-0.24 [[ 0.99987498 -0.01276575 -0.00933047 1.08656311] [ 0.01278356 0.99991657 0.00185097 -0.34476554] [ 0.00930607 -0.00197001 0.99995476 -0.24165614] [ 0. 0. 0. 1. ]] SLAMing on 8.546296757000002 meters Centerline goodness [0,1] 0.8555906506632975 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.34, Z:-0.24 [[ 0.99986864 -0.01307803 -0.00957384 1.08735032] [ 0.01309298 0.99991316 0.00150071 -0.34352052] [ 0.00955338 -0.00162586 0.99995304 -0.24212264] [ 0. 0. 0. 1. ]] SLAMing on 8.576296757000001 meters Centerline goodness [0,1] 0.857979840403192 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.34, Z:-0.24 [[ 9.99851491e-01 -1.39811501e-02 -1.00758943e-02 1.08973305e+00] [ 1.39877609e-02 9.99901995e-01 5.85920025e-04 -3.42264477e-01] [ 1.00667149e-02 -7.26772210e-04 9.99949065e-01 -2.43940685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.606296757 meters Centerline goodness [0,1] 0.8569594139440889 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.34, Z:-0.24 [[ 9.99850119e-01 -1.38675517e-02 -1.03648355e-02 1.09053299e+00] [ 1.38757121e-02 9.99903471e-01 7.15820264e-04 -3.42715635e-01] [ 1.03539083e-02 -8.59532449e-04 9.99946027e-01 -2.44290656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.636296757000002 meters Centerline goodness [0,1] 0.8564211589870967 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.34, Z:-0.24 [[ 9.99849730e-01 -1.36991427e-02 -1.06231389e-02 1.09128268e+00] [ 1.37084791e-02 9.99905709e-01 8.06555529e-04 -3.42809939e-01] [ 1.06110881e-02 -9.52061405e-04 9.99943248e-01 -2.44674065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666296757000001 meters Centerline goodness [0,1] 0.862859778211014 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 0.99993348 -0.0078285 -0.00847072 1.1011489 ] [ 0.00778666 0.99995737 -0.00496168 -0.34106345] [ 0.0085092 0.00489539 0.99995181 -0.2458883 ] [ 0. 0. 0. 1. ]] SLAMing on 8.696296757 meters Centerline goodness [0,1] 0.8594385979711918 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99955159e-01 -3.95472265e-03 -8.60466406e-03 1.10163804e+00] [ 3.94673092e-03 9.99991765e-01 -9.45549548e-04 -3.40974059e-01] [ 8.60833259e-03 9.11546855e-04 9.99962532e-01 -2.46269288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726296757000002 meters Centerline goodness [0,1] 0.8601889737208419 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99959352e-01 -3.88952686e-04 -9.00791797e-03 1.10280008e+00] [ 4.12980132e-04 9.99996362e-01 2.66566299e-03 -3.40222820e-01] [ 9.00684838e-03 -2.66927472e-03 9.99955875e-01 -2.46775670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.756296757000001 meters Centerline goodness [0,1] 0.8613400214976711 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99959084e-01 1.34145717e-04 -9.04499921e-03 1.10258431e+00] [-1.14963511e-04 9.99997744e-01 2.12123917e-03 -3.36617457e-01] [ 9.04526335e-03 -2.12011253e-03 9.99956843e-01 -2.46083271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786296757000002 meters Centerline goodness [0,1] 0.862525758021784 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99956478e-01 1.79626705e-04 -9.32793502e-03 1.10314225e+00] [-1.59533266e-04 9.99997666e-01 2.15481381e-03 -3.36918329e-01] [ 9.32830030e-03 -2.15323191e-03 9.99954172e-01 -2.46037993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.816296757000002 meters Centerline goodness [0,1] 0.8637687275796582 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99955141e-01 -9.07791579e-05 -9.47137117e-03 1.10298609e+00] [ 1.09870472e-04 9.99997963e-01 2.01518551e-03 -3.37704541e-01] [ 9.47116895e-03 -2.01613573e-03 9.99953115e-01 -2.45338752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846296757000001 meters Centerline goodness [0,1] 0.8636650138667115 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99951439e-01 -1.84463718e-04 -9.85317797e-03 1.10388134e+00] [ 2.02469196e-04 9.99998312e-01 1.82641142e-03 -3.37499710e-01] [ 9.85282443e-03 -1.82831770e-03 9.99949788e-01 -2.45551745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.876296757000002 meters Centerline goodness [0,1] 0.8632646178491632 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.25 [[ 9.99948074e-01 -8.61601132e-05 -1.01902936e-02 1.10441666e+00] [ 1.05830952e-04 9.99998132e-01 1.92982705e-03 -3.37991566e-01] [ 1.01901083e-02 -1.93080529e-03 9.99946215e-01 -2.45424847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906296757000002 meters Centerline goodness [0,1] 0.8640772604588394 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.25 [[ 9.99944553e-01 3.12998123e-04 -1.05258482e-02 1.10602088e+00] [-2.96013639e-04 9.99998652e-01 1.61511687e-03 -3.36125551e-01] [ 1.05263395e-02 -1.61191152e-03 9.99943297e-01 -2.46864978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.936296757000001 meters Centerline goodness [0,1] 0.8630131207020209 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.25 [[ 9.99942293e-01 3.99311222e-04 -1.07355276e-02 1.10702979e+00] [-3.87276859e-04 9.99999294e-01 1.12304026e-03 -3.33917860e-01] [ 1.07359685e-02 -1.11881783e-03 9.99941742e-01 -2.47799557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966296757000002 meters Centerline goodness [0,1] 0.8630976274480806 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.25 [[ 9.99939782e-01 1.22022272e-03 -1.09061246e-02 1.10771603e+00] [-1.20942373e-03 9.99998772e-01 9.96716491e-04 -3.30487809e-01] [ 1.09073275e-02 -9.83466345e-04 9.99940030e-01 -2.48239000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.996296757000001 meters Centerline goodness [0,1] 0.8644300403268375 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.25 [[ 9.99935829e-01 1.30895649e-03 -1.12527641e-02 1.10861800e+00] [-1.30158191e-03 9.99998933e-01 6.62655685e-04 -3.29415386e-01] [ 1.12536195e-02 -6.47966768e-04 9.99936466e-01 -2.48536299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.026296757 meters Centerline goodness [0,1] 0.8641290647844719 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.25 [[ 9.99931042e-01 1.57599655e-03 -1.16373513e-02 1.10960697e+00] [-1.56988844e-03 9.99998625e-01 5.33987054e-04 -3.28632450e-01] [ 1.16381768e-02 -5.15680888e-04 9.99932141e-01 -2.48881675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.056296757000002 meters Centerline goodness [0,1] 0.8624878727801915 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.33, Z:-0.25 [[ 9.99929748e-01 1.84118954e-03 -1.17093635e-02 1.11011834e+00] [-1.84124709e-03 9.99998305e-01 5.86529341e-06 -3.26235781e-01] [ 1.17093545e-02 1.56949502e-05 9.99931443e-01 -2.49423325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086296757000001 meters Centerline goodness [0,1] 0.8629599966277453 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.32, Z:-0.25 [[ 9.99929019e-01 1.55715043e-03 -1.18123859e-02 1.11081416e+00] [-1.56645517e-03 9.99998470e-01 -7.78499321e-04 -3.23740678e-01] [ 1.18111556e-02 7.96947636e-04 9.99929928e-01 -2.50113870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.116296757 meters Centerline goodness [0,1] 0.8632527324133856 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.32, Z:-0.25 [[ 0.99992571 0.00167543 -0.01207376 1.11248387] [-0.00169642 0.99999707 -0.00172832 -0.3189464 ] [ 0.01207083 0.00174867 0.99992562 -0.25160385] [ 0. 0. 0. 1. ]] SLAMing on 9.146296757000002 meters Centerline goodness [0,1] 0.8621468211263742 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.32, Z:-0.25 [[ 0.99992359 0.00153258 -0.01226646 1.11340458] [-0.00156168 0.99999599 -0.00236294 -0.3169502 ] [ 0.01226279 0.00238192 0.99992197 -0.25238863] [ 0. 0. 0. 1. ]] SLAMing on 9.176296757000001 meters Centerline goodness [0,1] 0.8614859166807218 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.32, Z:-0.25 [[ 0.99992018 0.0014831 -0.01254698 1.11458084] [-0.00151778 0.99999505 -0.00275526 -0.31563479] [ 0.01254283 0.00277408 0.99991749 -0.2532626 ] [ 0. 0. 0. 1. ]] SLAMing on 9.206296757000002 meters Centerline goodness [0,1] 0.862480244442103 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.31, Z:-0.26 [[ 0.99991283 0.00162733 -0.01310262 1.11832405] [-0.00166509 0.99999449 -0.00287104 -0.31297674] [ 0.01309788 0.00289261 0.99991004 -0.25663498] [ 0. 0. 0. 1. ]] SLAMing on 9.236296757000002 meters Centerline goodness [0,1] 0.8637120047184715 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.31, Z:-0.26 [[ 0.99990938 0.0012632 -0.01340278 1.11978648] [-0.00130953 0.9999932 -0.00344849 -0.31075421] [ 0.01339833 0.00346573 0.99990423 -0.25786765] [ 0. 0. 0. 1. ]] SLAMing on 9.266296757000001 meters Centerline goodness [0,1] 0.8632498372771747 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.31, Z:-0.26 [[ 0.9998972 0.00138332 -0.01427185 1.12455464] [-0.00142983 0.9999937 -0.00324892 -0.30837612] [ 0.01426726 0.00326899 0.99989287 -0.26159014] [ 0. 0. 0. 1. ]] SLAMing on 9.296296757000002 meters Centerline goodness [0,1] 0.8619804272335052 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.31, Z:-0.26 [[ 0.99989296 0.0013539 -0.01456806 1.12534194] [-0.00139839 0.99999439 -0.00304406 -0.30927358] [ 0.01456386 0.00306411 0.99988925 -0.26184319] [ 0. 0. 0. 1. ]] SLAMing on 9.326296757000001 meters Centerline goodness [0,1] 0.8626568839741837 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.26 [[ 9.99965796e-01 5.20309292e-04 -8.25448141e-03 1.13956803e+00] [-5.64755760e-04 9.99985351e-01 -5.38310887e-03 -3.11384586e-01] [ 8.25155962e-03 5.38758651e-03 9.99951442e-01 -2.61097980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.356296757 meters Centerline goodness [0,1] 0.862205466540999 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.26 [[ 9.99962843e-01 8.01933545e-04 -8.58312442e-03 1.13987102e+00] [-8.43894967e-04 9.99987706e-01 -4.88632370e-03 -3.12656023e-01] [ 8.57910039e-03 4.89338539e-03 9.99951226e-01 -2.60535181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386296757000002 meters Centerline goodness [0,1] 0.8645256087321579 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.26 [[ 9.99960209e-01 1.03837861e-03 -8.86017230e-03 1.14001836e+00] [-1.07771126e-03 9.99989582e-01 -4.43564645e-03 -3.13834683e-01] [ 8.85547411e-03 4.44501865e-03 9.99950910e-01 -2.59943608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.416296757000001 meters Centerline goodness [0,1] 0.8665004817964724 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.26 [[ 0.99995537 0.00124985 -0.0093646 1.14134699] [-0.00128855 0.99999065 -0.0041273 -0.31434705] [ 0.00935935 0.00413918 0.99994763 -0.26025577] [ 0. 0. 0. 1. ]] SLAMing on 9.446296757 meters Centerline goodness [0,1] 0.8676177488723382 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.31, Z:-0.26 [[ 0.99995268 0.00131161 -0.0096398 1.14207441] [-0.00135204 0.99999031 -0.00418871 -0.31367016] [ 0.00963421 0.00420155 0.99994476 -0.26046409] [ 0. 0. 0. 1. ]] SLAMing on 9.476296757000002 meters Centerline goodness [0,1] 0.8699933244325768 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.99994044 0.00206681 -0.01071654 1.14598861] [-0.00210344 0.99999198 -0.00340856 -0.31245406] [ 0.01070941 0.0034309 0.99993677 -0.26250578] [ 0. 0. 0. 1. ]] SLAMing on 9.506296757000001 meters Centerline goodness [0,1] 0.8712631182840658 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.99993721 0.00197939 -0.01102951 1.14673252] [-0.00202015 0.99999117 -0.00368561 -0.3113768 ] [ 0.01102212 0.00370766 0.99993238 -0.26265385] [ 0. 0. 0. 1. ]] SLAMing on 9.536296757000002 meters Centerline goodness [0,1] 0.871588516147864 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.9999323 0.00179477 -0.01149641 1.14809991] [-0.00183804 0.99999126 -0.00375441 -0.31163311] [ 0.01148958 0.00377529 0.99992687 -0.26319166] [ 0. 0. 0. 1. ]] SLAMing on 9.566296757000002 meters Centerline goodness [0,1] 0.873600570254518 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.999927 -0.0022534 -0.01187084 1.14918896] [ 0.00216007 0.99996671 -0.00786874 -0.31189215] [ 0.01188818 0.00784252 0.99989858 -0.26356846] [ 0. 0. 0. 1. ]] SLAMing on 9.596296757000001 meters Centerline goodness [0,1] 0.8741001909798737 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.99992236 -0.00261883 -0.01218276 1.15050447] [ 0.00251994 0.99996381 -0.00812613 -0.31164072] [ 0.0122036 0.0080948 0.99989277 -0.26448475] [ 0. 0. 0. 1. ]] SLAMing on 9.626296757000002 meters Centerline goodness [0,1] 0.8755974842767296 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.27 [[ 0.99991246 -0.00405237 -0.01259554 1.15214504] [ 0.00393136 0.99994602 -0.00961775 -0.30642017] [ 0.01263384 0.00956739 0.99987442 -0.26524656] [ 0. 0. 0. 1. ]] SLAMing on 9.656296757000002 meters Centerline goodness [0,1] 0.8720983923099526 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.30, Z:-0.27 [[ 0.99990658 -0.00448913 -0.01291063 1.15282066] [ 0.00435818 0.99993896 -0.01015291 -0.30481628] [ 0.01295542 0.01009569 0.99986511 -0.26522021] [ 0. 0. 0. 1. ]] SLAMing on 9.686296757000001 meters Centerline goodness [0,1] 0.8726079939636562 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.99987189 -0.0087502 -0.01340315 1.15382866] [ 0.0085594 0.99986215 -0.01422726 -0.30600193] [ 0.01352579 0.01411072 0.99980895 -0.26490876] [ 0. 0. 0. 1. ]] SLAMing on 9.716296757000002 meters Centerline goodness [0,1] 0.8723265683432078 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.26 [[ 0.99986746 -0.00897976 -0.01358003 1.15413329] [ 0.0087944 0.99986819 -0.01364785 -0.30929548] [ 0.01370079 0.01352661 0.99981464 -0.2647297 ] [ 0. 0. 0. 1. ]] SLAMing on 9.746296757000001 meters Centerline goodness [0,1] 0.876965598107163 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.31, Z:-0.27 [[ 0.99990045 -0.01089663 -0.00896405 1.16252445] [ 0.01085513 0.9999302 -0.00466561 -0.31226762] [ 0.00901426 0.00456784 0.99994894 -0.26611525] [ 0. 0. 0. 1. ]] SLAMing on 9.776296757 meters Centerline goodness [0,1] 0.8768112898483766 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.31, Z:-0.27 [[ 0.99992701 -0.00789057 -0.00914941 1.16292472] [ 0.0078788 0.99996809 -0.00132249 -0.31063059] [ 0.00915955 0.0012503 0.99995727 -0.26594235] [ 0. 0. 0. 1. ]] SLAMing on 9.806296757000002 meters Centerline goodness [0,1] 0.8777127759954708 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.31, Z:-0.27 [[ 0.99994281 -0.0048664 -0.00952342 1.16465557] [ 0.00488487 0.99998623 0.00191627 -0.30971135] [ 0.00951397 -0.00196268 0.99995282 -0.267194 ] [ 0. 0. 0. 1. ]] SLAMing on 9.836296757000001 meters Centerline goodness [0,1] 0.8771487412264112 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.27 [[ 9.99952434e-01 -1.01125846e-03 -9.70083787e-03 1.16534508e+00] [ 1.06487003e-03 9.99984182e-01 5.52291592e-03 -3.07812461e-01] [ 9.69509932e-03 -5.53298335e-03 9.99937694e-01 -2.67531460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866296757000002 meters Centerline goodness [0,1] 0.878691341982269 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.27 [[ 9.99949436e-01 -7.95858790e-04 -1.00245807e-02 1.16641755e+00] [ 8.48952427e-04 9.99985631e-01 5.29320363e-03 -3.06805339e-01] [ 1.00202240e-02 -5.30144637e-03 9.99935743e-01 -2.68111640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.896296757000002 meters Centerline goodness [0,1] 0.8756068343736209 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.27 [[ 9.99948173e-01 -3.12364973e-04 -1.01760917e-02 1.16698287e+00] [ 3.66413337e-04 9.99985835e-01 5.30987736e-03 -3.06318906e-01] [ 1.01742889e-02 -5.31333082e-03 9.99934124e-01 -2.68457892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926296757000001 meters Centerline goodness [0,1] 0.8748346178885692 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.31, Z:-0.27 [[ 0.99993682 0.00441633 -0.01033707 1.16786584] [-0.00432078 0.9999479 0.00924767 -0.30600455] [ 0.01037738 -0.00920242 0.99990381 -0.26903742] [ 0. 0. 0. 1. ]] SLAMing on 9.956296757000002 meters Centerline goodness [0,1] 0.8730592264218333 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.30, Z:-0.27 [[ 0.9999343 0.00489456 -0.01036514 1.16814466] [-0.00480546 0.99995144 0.00860408 -0.30233792] [ 0.01040675 -0.00855371 0.99990926 -0.26935693] [ 0. 0. 0. 1. ]] SLAMing on 9.986296757000002 meters Centerline goodness [0,1] 0.8710001885962155 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.30, Z:-0.27 [[ 0.99990665 0.00859401 -0.01062278 1.17008773] [-0.00847658 0.99990301 0.01105083 -0.29559836] [ 0.01071672 -0.01095975 0.99988251 -0.27111546] [ 0. 0. 0. 1. ]] SLAMing on 10.016296757000001 meters Centerline goodness [0,1] 0.866908816057444 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:-0.27 [[ 0.99990747 0.0081095 -0.01092204 1.17186782] [-0.0080069 0.99992372 0.00940482 -0.29023345] [ 0.01099748 -0.0093165 0.99989612 -0.27283554] [ 0. 0. 0. 1. ]] SLAMing on 10.046296757000002 meters Centerline goodness [0,1] 0.8626984961615312 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.28, Z:-0.28 [[ 0.99990285 0.00785626 -0.01151413 1.17667777] [-0.00776163 0.99993593 0.00824028 -0.2844492 ] [ 0.01157813 -0.00815011 0.99989976 -0.27748566] [ 0. 0. 0. 1. ]] SLAMing on 10.076296757000001 meters Centerline goodness [0,1] 0.8631424989552863 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.28, Z:-0.28 [[ 0.99996209 0.00657614 -0.00570806 1.18978144] [-0.00658927 0.99997568 -0.00228323 -0.27979554] [ 0.0056929 0.00232076 0.9999811 -0.28355646] [ 0. 0. 0. 1. ]] SLAMing on 10.106296757 meters Centerline goodness [0,1] 0.866022070415134 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.28, Z:-0.28 [[ 0.99996814 0.00537817 -0.00589893 1.19087284] [-0.00539691 0.99998043 -0.0031657 -0.27977809] [ 0.00588179 0.00319744 0.99997759 -0.28450272] [ 0. 0. 0. 1. ]] SLAMing on 10.136296757000002 meters Centerline goodness [0,1] 0.8719747235387045 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.28, Z:-0.28 [[ 9.99982194e-01 2.81206790e-04 -5.96085127e-03 1.19046858e+00] [-3.31867178e-04 9.99963823e-01 -8.49956668e-03 -2.76256496e-01] [ 5.95824549e-03 8.50139355e-03 9.99946111e-01 -2.83548313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166296757000001 meters Centerline goodness [0,1] 0.8731631211654824 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.27, Z:-0.28 [[ 9.99981038e-01 -5.51041218e-04 -6.13356309e-03 1.19067033e+00] [ 4.94304229e-04 9.99957115e-01 -9.24792488e-03 -2.74272454e-01] [ 6.13839604e-03 9.24471767e-03 9.99938426e-01 -2.83259215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196296757 meters Centerline goodness [0,1] 0.8717824493406917 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.27, Z:-0.29 [[ 0.99997419 -0.00207881 -0.00687777 1.19447743] [ 0.00200433 0.99993947 -0.0108185 -0.2693251 ] [ 0.00689985 0.01080443 0.99991782 -0.28604774] [ 0. 0. 0. 1. ]] SLAMing on 10.226296757000002 meters Centerline goodness [0,1] 0.8685745688197497 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.29 [[ 0.99997127 -0.00255154 -0.00713737 1.19569497] [ 0.00247087 0.99993323 -0.01128839 -0.26844697] [ 0.0071657 0.01127043 0.99991081 -0.28704476] [ 0. 0. 0. 1. ]] SLAMing on 10.256296757000001 meters Centerline goodness [0,1] 0.8667512422031927 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.29 [[ 0.99996816 -0.00305969 -0.00737026 1.19637883] [ 0.00297417 0.99992844 -0.01158741 -0.26856905] [ 0.00740519 0.01156512 0.9999057 -0.28730791] [ 0. 0. 0. 1. ]] SLAMing on 10.286296757000002 meters Centerline goodness [0,1] 0.8685192603681292 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.29 [[ 0.99994665 -0.00991486 -0.00289845 1.2023538 ] [ 0.00989328 0.99992392 -0.00736786 -0.27203821] [ 0.00297128 0.0073388 0.99996866 -0.28604659] [ 0. 0. 0. 1. ]] SLAMing on 10.316296757000002 meters Centerline goodness [0,1] 0.8685192603681292 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.29 [[ 0.99994665 -0.00991486 -0.00289845 1.2023538 ] [ 0.00989328 0.99992392 -0.00736786 -0.27203821] [ 0.00297128 0.0073388 0.99996866 -0.28604659] [ 0. 0. 0. 1. ]] SLAMing on 10.346296757000001 meters Centerline goodness [0,1] 0.8690058726604419 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.29 [[ 0.99989575 -0.01409864 -0.00311812 1.20327808] [ 0.01406256 0.9998372 -0.01130577 -0.27296017] [ 0.00327701 0.01126074 0.99993123 -0.2864038 ] [ 0. 0. 0. 1. ]] SLAMing on 10.376296757000002 meters Centerline goodness [0,1] 0.8687270113727645 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.27, Z:-0.29 [[ 0.99988977 -0.01445005 -0.00341347 1.20454294] [ 0.01440917 0.99982759 -0.01171168 -0.27128779] [ 0.00358211 0.0116612 0.99992559 -0.28730677] [ 0. 0. 0. 1. ]] SLAMing on 10.406296757000002 meters Centerline goodness [0,1] 0.8688147052609339 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:-0.29 [[ 0.99992773 -0.01135105 -0.00395998 1.20599745] [ 0.0113197 0.99990511 -0.007851 -0.27122411] [ 0.00404872 0.00780561 0.99996134 -0.28795294] [ 0. 0. 0. 1. ]] SLAMing on 10.436296757000001 meters Centerline goodness [0,1] 0.8646209386281588 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:-0.29 [[ 0.99991651 -0.01206974 -0.00461395 1.20793071] [ 0.01203394 0.99989787 -0.00770956 -0.27162054] [ 0.00470653 0.00765339 0.99995964 -0.28863072] [ 0. 0. 0. 1. ]] SLAMing on 10.466296757000002 meters Centerline goodness [0,1] 0.8624639438150579 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.27, Z:-0.29 [[ 0.9998632 -0.01577749 -0.00496497 1.20899047] [ 0.01572177 0.99981514 -0.01106881 -0.27378146] [ 0.00513869 0.01098924 0.99992641 -0.28888674] [ 0. 0. 0. 1. ]] SLAMing on 10.496296757000001 meters Centerline goodness [0,1] 0.8645833333333334 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:-0.29 [[ 0.9997854 -0.02003861 -0.0052552 1.21003423] [ 0.01996302 0.99970184 -0.01406073 -0.27942618] [ 0.00553539 0.0139528 0.99988733 -0.28908427] [ 0. 0. 0. 1. ]] SLAMing on 10.526296757 meters Centerline goodness [0,1] 0.856182654540108 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.28, Z:-0.29 [[ 0.99978074 -0.02018024 -0.0055884 1.21111295] [ 0.02010428 0.99970901 -0.01333104 -0.28225528] [ 0.0058558 0.01321577 0.99989552 -0.28954772] [ 0. 0. 0. 1. ]] SLAMing on 10.556296757000002 meters Centerline goodness [0,1] 0.8541020698902204 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.29, Z:-0.29 [[ 0.99977856 -0.02017851 -0.00597092 1.21212956] [ 0.02010313 0.99972068 -0.01242713 -0.28540125] [ 0.00622001 0.01230435 0.99990495 -0.28981487] [ 0. 0. 0. 1. ]] SLAMing on 10.586296757000001 meters Centerline goodness [0,1] 0.8627156630581867 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.29, Z:-0.29 [[ 0.99979105 -0.01948255 -0.00618691 1.2125795 ] [ 0.01941491 0.99975306 -0.01081126 -0.29213683] [ 0.00639602 0.01068888 0.99992242 -0.28958074] [ 0. 0. 0. 1. ]] SLAMing on 10.616296757000002 meters Centerline goodness [0,1] 0.8683310822218471 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.30, Z:-0.29 [[ 0.99989679 -0.01297515 -0.00616948 1.21124231] [ 0.01295046 0.99990803 -0.00402631 -0.29758832] [ 0.00622116 0.003946 0.99997286 -0.28759273] [ 0. 0. 0. 1. ]] SLAMing on 10.646296757000002 meters Centerline goodness [0,1] 0.8716485182922976 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.30, Z:-0.29 [[ 9.99947144e-01 -8.13521919e-03 -6.28710571e-03 1.21098554e+00] [ 8.13872360e-03 9.99966739e-01 5.32011384e-04 -2.96849046e-01] [ 6.28256856e-03 -5.83152280e-04 9.99980094e-01 -2.86886711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.676296757000001 meters Centerline goodness [0,1] 0.8717658405669476 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.29, Z:-0.29 [[ 9.99998098e-01 7.43319780e-04 -1.80318211e-03 1.21783092e+00] [-7.47122210e-04 9.99997497e-01 -2.10897701e-03 -2.94471398e-01] [ 1.80160995e-03 2.11032019e-03 9.99996150e-01 -2.87058958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.706296757000002 meters Centerline goodness [0,1] 0.873433373852538 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.28 [[ 0.9999532 0.00947056 -0.00197665 1.21640499] [-0.00945785 0.99993516 0.00634255 -0.29748931] [ 0.00203659 -0.00632356 0.99997793 -0.28435947] [ 0. 0. 0. 1. ]] SLAMing on 10.736296757000002 meters Centerline goodness [0,1] 0.8744666092111071 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.28 [[ 0.99993998 0.01074234 -0.00215429 1.21648644] [-0.01072645 0.99991612 0.00725924 -0.29930555] [ 0.00223209 -0.0072357 0.99997133 -0.28389715] [ 0. 0. 0. 1. ]] SLAMing on 10.766296757000001 meters Centerline goodness [0,1] 0.8754935730488113 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.28 [[ 0.99985888 0.01665611 -0.00218978 1.21661347] [-0.0166269 0.99978056 0.01274284 -0.30351546] [ 0.00240154 -0.01270463 0.99991641 -0.28332609] [ 0. 0. 0. 1. ]] SLAMing on 10.796296757000002 meters Centerline goodness [0,1] 0.8671691299966409 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.28 [[ 0.99983789 0.01784924 -0.00236685 1.21742293] [-0.01781702 0.99975674 0.01300071 -0.30229682] [ 0.00259833 -0.01295643 0.99991269 -0.28394355] [ 0. 0. 0. 1. ]] SLAMing on 10.826296757000001 meters Centerline goodness [0,1] 0.8708983885781081 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.28 [[ 0.99981639 0.01898386 -0.00260792 1.21861467] [-0.01894776 0.9997329 0.01323294 -0.30117861] [ 0.00285844 -0.01318109 0.99990904 -0.28492078] [ 0. 0. 0. 1. ]] SLAMing on 10.856296757 meters Centerline goodness [0,1] 0.8705445232797346 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.29 [[ 0.99980467 0.01957785 -0.00270619 1.21929822] [-0.01954067 0.99972269 0.0131417 -0.29995725] [ 0.00296273 -0.01308626 0.99990998 -0.28560711] [ 0. 0. 0. 1. ]] SLAMing on 10.886296757000002 meters Centerline goodness [0,1] 0.860398740818468 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.29 [[ 0.99977895 0.02081873 -0.00293878 1.22061656] [-0.02077715 0.99969254 0.01353311 -0.29843332] [ 0.00321962 -0.01346906 0.9999041 -0.28662732] [ 0. 0. 0. 1. ]] SLAMing on 10.916296757000001 meters Centerline goodness [0,1] 0.8644235214997268 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.30, Z:-0.29 [[ 0.9997794 0.02073555 -0.00334468 1.2220868 ] [-0.02068965 0.99969857 0.01321773 -0.29757051] [ 0.00361775 -0.01314561 0.99990705 -0.28757466] [ 0. 0. 0. 1. ]] SLAMing on 10.946296757000002 meters Centerline goodness [0,1] 0.862890362659503 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.30, Z:-0.29 [[ 0.99979569 0.01985206 -0.00380378 1.22514293] [-0.01980462 0.9997303 0.0121283 -0.29689863] [ 0.00404353 -0.01205049 0.99991921 -0.29024703] [ 0. 0. 0. 1. ]] SLAMing on 10.976296757000002 meters Centerline goodness [0,1] 0.8633844351954489 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.30, Z:-0.29 [[ 0.99979898 0.01961378 -0.00415973 1.22648731] [-0.01956326 0.99973832 0.01185614 -0.29665988] [ 0.00439118 -0.01177237 0.99992106 -0.29106744] [ 0. 0. 0. 1. ]] SLAMing on 11.006296757000001 meters Centerline goodness [0,1] 0.8618167253409785 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.29, Z:-0.29 [[ 0.99979561 0.01975496 -0.00429778 1.22740232] [-0.01970563 0.99974272 0.01123314 -0.29367725] [ 0.00451858 -0.01114615 0.99992767 -0.291817 ] [ 0. 0. 0. 1. ]] SLAMing on 11.036296757000002 meters Centerline goodness [0,1] 0.860343994791776 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.29, Z:-0.29 [[ 0.99979519 0.01973054 -0.00450425 1.22819517] [-0.01968167 0.99974958 0.01064894 -0.29135164] [ 0.00471323 -0.0105581 0.99993315 -0.29231216] [ 0. 0. 0. 1. ]] SLAMing on 11.066296757000002 meters Centerline goodness [0,1] 0.8591005067567568 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.29, Z:-0.29 [[ 0.99980046 0.01951045 -0.00428729 1.22735797] [-0.01946703 0.99976103 0.00994566 -0.28869853] [ 0.00448031 -0.00986022 0.99994135 -0.29140164] [ 0. 0. 0. 1. ]] SLAMing on 11.096296757000001 meters Centerline goodness [0,1] 0.8631858631015141 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.29, Z:-0.29 [[ 0.99985965 0.01612849 -0.004534 1.22752934] [-0.01610258 0.99985413 0.00569362 -0.28564007] [ 0.00462517 -0.00561981 0.99997351 -0.29108706] [ 0. 0. 0. 1. ]] SLAMing on 11.126296757000002 meters Centerline goodness [0,1] 0.8632004889460263 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.28, Z:-0.29 [[ 9.99912709e-01 1.23204171e-02 -4.77305271e-03 1.22783001e+00] [-1.23157223e-02 9.99923647e-01 1.01174996e-03 -2.82691511e-01] [ 4.78515345e-03 -9.52878051e-04 9.99988097e-01 -2.90965698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.156296757000002 meters Centerline goodness [0,1] 0.8672534540761272 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.28, Z:-0.29 [[ 0.99995167 0.00847945 -0.00497626 1.22807324] [-0.00849546 0.99995878 -0.00320535 -0.28097578] [ 0.00494887 0.00324747 0.99998248 -0.29065796] [ 0. 0. 0. 1. ]] SLAMing on 11.186296757000001 meters Centerline goodness [0,1] 0.8611163990946972 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.28, Z:-0.29 [[ 0.99995488 0.00778613 -0.00544266 1.23065842] [-0.00781013 0.99995981 -0.00440142 -0.2789991 ] [ 0.00540817 0.00444373 0.9999755 -0.29274301] [ 0. 0. 0. 1. ]] SLAMing on 11.216296757000002 meters Centerline goodness [0,1] 0.8724904701397713 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.28, Z:-0.29 [[ 0.99995547 0.00749638 -0.00573188 1.23178159] [-0.00752602 0.99995833 -0.00516631 -0.27659406] [ 0.00569291 0.00520921 0.99997023 -0.29348902] [ 0. 0. 0. 1. ]] SLAMing on 11.246296757000001 meters Centerline goodness [0,1] 0.872789950088825 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.27, Z:-0.29 [[ 0.99995567 0.00717916 -0.00609292 1.2330764 ] [-0.00721408 0.99995756 -0.00572984 -0.27466315] [ 0.00605152 0.00577354 0.99996502 -0.29428499] [ 0. 0. 0. 1. ]] SLAMing on 11.276296757 meters Centerline goodness [0,1] 0.8742226170833862 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.27, Z:-0.29 [[ 0.99996351 0.00575642 -0.00631225 1.23368551] [-0.00579865 0.9999608 -0.00669178 -0.27317546] [ 0.00627348 0.00672814 0.99995769 -0.29427153] [ 0. 0. 0. 1. ]] SLAMing on 11.306296757000002 meters Centerline goodness [0,1] 0.8769367538735078 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.27, Z:-0.29 [[ 0.99996513 0.0050298 -0.00666614 1.23458465] [-0.00507684 0.99996221 -0.00705772 -0.27303591] [ 0.00663039 0.00709131 0.99995287 -0.29453901] [ 0. 0. 0. 1. ]] SLAMing on 11.336296757000001 meters Centerline goodness [0,1] 0.8773905876883413 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.27, Z:-0.30 [[ 0.99996839 0.00217035 -0.00764856 1.23857017] [-0.00224403 0.99995103 -0.00963876 -0.27238336] [ 0.00762726 0.00965562 0.99992429 -0.29708828] [ 0. 0. 0. 1. ]] SLAMing on 11.366296757000002 meters Centerline goodness [0,1] 0.8758245940460081 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.27, Z:-0.30 [[ 0.99996467 0.00219915 -0.008113 1.23971269] [-0.00227339 0.99995552 -0.00915331 -0.27400004] [ 0.00809251 0.00917144 0.9999252 -0.29741887] [ 0. 0. 0. 1. ]] SLAMing on 11.396296757000002 meters Centerline goodness [0,1] 0.8802819874203217 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.30 [[ 0.99996304 0.00226923 -0.00829265 1.23978401] [-0.00233766 0.99996322 -0.00825189 -0.27817754] [ 0.00827362 0.00827097 0.99993157 -0.29665651] [ 0. 0. 0. 1. ]] SLAMing on 11.426296757000001 meters Centerline goodness [0,1] 0.8789471462343803 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.30 [[ 0.99996076 0.00255531 -0.00848269 1.23986823] [-0.0026225 0.99996521 -0.00791899 -0.27843193] [ 0.00846216 0.00794093 0.99993266 -0.29616697] [ 0. 0. 0. 1. ]] SLAMing on 11.456296757000002 meters Centerline goodness [0,1] 0.8792710706150342 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.30 [[ 0.99995741 0.0029971 -0.0087288 1.24025172] [-0.00306381 0.99996613 -0.00763886 -0.27779603] [ 0.00870561 0.00766528 0.99993273 -0.29597749] [ 0. 0. 0. 1. ]] SLAMing on 11.486296757000002 meters Centerline goodness [0,1] 0.877757198181512 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.30 [[ 0.9999369 0.00626915 -0.00932206 1.2427284 ] [-0.00630868 0.99997121 -0.00421683 -0.27834508] [ 0.00929535 0.00427537 0.99994766 -0.29738235] [ 0. 0. 0. 1. ]] SLAMing on 11.516296757000001 meters Centerline goodness [0,1] 0.8758303203565122 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.28, Z:-0.30 [[ 0.99993041 0.00673435 -0.00968646 1.24427462] [-0.00677104 0.99997001 -0.00376023 -0.27911127] [ 0.00966085 0.00382555 0.99994602 -0.29847694] [ 0. 0. 0. 1. ]] SLAMing on 11.546296757000002 meters Centerline goodness [0,1] 0.8732429983351948 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:-0.30 [[ 0.99991176 0.00859991 -0.01012489 1.24664511] [-0.0086188 0.99996119 -0.00182348 -0.28311247] [ 0.01010882 0.00191058 0.99994708 -0.30033379] [ 0. 0. 0. 1. ]] SLAMing on 11.576296757000001 meters Centerline goodness [0,1] 0.8714180594975297 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:-0.30 [[ 0.99986944 0.01230951 -0.01046768 1.2494213 ] [-0.01228949 0.99992253 0.0019749 -0.28426654] [ 0.01049118 -0.001846 0.99994326 -0.30276429] [ 0. 0. 0. 1. ]] SLAMing on 11.606296757 meters Centerline goodness [0,1] 0.8708242881530972 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.28, Z:-0.30 [[ 0.99986272 0.01269867 -0.0106431 1.24974016] [-0.0126786 0.99991772 0.00195024 -0.28287832] [ 0.01066699 -0.00181503 0.99994146 -0.30268302] [ 0. 0. 0. 1. ]] SLAMing on 11.636296757000002 meters Centerline goodness [0,1] 0.8678702634617403 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.28, Z:-0.31 [[ 0.99985402 0.01680874 -0.0030666 1.26053139] [-0.01681293 0.99985775 -0.00134492 -0.28206095] [ 0.00304356 0.00139628 0.99999439 -0.30608693] [ 0. 0. 0. 1. ]] SLAMing on 11.666296757000001 meters Centerline goodness [0,1] 0.8678702634617403 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.28, Z:-0.31 [[ 0.99985402 0.01680874 -0.0030666 1.26053139] [-0.01681293 0.99985775 -0.00134492 -0.28206095] [ 0.00304356 0.00139628 0.99999439 -0.30608693] [ 0. 0. 0. 1. ]] SLAMing on 11.696296757000002 meters Centerline goodness [0,1] 0.8596771481419203 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.28, Z:-0.31 [[ 9.99834393e-01 1.78749750e-02 -3.41644993e-03 1.26193858e+00] [-1.78768328e-02 9.99840065e-01 -5.13992891e-04 -2.83750471e-01] [ 3.40671591e-03 5.74983075e-04 9.99994032e-01 -3.06861921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726296757000002 meters Centerline goodness [0,1] 0.8607781282860147 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.28, Z:-0.31 [[ 9.99826440e-01 1.82601124e-02 -3.69573712e-03 1.26305498e+00] [-1.82619898e-02 9.99833123e-01 -4.74877007e-04 -2.83382791e-01] [ 3.68644908e-03 5.42286101e-04 9.99993058e-01 -3.07646054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.756296757000001 meters Centerline goodness [0,1] 0.8409898450476211 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.28, Z:-0.31 [[ 9.99816594e-01 1.87310911e-02 -3.99057342e-03 1.26432300e+00] [-1.87336104e-02 9.99824334e-01 -5.94869345e-04 -2.82253014e-01] [ 3.97872985e-03 6.69518090e-04 9.99991861e-01 -3.08611452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786296757000002 meters Centerline goodness [0,1] 0.8110592293454484 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.31 [[ 0.99971408 0.02355752 -0.00410014 1.26596311] [-0.02354483 0.99971792 0.00311725 -0.2796655 ] [ 0.00417241 -0.00301982 0.99998674 -0.31021523] [ 0. 0. 0. 1. ]] SLAMing on 11.816296757000002 meters Centerline goodness [0,1] 0.8071377527428644 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.28, Z:-0.31 [[ 0.99960203 0.02785565 -0.00445525 1.2678099 ] [-0.02782743 0.99959304 0.00627665 -0.27581003] [ 0.00462828 -0.00615018 0.99997038 -0.31137794] [ 0. 0. 0. 1. ]] SLAMing on 11.846296757000001 meters Centerline goodness [0,1] 0.809555741827326 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.31 [[ 0.99960294 0.02775675 -0.00485084 1.26914017] [-0.02772905 0.99959929 0.00568806 -0.27398886] [ 0.00500677 -0.00555129 0.99997206 -0.31215698] [ 0. 0. 0. 1. ]] SLAMing on 11.876296757000002 meters Centerline goodness [0,1] 0.7873252758801892 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.31 [[ 0.99960769 0.02751127 -0.0052523 1.27061535] [-0.02748307 0.99960786 0.00536655 -0.27344907] [ 0.00539789 -0.0052201 0.99997181 -0.31308544] [ 0. 0. 0. 1. ]] SLAMing on 11.906296757000002 meters Centerline goodness [0,1] 0.7926609352065422 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.31 [[ 9.99709797e-01 2.33603768e-02 -5.88336494e-03 1.27260646e+00] [-2.33545206e-02 9.99726682e-01 1.06212634e-03 -2.72878384e-01] [ 5.90656858e-03 -9.24414943e-04 9.99982129e-01 -3.14208941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.936296757000001 meters Centerline goodness [0,1] 0.8132475857301464 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.27, Z:-0.31 [[ 0.99979147 0.0193898 -0.0064078 1.27371902] [-0.01941011 0.99980673 -0.00312232 -0.27198182] [ 0.00634602 0.00324604 0.9999746 -0.31451892] [ 0. 0. 0. 1. ]] SLAMing on 11.966296757000002 meters Centerline goodness [0,1] 0.8249596173613879 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.27, Z:-0.31 [[ 0.99986307 0.01506016 -0.00685773 1.27500799] [-0.01510735 0.99986219 -0.00688182 -0.27251654] [ 0.00675314 0.00698448 0.9999528 -0.31495805] [ 0. 0. 0. 1. ]] SLAMing on 11.996296757000001 meters Centerline goodness [0,1] 0.8349302861935213 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.27, Z:-0.32 [[ 0.99987094 0.01423367 -0.00744989 1.27691989] [-0.01428724 0.9998721 -0.00718774 -0.27254628] [ 0.00734663 0.00729325 0.99994642 -0.31595334] [ 0. 0. 0. 1. ]] SLAMing on 12.026296757000003 meters Centerline goodness [0,1] 0.851115635691946 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.32 [[ 0.99995239 0.00785435 -0.00578985 1.28598527] [-0.00786365 0.99996782 -0.00158651 -0.27569174] [ 0.0057772 0.00163196 0.99998198 -0.31519494] [ 0. 0. 0. 1. ]] SLAMing on 12.056296757000002 meters Centerline goodness [0,1] 0.8561817534005407 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.32 [[ 0.99995845 0.00649835 -0.00639339 1.28815282] [-0.00651461 0.99997559 -0.00252428 -0.27617267] [ 0.00637683 0.00256583 0.99997638 -0.31626582] [ 0. 0. 0. 1. ]] SLAMing on 12.086296757000001 meters Centerline goodness [0,1] 0.8603486569165654 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.32 [[ 0.99995884 0.00609844 -0.00671725 1.28884392] [-0.00611421 0.99997859 -0.00233031 -0.27827538] [ 0.00670289 0.00237128 0.99997472 -0.31624516] [ 0. 0. 0. 1. ]] SLAMing on 12.116296757000002 meters Centerline goodness [0,1] 0.8624611115782392 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.28, Z:-0.31 [[ 0.99997514 0.00224455 -0.00668406 1.28795086] [-0.00227797 0.99998492 -0.00499693 -0.28392965] [ 0.00667274 0.00501203 0.99996518 -0.31465128] [ 0. 0. 0. 1. ]] SLAMing on 12.146296757000002 meters Centerline goodness [0,1] 0.8664420118467044 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:-0.31 [[ 0.99998915 -0.00231115 -0.00404488 1.29560466] [ 0.00231794 0.99999591 0.00167368 -0.28706398] [ 0.004041 -0.00168304 0.99999042 -0.31403223] [ 0. 0. 0. 1. ]] SLAMing on 12.176296757000001 meters Centerline goodness [0,1] 0.871558283240153 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:-0.31 [[ 0.99996683 -0.00683664 -0.00442644 1.29656565] [ 0.00682983 0.99997547 -0.00155287 -0.28929662] [ 0.00443695 0.00152259 0.999989 -0.31391008] [ 0. 0. 0. 1. ]] SLAMing on 12.206296757000002 meters Centerline goodness [0,1] 0.871558283240153 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:-0.31 [[ 0.99996683 -0.00683664 -0.00442644 1.29656565] [ 0.00682983 0.99997547 -0.00155287 -0.28929662] [ 0.00443695 0.00152259 0.999989 -0.31391008] [ 0. 0. 0. 1. ]] SLAMing on 12.236296757000002 meters Centerline goodness [0,1] 0.8731619191664566 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:-0.31 [[ 9.99964318e-01 -6.90545972e-03 -4.86585115e-03 1.29765461e+00] [ 6.90135780e-03 9.99975816e-01 -8.59289616e-04 -2.91636807e-01] [ 4.87166727e-03 8.25677976e-04 9.99987792e-01 -3.14116565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266296757000001 meters Centerline goodness [0,1] 0.8724147362662795 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.29, Z:-0.31 [[ 9.99962739e-01 -6.85218369e-03 -5.25049006e-03 1.29891172e+00] [ 6.85113737e-03 9.99976507e-01 -2.17240194e-04 -2.94042208e-01] [ 5.25185528e-03 1.81260271e-04 9.99986192e-01 -3.14749275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.296296757000002 meters Centerline goodness [0,1] 0.8704706722089264 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.30, Z:-0.32 [[ 9.99961897e-01 -6.14695651e-03 -6.19832156e-03 1.30345321e+00] [ 6.15038356e-03 9.99980944e-01 5.33989891e-04 -2.96694912e-01] [ 6.19492103e-03 -5.72091599e-04 9.99980648e-01 -3.18081603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326296757000001 meters Centerline goodness [0,1] 0.8641657523841675 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.30, Z:-0.32 [[ 0.99996743 -0.00506146 -0.00628599 1.30431498] [ 0.00507 0.99998625 0.00134288 -0.29790512] [ 0.00627911 -0.0013747 0.99997934 -0.3188791 ] [ 0. 0. 0. 1. ]] SLAMing on 12.356296757000003 meters Centerline goodness [0,1] 0.8679739113916035 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 0.9999678 -0.00457523 -0.0065926 1.30512568] [ 0.00458701 0.99998791 0.00177197 -0.29828265] [ 0.00658441 -0.00180215 0.9999767 -0.3191268 ] [ 0. 0. 0. 1. ]] SLAMing on 12.386296757000002 meters Centerline goodness [0,1] 0.8662351899481384 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 0.99996847 -0.00409475 -0.00680382 1.30582072] [ 0.0041089 0.99998942 0.00206704 -0.29810099] [ 0.00679528 -0.00209493 0.99997472 -0.31949011] [ 0. 0. 0. 1. ]] SLAMing on 12.416296757000001 meters Centerline goodness [0,1] 0.8621198079029404 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 0.99997308 -0.00301758 -0.00668831 1.30554829] [ 0.00303945 0.99999006 0.00326157 -0.30006503] [ 0.0066784 -0.00328181 0.99997231 -0.31886863] [ 0. 0. 0. 1. ]] SLAMing on 12.446296757000002 meters Centerline goodness [0,1] 0.844561977920497 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 0.9999731 -0.00144198 -0.00719182 1.3078125 ] [ 0.00147768 0.9999866 0.004961 -0.30436499] [ 0.00718457 -0.00497149 0.99996183 -0.32023223] [ 0. 0. 0. 1. ]] SLAMing on 12.476296757000002 meters Centerline goodness [0,1] 0.8337778524476552 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 9.99972262e-01 -9.99031431e-04 -7.38082202e-03 1.30891804e+00] [ 1.03657265e-03 9.99986538e-01 5.08424557e-03 -3.04172719e-01] [ 7.37564333e-03 -5.09175530e-03 9.99959836e-01 -3.21249159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.506296757000001 meters Centerline goodness [0,1] 0.8222989910054136 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 9.99972416e-01 -1.18648099e-04 -7.42647793e-03 1.30949252e+00] [ 1.56839066e-04 9.99986767e-01 5.14216994e-03 -3.02635149e-01] [ 7.42576955e-03 -5.14319286e-03 9.99959202e-01 -3.21973243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.536296757000002 meters Centerline goodness [0,1] 0.773781951404388 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.30, Z:-0.32 [[ 0.99995705 0.00572949 -0.00728554 1.30983683] [-0.00565885 0.99993714 0.00967949 -0.30202016] [ 0.00734054 -0.00963785 0.99992661 -0.32253411] [ 0. 0. 0. 1. ]] SLAMing on 12.566296757000002 meters Centerline goodness [0,1] 0.753441304028997 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.30, Z:-0.33 [[ 9.99954153e-01 9.51953992e-03 -1.03421412e-03 1.31813077e+00] [-9.51727344e-03 9.99952345e-01 2.17475198e-03 -2.98575494e-01] [ 1.05486748e-03 -2.16480938e-03 9.99997100e-01 -3.25055335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596296757000001 meters Centerline goodness [0,1] 0.773875991771966 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.30, Z:-0.33 [[ 9.99897165e-01 1.43065752e-02 -9.90401806e-04 1.31843108e+00] [-1.42999342e-02 9.99877168e-01 6.41572401e-03 -2.97801430e-01] [ 1.08206719e-03 -6.40090157e-03 9.99978929e-01 -3.25126933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626296757000002 meters Centerline goodness [0,1] 0.7656309048918749 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.30, Z:-0.33 [[ 0.99989307 0.01456187 -0.00134262 1.31974307] [-0.01455378 0.99987695 0.00585495 -0.29538091] [ 0.00142771 -0.00583478 0.99998196 -0.3260487 ] [ 0. 0. 0. 1. ]] SLAMing on 12.656296757000002 meters Centerline goodness [0,1] 0.7428409710284685 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.29, Z:-0.33 [[ 0.99984593 0.01743728 -0.00201222 1.32365568] [-0.01742019 0.99981448 0.00821788 -0.2940102 ] [ 0.00215514 -0.00818156 0.99996421 -0.32931772] [ 0. 0. 0. 1. ]] SLAMing on 12.686296757000001 meters Centerline goodness [0,1] 0.7232650321931168 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.33 [[ 0.99985603 0.01678858 -0.00246095 1.32587308] [-0.01677015 0.99983252 0.00732817 -0.29322054] [ 0.00258357 -0.00728585 0.99997012 -0.33110622] [ 0. 0. 0. 1. ]] SLAMing on 12.716296757000002 meters Centerline goodness [0,1] 0.7381242131766681 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.33 [[ 0.99990806 0.01324277 -0.00291546 1.32764888] [-0.01323447 0.99990837 0.00284779 -0.2908723 ] [ 0.00295291 -0.00280894 0.9999917 -0.33256519] [ 0. 0. 0. 1. ]] SLAMing on 12.746296757000001 meters Centerline goodness [0,1] 0.7339864355689525 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.34 [[ 9.99939126e-01 1.04395965e-02 -3.57209157e-03 1.33099925e+00] [-1.04413035e-02 9.99945382e-01 -4.59579733e-04 -2.88784265e-01] [ 3.56709864e-03 4.96849048e-04 9.99993514e-01 -3.35095624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776296757000003 meters Centerline goodness [0,1] 0.7462867662440902 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.34 [[ 9.99942244e-01 9.97301298e-03 -4.00596051e-03 1.33203153e+00] [-9.97712038e-03 9.99949721e-01 -1.00664755e-03 -2.87795264e-01] [ 3.99571979e-03 1.04655736e-03 9.99991469e-01 -3.35343118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806296757000002 meters Centerline goodness [0,1] 0.782075432207292 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.33 [[ 0.99997291 0.0060651 -0.00416992 1.33218992] [-0.00608573 0.99996921 -0.00495446 -0.28578042] [ 0.00413974 0.0049797 0.99997903 -0.33486608] [ 0. 0. 0. 1. ]] SLAMing on 12.836296757000001 meters Centerline goodness [0,1] 0.8116484159491766 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.29, Z:-0.34 [[ 0.99998858 0.0014339 -0.00455819 1.33336826] [-0.00147499 0.99995819 -0.00902403 -0.28641529] [ 0.00454506 0.00903065 0.99994889 -0.33510535] [ 0. 0. 0. 1. ]] SLAMing on 12.866296757000002 meters Centerline goodness [0,1] 0.8153442240373395 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.29, Z:-0.34 [[ 9.99986437e-01 5.17475714e-04 -5.18251019e-03 1.33515725e+00] [-5.65416532e-04 9.99957027e-01 -9.25331252e-03 -2.87873725e-01] [ 5.17749912e-03 9.25611730e-03 9.99943757e-01 -3.35791246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896296757000002 meters Centerline goodness [0,1] 0.8181951239911345 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.29, Z:-0.34 [[ 9.99984872e-01 1.43483467e-04 -5.49863284e-03 1.33584394e+00] [-1.92402901e-04 9.99960401e-01 -8.89715816e-03 -2.89707930e-01] [ 5.49713850e-03 8.89808152e-03 9.99945301e-01 -3.35815175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926296757000001 meters Centerline goodness [0,1] 0.8303700144161461 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.29, Z:-0.34 [[ 0.99997806 -0.00240682 -0.00617121 1.33888436] [ 0.00234115 0.99994079 -0.01062708 -0.28999681] [ 0.00619642 0.0106124 0.99992449 -0.33773331] [ 0. 0. 0. 1. ]] SLAMing on 12.956296757000002 meters Centerline goodness [0,1] 0.8310362110011277 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.29, Z:-0.34 [[ 0.99997381 -0.00271183 -0.00670946 1.34052796] [ 0.0026409 0.99994077 -0.01055828 -0.29053741] [ 0.0067377 0.01054028 0.99992175 -0.33855898] [ 0. 0. 0. 1. ]] SLAMing on 12.986296757000002 meters Centerline goodness [0,1] 0.8349553169669952 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.29, Z:-0.34 [[ 0.99996763 -0.00349653 -0.00724699 1.34228514] [ 0.00342055 0.99993933 -0.01047073 -0.29217215] [ 0.00728316 0.01044561 0.99991892 -0.33923643] [ 0. 0. 0. 1. ]] SLAMing on 13.016296757000001 meters Centerline goodness [0,1] 0.8555769391682704 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.29, Z:-0.34 [[ 0.99996428 -0.00350679 -0.00769015 1.34353511] [ 0.00342939 0.99994356 -0.01005524 -0.29362842] [ 0.00772497 0.0100285 0.99991987 -0.3397317 ] [ 0. 0. 0. 1. ]] SLAMing on 13.046296757000002 meters Centerline goodness [0,1] 0.8405851698373831 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.29, Z:-0.34 [[ 0.99995255 -0.00495405 -0.00838728 1.34674116] [ 0.00486377 0.99993038 -0.01075076 -0.29483778] [ 0.00843995 0.01070946 0.99990703 -0.34196111] [ 0. 0. 0. 1. ]] SLAMing on 13.076296757000001 meters Centerline goodness [0,1] 0.8548082966687618 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:-0.34 [[ 0.99994798 -0.00508141 -0.00884455 1.3481727 ] [ 0.00498774 0.99993158 -0.01058114 -0.29540317] [ 0.00889771 0.01053648 0.9999049 -0.34267718] [ 0. 0. 0. 1. ]] SLAMing on 13.106296757000003 meters Centerline goodness [0,1] 0.8437834098484371 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:-0.34 [[ 0.99994202 -0.00552242 -0.00924494 1.34962013] [ 0.00542862 0.99993385 -0.01014001 -0.2973508 ] [ 0.00930033 0.01008923 0.99990585 -0.34339659] [ 0. 0. 0. 1. ]] SLAMing on 13.136296757000002 meters Centerline goodness [0,1] 0.8584460522176786 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:-0.34 [[ 0.99993923 -0.00545695 -0.00957897 1.35049921] [ 0.00536423 0.99993878 -0.00967778 -0.29866538] [ 0.00963119 0.0096258 0.99990729 -0.34362667] [ 0. 0. 0. 1. ]] SLAMing on 13.166296757000001 meters Centerline goodness [0,1] 0.8546379614834749 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:-0.34 [[ 0.99993866 -0.00504177 -0.0098616 1.35153253] [ 0.00495369 0.9999478 -0.00893579 -0.30055304] [ 0.00990614 0.00888639 0.99991145 -0.34407951] [ 0. 0. 0. 1. ]] SLAMing on 13.196296757000002 meters Centerline goodness [0,1] 0.8517299224156007 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.30, Z:-0.34 [[ 0.99993513 -0.00465831 -0.01039424 1.35319246] [ 0.00457059 0.99995388 -0.00844729 -0.30160263] [ 0.01043311 0.00839923 0.9999103 -0.34495919] [ 0. 0. 0. 1. ]] SLAMing on 13.226296757000002 meters Centerline goodness [0,1] 0.8465469380888291 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.30, Z:-0.35 [[ 0.99993377 -0.00296019 -0.01112181 1.35655168] [ 0.00288536 0.99997314 -0.00673801 -0.30267881] [ 0.01114146 0.00670547 0.99991545 -0.34744814] [ 0. 0. 0. 1. ]] SLAMing on 13.256296757000001 meters Centerline goodness [0,1] 0.8303021383065957 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.30, Z:-0.35 [[ 9.99931485e-01 1.29343686e-03 -1.16340605e-02 1.35903113e+00] [-1.32431280e-03 9.99995621e-01 -2.64661476e-03 -3.03130182e-01] [ 1.16305864e-02 2.66184056e-03 9.99928819e-01 -3.49360315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286296757000002 meters Centerline goodness [0,1] 0.8269206535892805 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.30, Z:-0.35 [[ 0.99992871 0.00214497 -0.01174661 1.35903905] [-0.0021743 0.99999455 -0.00248439 -0.30165784] [ 0.01174122 0.00250975 0.99992792 -0.34905673] [ 0. 0. 0. 1. ]] SLAMing on 13.316296757000002 meters Centerline goodness [0,1] 0.8065466173005722 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.30, Z:-0.35 [[ 9.99909103e-01 7.04983928e-03 -1.14928051e-02 1.35804277e+00] [-7.03563531e-03 9.99974436e-01 1.27586426e-03 -2.98546844e-01] [ 1.15015060e-02 -1.19488910e-03 9.99933142e-01 -3.47902163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346296757000001 meters Centerline goodness [0,1] 0.79817053937546 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.29, Z:-0.35 [[ 9.99905686e-01 7.15445871e-03 -1.17231984e-02 1.35877799e+00] [-7.15193560e-03 9.99974392e-01 2.57133343e-04 -2.94368607e-01] [ 1.17247378e-02 -1.73265532e-04 9.99931248e-01 -3.48395063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.376296757000002 meters Centerline goodness [0,1] 0.7888339817053938 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.29, Z:-0.35 [[ 0.99987338 0.0103405 -0.01209506 1.36072348] [-0.01031121 0.99994376 0.00248202 -0.29022713] [ 0.01212004 -0.00235699 0.99992377 -0.34983592] [ 0. 0. 0. 1. ]] SLAMing on 13.406296757000002 meters Centerline goodness [0,1] 0.7757299691429291 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.29, Z:-0.35 [[ 0.99987037 0.01023365 -0.01243045 1.36182482] [-0.01021266 0.99994632 0.00175054 -0.2885402 ] [ 0.01244769 -0.00162337 0.99992121 -0.35049857] [ 0. 0. 0. 1. ]] SLAMing on 13.436296757000003 meters Centerline goodness [0,1] 0.767222854253571 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.29, Z:-0.35 [[ 9.99867690e-01 1.02381425e-02 -1.26405394e-02 1.36234548e+00] [-1.02222606e-02 9.99946880e-01 1.32040251e-03 -2.87708430e-01] [ 1.26533864e-02 -1.19101292e-03 9.99919233e-01 -3.50679545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466296757000002 meters Centerline goodness [0,1] 0.7742817482017414 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.29, Z:-0.35 [[ 9.99868072e-01 1.01885229e-02 -1.26504224e-02 1.36272923e+00] [-1.01842397e-02 9.99948058e-01 4.02962125e-04 -2.85507048e-01] [ 1.26538709e-02 -2.74074030e-04 9.99919899e-01 -3.50914712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.496296757000001 meters Centerline goodness [0,1] 0.7725229010841247 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.28, Z:-0.35 [[ 9.99867606e-01 9.81552076e-03 -1.29778986e-02 1.36365646e+00] [-9.82192917e-03 9.99951671e-01 -4.30148881e-04 -2.83536451e-01] [ 1.29730493e-02 5.57559933e-04 9.99915691e-01 -3.51313706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526296757000003 meters Centerline goodness [0,1] 0.7744484135322547 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:-0.35 [[ 0.99986799 0.00925391 -0.01335579 1.36530688] [-0.00927717 0.99995555 -0.00168026 -0.27934732] [ 0.01333965 0.00180394 0.9999094 -0.35252646] [ 0. 0. 0. 1. ]] SLAMing on 13.556296757000002 meters Centerline goodness [0,1] 0.7717089778076665 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:-0.35 [[ 0.99986679 0.00879747 -0.01374783 1.36651577] [-0.00883099 0.99995817 -0.00237957 -0.27732904] [ 0.01372632 0.00250066 0.99990266 -0.35319225] [ 0. 0. 0. 1. ]] SLAMing on 13.586296757000001 meters Centerline goodness [0,1] 0.768665336553607 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.28, Z:-0.35 [[ 0.99986481 0.00842226 -0.01412175 1.36782577] [-0.00846382 0.99996002 -0.00288548 -0.27603249] [ 0.01409689 0.00300461 0.99989612 -0.35394008] [ 0. 0. 0. 1. ]] SLAMing on 13.616296757000002 meters Centerline goodness [0,1] 0.7926401746541554 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.27, Z:-0.36 [[ 0.99986374 0.0076243 -0.01464167 1.36997983] [-0.00768056 0.99996332 -0.00378987 -0.27408319] [ 0.01461224 0.00390181 0.99988562 -0.35537899] [ 0. 0. 0. 1. ]] SLAMing on 13.646296757000002 meters Centerline goodness [0,1] 0.8193840921972416 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.27, Z:-0.36 [[ 0.99986229 0.00647351 -0.01528055 1.37254463] [-0.00654943 0.99996643 -0.00492375 -0.27281328] [ 0.01524816 0.00502316 0.99987112 -0.35694114] [ 0. 0. 0. 1. ]] SLAMing on 13.676296757000001 meters Centerline goodness [0,1] 0.8057239975660421 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.27, Z:-0.36 [[ 0.99985849 0.00614249 -0.01566131 1.3737176 ] [-0.00621873 0.99996903 -0.00482398 -0.27458741] [ 0.01563119 0.00492069 0.99986572 -0.35742958] [ 0. 0. 0. 1. ]] SLAMing on 13.706296757000002 meters Centerline goodness [0,1] 0.8233874690503169 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.28, Z:-0.36 [[ 9.99936309e-01 1.68715989e-03 -1.11593442e-02 1.38250938e+00] [-1.67605484e-03 9.99998091e-01 1.00441173e-03 -2.76833085e-01] [ 1.11610175e-02 -9.85644084e-04 9.99937228e-01 -3.59018398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.736296757000002 meters Centerline goodness [0,1] 0.8101937269372694 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.28, Z:-0.36 [[ 0.9999328 -0.00225956 -0.01137063 1.38273577] [ 0.00222837 0.99999372 -0.0027542 -0.27769335] [ 0.01137678 0.00272868 0.99993156 -0.35854833] [ 0. 0. 0. 1. ]] SLAMing on 13.766296757000001 meters Centerline goodness [0,1] 0.8344631349903757 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.36 [[ 0.99992818 -0.00147284 -0.01189395 1.38567525] [ 0.00145116 0.99999727 -0.00183085 -0.27692033] [ 0.01189661 0.00181346 0.99992759 -0.36075733] [ 0. 0. 0. 1. ]] SLAMing on 13.796296757000002 meters Centerline goodness [0,1] 0.8360319222471251 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.36 [[ 0.99992436 -0.00154771 -0.01220174 1.38630853] [ 0.00152133 0.99999649 -0.00217094 -0.2750941 ] [ 0.01220506 0.00215222 0.9999232 -0.36085418] [ 0. 0. 0. 1. ]] SLAMing on 13.826296757000001 meters Centerline goodness [0,1] 0.8354959359786038 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.27, Z:-0.36 [[ 0.99991883 -0.00159515 -0.01264095 1.38713807] [ 0.00156403 0.99999572 -0.00247127 -0.27364061] [ 0.01264484 0.00245129 0.99991705 -0.36083346] [ 0. 0. 0. 1. ]] SLAMing on 13.856296757000003 meters Centerline goodness [0,1] 0.8340246368051358 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.27, Z:-0.36 [[ 0.99991322 -0.0016903 -0.01306542 1.3880063 ] [ 0.00166081 0.99999605 -0.0022671 -0.27480629] [ 0.0130692 0.0022452 0.99991207 -0.3606576 ] [ 0. 0. 0. 1. ]] SLAMing on 13.886296757000002 meters Centerline goodness [0,1] 0.8374034648298894 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.36 [[ 0.99991092 -0.00165172 -0.0132448 1.38824871] [ 0.00163031 0.99999735 -0.00162723 -0.27725291] [ 0.01324745 0.00160549 0.99991096 -0.360448 ] [ 0. 0. 0. 1. ]] SLAMing on 13.916296757000001 meters Centerline goodness [0,1] 0.8422421750440547 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.36 [[ 0.99990722 -0.00265041 -0.01336102 1.38886172] [ 0.00262791 0.9999951 -0.00170166 -0.27940401] [ 0.01336547 0.00166639 0.99990929 -0.36074625] [ 0. 0. 0. 1. ]] SLAMing on 13.946296757000002 meters Centerline goodness [0,1] 0.8474959679953082 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.28, Z:-0.36 [[ 0.99989117 -0.00390335 -0.01422703 1.39274412] [ 0.00386973 0.99998966 -0.00239006 -0.28024815] [ 0.01423621 0.00233474 0.99989593 -0.36351877] [ 0. 0. 0. 1. ]] SLAMing on 13.976296757000002 meters Centerline goodness [0,1] 0.8449834067333181 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.37 [[ 0.99987933 -0.00405986 -0.0149945 1.39653198] [ 0.00402481 0.9999891 -0.00236703 -0.28124036] [ 0.01500394 0.00230639 0.99988477 -0.36626556] [ 0. 0. 0. 1. ]] SLAMing on 14.006296757000001 meters Centerline goodness [0,1] 0.8470298167533797 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.37 [[ 0.99987304 -0.00389788 -0.01545045 1.39847064] [ 0.00386507 0.99999021 -0.00215282 -0.28170228] [ 0.01545869 0.00209283 0.99987832 -0.36771387] [ 0. 0. 0. 1. ]] SLAMing on 14.036296757000002 meters Centerline goodness [0,1] 0.842727730246603 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.37 [[ 9.99865086e-01 -2.66737742e-03 -1.62078815e-02 1.40296460e+00] [ 2.64844585e-03 9.99995786e-01 -1.18939899e-03 -2.80244453e-01] [ 1.62109857e-02 1.14631282e-03 9.99867936e-01 -3.71593154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066296757000002 meters Centerline goodness [0,1] 0.8535406598024795 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.28, Z:-0.37 [[ 9.99858712e-01 -2.55085538e-03 -1.66146994e-02 1.40451868e+00] [ 2.53125278e-03 9.99996075e-01 -1.20075708e-03 -2.79894935e-01] [ 1.66176972e-02 1.15853142e-03 9.99861245e-01 -3.72681810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.096296757000001 meters Centerline goodness [0,1] 0.8581904521768364 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.37 [[ 9.99854310e-01 -2.06914713e-03 -1.69433334e-02 1.40558922e+00] [ 2.05830039e-03 9.99997665e-01 -6.57591075e-04 -2.80960869e-01] [ 1.69446545e-02 6.22620801e-04 9.99856235e-01 -3.73064644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126296757000002 meters Centerline goodness [0,1] 0.8581904521768364 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.37 [[ 9.99854310e-01 -2.06914713e-03 -1.69433334e-02 1.40558922e+00] [ 2.05830039e-03 9.99997665e-01 -6.57591075e-04 -2.80960869e-01] [ 1.69446545e-02 6.22620801e-04 9.99856235e-01 -3.73064644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.156296757000002 meters Centerline goodness [0,1] 0.8583062912174186 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.38 [[ 9.99992455e-01 -1.49641810e-03 -3.58469660e-03 1.40846857e+00] [ 1.49545103e-03 9.99998845e-01 -2.72441252e-04 -2.80965600e-01] [ 3.58510014e-03 2.67078459e-04 9.99993538e-01 -3.77644916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186296757000003 meters Centerline goodness [0,1] 0.8665281363474172 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.38 [[ 9.99992588e-01 -1.02474391e-03 -3.71125462e-03 1.40795651e+00] [ 1.02561939e-03 9.99999447e-01 2.34002754e-04 -2.81525712e-01] [ 3.71101277e-03 -2.37807354e-04 9.99993086e-01 -3.76502967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.216296757000002 meters Centerline goodness [0,1] 0.8463541124278842 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.38 [[ 0.99997987 0.00345964 0.00531804 1.41424497] [-0.00344147 0.99998823 -0.00342129 -0.28121899] [-0.00532982 0.00340292 0.99998001 -0.37751258] [ 0. 0. 0. 1. ]] SLAMing on 14.246296757000001 meters Centerline goodness [0,1] 0.8370059754691268 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.38 [[ 0.99997295 0.00484238 0.00553606 1.41228938] [-0.00483054 0.99998602 -0.00215102 -0.28225354] [-0.0055464 0.00212422 0.99998236 -0.3753411 ] [ 0. 0. 0. 1. ]] SLAMing on 14.276296757000003 meters Centerline goodness [0,1] 0.8470972332677578 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.37 [[ 9.99954626e-01 7.40632683e-03 5.99104467e-03 1.40980642e+00] [-7.40572035e-03 9.99972570e-01 -1.23408510e-04 -2.82801681e-01] [-5.99179434e-03 7.90349092e-05 9.99982046e-01 -3.72762048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306296757000002 meters Centerline goodness [0,1] 0.8400796144982192 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.28, Z:-0.37 [[ 9.99956331e-01 7.47415523e-03 5.61016844e-03 1.41071050e+00] [-7.46998842e-03 9.99971808e-01 -7.63312871e-04 -2.80590607e-01] [-5.61571540e-03 7.21371645e-04 9.99983972e-01 -3.73073332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.336296757000001 meters Centerline goodness [0,1] 0.8275927208614067 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 9.99948609e-01 8.95367520e-03 4.75511949e-03 1.41500422e+00] [-8.95345830e-03 9.99959915e-01 -6.68997129e-05 -2.78586728e-01] [-4.75552788e-03 2.43215108e-05 9.99988692e-01 -3.76659958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366296757000002 meters Centerline goodness [0,1] 0.8194456040744761 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 9.99957832e-01 8.26061797e-03 4.01215028e-03 1.41847903e+00] [-8.25694946e-03 9.99965478e-01 -9.30056042e-04 -2.78393720e-01] [-4.01969461e-03 8.96888700e-04 9.99991519e-01 -3.79476077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396296757000002 meters Centerline goodness [0,1] 0.809665334142615 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 0.99996935 0.00702342 0.00345895 1.42230786] [-0.00701599 0.99997307 -0.00215501 -0.27997866] [-0.003474 0.00213068 0.9999917 -0.3832393 ] [ 0. 0. 0. 1. ]] SLAMing on 14.426296757000001 meters Centerline goodness [0,1] 0.8074953835823401 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 0.99997161 0.00687732 0.00307822 1.423268 ] [-0.00686942 0.9999731 -0.0025702 -0.27872937] [-0.00309582 0.00254899 0.99999196 -0.38362748] [ 0. 0. 0. 1. ]] SLAMing on 14.456296757000002 meters Centerline goodness [0,1] 0.8048708981634661 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 0.99997294 0.00682541 0.00274339 1.42374579] [-0.00681694 0.999972 -0.0030857 -0.27642657] [-0.00276438 0.00306692 0.99999148 -0.38339913] [ 0. 0. 0. 1. ]] SLAMing on 14.486296757000002 meters Centerline goodness [0,1] 0.8023430334361711 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 0.99997122 0.00715876 0.0025134 1.42320381] [-0.00715157 0.99997033 -0.00286127 -0.275867 ] [-0.00253381 0.00284321 0.99999275 -0.38159246] [ 0. 0. 0. 1. ]] SLAMing on 14.516296757000003 meters Centerline goodness [0,1] 0.8267169179229481 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 0.99997195 0.0071285 0.00229917 1.42322705] [-0.00712268 0.99997143 -0.00253125 -0.2774616 ] [-0.00231715 0.0025148 0.99999415 -0.38099697] [ 0. 0. 0. 1. ]] SLAMing on 14.546296757000002 meters Centerline goodness [0,1] 0.8154943721494623 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.28, Z:-0.38 [[ 0.99997329 0.00702912 0.00200238 1.42409712] [-0.00702425 0.99997239 -0.00242525 -0.27886931] [-0.00201937 0.00241112 0.99999505 -0.38128155] [ 0. 0. 0. 1. ]] SLAMing on 14.576296757000001 meters Centerline goodness [0,1] 0.8120064514777654 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.28, Z:-0.38 [[ 0.99997512 0.00685447 0.00166893 1.42504303] [-0.00684986 0.99997276 -0.00274884 -0.2783328 ] [-0.00168773 0.00273734 0.99999483 -0.38175921] [ 0. 0. 0. 1. ]] SLAMing on 14.606296757000003 meters Centerline goodness [0,1] 0.800858458961474 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.38 [[ 9.99978913e-01 6.41893184e-03 9.85588485e-04 1.42778127e+00] [-6.41498627e-03 9.99971600e-01 -3.95555959e-03 -2.74688189e-01] [-1.01095096e-03 3.94915364e-03 9.99991691e-01 -3.83853559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.636296757000002 meters Centerline goodness [0,1] 0.7970023830427694 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.38 [[ 9.99981237e-01 6.09622924e-03 6.00620581e-04 1.42912130e+00] [-6.09325635e-03 9.99969756e-01 -4.83306929e-03 -2.72016296e-01] [-6.30065915e-04 4.82931887e-03 9.99988140e-01 -3.84768417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666296757000001 meters Centerline goodness [0,1] 0.7901164739400033 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.39 [[ 9.99982312e-01 5.93064518e-03 4.51414028e-04 1.42980191e+00] [-5.92810733e-03 9.99967687e-01 -5.42975830e-03 -2.70082214e-01] [-4.83601411e-04 5.42698622e-03 9.99985157e-01 -3.85369823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696296757000002 meters Centerline goodness [0,1] 0.8213328306944794 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.39 [[ 9.99982126e-01 5.97895344e-03 -1.66701939e-05 1.43106390e+00] [-5.97895006e-03 9.99965465e-01 -5.77246157e-03 -2.69064707e-01] [-1.78436608e-05 5.77245807e-03 9.99983339e-01 -3.85890980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726296757000002 meters Centerline goodness [0,1] 0.8126641377297928 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.39 [[ 9.99981772e-01 6.02734279e-03 -3.57312015e-04 1.43173989e+00] [-6.02932391e-03 9.99964827e-01 -5.83023864e-03 -2.69119811e-01] [ 3.22158600e-04 5.83228671e-03 9.99982940e-01 -3.85867818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756296757000001 meters Centerline goodness [0,1] 0.8060774519843674 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.27, Z:-0.38 [[ 9.99970807e-01 7.64076719e-03 6.35091466e-05 1.42905992e+00] [-7.64038874e-03 9.99959974e-01 -4.65561212e-03 -2.67007951e-01] [-9.90790529e-05 4.65499098e-03 9.99989161e-01 -3.83209948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786296757000002 meters Centerline goodness [0,1] 0.8345611318069566 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.26, Z:-0.38 [[ 9.99971010e-01 7.61386995e-03 -9.19773895e-05 1.42900664e+00] [-7.61426144e-03 9.99955802e-01 -5.51516634e-03 -2.63247327e-01] [ 4.99815650e-05 5.51570679e-03 9.99984787e-01 -3.82704537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816296757000002 meters Centerline goodness [0,1] 0.828125 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.26, Z:-0.38 [[ 9.99945634e-01 1.04217055e-02 -3.42789058e-04 1.42968311e+00] [-1.04228428e-02 9.99939547e-01 -3.50245700e-03 -2.57979969e-01] [ 3.06266760e-04 3.50583942e-03 9.99993808e-01 -3.82790977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846296757000001 meters Centerline goodness [0,1] 0.7819830764075066 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.25, Z:-0.38 [[ 9.99952256e-01 9.73937520e-03 -7.94039829e-04 1.43108658e+00] [-9.74317975e-03 9.99940345e-01 -4.93724490e-03 -2.54277565e-01] [ 7.45906780e-04 4.94474565e-03 9.99987496e-01 -3.83573605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.876296757000002 meters Centerline goodness [0,1] 0.8159213328322685 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.39 [[ 0.99995399 0.00938834 -0.001967 1.43661201] [-0.00940027 0.99993693 -0.00614589 -0.24899222] [ 0.00190917 0.0061641 0.99997918 -0.38772632] [ 0. 0. 0. 1. ]] SLAMing on 14.906296757000002 meters Centerline goodness [0,1] 0.8155451948924731 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.39 [[ 0.99995887 0.00877032 -0.00231235 1.4380715 ] [-0.00878646 0.99993645 -0.00706418 -0.24737708] [ 0.00225025 0.0070842 0.99997237 -0.38887931] [ 0. 0. 0. 1. ]] SLAMing on 14.936296757000003 meters Centerline goodness [0,1] 0.810639499612995 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.25, Z:-0.39 [[ 0.99996546 0.00774775 -0.00300858 1.44066955] [-0.00777298 0.99993394 -0.00846689 -0.24509513] [ 0.00294278 0.00848998 0.99995963 -0.39054087] [ 0. 0. 0. 1. ]] SLAMing on 14.966296757000002 meters Centerline goodness [0,1] 0.8218269772097 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.24, Z:-0.39 [[ 0.99996957 0.00661099 -0.00414155 1.4451094 ] [-0.00665277 0.99992629 -0.01015652 -0.2386814 ] [ 0.0040741 0.01018377 0.99993984 -0.39321243] [ 0. 0. 0. 1. ]] SLAMing on 14.996296757000001 meters Centerline goodness [0,1] 0.8295674492973155 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.23, Z:-0.39 [[ 0.99997309 0.0058238 -0.00446191 1.4457923 ] [-0.00587581 0.99991388 -0.01173477 -0.23353338] [ 0.00439319 0.01176068 0.99992119 -0.39335894] [ 0. 0. 0. 1. ]] SLAMing on 15.026296757000003 meters Centerline goodness [0,1] 0.8311852413444529 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.23, Z:-0.39 [[ 0.99996066 0.00688271 -0.00559604 1.44849899] [-0.00694594 0.99991136 -0.0113591 -0.22529686] [ 0.00551736 0.01139752 0.99991982 -0.39391702] [ 0. 0. 0. 1. ]] SLAMing on 15.056296757000002 meters Centerline goodness [0,1] 0.8292979987820499 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.22, Z:-0.39 [[ 0.99996135 0.00641081 -0.00601671 1.44916588] [-0.00648448 0.99990327 -0.01230441 -0.22291396] [ 0.00593725 0.01234295 0.9999062 -0.3937105 ] [ 0. 0. 0. 1. ]] SLAMing on 15.086296757000001 meters Centerline goodness [0,1] 0.8239350742189142 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.22, Z:-0.39 [[ 0.9999615 0.00595988 -0.00644045 1.4497042 ] [-0.00604223 0.99989928 -0.01284253 -0.2220514 ] [ 0.00636326 0.01288095 0.99989679 -0.39325338] [ 0. 0. 0. 1. ]] SLAMing on 15.116296757000002 meters Centerline goodness [0,1] 0.8440478689901323 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.22, Z:-0.39 [[ 9.99993837e-01 2.17756620e-04 -3.50403630e-03 1.45603589e+00] [-2.42699323e-04 9.99974627e-01 -7.11942734e-03 -2.23965975e-01] [ 3.50239709e-03 7.12023390e-03 9.99968517e-01 -3.91055360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146296757000002 meters Centerline goodness [0,1] 0.9012712042766342 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 9.99993068e-01 -2.06466695e-04 -3.71781919e-03 1.45600755e+00] [ 1.81003969e-04 9.99976537e-01 -6.84786845e-03 -2.25555061e-01] [ 3.71914582e-03 6.84714804e-03 9.99969642e-01 -3.90294066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.176296757000001 meters Centerline goodness [0,1] 0.8758831792355913 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 0.99999251 -0.00162366 -0.0035135 1.45502933] [ 0.00159903 0.99997422 -0.00699966 -0.22673157] [ 0.00352477 0.00699399 0.99996933 -0.38857279] [ 0. 0. 0. 1. ]] SLAMing on 15.206296757000002 meters Centerline goodness [0,1] 0.9095300096602126 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 0.99999104 -0.00186525 -0.0037993 1.4554058 ] [ 0.00183874 0.99997402 -0.00696922 -0.22668664] [ 0.0038122 0.00696217 0.9999685 -0.38826619] [ 0. 0. 0. 1. ]] SLAMing on 15.236296757000002 meters Centerline goodness [0,1] 0.9093976610638387 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 0.9999893 -0.00200358 -0.00416867 1.4563943 ] [ 0.00197419 0.99997326 -0.00704079 -0.2264792 ] [ 0.00418266 0.00703248 0.99996652 -0.38861825] [ 0. 0. 0. 1. ]] SLAMing on 15.266296757000003 meters Centerline goodness [0,1] 0.910130958617077 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 0.99998467 -0.0028495 -0.0047478 1.45940018] [ 0.00281301 0.99996659 -0.00767502 -0.22665637] [ 0.00476951 0.00766155 0.99995928 -0.39103274] [ 0. 0. 0. 1. ]] SLAMing on 15.296296757000002 meters Centerline goodness [0,1] 0.9103301966056125 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 0.99998261 -0.00289163 -0.00513967 1.46080459] [ 0.00285248 0.999967 -0.00760737 -0.2270255 ] [ 0.0051615 0.00759257 0.99995785 -0.39194326] [ 0. 0. 0. 1. ]] SLAMing on 15.326296757000001 meters Centerline goodness [0,1] 0.9091176717974598 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 9.99985797e-01 7.82104558e-05 -5.32918259e-03 1.46190804e+00] [-9.99655837e-05 9.99991663e-01 -4.08211948e-03 -2.27604661e-01] [ 5.32881890e-03 4.08259423e-03 9.99977468e-01 -3.92802913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.356296757000003 meters Centerline goodness [0,1] 0.9086841995233516 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 9.99984476e-01 9.01550540e-05 -5.57129390e-03 1.46244270e+00] [-1.13990348e-04 9.99990843e-01 -4.27806362e-03 -2.26925840e-01] [ 5.57085719e-03 4.27863228e-03 9.99975329e-01 -3.92855988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386296757000002 meters Centerline goodness [0,1] 0.9095260086485579 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 9.99983469e-01 4.47187536e-04 -5.73253112e-03 1.46255031e+00] [-4.69315808e-04 9.99992443e-01 -3.85935850e-03 -2.27923917e-01] [ 5.73076194e-03 3.86198507e-03 9.99976121e-01 -3.92416335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.416296757000001 meters Centerline goodness [0,1] 0.9036730926559124 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 9.99982308e-01 6.18326978e-04 -5.91625379e-03 1.46320170e+00] [-6.41293021e-04 9.99992264e-01 -3.88074638e-03 -2.27284654e-01] [ 5.91380846e-03 3.88447177e-03 9.99974969e-01 -3.92808719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446296757000002 meters Centerline goodness [0,1] 0.903913471817553 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.23, Z:-0.39 [[ 9.99980946e-01 8.62969918e-04 -6.11259864e-03 1.46382675e+00] [-8.87792190e-04 9.99991367e-01 -4.05928929e-03 -2.25639535e-01] [ 6.10904283e-03 4.06463866e-03 9.99973079e-01 -3.93136153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476296757000002 meters Centerline goodness [0,1] 0.8933889844372667 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 9.99970872e-01 3.82197091e-03 -6.60667985e-03 1.46632944e+00] [-3.83063516e-03 9.99991819e-01 -1.29928161e-03 -2.23847145e-01] [ 6.60165999e-03 1.32455155e-03 9.99977332e-01 -3.95040320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506296757000001 meters Centerline goodness [0,1] 0.8811357074109721 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 9.99968230e-01 3.93810452e-03 -6.93042705e-03 1.46784550e+00] [-3.94785491e-03 9.99991236e-01 -1.39377706e-03 -2.23721458e-01] [ 6.92487747e-03 1.42109310e-03 9.99975013e-01 -3.96222761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.536296757000002 meters Centerline goodness [0,1] 0.8434010578456889 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 9.99963242e-01 5.03016883e-03 -6.94351136e-03 1.46904352e+00] [-5.03660693e-03 9.99986902e-01 -9.10036841e-04 -2.24639695e-01] [ 6.93884278e-03 9.44975127e-04 9.99975479e-01 -3.97739434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566296757000002 meters Centerline goodness [0,1] 0.8266420679678819 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 9.99960651e-01 5.35764940e-03 -7.07049448e-03 1.46944750e+00] [-5.36438015e-03 9.99985176e-01 -9.33327925e-04 -2.24452883e-01] [ 7.06538922e-03 9.71220020e-04 9.99974568e-01 -3.97895660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.596296757000003 meters Centerline goodness [0,1] 0.8050659409671341 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 9.99956059e-01 6.62555777e-03 -6.63195387e-03 1.46801238e+00] [-6.62842586e-03 9.99977947e-01 -4.10577489e-04 -2.24345894e-01] [ 6.62908732e-03 4.54518862e-04 9.99977924e-01 -3.96404624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626296757000002 meters Centerline goodness [0,1] 0.7938438312505242 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 9.99953847e-01 6.93757581e-03 -6.64627737e-03 1.46765260e+00] [-6.94226906e-03 9.99975669e-01 -6.83337575e-04 -2.22742275e-01] [ 6.64137496e-03 7.29446283e-04 9.99977680e-01 -3.95789246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.656296757000002 meters Centerline goodness [0,1] 0.7941483803552769 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 0.99991462 0.01105036 -0.00697388 1.46859353] [-0.01103108 0.99993524 0.00279677 -0.22005376] [ 0.00700434 -0.0027196 0.99997177 -0.39592771] [ 0. 0. 0. 1. ]] SLAMing on 15.686296757000003 meters Centerline goodness [0,1] 0.7833172734509196 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 0.99991508 0.01090446 -0.00713584 1.46924947] [-0.01088991 0.99993855 0.00207391 -0.21801498] [ 0.00715801 -0.00199603 0.99997239 -0.39639009] [ 0. 0. 0. 1. ]] SLAMing on 15.716296757000002 meters Centerline goodness [0,1] 0.7624054525808328 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.22, Z:-0.40 [[ 0.99990333 0.01132694 -0.00806414 1.47444578] [-0.0113115 0.99993411 0.00195801 -0.21795081] [ 0.00808578 -0.0018666 0.99996557 -0.40056193] [ 0. 0. 0. 1. ]] SLAMing on 15.746296757000001 meters Centerline goodness [0,1] 0.7559636104473232 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.22, Z:-0.40 [[ 0.99990267 0.01117723 -0.00835024 1.47589765] [-0.01116352 0.99993626 0.00168652 -0.21772354] [ 0.00836856 -0.00159314 0.99996371 -0.40179461] [ 0. 0. 0. 1. ]] SLAMing on 15.776296757000003 meters Centerline goodness [0,1] 0.7472712006717044 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.22, Z:-0.40 [[ 9.99901180e-01 1.10947103e-02 -8.63351021e-03 1.47722193e+00] [-1.10828724e-02 9.99937578e-01 1.41779792e-03 -2.17393281e-01] [ 8.64870135e-03 -1.32197372e-03 9.99961725e-01 -4.02839470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806296757000002 meters Centerline goodness [0,1] 0.7435010482180293 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.22, Z:-0.40 [[ 9.99900308e-01 1.11197486e-02 -8.70203101e-03 1.47754180e+00] [-1.11122419e-02 9.99937843e-01 9.10514081e-04 -2.16394850e-01] [ 8.71161480e-03 -8.13724236e-04 9.99961722e-01 -4.02774327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.836296757000001 meters Centerline goodness [0,1] 0.726712371847286 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 9.99896332e-01 1.14547600e-02 -8.72430966e-03 1.47755752e+00] [-1.14516601e-02 9.99934345e-01 4.05189038e-04 -2.14180897e-01] [ 8.72837821e-03 -3.05239204e-04 9.99961860e-01 -4.02476813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866296757000002 meters Centerline goodness [0,1] 0.7788899380967369 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 9.99896455e-01 1.13608553e-02 -8.83229254e-03 1.47789768e+00] [-1.13608005e-02 9.99935462e-01 5.63763829e-05 -2.13312025e-01] [ 8.83236301e-03 4.39713681e-05 9.99960993e-01 -4.02642423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.896296757000002 meters Centerline goodness [0,1] 0.7702750982493748 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 9.99896677e-01 1.12395629e-02 -8.96139761e-03 1.47818760e+00] [-1.12428241e-02 9.99936748e-01 -3.13619614e-04 -2.12427600e-01] [ 8.95730584e-03 4.14338627e-04 9.99959797e-01 -4.02658757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926296757000003 meters Centerline goodness [0,1] 0.7618056431605063 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 9.99897372e-01 1.10219913e-02 -9.15215894e-03 1.47894112e+00] [-1.10308463e-02 9.99938737e-01 -9.17619061e-04 -2.10368497e-01] [ 9.14148426e-03 1.01848095e-03 9.99957697e-01 -4.03081147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.956296757000002 meters Centerline goodness [0,1] 0.7656371713088697 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 9.99898937e-01 1.07252768e-02 -9.33185359e-03 1.47943228e+00] [-1.07381731e-02 9.99941456e-01 -1.33296284e-03 -2.09446146e-01] [ 9.31701087e-03 1.43303519e-03 9.99955569e-01 -4.03242861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986296757000002 meters Centerline goodness [0,1] 0.7543082638903466 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 0.99989794 0.01035872 -0.00983943 1.48060737] [-0.0103749 0.99994491 -0.00159499 -0.20962278] [ 0.00982237 0.00169691 0.99995032 -0.40324537] [ 0. 0. 0. 1. ]] SLAMing on 16.016296757000003 meters Centerline goodness [0,1] 0.7543082638903466 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 0.99989794 0.01035872 -0.00983943 1.48060737] [-0.0103749 0.99994491 -0.00159499 -0.20962278] [ 0.00982237 0.00169691 0.99995032 -0.40324537] [ 0. 0. 0. 1. ]] SLAMing on 16.046296757 meters Centerline goodness [0,1] 0.7520539287971351 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 0.9998964 0.0101756 -0.01018115 1.48126529] [-0.01019145 0.99994693 -0.00150607 -0.2107442 ] [ 0.01016528 0.00160968 0.99994704 -0.40318873] [ 0. 0. 0. 1. ]] SLAMing on 16.076296757 meters Centerline goodness [0,1] 0.7584078019379277 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.21, Z:-0.40 [[ 0.9998978 0.00938526 -0.01078436 1.48372483] [-0.00940863 0.99995349 -0.00211846 -0.21151547] [ 0.01076398 0.00221971 0.9999396 -0.40477412] [ 0. 0. 0. 1. ]] SLAMing on 16.106296757000003 meters Centerline goodness [0,1] 0.7832072585545754 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.21, Z:-0.41 [[ 0.99990595 0.00765131 -0.01138195 1.48645793] [-0.00769264 0.99996396 -0.00359184 -0.21038884] [ 0.01135405 0.00367906 0.99992877 -0.4067107 ] [ 0. 0. 0. 1. ]] SLAMing on 16.136296757000004 meters Centerline goodness [0,1] 0.792164618751052 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.21, Z:-0.41 [[ 0.99990739 0.00704411 -0.01164402 1.48735513] [-0.00709411 0.99996577 -0.00425844 -0.20872194] [ 0.01161362 0.00434065 0.99992314 -0.40723911] [ 0. 0. 0. 1. ]] SLAMing on 16.166296757 meters Centerline goodness [0,1] 0.8052911827596327 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.21, Z:-0.41 [[ 0.99995754 0.00222141 -0.00894369 1.49699655] [-0.00220209 0.99999522 0.00216918 -0.2077811 ] [ 0.00894846 -0.00214939 0.99995765 -0.40821464] [ 0. 0. 0. 1. ]] SLAMing on 16.196296757000002 meters Centerline goodness [0,1] 0.8145635554062001 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.21, Z:-0.41 [[ 9.99955516e-01 -2.01058266e-03 -9.21535784e-03 1.49721739e+00] [ 1.99852091e-03 9.99997135e-01 -1.31789666e-03 -2.11027118e-01] [ 9.21798118e-03 1.29942095e-03 9.99956669e-01 -4.07529573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226296757000004 meters Centerline goodness [0,1] 0.8286283975233497 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.21, Z:-0.41 [[ 9.99953518e-01 -2.09283188e-03 -9.41182350e-03 1.49763433e+00] [ 2.08744001e-03 9.99997652e-01 -5.82669763e-04 -2.14019386e-01] [ 9.41302083e-03 5.62996062e-04 9.99955538e-01 -4.07472272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.256296757 meters Centerline goodness [0,1] 0.8319338315559661 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.22, Z:-0.41 [[ 9.99951594e-01 -2.20518294e-03 -9.58885923e-03 1.49815958e+00] [ 2.20361364e-03 9.99997557e-01 -1.74220537e-04 -2.15734392e-01] [ 9.58921999e-03 1.53081963e-04 9.99954011e-01 -4.07621767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286296757000002 meters Centerline goodness [0,1] 0.8341433778857837 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.22, Z:-0.41 [[ 9.99948715e-01 -2.29135913e-03 -9.86494243e-03 1.49974471e+00] [ 2.29413402e-03 9.99997332e-01 2.69980932e-04 -2.17029578e-01] [ 9.86429749e-03 -2.92598586e-04 9.99951304e-01 -4.08789956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.316296757000003 meters Centerline goodness [0,1] 0.8286000459069758 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.22, Z:-0.41 [[ 9.99943291e-01 -1.95205399e-03 -1.04691641e-02 1.50354879e+00] [ 1.95829948e-03 9.99997911e-01 5.86342015e-04 -2.16190802e-01] [ 1.04679977e-02 -6.06810523e-04 9.99945025e-01 -4.12020796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346296757 meters Centerline goodness [0,1] 0.8443004910667642 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.21, Z:-0.42 [[ 9.99937371e-01 -3.88493260e-04 -1.11849486e-02 1.50856814e+00] [ 4.10151144e-04 9.99998045e-01 1.93411310e-03 -2.14726129e-01] [ 1.11841754e-02 -1.93857949e-03 9.99935576e-01 -4.16628765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.376296757000002 meters Centerline goodness [0,1] 0.8378179679458904 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.22, Z:-0.42 [[ 9.99934227e-01 -4.48749246e-05 -1.14691163e-02 1.50988317e+00] [ 7.17425205e-05 9.99997254e-01 2.34220316e-03 -2.15991466e-01] [ 1.14689797e-02 -2.34287192e-03 9.99931484e-01 -4.17652884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406296757000003 meters Centerline goodness [0,1] 0.8143254956973263 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.22, Z:-0.42 [[ 9.99926626e-01 1.91922851e-04 -1.21122489e-02 1.51261683e+00] [-1.63677238e-04 9.99997265e-01 2.33293573e-03 -2.20038704e-01] [ 1.21126636e-02 -2.33078206e-03 9.99923923e-01 -4.19051525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.436296757 meters Centerline goodness [0,1] 0.8083943897843835 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.22, Z:-0.42 [[ 9.99926042e-01 4.79469944e-04 -1.21523593e-02 1.51232064e+00] [-4.49651423e-04 9.99996882e-01 2.45633629e-03 -2.20317060e-01] [ 1.21534992e-02 -2.45069030e-03 9.99923140e-01 -4.18457564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466296757000002 meters Centerline goodness [0,1] 0.838432984501814 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.22, Z:-0.42 [[ 9.99927076e-01 7.33277600e-04 -1.20542910e-02 1.51155007e+00] [-7.06334446e-04 9.99997243e-01 2.23925589e-03 -2.18936113e-01] [ 1.20558998e-02 -2.23057824e-03 9.99924837e-01 -4.17577445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.496296757000003 meters Centerline goodness [0,1] 0.8197557711609234 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:-0.42 [[ 0.99997426 0.00539762 -0.00472657 1.51752621] [-0.00541195 0.99998078 -0.00302527 -0.21648636] [ 0.00471015 0.00305077 0.99998425 -0.4178391 ] [ 0. 0. 0. 1. ]] SLAMing on 16.526296757 meters Centerline goodness [0,1] 0.8015243200234511 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:-0.42 [[ 0.99996716 0.00637007 -0.0050105 1.51808116] [-0.00637848 0.99997827 -0.00166371 -0.22111194] [ 0.00499979 0.00169562 0.99998606 -0.41757862] [ 0. 0. 0. 1. ]] SLAMing on 16.556296757000002 meters Centerline goodness [0,1] 0.7171201932085528 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:-0.42 [[ 9.99963292e-01 6.69868869e-03 -5.34241648e-03 1.51953609e+00] [-6.70308217e-03 9.99977210e-01 -8.04895664e-04 -2.23737288e-01] [ 5.33690298e-03 8.40676775e-04 9.99985405e-01 -4.18643194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586296757000003 meters Centerline goodness [0,1] 0.7952345027033824 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:-0.42 [[ 9.99962192e-01 6.79283009e-03 -5.42880751e-03 1.52030218e+00] [-6.79517821e-03 9.99976827e-01 -4.14200818e-04 -2.24673599e-01] [ 5.42586811e-03 4.51074872e-04 9.99985178e-01 -4.19442232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.616296757 meters Centerline goodness [0,1] 0.7917574133020606 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:-0.42 [[ 9.99961597e-01 6.68168329e-03 -5.67086844e-03 1.52154042e+00] [-6.68538200e-03 9.99977452e-01 -6.33523806e-04 -2.22716232e-01] [ 5.66650757e-03 6.71411399e-04 9.99983720e-01 -4.20316252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646296757 meters Centerline goodness [0,1] 0.7855949895615866 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.22, Z:-0.42 [[ 9.99959180e-01 6.60561896e-03 -6.16476129e-03 1.52301702e+00] [-6.60962412e-03 9.99977958e-01 -6.29539415e-04 -2.22837967e-01] [ 6.16046691e-03 6.70260472e-04 9.99980800e-01 -4.21028517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.676296757000003 meters Centerline goodness [0,1] 0.7800212983650373 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.23, Z:-0.42 [[ 0.99997148 0.00363661 -0.00661878 1.5258057 ] [-0.00365807 0.99998808 -0.00323359 -0.22591921] [ 0.00660694 0.00325771 0.99997287 -0.42339839] [ 0. 0. 0. 1. ]] SLAMing on 16.706296757 meters Centerline goodness [0,1] 0.7817662741146587 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.23, Z:-0.42 [[ 9.99976666e-01 8.65592987e-05 -6.83080333e-03 1.52660882e+00] [-1.31119226e-04 9.99978715e-01 -6.52320198e-03 -2.28134672e-01] [ 6.83009330e-03 6.52394542e-03 9.99955393e-01 -4.23963430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.736296757 meters Centerline goodness [0,1] 0.8219716887869928 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.23, Z:-0.43 [[ 0.99996942 -0.00326309 -0.00710712 1.52872445] [ 0.00319893 0.99995421 -0.00901921 -0.23315001] [ 0.00713622 0.00899619 0.99993407 -0.42589906] [ 0. 0. 0. 1. ]] SLAMing on 16.766296757000003 meters Centerline goodness [0,1] 0.793242731518492 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.24, Z:-0.43 [[ 9.99973417e-01 -5.07425560e-05 -7.29121366e-03 1.52948266e+00] [ 1.57779832e-05 9.99988502e-01 -4.79541685e-03 -2.35579550e-01] [ 7.29137316e-03 4.79517433e-03 9.99961920e-01 -4.26282797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.796296757 meters Centerline goodness [0,1] 0.8259260816549636 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.23, Z:-0.43 [[ 9.99968192e-01 2.81481709e-03 -7.46268512e-03 1.52976502e+00] [-2.82563413e-03 9.99994972e-01 -1.43933585e-03 -2.34313722e-01] [ 7.45859613e-03 1.46037689e-03 9.99971118e-01 -4.25951170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826296757 meters Centerline goodness [0,1] 0.8087953708574435 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.23, Z:-0.43 [[ 9.99966817e-01 2.62496672e-03 -7.71192987e-03 1.52994288e+00] [-2.63615370e-03 9.99995487e-01 -1.44080089e-03 -2.34229504e-01] [ 7.70811302e-03 1.46108291e-03 9.99969225e-01 -4.25466603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.856296757000003 meters Centerline goodness [0,1] 0.8394396776685247 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.24, Z:-0.43 [[ 9.99996795e-01 -2.42268000e-03 -7.34746273e-04 1.53962921e+00] [ 2.42436145e-03 9.99994425e-01 2.29628439e-03 -2.40669245e-01] [ 7.29179015e-04 -2.29805832e-03 9.99997094e-01 -4.28537159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886296757000004 meters Centerline goodness [0,1] 0.844825775556069 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.24, Z:-0.43 [[ 9.99981941e-01 -5.94326423e-03 -8.91282687e-04 1.53997416e+00] [ 5.94252266e-03 9.99981997e-01 -8.32382466e-04 -2.43184713e-01] [ 8.96213710e-04 8.27070967e-04 9.99999256e-01 -4.28523629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.916296757 meters Centerline goodness [0,1] 0.8441485253908289 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.25, Z:-0.43 [[ 9.99957258e-01 -9.13442215e-03 -1.42989088e-03 1.54280583e+00] [ 9.13030688e-03 9.99954232e-01 -2.85857836e-03 -2.48421604e-01] [ 1.45593690e-03 2.84540084e-03 9.99994892e-01 -4.30653013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946296757000002 meters Centerline goodness [0,1] 0.8549600721007734 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.25, Z:-0.43 [[ 0.99995706 -0.009107 -0.00171763 1.54374284] [ 0.00910303 0.99995591 -0.00230292 -0.24983207] [ 0.00173853 0.00228719 0.99999587 -0.43122173] [ 0. 0. 0. 1. ]] SLAMing on 16.976296757000004 meters Centerline goodness [0,1] 0.8535281539558089 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.25, Z:-0.43 [[ 0.99998215 -0.00568226 -0.00184858 1.54450711] [ 0.00568667 0.99998097 0.00239064 -0.25204635] [ 0.00183496 -0.00240111 0.99999543 -0.4317058 ] [ 0. 0. 0. 1. ]] SLAMing on 17.006296757 meters Centerline goodness [0,1] 0.8518912825651302 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.25, Z:-0.43 [[ 0.99998395 -0.00520935 -0.00222661 1.54570584] [ 0.00521615 0.99998171 0.00305994 -0.25336978] [ 0.00221063 -0.0030715 0.99999284 -0.43234276] [ 0. 0. 0. 1. ]] SLAMing on 17.036296757000002 meters Centerline goodness [0,1] 0.8438488116427599 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.26, Z:-0.43 [[ 0.9999858 -0.00467552 -0.00255907 1.54656636] [ 0.00468611 0.99998042 0.00414833 -0.25666197] [ 0.00253962 -0.00416027 0.99998812 -0.43256309] [ 0. 0. 0. 1. ]] SLAMing on 17.066296757000003 meters Centerline goodness [0,1] 0.8385667098716394 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.27, Z:-0.43 [[ 0.99997458 -0.006251 -0.00342914 1.5502128 ] [ 0.00626221 0.99997505 0.00326879 -0.2656603 ] [ 0.00340862 -0.00329018 0.99998878 -0.43484563] [ 0. 0. 0. 1. ]] SLAMing on 17.096296757 meters Centerline goodness [0,1] 0.8399807180433005 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.27, Z:-0.44 [[ 0.99997685 -0.00580568 -0.00354985 1.55103535] [ 0.00582215 0.99997226 0.00464605 -0.27030466] [ 0.00352278 -0.00466661 0.99998291 -0.43551146] [ 0. 0. 0. 1. ]] SLAMing on 17.126296757000002 meters Centerline goodness [0,1] 0.8379611140304781 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.27, Z:-0.44 [[ 0.99997927 -0.0053128 -0.00363814 1.55125967] [ 0.00533373 0.99996915 0.00576671 -0.27305764] [ 0.00360739 -0.00578599 0.99997675 -0.43548361] [ 0. 0. 0. 1. ]] SLAMing on 17.156296757000003 meters Centerline goodness [0,1] 0.849917063850337 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.28, Z:-0.44 [[ 0.9999811 -0.00473425 -0.00392242 1.55180956] [ 0.00476383 0.99996002 0.00756694 -0.27696681] [ 0.00388644 -0.00758549 0.99996368 -0.43516702] [ 0. 0. 0. 1. ]] SLAMing on 17.186296757 meters Centerline goodness [0,1] 0.8479746063778353 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.28, Z:-0.43 [[ 0.9999697 -0.00673248 -0.00390843 1.55100167] [ 0.00675938 0.99995327 0.00691095 -0.28425439] [ 0.00386172 -0.00693716 0.99996848 -0.43369764] [ 0. 0. 0. 1. ]] SLAMing on 17.216296757000002 meters Centerline goodness [0,1] 0.8555893775585179 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.29, Z:-0.43 [[ 0.99994489 -0.00965104 -0.00413121 1.55145105] [ 0.00966992 0.99994278 0.00457429 -0.28835304] [ 0.00408683 -0.00461399 0.999981 -0.43352135] [ 0. 0. 0. 1. ]] SLAMing on 17.246296757000003 meters Centerline goodness [0,1] 0.8547469616506791 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:-0.43 [[ 0.999924 -0.01144922 -0.00457338 1.55187243] [ 0.01146886 0.99992502 0.00429175 -0.29758739] [ 0.0045239 -0.00434387 0.99998033 -0.43234384] [ 0. 0. 0. 1. ]] SLAMing on 17.276296757 meters Centerline goodness [0,1] 0.8433114378062767 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.30, Z:-0.43 [[ 0.99991704 -0.01174694 -0.00528472 1.5545968 ] [ 0.01177087 0.99992051 0.00451913 -0.30083185] [ 0.00523122 -0.00458096 0.99997582 -0.43392867] [ 0. 0. 0. 1. ]] SLAMing on 17.306296757000002 meters Centerline goodness [0,1] 0.856642476613952 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.30, Z:-0.43 [[ 0.99992328 -0.01102534 -0.00564658 1.55571043] [ 0.01105807 0.99992204 0.00579862 -0.30392585] [ 0.00558221 -0.00586061 0.99996725 -0.43443918] [ 0. 0. 0. 1. ]] SLAMing on 17.336296757000003 meters Centerline goodness [0,1] 0.8530207961723291 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.31, Z:-0.44 [[ 0.99993934 -0.00849272 -0.00701411 1.56173097] [ 0.00855168 0.999928 0.0084178 -0.30701908] [ 0.00694212 -0.00847727 0.99993997 -0.43897556] [ 0. 0. 0. 1. ]] SLAMing on 17.366296757 meters Centerline goodness [0,1] 0.8417639157081689 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.31, Z:-0.44 [[ 0.99994134 -0.0072386 -0.00805763 1.56621865] [ 0.0073157 0.99992734 0.00958047 -0.30811715] [ 0.0079877 -0.00963886 0.99992164 -0.44222541] [ 0. 0. 0. 1. ]] SLAMing on 17.396296757 meters Centerline goodness [0,1] 0.8365086676157776 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.31, Z:-0.44 [[ 0.99991046 -0.00170611 -0.01327272 1.57945829] [ 0.00181797 0.9999629 0.00841974 -0.31249851] [ 0.01325787 -0.00844311 0.99987646 -0.44321575] [ 0. 0. 0. 1. ]] SLAMing on 17.426296757000003 meters Centerline goodness [0,1] 0.8259047379560361 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.31, Z:-0.44 [[ 9.99906890e-01 -1.29187660e-03 -1.35846614e-02 1.58062281e+00] [ 1.41372389e-03 9.99958826e-01 8.96370179e-03 -3.14228517e-01] [ 1.35725221e-02 -8.98207214e-03 9.99867546e-01 -4.43912540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.456296757 meters Centerline goodness [0,1] 0.7989699320238542 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.32, Z:-0.45 [[ 9.99973510e-01 1.16259605e-03 -7.18520782e-03 1.58957347e+00] [-1.15591259e-03 9.99998896e-01 9.34253136e-04 -3.16073239e-01] [ 7.18628604e-03 -9.25922915e-04 9.99973750e-01 -4.46937006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486296757 meters Centerline goodness [0,1] 0.7948658843252305 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.32, Z:-0.45 [[ 9.99975393e-01 -3.33663635e-04 -7.00732781e-03 1.58782489e+00] [ 3.30774572e-04 9.99999860e-01 -4.13446615e-04 -3.19258809e-01] [ 7.00746478e-03 4.11118595e-04 9.99975363e-01 -4.45127655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.516296757000003 meters Centerline goodness [0,1] 0.7974288645547623 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.33, Z:-0.44 [[ 9.99975114e-01 -7.00205014e-05 -7.05452303e-03 1.58770388e+00] [ 7.65287072e-05 9.99999572e-01 9.22292157e-04 -3.26259506e-01] [ 7.05445543e-03 -9.22809078e-04 9.99974691e-01 -4.44305927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546296757000004 meters Centerline goodness [0,1] 0.7970156718906303 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.33, Z:-0.44 [[ 9.99972877e-01 1.61210317e-04 -7.36340319e-03 1.58839168e+00] [-1.48963511e-04 9.99998605e-01 1.66371733e-03 -3.28286811e-01] [ 7.36366113e-03 -1.66257532e-03 9.99971506e-01 -4.44295913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576296757 meters Centerline goodness [0,1] 0.8216016375637063 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.33, Z:-0.44 [[ 9.99970721e-01 3.64336732e-04 -7.64361366e-03 1.58886626e+00] [-3.46116985e-04 9.99997096e-01 2.38484354e-03 -3.29980870e-01] [ 7.64446035e-03 -2.38212813e-03 9.99967943e-01 -4.44121495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606296757000003 meters Centerline goodness [0,1] 0.8026170252728677 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.33, Z:-0.45 [[ 9.99966064e-01 -1.02372625e-03 -8.17449347e-03 1.59126017e+00] [ 1.03733525e-03 9.99998083e-01 1.66074585e-03 -3.34391446e-01] [ 8.17277765e-03 -1.66916918e-03 9.99965209e-01 -4.45609097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.636296757000004 meters Centerline goodness [0,1] 0.8063010257483776 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.34, Z:-0.45 [[ 9.99957048e-01 -3.19541285e-03 -8.70013690e-03 1.59258535e+00] [ 3.20078575e-03 9.99994695e-01 6.03711764e-04 -3.44752678e-01] [ 8.69816164e-03 -6.31533108e-04 9.99961971e-01 -4.45547808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666296757 meters Centerline goodness [0,1] 0.8053944254811216 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.35, Z:-0.45 [[ 9.99942516e-01 -5.96633981e-03 -8.90886601e-03 1.59291959e+00] [ 5.95263240e-03 9.99981059e-01 -1.56435060e-03 -3.49359302e-01] [ 8.91803072e-03 1.51122947e-03 9.99959092e-01 -4.45274930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.696296757000002 meters Centerline goodness [0,1] 0.8063785109877544 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.35, Z:-0.45 [[ 0.99995999 -0.00866359 -0.00222667 1.60283628] [ 0.0086726 0.99995412 0.00406856 -0.35494178] [ 0.00219132 -0.0040877 0.99998924 -0.4486389 ] [ 0. 0. 0. 1. ]] SLAMing on 17.726296757000004 meters Centerline goodness [0,1] 0.8119566811202581 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.36, Z:-0.45 [[ 0.99996128 -0.00845189 -0.00245102 1.60334663] [ 0.00846483 0.99995001 0.00532145 -0.35864137] [ 0.00240592 -0.00534199 0.99998284 -0.44848131] [ 0. 0. 0. 1. ]] SLAMing on 17.756296757 meters Centerline goodness [0,1] 0.8212019019291594 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.36, Z:-0.45 [[ 0.9999627 -0.008053 -0.0031213 1.60563881] [ 0.0080762 0.99993931 0.00749281 -0.36442448] [ 0.00306077 -0.00751774 0.99996706 -0.44931411] [ 0. 0. 0. 1. ]] SLAMing on 17.786296757000002 meters Centerline goodness [0,1] 0.8273789579494053 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.37, Z:-0.45 [[ 0.99994954 -0.00932348 -0.00374072 1.60856071] [ 0.00935102 0.99992878 0.00741529 -0.37104335] [ 0.00367132 -0.00744989 0.99996551 -0.45130337] [ 0. 0. 0. 1. ]] SLAMing on 17.816296757000003 meters Centerline goodness [0,1] 0.841128355704698 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.37, Z:-0.45 [[ 0.99994936 -0.00915809 -0.00417309 1.61026397] [ 0.00919257 0.99992313 0.00832071 -0.37467732] [ 0.00409657 -0.00835865 0.99995667 -0.45231039] [ 0. 0. 0. 1. ]] SLAMing on 17.846296757 meters Centerline goodness [0,1] 0.8343376634208386 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.38, Z:-0.45 [[ 0.9999421 -0.0095855 -0.00488975 1.61329847] [ 0.00962588 0.99991921 0.00830172 -0.37808772] [ 0.00480978 -0.00834831 0.99995358 -0.45434838] [ 0. 0. 0. 1. ]] SLAMing on 17.876296757000002 meters Centerline goodness [0,1] 0.7964366468469978 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.39, Z:-0.45 [[ 0.99992603 -0.01095506 -0.00528433 1.61406039] [ 0.01099556 0.99990993 0.00769612 -0.38726887] [ 0.00519955 -0.00775366 0.99995642 -0.45393995] [ 0. 0. 0. 1. ]] SLAMing on 17.906296757000003 meters Centerline goodness [0,1] 0.8131962117735408 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.39, Z:-0.45 [[ 0.99991916 -0.0073317 -0.01038814 1.62328694] [ 0.00738203 0.99996116 0.00481551 -0.39290431] [ 0.01035243 -0.0048918 0.99993445 -0.45093731] [ 0. 0. 0. 1. ]] SLAMing on 17.936296757 meters Centerline goodness [0,1] 0.8131962117735408 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.39, Z:-0.45 [[ 0.99991916 -0.0073317 -0.01038814 1.62328694] [ 0.00738203 0.99996116 0.00481551 -0.39290431] [ 0.01035243 -0.0048918 0.99993445 -0.45093731] [ 0. 0. 0. 1. ]] SLAMing on 17.966296757000002 meters Centerline goodness [0,1] 0.8056096692431765 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.39, Z:-0.45 [[ 0.99992313 -0.00661933 -0.01048468 1.62339418] [ 0.00667765 0.99996237 0.00553762 -0.39371712] [ 0.01044763 -0.00560721 0.9999297 -0.45087418] [ 0. 0. 0. 1. ]] SLAMing on 17.996296757000003 meters Centerline goodness [0,1] 0.787422331011109 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.39, Z:-0.45 [[ 0.99992454 -0.00605827 -0.0106868 1.62386474] [ 0.00612211 0.99996355 0.00595142 -0.39413626] [ 0.01065036 -0.0060164 0.99992518 -0.45105409] [ 0. 0. 0. 1. ]] SLAMing on 18.026296757 meters Centerline goodness [0,1] 0.7826540185551965 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.40, Z:-0.45 [[ 9.99978025e-01 -1.04729063e-03 -6.54624536e-03 1.63256229e+00] [ 1.04307499e-03 9.99999246e-01 -6.47359460e-04 -3.95183024e-01] [ 6.54691840e-03 6.40517009e-04 9.99978364e-01 -4.52837678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.056296757000002 meters Centerline goodness [0,1] 0.7743612224448898 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.40, Z:-0.45 [[ 9.99977700e-01 -4.24968528e-04 -6.66477378e-03 1.63290319e+00] [ 4.27017062e-04 9.99999862e-01 3.05947359e-04 -3.97474446e-01] [ 6.66464285e-03 -3.08786509e-04 9.99977743e-01 -4.52912759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086296757000003 meters Centerline goodness [0,1] 0.779193427308366 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.40, Z:-0.45 [[ 9.99975431e-01 4.65782038e-04 -6.99426107e-03 1.63419566e+00] [-4.52769682e-04 9.99998164e-01 1.86190151e-03 -4.03462689e-01] [ 6.99511547e-03 -1.85868898e-03 9.99973806e-01 -4.53552392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.116296757 meters Centerline goodness [0,1] 0.7771306907132569 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.41, Z:-0.45 [[ 9.99973172e-01 8.84466873e-04 -7.27143808e-03 1.63505592e+00] [-8.64809572e-04 9.99995965e-01 2.70605807e-03 -4.06504191e-01] [ 7.27380216e-03 -2.69969706e-03 9.99969901e-01 -4.53893803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146296757 meters Centerline goodness [0,1] 0.7500365199607671 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.41, Z:-0.45 [[ 9.99970834e-01 1.19678185e-03 -7.54308188e-03 1.63603405e+00] [-1.17060346e-03 9.99993281e-01 3.47397641e-03 -4.09042194e-01] [ 7.54718878e-03 -3.46504513e-03 9.99965516e-01 -4.54413417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.176296757000003 meters Centerline goodness [0,1] 0.7487613972271951 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.41, Z:-0.46 [[ 9.99965554e-01 1.07235714e-03 -8.23043073e-03 1.63892625e+00] [-1.03999388e-03 9.99991715e-01 3.93541969e-03 -4.11488064e-01] [ 8.23458272e-03 -3.92672453e-03 9.99958385e-01 -4.56397725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206296757 meters Centerline goodness [0,1] 0.7656246741601151 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.41, Z:-0.46 [[ 9.99962549e-01 9.75440110e-04 -8.59932559e-03 1.64021029e+00] [-9.40756979e-04 9.99991411e-01 4.03636133e-03 -4.11833009e-01] [ 8.60318896e-03 -4.02812029e-03 9.99954879e-01 -4.57162035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.236296757 meters Centerline goodness [0,1] 0.7701365009898926 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.41, Z:-0.46 [[ 9.99959125e-01 7.76010760e-04 -9.00812090e-03 1.64089287e+00] [-7.33007722e-04 9.99988326e-01 4.77612819e-03 -4.14669838e-01] [ 9.01172206e-03 -4.76932994e-03 9.99948020e-01 -4.56577354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266296757000003 meters Centerline goodness [0,1] 0.7700653022052534 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.42, Z:-0.46 [[ 9.99954294e-01 -2.56383311e-03 -9.21073416e-03 1.64075567e+00] [ 2.57806988e-03 9.99995500e-01 1.53413131e-03 -4.16170734e-01] [ 9.20675945e-03 -1.55780711e-03 9.99956403e-01 -4.55870005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.296296757000004 meters Centerline goodness [0,1] 0.7691939179337638 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.42, Z:-0.46 [[ 9.99938683e-01 -5.39702049e-03 -9.66967319e-03 1.64255612e+00] [ 5.39394379e-03 9.99985393e-01 -3.44231996e-04 -4.22283197e-01] [ 9.67138978e-03 2.92053215e-04 9.99953188e-01 -4.56729665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326296757 meters Centerline goodness [0,1] 0.759584051142614 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.42, Z:-0.46 [[ 9.99934604e-01 -5.39747039e-03 -1.00824443e-02 1.64409419e+00] [ 5.39745487e-03 9.99985433e-01 -2.87507467e-05 -4.23667942e-01] [ 1.00824527e-02 -2.56706718e-05 9.99949170e-01 -4.57675033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.356296757000003 meters Centerline goodness [0,1] 0.7666749781822715 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.42, Z:-0.46 [[ 9.99934105e-01 -5.17730920e-03 -1.02460344e-02 1.64482275e+00] [ 5.18064372e-03 9.99986536e-01 2.98929722e-04 -4.24291842e-01] [ 1.02443488e-02 -3.51991078e-04 9.99947463e-01 -4.58284331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386296757000004 meters Centerline goodness [0,1] 0.7589496315778488 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.42, Z:-0.46 [[ 9.99936263e-01 -4.19562673e-03 -1.04816941e-02 1.64488415e+00] [ 4.20750127e-03 9.99990531e-01 1.11108869e-03 -4.24236006e-01] [ 1.04769331e-02 -1.15511962e-03 9.99944448e-01 -4.57810619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.416296757 meters Centerline goodness [0,1] 0.7597212950600801 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:-0.46 [[ 0.99993755 -0.00367855 -0.0105527 1.64468889] [ 0.00369681 0.9999917 0.00171098 -0.42534142] [ 0.01054632 -0.00174989 0.99994285 -0.4572963 ] [ 0. 0. 0. 1. ]] SLAMing on 18.446296757000002 meters Centerline goodness [0,1] 0.75425441063134 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:-0.46 [[ 0.99994059 -0.00295136 -0.01049339 1.64412182] [ 0.00298293 0.99999107 0.00299387 -0.42969292] [ 0.01048446 -0.00302499 0.99994046 -0.45628393] [ 0. 0. 0. 1. ]] SLAMing on 18.476296757000004 meters Centerline goodness [0,1] 0.7519612752462026 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.43, Z:-0.46 [[ 0.99993826 -0.00289227 -0.01072917 1.6449219 ] [ 0.00292869 0.99999 0.00338072 -0.43130038] [ 0.01071929 -0.00341193 0.99993673 -0.45668572] [ 0. 0. 0. 1. ]] SLAMing on 18.506296757 meters Centerline goodness [0,1] 0.7525990564068306 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.43, Z:-0.46 [[ 0.99993614 -0.00291798 -0.01091832 1.64597403] [ 0.00295608 0.99998959 0.00347516 -0.43175912] [ 0.01090807 -0.00350721 0.99993435 -0.45763628] [ 0. 0. 0. 1. ]] SLAMing on 18.536296757000002 meters Centerline goodness [0,1] 0.7550773341125885 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.43, Z:-0.46 [[ 0.99992796 -0.00329633 -0.01154128 1.64915595] [ 0.00333595 0.9999886 0.00341531 -0.43202469] [ 0.01152989 -0.00345356 0.99992756 -0.4602049 ] [ 0. 0. 0. 1. ]] SLAMing on 18.566296757000003 meters Centerline goodness [0,1] 0.7576086729471727 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.43, Z:-0.46 [[ 0.99992582 -0.00326458 -0.01173478 1.6497757 ] [ 0.00331112 0.99998672 0.00394876 -0.43402304] [ 0.01172173 -0.00398732 0.99992335 -0.46035472] [ 0. 0. 0. 1. ]] SLAMing on 18.596296757 meters Centerline goodness [0,1] 0.7555727005442375 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.46 [[ 9.99907625e-01 -6.35963467e-03 -1.20123817e-02 1.65022825e+00] [ 6.37950391e-03 9.99978344e-01 1.61647004e-03 -4.38771774e-01] [ 1.20018414e-02 -1.69295376e-03 9.99926542e-01 -4.60019391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.626296757000002 meters Centerline goodness [0,1] 0.7596203983731359 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.46 [[ 0.99990549 -0.00622162 -0.01225994 1.65069308] [ 0.00625245 0.99997738 0.00247835 -0.44200496] [ 0.01224425 -0.00255477 0.99992177 -0.45975448] [ 0. 0. 0. 1. ]] SLAMing on 18.656296757000003 meters Centerline goodness [0,1] 0.805434578757632 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.44, Z:-0.46 [[ 0.99990212 -0.00629072 -0.01249734 1.65141764] [ 0.0063267 0.99997595 0.00284136 -0.44396868] [ 0.01247917 -0.00292015 0.99991787 -0.45993919] [ 0. 0. 0. 1. ]] SLAMing on 18.686296757 meters Centerline goodness [0,1] 0.762810761247838 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.45, Z:-0.46 [[ 0.99989798 -0.00629744 -0.01282063 1.65220611] [ 0.00633814 0.99997499 0.00313652 -0.44520722] [ 0.01280056 -0.00321746 0.99991289 -0.45999749] [ 0. 0. 0. 1. ]] SLAMing on 18.716296757000002 meters Centerline goodness [0,1] 0.8044174535169086 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.44, Z:-0.46 [[ 0.99997227 -0.00361864 -0.00650948 1.66277579] [ 0.0035908 0.99998438 -0.00428357 -0.4423565 ] [ 0.00652488 0.00426007 0.99996964 -0.463873 ] [ 0. 0. 0. 1. ]] SLAMing on 18.746296757000003 meters Centerline goodness [0,1] 0.7973253592491071 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.44, Z:-0.46 [[ 9.99976618e-01 3.13764667e-05 -6.83835109e-03 1.66360703e+00] [-3.43260051e-05 9.99999906e-01 -4.31206101e-04 -4.42516956e-01] [ 6.83833692e-03 4.31430751e-04 9.99976525e-01 -4.63808996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.776296757 meters Centerline goodness [0,1] 0.7957322140957447 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.44, Z:-0.46 [[ 9.99975287e-01 1.28939960e-04 -7.02920640e-03 1.66424549e+00] [-1.34265906e-04 9.99999704e-01 -7.57221465e-04 -4.40958851e-01] [ 7.02910669e-03 7.58146534e-04 9.99975008e-01 -4.64296154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806296757000002 meters Centerline goodness [0,1] 0.7889961590366449 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 9.99973013e-01 8.78178407e-05 -7.34617366e-03 1.66564181e+00] [-9.66704232e-05 9.99999270e-01 -1.20471394e-03 -4.39332429e-01] [ 7.34606250e-03 1.20539158e-03 9.99972291e-01 -4.65423466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.836296757000003 meters Centerline goodness [0,1] 0.7229253112033195 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 9.99971357e-01 4.70365260e-04 -7.55408825e-03 1.66662812e+00] [-4.78924121e-04 9.99999245e-01 -1.13124152e-03 -4.39392503e-01] [ 7.55355045e-03 1.13482695e-03 9.99970828e-01 -4.66264168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866296757 meters Centerline goodness [0,1] 0.7752580316906528 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 9.99969974e-01 5.98987950e-04 -7.72614261e-03 1.66703391e+00] [-6.05407860e-04 9.99999473e-01 -8.28621383e-04 -4.40555674e-01] [ 7.72564220e-03 8.33273970e-04 9.99969810e-01 -4.66269601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.896296757 meters Centerline goodness [0,1] 0.7869104508622481 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 9.99968978e-01 8.59618347e-05 -7.87621723e-03 1.66791501e+00] [-9.35164117e-05 9.99999536e-01 -9.58799842e-04 -4.40175976e-01] [ 7.87613115e-03 9.59506654e-04 9.99968522e-01 -4.66763125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926296757000003 meters Centerline goodness [0,1] 0.7828336346069937 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 9.99966926e-01 -2.83350402e-04 -8.12815988e-03 1.66845440e+00] [ 2.73597315e-04 9.99999241e-01 -1.20100016e-03 -4.39319062e-01] [ 8.12849401e-03 1.19873660e-03 9.99966245e-01 -4.66746713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.956296757 meters Centerline goodness [0,1] 0.8255886383455837 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 9.99964351e-01 -6.71752314e-04 -8.41698792e-03 1.66916101e+00] [ 6.60869859e-04 9.99998942e-01 -1.29563027e-03 -4.39202105e-01] [ 8.41784936e-03 1.29002155e-03 9.99963737e-01 -4.66774765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986296757 meters Centerline goodness [0,1] 0.8133748701973 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 0.99994448 -0.00535423 -0.00907542 1.67089504] [ 0.00530819 0.99997296 -0.00508882 -0.44097877] [ 0.00910242 0.00504036 0.99994587 -0.46701939] [ 0. 0. 0. 1. ]] SLAMing on 19.016296757000003 meters Centerline goodness [0,1] 0.8488316444370461 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.44, Z:-0.47 [[ 0.99989072 -0.01087392 -0.01001489 1.67462047] [ 0.01077423 0.9998924 -0.00995499 -0.44133891] [ 0.01012206 0.009846 0.9999003 -0.46917387] [ 0. 0. 0. 1. ]] SLAMing on 19.046296757000004 meters Centerline goodness [0,1] 0.8411838265944144 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.44, Z:-0.47 [[ 0.99988124 -0.01128216 -0.0104989 1.67606772] [ 0.01117744 0.99988772 -0.00998058 -0.44196214] [ 0.01061033 0.00986204 0.99989508 -0.46972222] [ 0. 0. 0. 1. ]] SLAMing on 19.076296757 meters Centerline goodness [0,1] 0.8439766569403918 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.44, Z:-0.47 [[ 0.99987282 -0.01159039 -0.01095496 1.67729357] [ 0.0114797 0.99988296 -0.01011315 -0.44201944] [ 0.0110709 0.00998611 0.99988885 -0.47009849] [ 0. 0. 0. 1. ]] SLAMing on 19.106296757000003 meters Centerline goodness [0,1] 0.8423991166850691 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.44, Z:-0.47 [[ 0.99989864 -0.00872191 -0.01125315 1.67824315] [ 0.00864985 0.99994188 -0.00643607 -0.44361466] [ 0.01130863 0.00633808 0.99991597 -0.4701269 ] [ 0. 0. 0. 1. ]] SLAMing on 19.136296757000004 meters Centerline goodness [0,1] 0.8504232716408 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.44, Z:-0.47 [[ 0.99996219 -0.00599273 -0.00630097 1.69361513] [ 0.00593519 0.99994087 -0.00911209 -0.43971755] [ 0.00635521 0.00907435 0.99993863 -0.47083377] [ 0. 0. 0. 1. ]] SLAMing on 19.166296757 meters Centerline goodness [0,1] 0.8415374663522734 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.44, Z:-0.47 [[ 0.99997516 -0.00231658 -0.00665726 1.69442548] [ 0.00228046 0.99998267 -0.00542855 -0.43931165] [ 0.00666972 0.00541323 0.99996311 -0.47075565] [ 0. 0. 0. 1. ]] SLAMing on 19.196296757000002 meters Centerline goodness [0,1] 0.8348086273531978 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.47 [[ 9.99973089e-01 -5.02509623e-05 -7.33612072e-03 1.69761344e+00] [ 2.75485934e-05 9.99995211e-01 -3.09466958e-03 -4.39368893e-01] [ 7.33624109e-03 3.09438420e-03 9.99968302e-01 -4.72943484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226296757000004 meters Centerline goodness [0,1] 0.8154422476586889 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.47 [[ 9.99969600e-01 1.31874807e-03 -7.68506101e-03 1.69809901e+00] [-1.33940404e-03 9.99995503e-01 -2.68328110e-03 -4.37419088e-01] [ 7.68148788e-03 2.69349293e-03 9.99966869e-01 -4.72906130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256296757 meters Centerline goodness [0,1] 0.8064104975030819 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.44, Z:-0.47 [[ 0.99996771 0.00181604 -0.00782783 1.69838331] [-0.00183787 0.99999444 -0.00278247 -0.4357808 ] [ 0.00782273 0.00279677 0.99996549 -0.47307113] [ 0. 0. 0. 1. ]] SLAMing on 19.286296757000002 meters Centerline goodness [0,1] 0.7991894037521414 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.43, Z:-0.47 [[ 0.99996465 0.00225399 -0.0081 1.6994842 ] [-0.00227862 0.9999928 -0.00303298 -0.43349585] [ 0.0080931 0.00305133 0.99996259 -0.47400398] [ 0. 0. 0. 1. ]] SLAMing on 19.316296757000003 meters Centerline goodness [0,1] 0.7795772139699566 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.43, Z:-0.48 [[ 9.99946319e-01 5.85203617e-03 -8.55057635e-03 1.70158665e+00] [-5.85341705e-03 9.99982859e-01 -1.36478441e-04 -4.29980937e-01] [ 8.54963112e-03 1.86521204e-04 9.99963434e-01 -4.75710922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346296757 meters Centerline goodness [0,1] 0.8127409083291436 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.43, Z:-0.48 [[ 9.99944423e-01 5.70016158e-03 -8.86899762e-03 1.70287332e+00] [-5.70871910e-03 9.99983263e-01 -9.39863580e-04 -4.27360272e-01] [ 8.86349181e-03 9.90441962e-04 9.99960228e-01 -4.76764754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.376296757000002 meters Centerline goodness [0,1] 0.806394167312648 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.43, Z:-0.48 [[ 9.99943734e-01 5.55530022e-03 -9.03702160e-03 1.70357860e+00] [-5.56967379e-03 9.99983263e-01 -1.56613234e-03 -4.25448561e-01] [ 9.02817001e-03 1.61637748e-03 9.99957939e-01 -4.77303700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406296757000003 meters Centerline goodness [0,1] 0.7636465836699005 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.42, Z:-0.48 [[ 0.99994102 0.00560438 -0.00930334 1.70420342] [-0.00562088 0.99998267 -0.00174898 -0.4245307 ] [ 0.00929337 0.00180117 0.99995519 -0.47742983] [ 0. 0. 0. 1. ]] SLAMing on 19.436296757 meters Centerline goodness [0,1] 0.8030198464981073 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.42, Z:-0.47 [[ 0.99994981 0.00495016 -0.00871065 1.7006832 ] [-0.00497096 0.99998484 -0.0023676 -0.42401013] [ 0.0086988 0.00241078 0.99995926 -0.47388938] [ 0. 0. 0. 1. ]] SLAMing on 19.466296757000002 meters Centerline goodness [0,1] 0.7640632847815169 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.42, Z:-0.47 [[ 0.99994832 0.00467188 -0.00902947 1.70123386] [-0.0046963 0.99998537 -0.00268538 -0.42339917] [ 0.00901679 0.00272765 0.99995563 -0.47358461] [ 0. 0. 0. 1. ]] SLAMing on 19.496296757000003 meters Centerline goodness [0,1] 0.7613229848747934 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.42, Z:-0.47 [[ 0.99994719 0.00429607 -0.00933574 1.70264481] [-0.0043285 0.99998466 -0.0034563 -0.42154811] [ 0.00932075 0.00349653 0.99995045 -0.47473599] [ 0. 0. 0. 1. ]] SLAMing on 19.526296757 meters Centerline goodness [0,1] 0.785852733373627 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.42, Z:-0.48 [[ 0.99993548 0.00524943 -0.01007332 1.70677806] [-0.00527858 0.99998195 -0.00286924 -0.41929749] [ 0.01005808 0.00292222 0.99994515 -0.4780589 ] [ 0. 0. 0. 1. ]] SLAMing on 19.556296757000002 meters Centerline goodness [0,1] 0.8150821043823868 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.42, Z:-0.48 [[ 9.99909613e-01 7.96274630e-03 -1.08332718e-02 1.70976058e+00] [-7.97048789e-03 9.99968010e-01 -6.71624235e-04 -4.16409953e-01] [ 1.08275773e-02 7.57909990e-04 9.99941093e-01 -4.79914788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586296757000003 meters Centerline goodness [0,1] 0.7570229691176777 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.41, Z:-0.48 [[ 9.99878101e-01 1.05309276e-02 -1.15274413e-02 1.71249927e+00] [-1.05141071e-02 9.99943572e-01 1.51880928e-03 -4.14658484e-01] [ 1.15427853e-02 -1.39742338e-03 9.99932403e-01 -4.81445417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.616296757 meters Centerline goodness [0,1] 0.755748445520177 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.41, Z:-0.48 [[ 9.99876387e-01 1.05803099e-02 -1.16304964e-02 1.71248294e+00] [-1.05726710e-02 9.99943850e-01 7.18090167e-04 -4.11302143e-01] [ 1.16374410e-02 -5.95035989e-04 9.99932106e-01 -4.81256068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646296757 meters Centerline goodness [0,1] 0.7525950838731108 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.41, Z:-0.48 [[ 0.99989515 0.01374967 -0.0045434 1.723456 ] [-0.01377236 0.99989266 -0.00500004 -0.40547909] [ 0.00447416 0.00506209 0.99997718 -0.48474749] [ 0. 0. 0. 1. ]] SLAMing on 19.676296757000003 meters Centerline goodness [0,1] 0.7818071735771849 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:-0.48 [[ 0.99988677 0.01440159 -0.00436255 1.72225717] [-0.01442356 0.99988324 -0.00504636 -0.40222858] [ 0.00428937 0.00510872 0.99997775 -0.48365505] [ 0. 0. 0. 1. ]] SLAMing on 19.706296757000004 meters Centerline goodness [0,1] 0.7412103265629562 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.40, Z:-0.49 [[ 0.99984589 0.01680482 -0.00507909 1.72492105] [-0.01682161 0.99985312 -0.00328101 -0.39819784] [ 0.00502321 0.00336595 0.99998172 -0.4850027 ] [ 0. 0. 0. 1. ]] SLAMing on 19.736296757 meters Centerline goodness [0,1] 0.7540887850467289 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.39, Z:-0.49 [[ 0.99981049 0.01856875 -0.00584682 1.72822426] [-0.01858275 0.99982457 -0.00234928 -0.39195526] [ 0.00580217 0.00245749 0.99998015 -0.48715698] [ 0. 0. 0. 1. ]] SLAMing on 19.766296757000003 meters Centerline goodness [0,1] 0.7324592487597449 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.39, Z:-0.49 [[ 0.99982337 0.0176914 -0.0063434 1.73023384] [-0.01771907 0.99983362 -0.00433286 -0.38649026] [ 0.00626569 0.0044445 0.99997049 -0.48866388] [ 0. 0. 0. 1. ]] SLAMing on 19.796296757000004 meters Centerline goodness [0,1] 0.7283343064475769 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.38, Z:-0.49 [[ 0.99983305 0.01696204 -0.00679475 1.73184059] [-0.0170031 0.99983724 -0.00603187 -0.38188347] [ 0.00669134 0.0061464 0.99995872 -0.48972453] [ 0. 0. 0. 1. ]] SLAMing on 19.826296757 meters Centerline goodness [0,1] 0.7283343064475769 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.38, Z:-0.49 [[ 0.99983305 0.01696204 -0.00679475 1.73184059] [-0.0170031 0.99983724 -0.00603187 -0.38188347] [ 0.00669134 0.0061464 0.99995872 -0.48972453] [ 0. 0. 0. 1. ]] SLAMing on 19.856296757000003 meters Centerline goodness [0,1] 0.7229988090014418 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.38, Z:-0.49 [[ 0.99984873 0.01575758 -0.00736282 1.733676 ] [-0.01581971 0.99983909 -0.00845744 -0.37603999] [ 0.00722837 0.00857264 0.99993713 -0.49063895] [ 0. 0. 0. 1. ]] SLAMing on 19.886296757000004 meters Centerline goodness [0,1] 0.7282735856939918 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.37, Z:-0.49 [[ 0.99985948 0.01482768 -0.0078205 1.73485496] [-0.01490268 0.99984267 -0.00962044 -0.37366889] [ 0.00767662 0.00973564 0.99992314 -0.49095015] [ 0. 0. 0. 1. ]] SLAMing on 19.916296757 meters Centerline goodness [0,1] 0.7718514498048139 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.49 [[ 0.99989043 0.01201828 -0.00864276 1.73698452] [-0.01212445 0.99985036 -0.01233939 -0.36909919] [ 0.00849317 0.01244282 0.99988651 -0.49126474] [ 0. 0. 0. 1. ]] SLAMing on 19.946296757000002 meters Centerline goodness [0,1] 0.7527455287103859 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.49 [[ 0.99989768 0.01076014 -0.00942613 1.73885187] [-0.01088581 0.99985118 -0.01338315 -0.36799789] [ 0.00928072 0.01348439 0.99986601 -0.49165653] [ 0. 0. 0. 1. ]] SLAMing on 19.976296757000004 meters Centerline goodness [0,1] 0.7657932707387968 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.37, Z:-0.49 [[ 0.99990357 0.00952343 -0.01010744 1.74083675] [-0.0096691 0.99984866 -0.0144624 -0.36682844] [ 0.00996818 0.01455873 0.99984433 -0.49242895] [ 0. 0. 0. 1. ]] SLAMing on 20.006296757 meters Centerline goodness [0,1] 0.7777731242016208 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.36, Z:-0.49 [[ 0.99991214 0.00755552 -0.01089139 1.74331379] [-0.00773362 0.99983554 -0.01640387 -0.36358644] [ 0.01076566 0.01648666 0.99980613 -0.49350064] [ 0. 0. 0. 1. ]] SLAMing on 20.036296757000002 meters Centerline goodness [0,1] 0.8380035576017579 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.36, Z:-0.49 [[ 0.99991077 0.00716165 -0.01127663 1.74436459] [-0.00735128 0.99983075 -0.01686533 -0.36243258] [ 0.01115394 0.01694672 0.99979418 -0.49384742] [ 0. 0. 0. 1. ]] SLAMing on 20.066296757000003 meters Centerline goodness [0,1] 0.8403074474323532 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.49 [[ 0.99991117 0.0062939 -0.01174921 1.74537262] [-0.00650459 0.99981716 -0.01798176 -0.359053 ] [ 0.01163389 0.01805659 0.99976928 -0.49376731] [ 0. 0. 0. 1. ]] SLAMing on 20.096296757 meters Centerline goodness [0,1] 0.8437408751512118 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.49 [[ 0.99990809 0.00587915 -0.01221631 1.74647184] [-0.00610428 0.99981072 -0.01847342 -0.35772835] [ 0.01210539 0.01854629 0.99975472 -0.49394888] [ 0. 0. 0. 1. ]] SLAMing on 20.126296757000002 meters Centerline goodness [0,1] 0.8456215400100654 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.49 [[ 0.999909 0.0046873 -0.01264991 1.74733034] [-0.00492899 0.99980461 -0.01914283 -0.35760625] [ 0.01255771 0.01920344 0.99973673 -0.49369933] [ 0. 0. 0. 1. ]] SLAMing on 20.156296757000003 meters Centerline goodness [0,1] 0.8499821731926763 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.49 [[ 0.99990316 0.00403244 -0.0133195 1.74918249] [-0.00429273 0.99979923 -0.01957209 -0.35763719] [ 0.0132379 0.01962737 0.99971972 -0.49439219] [ 0. 0. 0. 1. ]] SLAMing on 20.186296757 meters Centerline goodness [0,1] 0.8502494445143168 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.50 [[ 0.99989833 0.00238475 -0.01405878 1.75195392] [-0.00267775 0.99977884 -0.02085896 -0.35783534] [ 0.01400593 0.02089448 0.99968358 -0.49589846] [ 0. 0. 0. 1. ]] SLAMing on 20.216296757000002 meters Centerline goodness [0,1] 0.8504663081834986 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.50 [[ 0.99989282 0.0023566 -0.01444947 1.75297439] [-0.00265553 0.99978213 -0.02070346 -0.35872756] [ 0.01439753 0.02073961 0.99968124 -0.4961822 ] [ 0. 0. 0. 1. ]] SLAMing on 20.246296757000003 meters Centerline goodness [0,1] 0.8502178649237473 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.36, Z:-0.50 [[ 0.99988712 0.00229662 -0.01484847 1.75401997] [-0.00260537 0.99978009 -0.02080809 -0.35860664] [ 0.01479742 0.02084442 0.99967322 -0.49651821] [ 0. 0. 0. 1. ]] SLAMing on 20.276296757 meters Centerline goodness [0,1] 0.849719720350192 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.50 [[ 0.99987432 0.00347605 -0.01546824 1.75645095] [-0.00378069 0.99979861 -0.01970901 -0.35934344] [ 0.01539661 0.01976501 0.99968609 -0.49802449] [ 0. 0. 0. 1. ]] SLAMing on 20.306296757000002 meters Centerline goodness [0,1] 0.8521496347300361 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.50 [[ 0.99986854 0.00371925 -0.01578177 1.75729203] [-0.00402353 0.99980578 -0.01929304 -0.36046546] [ 0.01570695 0.019354 0.99968931 -0.49834847] [ 0. 0. 0. 1. ]] SLAMing on 20.336296757000003 meters Centerline goodness [0,1] 0.8524634712264052 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.36, Z:-0.50 [[ 0.99984402 0.00687162 -0.01627011 1.75938695] [-0.00712269 0.99985567 -0.01542454 -0.36395182] [ 0.01616177 0.01553802 0.99974865 -0.49938926] [ 0. 0. 0. 1. ]] SLAMing on 20.366296757 meters Centerline goodness [0,1] 0.8514294116411452 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.37, Z:-0.50 [[ 0.99980596 0.01087238 -0.01642652 1.759857 ] [-0.01105255 0.99987931 -0.01091775 -0.3653378 ] [ 0.01630584 0.01109718 0.99980547 -0.499353 ] [ 0. 0. 0. 1. ]] SLAMing on 20.396296757 meters Centerline goodness [0,1] 0.844221841147685 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 9.99841569e-01 1.50340668e-02 -9.52958770e-03 1.77044441e+00] [-1.50273081e-02 9.99886779e-01 7.80442251e-04 -3.67157184e-01] [ 9.54024197e-03 -6.37114554e-04 9.99954288e-01 -5.03499915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426296757000003 meters Centerline goodness [0,1] 0.8342751507257946 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 9.99826835e-01 1.58976724e-02 -9.67286456e-03 1.77050057e+00] [-1.58851414e-02 9.99872883e-01 1.37094551e-03 -3.67711721e-01] [ 9.69342982e-03 -1.21705329e-03 9.99952277e-01 -5.03233933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.456296757000004 meters Centerline goodness [0,1] 0.8211604809200209 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 9.99812443e-01 1.66385293e-02 -9.91147782e-03 1.77108882e+00] [-1.66205186e-02 9.99860071e-01 1.89677209e-03 -3.69011852e-01] [ 9.94165041e-03 -1.73168244e-03 9.99949081e-01 -5.03428491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486296757 meters Centerline goodness [0,1] 0.7713531519074854 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 0.99977588 0.01878621 -0.00976083 1.77019413] [-0.01875337 0.9998182 0.00344541 -0.37170634] [ 0.00982378 -0.00326159 0.99994643 -0.50253409] [ 0. 0. 0. 1. ]] SLAMing on 20.516296757000003 meters Centerline goodness [0,1] 0.7602444059808562 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 0.99975729 0.01966653 -0.00992967 1.77053812] [-0.01962892 0.99979984 0.0038711 -0.37114914] [ 0.01000381 -0.00367525 0.99994321 -0.50258196] [ 0. 0. 0. 1. ]] SLAMing on 20.546296757000004 meters Centerline goodness [0,1] 0.7368310993078355 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 0.99965153 0.02443058 -0.00999782 1.77082998] [-0.02434946 0.99967023 0.0081567 -0.3706234 ] [ 0.01019379 -0.00791042 0.99991675 -0.50243097] [ 0. 0. 0. 1. ]] SLAMing on 20.576296757 meters Centerline goodness [0,1] 0.7265464887699193 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 0.99963715 0.0248982 -0.0102786 1.77162088] [-0.02481427 0.99965833 0.00821387 -0.37034856] [ 0.0104796 -0.00795583 0.99991344 -0.50284775] [ 0. 0. 0. 1. ]] SLAMing on 20.606296757000003 meters Centerline goodness [0,1] 0.715323894248841 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.37, Z:-0.50 [[ 0.99962643 0.02521334 -0.01054935 1.77284164] [-0.02512561 0.99964927 0.00836846 -0.37097314] [ 0.01075665 -0.00810028 0.99990934 -0.50380736] [ 0. 0. 0. 1. ]] SLAMing on 20.636296757000004 meters Centerline goodness [0,1] 0.7569206322656185 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.37, Z:-0.51 [[ 0.99960702 0.02581849 -0.01091884 1.77514724] [-0.02572576 0.99963248 0.00854922 -0.37171449] [ 0.01113555 -0.00826497 0.99990384 -0.50594374] [ 0. 0. 0. 1. ]] SLAMing on 20.666296757 meters Centerline goodness [0,1] 0.7552155190434383 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.37, Z:-0.51 [[ 0.99959628 0.02614692 -0.01111802 1.77593914] [-0.02605345 0.99962467 0.00846988 -0.37079929] [ 0.01133531 -0.0081768 0.99990232 -0.50653946] [ 0. 0. 0. 1. ]] SLAMing on 20.696296757000002 meters Centerline goodness [0,1] 0.7371668363213328 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.51 [[ 0.99947784 0.03199266 -0.00452946 1.78550951] [-0.03197624 0.99948196 0.00365108 -0.36732924] [ 0.00464392 -0.00350434 0.99998308 -0.5095541 ] [ 0. 0. 0. 1. ]] SLAMing on 20.726296757000004 meters Centerline goodness [0,1] 0.7289612474203164 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.51 [[ 0.99945902 0.03256909 -0.0045741 1.78532879] [-0.03255241 0.99946328 0.00367456 -0.36607674] [ 0.00469132 -0.00352368 0.99998279 -0.50917244] [ 0. 0. 0. 1. ]] SLAMing on 20.756296757 meters Centerline goodness [0,1] 0.7151996332416437 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.51 [[ 0.99944099 0.03308734 -0.00478937 1.78572363] [-0.03306976 0.99944618 0.00370574 -0.36534404] [ 0.00490933 -0.00354528 0.99998166 -0.509181 ] [ 0. 0. 0. 1. ]] SLAMing on 20.786296757000002 meters Centerline goodness [0,1] 0.7072533444816054 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.51 [[ 0.99942226 0.03363617 -0.00487459 1.78623975] [-0.03361637 0.99942645 0.00408791 -0.36686262] [ 0.0050093 -0.00392168 0.99997976 -0.50948073] [ 0. 0. 0. 1. ]] SLAMing on 20.816296757000003 meters Centerline goodness [0,1] 0.7005768989590736 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.51 [[ 9.99526832e-01 3.03365045e-02 -5.08018336e-03 1.78678789e+00] [-3.03359665e-02 9.99539742e-01 1.82936263e-04 -3.66134241e-01] [ 5.08339481e-03 -2.87374313e-05 9.99987079e-01 -5.10157520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846296757 meters Centerline goodness [0,1] 0.7074542603240983 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.51 [[ 0.99962938 0.02660463 -0.00576946 1.79114037] [-0.02662367 0.99964025 -0.00324929 -0.36768673] [ 0.00568094 0.00340169 0.99997808 -0.51410033] [ 0. 0. 0. 1. ]] SLAMing on 20.876296757000002 meters Centerline goodness [0,1] 0.7087035604524263 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.37, Z:-0.52 [[ 0.99966194 0.02520335 -0.00638751 1.79408714] [-0.02523156 0.99967206 -0.00437496 -0.36760583] [ 0.00627515 0.00453465 0.99997003 -0.51638209] [ 0. 0. 0. 1. ]] SLAMing on 20.906296757000003 meters Centerline goodness [0,1] 0.7117889323270545 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.37, Z:-0.52 [[ 0.99970421 0.0232519 -0.00712977 1.79776378] [-0.02329156 0.99971341 -0.00553105 -0.36809214] [ 0.00699911 0.00569548 0.99995929 -0.51903111] [ 0. 0. 0. 1. ]] SLAMing on 20.936296757 meters Centerline goodness [0,1] 0.7149880748148458 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.37, Z:-0.52 [[ 0.99973311 0.02178762 -0.00768191 1.79993809] [-0.02183729 0.99974078 -0.00644287 -0.36986752] [ 0.00753954 0.0066089 0.99994974 -0.52035022] [ 0. 0. 0. 1. ]] SLAMing on 20.966296757000002 meters Centerline goodness [0,1] 0.7195139803835455 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.37, Z:-0.52 [[ 0.99974894 0.02079708 -0.00833886 1.80203486] [-0.02085223 0.9997609 -0.00658191 -0.37303202] [ 0.00819998 0.00675414 0.99994357 -0.52123048] [ 0. 0. 0. 1. ]] SLAMing on 20.996296757000003 meters Centerline goodness [0,1] 0.7247254589655461 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.38, Z:-0.52 [[ 0.99981523 0.01712492 -0.00873139 1.80256329] [-0.01720585 0.99980891 -0.00927916 -0.37676411] [ 0.00857082 0.00942768 0.99991883 -0.52074806] [ 0. 0. 0. 1. ]] SLAMing on 21.026296757 meters Centerline goodness [0,1] 0.7257420151017591 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.38, Z:-0.52 [[ 0.99981269 0.01706831 -0.00912494 1.80315418] [-0.01714751 0.99981536 -0.00867275 -0.378698 ] [ 0.00897522 0.00882759 0.99992076 -0.52029727] [ 0. 0. 0. 1. ]] SLAMing on 21.056296757000002 meters Centerline goodness [0,1] 0.7581097484408355 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.38, Z:-0.52 [[ 9.99880963e-01 1.43587874e-02 -5.64663759e-03 1.80987634e+00] [-1.43631106e-02 9.99896582e-01 -7.25825985e-04 -3.82272756e-01] [ 5.63563164e-03 8.06842866e-04 9.99983794e-01 -5.18964744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086296757000003 meters Centerline goodness [0,1] 0.7611740322817008 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.38, Z:-0.52 [[ 9.99887129e-01 1.36946510e-02 -6.17947888e-03 1.81172408e+00] [-1.37017649e-02 9.99905510e-01 -1.11035301e-03 -3.82722695e-01] [ 6.16368908e-03 1.19489745e-03 9.99980290e-01 -5.19981173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.116296757000004 meters Centerline goodness [0,1] 0.7649780196776219 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.38, Z:-0.52 [[ 0.99990033 0.01235694 -0.00682848 1.81449309] [-0.01237152 0.99992127 -0.00209679 -0.38365836] [ 0.00680203 0.00218106 0.99997449 -0.52191024] [ 0. 0. 0. 1. ]] SLAMing on 21.146296757 meters Centerline goodness [0,1] 0.8054196462175386 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:-0.52 [[ 0.99993127 0.00877565 -0.00777462 1.81841782] [-0.00881404 0.99994907 -0.00491657 -0.38793318] [ 0.00773108 0.00498476 0.99995769 -0.52452099] [ 0. 0. 0. 1. ]] SLAMing on 21.176296757000003 meters Centerline goodness [0,1] 0.7666785288145528 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:-0.52 [[ 0.99993244 0.00829513 -0.00814335 1.81948377] [-0.00833323 0.99995444 -0.0046559 -0.39096478] [ 0.00810435 0.00472345 0.999956 -0.52477634] [ 0. 0. 0. 1. ]] SLAMing on 21.206296757000004 meters Centerline goodness [0,1] 0.8080858916289213 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:-0.52 [[ 0.99995471 0.00467657 -0.00828877 1.81950692] [-0.00473911 0.99996033 -0.00754157 -0.39467069] [ 0.00825317 0.00758051 0.99993721 -0.52410692] [ 0. 0. 0. 1. ]] SLAMing on 21.236296757 meters Centerline goodness [0,1] 0.811886164220049 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:-0.52 [[ 0.99995118 0.00489207 -0.00858513 1.81974617] [-0.00495155 0.99996379 -0.0069212 -0.39607158] [ 0.00855096 0.00696337 0.99993919 -0.52347447] [ 0. 0. 0. 1. ]] SLAMing on 21.266296757000003 meters Centerline goodness [0,1] 0.8087736204801609 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:-0.52 [[ 0.99994277 0.00636461 -0.00859923 1.8188702 ] [-0.00641192 0.99996439 -0.00548598 -0.39573241] [ 0.00856401 0.0055408 0.99994798 -0.52200634] [ 0. 0. 0. 1. ]] SLAMing on 21.296296757000004 meters Centerline goodness [0,1] 0.8209542136417829 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:-0.52 [[ 0.99993645 0.00677858 -0.00900806 1.81994274] [-0.00682753 0.99996204 -0.00541404 -0.39494062] [ 0.00897102 0.0054752 0.99994477 -0.52246658] [ 0. 0. 0. 1. ]] SLAMing on 21.326296757 meters Centerline goodness [0,1] 0.8003011481272351 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.39, Z:-0.52 [[ 0.99993245 0.00722039 -0.00910781 1.82049745] [-0.00726845 0.99995978 -0.00525497 -0.3944778 ] [ 0.0090695 0.00532082 0.99994471 -0.52295767] [ 0. 0. 0. 1. ]] SLAMing on 21.356296757000003 meters Centerline goodness [0,1] 0.7683928272163566 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:-0.52 [[ 0.9999237 0.00829755 -0.00915092 1.82077227] [-0.00833901 0.9999551 -0.00450183 -0.39512241] [ 0.00911316 0.0045778 0.999948 -0.52318341] [ 0. 0. 0. 1. ]] SLAMing on 21.386296757000004 meters Centerline goodness [0,1] 0.7907815547214125 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:-0.52 [[ 0.9999197 0.0085929 -0.00931474 1.82140961] [-0.00863147 0.99995431 -0.00410896 -0.39656707] [ 0.00927901 0.00418903 0.99994817 -0.5235708 ] [ 0. 0. 0. 1. ]] SLAMing on 21.416296757 meters Centerline goodness [0,1] 0.777696335078534 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.40, Z:-0.53 [[ 0.99992444 0.0072404 -0.00993476 1.82434955] [-0.00728903 0.99996159 -0.00486791 -0.40214905] [ 0.00989914 0.00493996 0.9999388 -0.52569787] [ 0. 0. 0. 1. ]] SLAMing on 21.446296757000002 meters Centerline goodness [0,1] 0.7764789676554382 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.40, Z:-0.53 [[ 0.99992235 0.00711636 -0.01023027 1.82561319] [-0.00716033 0.99996526 -0.00426796 -0.40491134] [ 0.01019954 0.00434088 0.99993856 -0.5264893 ] [ 0. 0. 0. 1. ]] SLAMing on 21.476296757000004 meters Centerline goodness [0,1] 0.7783166785131914 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.41, Z:-0.53 [[ 0.9999178 0.00690556 -0.01080317 1.82706026] [-0.00694205 0.99997031 -0.00334341 -0.40750984] [ 0.01077976 0.00341813 0.99993605 -0.52640931] [ 0. 0. 0. 1. ]] SLAMing on 21.506296757 meters Centerline goodness [0,1] 0.7872806559976631 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.41, Z:-0.53 [[ 0.9999151 0.00686106 -0.01107746 1.82758037] [-0.00689363 0.99997202 -0.00290468 -0.40881293] [ 0.01105722 0.0029808 0.99993442 -0.52617892] [ 0. 0. 0. 1. ]] SLAMing on 21.536296757000002 meters Centerline goodness [0,1] 0.7792477517705456 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.41, Z:-0.53 [[ 0.99990899 0.00674187 -0.01168609 1.82905287] [-0.00677035 0.9999742 -0.00239899 -0.41117092] [ 0.01166962 0.00247789 0.99992884 -0.52634535] [ 0. 0. 0. 1. ]] SLAMing on 21.566296757000003 meters Centerline goodness [0,1] 0.7849552338716426 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:-0.53 [[ 0.99992149 0.00355016 -0.01201737 1.82920998] [-0.00360739 0.99998224 -0.00474474 -0.41585385] [ 0.01200031 0.00478772 0.99991653 -0.52548999] [ 0. 0. 0. 1. ]] SLAMing on 21.596296757 meters Centerline goodness [0,1] 0.7824329673534866 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:-0.53 [[ 0.99991531 0.00299952 -0.0126643 1.83132856] [-0.00306139 0.99998346 -0.00486915 -0.41762475] [ 0.01264949 0.00490751 0.99990795 -0.52642367] [ 0. 0. 0. 1. ]] SLAMing on 21.626296757000002 meters Centerline goodness [0,1] 0.7714339394192431 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:-0.53 [[ 0.99991225 0.00321295 -0.01285187 1.83207801] [-0.00326859 0.99998537 -0.00431081 -0.41928521] [ 0.01283784 0.00435243 0.99990812 -0.52670924] [ 0. 0. 0. 1. ]] SLAMing on 21.656296757000003 meters Centerline goodness [0,1] 0.7662880053458069 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:-0.53 [[ 0.99990885 0.00339519 -0.01306789 1.83262013] [-0.00344791 0.999986 -0.00401389 -0.41992803] [ 0.01305408 0.00405858 0.99990656 -0.52680978] [ 0. 0. 0. 1. ]] SLAMing on 21.686296757 meters Centerline goodness [0,1] 0.7964096884077658 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.42, Z:-0.53 [[ 0.99990833 0.00367398 -0.0130321 1.83266041] [-0.00371263 0.99998878 -0.00294339 -0.42385574] [ 0.01302114 0.0029915 0.99991075 -0.52638503] [ 0. 0. 0. 1. ]] SLAMing on 21.716296757000002 meters Centerline goodness [0,1] 0.7588658396747628 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.43, Z:-0.53 [[ 0.999904 0.0037683 -0.01333391 1.83328197] [-0.00380082 0.99998986 -0.0024145 -0.4257864 ] [ 0.01332467 0.00246495 0.99990818 -0.52622289] [ 0. 0. 0. 1. ]] SLAMing on 21.746296757000003 meters Centerline goodness [0,1] 0.7588658396747628 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.43, Z:-0.53 [[ 0.999904 0.0037683 -0.01333391 1.83328197] [-0.00380082 0.99998986 -0.0024145 -0.4257864 ] [ 0.01332467 0.00246495 0.99990818 -0.52622289] [ 0. 0. 0. 1. ]] SLAMing on 21.776296757 meters Centerline goodness [0,1] 0.7937563864617438 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.43, Z:-0.53 [[ 0.99990266 0.00369068 -0.0134555 1.83370222] [-0.00372059 0.99999066 -0.00219842 -0.42644538] [ 0.01344726 0.00224827 0.99990705 -0.52629059] [ 0. 0. 0. 1. ]] SLAMing on 21.806296757000002 meters Centerline goodness [0,1] 0.7917475829522438 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.43, Z:-0.53 [[ 0.99990052 0.00335118 -0.01370094 1.83474761] [-0.0033821 0.99999178 -0.00223419 -0.42578709] [ 0.01369334 0.0022803 0.99990364 -0.52666649] [ 0. 0. 0. 1. ]] SLAMing on 21.836296757000003 meters Centerline goodness [0,1] 0.7883953347660081 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.43, Z:-0.53 [[ 0.99989593 0.00310954 -0.01408729 1.83623078] [-0.00314412 0.9999921 -0.00243335 -0.42609508] [ 0.01407961 0.00247738 0.99989781 -0.52752047] [ 0. 0. 0. 1. ]] SLAMing on 21.866296757000004 meters Centerline goodness [0,1] 0.7693759853954029 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.43, Z:-0.53 [[ 0.99988715 0.00252417 -0.01480947 1.83944928] [-0.00256457 0.99999304 -0.00270969 -0.42907741] [ 0.01480252 0.00274737 0.99988666 -0.52944874] [ 0. 0. 0. 1. ]] SLAMing on 21.896296757 meters Centerline goodness [0,1] 0.7634585370929143 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.43, Z:-0.53 [[ 0.99988432 0.00279329 -0.01495127 1.83987703] [-0.00282816 0.99999333 -0.00231115 -0.4302624 ] [ 0.01494471 0.00235317 0.99988555 -0.52955806] [ 0. 0. 0. 1. ]] SLAMing on 21.926296757000003 meters Centerline goodness [0,1] 0.7582472613458529 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.43, Z:-0.53 [[ 0.9998813 0.00288014 -0.01513555 1.84054706] [-0.00291431 0.99999325 -0.00223612 -0.4302446 ] [ 0.01512901 0.00227997 0.99988295 -0.5299596 ] [ 0. 0. 0. 1. ]] SLAMing on 21.956296757000004 meters Centerline goodness [0,1] 0.765472788335176 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.43, Z:-0.53 [[ 0.99987716 0.00305216 -0.01537388 1.84179724] [-0.00308549 0.99999294 -0.00214435 -0.42890707] [ 0.01536723 0.00219152 0.99987952 -0.53075755] [ 0. 0. 0. 1. ]] SLAMing on 21.986296757 meters Centerline goodness [0,1] 0.7560359758769641 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.43, Z:-0.53 [[ 9.99869110e-01 3.04030385e-03 -1.58908749e-02 1.84425055e+00] [-3.06978083e-03 9.99993612e-01 -1.83090009e-03 -4.28822841e-01] [ 1.58852069e-02 1.87944194e-03 9.99872056e-01 -5.32316098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.016296757000003 meters Centerline goodness [0,1] 0.7547169811320755 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.43, Z:-0.53 [[ 0.99985982 0.00259752 -0.01654089 1.84679066] [-0.00263187 0.99999442 -0.00205551 -0.42983606] [ 0.01653546 0.00209875 0.99986108 -0.53386514] [ 0. 0. 0. 1. ]] SLAMing on 22.046296757000004 meters Centerline goodness [0,1] 0.7576502960060035 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.43, Z:-0.53 [[ 9.99853488e-01 2.46820403e-03 -1.69384189e-02 1.84827635e+00] [-2.49651983e-03 9.99995521e-01 -1.65074901e-03 -4.32549926e-01] [ 1.69342686e-02 1.69279426e-03 9.99855172e-01 -5.34619512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.076296757 meters Centerline goodness [0,1] 0.7790656465634056 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.44, Z:-0.54 [[ 9.99846388e-01 2.72156266e-04 -1.75249923e-02 1.85143890e+00] [-3.26851796e-04 9.99995085e-01 -3.11821309e-03 -4.37551705e-01] [ 1.75240575e-02 3.12346218e-03 9.99841563e-01 -5.36813647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106296757000003 meters Centerline goodness [0,1] 0.7527392711878476 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.44, Z:-0.54 [[ 9.99837679e-01 -2.14755021e-04 -1.80158338e-02 1.85363080e+00] [ 1.56849391e-04 9.99994818e-01 -3.21550355e-03 -4.38726073e-01] [ 1.80164309e-02 3.21215583e-03 9.99832531e-01 -5.38239298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.136296757000004 meters Centerline goodness [0,1] 0.7573825642729576 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.44, Z:-0.54 [[ 9.99838013e-01 -4.73581988e-05 -1.79984637e-02 1.85398432e+00] [ 5.90636175e-06 9.99997348e-01 -2.30312258e-03 -4.40198263e-01] [ 1.79985251e-02 2.30264320e-03 9.99835362e-01 -5.38321734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166296757 meters Centerline goodness [0,1] 0.7551284189459639 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.44, Z:-0.54 [[ 9.99837091e-01 3.85320210e-04 -1.80455909e-02 1.85372958e+00] [-4.15049959e-04 9.99998563e-01 -1.64376371e-03 -4.41221510e-01] [ 1.80449316e-02 1.65098575e-03 9.99835814e-01 -5.37748399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.196296757000002 meters Centerline goodness [0,1] 0.7511361267458828 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.44, Z:-0.54 [[ 9.99989369e-01 4.94571808e-04 -4.58450570e-03 1.85614787e+00] [-4.95468632e-04 9.99999858e-01 -1.94486804e-04 -4.42147746e-01] [ 4.58440886e-03 1.96756216e-04 9.99989472e-01 -5.42385486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226296757000004 meters Centerline goodness [0,1] 0.7427376394206759 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.45, Z:-0.54 [[ 9.99989833e-01 5.95691617e-04 -4.46972549e-03 1.85558229e+00] [-5.91725512e-04 9.99999430e-01 8.88596287e-04 -4.46202676e-01] [ 4.47025227e-03 -8.85942402e-04 9.99989616e-01 -5.40655870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256296757 meters Centerline goodness [0,1] 0.801078964360849 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.45, Z:-0.54 [[ 9.99988947e-01 6.51904587e-04 -4.65619823e-03 1.85574425e+00] [-6.45461758e-04 9.99998832e-01 1.38507884e-03 -4.48640621e-01] [ 4.65709573e-03 -1.38205813e-03 9.99988201e-01 -5.40121423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286296757000002 meters Centerline goodness [0,1] 0.7920505231564468 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.45, Z:-0.54 [[ 9.99987677e-01 3.06071621e-04 -4.95505064e-03 1.85731473e+00] [-2.97196155e-04 9.99998351e-01 1.79183299e-03 -4.52319844e-01] [ 4.95559089e-03 -1.79033828e-03 9.99986118e-01 -5.40964111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316296757000003 meters Centerline goodness [0,1] 0.7830784574468085 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.45, Z:-0.54 [[ 9.99984999e-01 -2.90434372e-04 -5.46967369e-03 1.86019362e+00] [ 2.96583422e-04 9.99999325e-01 1.12343035e-03 -4.52198647e-01] [ 5.46934371e-03 -1.12503571e-03 9.99984410e-01 -5.43487517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346296757 meters Centerline goodness [0,1] 0.7804857691344629 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.45, Z:-0.54 [[ 9.99984135e-01 -2.61380489e-04 -5.62689137e-03 1.86145427e+00] [ 2.67708878e-04 9.99999333e-01 1.12394498e-03 -4.51843288e-01] [ 5.62659384e-03 -1.12543351e-03 9.99983537e-01 -5.44872255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.376296757000002 meters Centerline goodness [0,1] 0.7777800964086726 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.45, Z:-0.55 [[ 9.99982366e-01 -2.46190974e-04 -5.93362607e-03 1.86387749e+00] [ 2.52876304e-04 9.99999334e-01 1.12596147e-03 -4.52221813e-01] [ 5.93334491e-03 -1.12744209e-03 9.99981762e-01 -5.47324490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406296757000003 meters Centerline goodness [0,1] 0.7644750573992903 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.46, Z:-0.55 [[ 9.99981320e-01 9.02605577e-05 -6.11156094e-03 1.86427386e+00] [-7.89612071e-05 9.99998287e-01 1.84906461e-03 -4.55012800e-01] [ 6.11171737e-03 -1.84854749e-03 9.99979615e-01 -5.47215268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.436296757 meters Centerline goodness [0,1] 0.7486338797814207 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.46, Z:-0.55 [[ 9.99981354e-01 -1.03237435e-03 -6.01884272e-03 1.86385002e+00] [ 1.03733995e-03 9.99999124e-01 8.21945560e-04 -4.60381658e-01] [ 6.01798889e-03 -8.28173820e-04 9.99981549e-01 -5.46677120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466296757000002 meters Centerline goodness [0,1] 0.7434184429737573 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.46, Z:-0.55 [[ 9.99981573e-01 -7.34817629e-04 -6.02609805e-03 1.86427214e+00] [ 7.41923432e-04 9.99999032e-01 1.17702078e-03 -4.60929407e-01] [ 6.02522732e-03 -1.18147000e-03 9.99981150e-01 -5.47184032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.496296757000003 meters Centerline goodness [0,1] 0.7680564811729423 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.46, Z:-0.55 [[ 9.99979675e-01 -6.22933375e-04 -6.34517503e-03 1.86560131e+00] [ 6.29243636e-04 9.99999309e-01 9.92549667e-04 -4.59646847e-01] [ 6.34455235e-03 -9.96522154e-04 9.99979377e-01 -5.48238159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526296757 meters Centerline goodness [0,1] 0.7586724796095037 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.46, Z:-0.55 [[ 0.99997154 0.00247218 -0.00712855 1.86942491] [-0.00244108 0.99998748 0.00436901 -0.46001075] [ 0.00713926 -0.00435148 0.99996505 -0.55108097] [ 0. 0. 0. 1. ]] SLAMing on 22.556296757000002 meters Centerline goodness [0,1] 0.7536680660044058 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.46, Z:-0.55 [[ 0.9999681 0.00208017 -0.00771123 1.87228742] [-0.00204964 0.99999004 0.00396565 -0.46091733] [ 0.00771941 -0.00394972 0.9999624 -0.55340889] [ 0. 0. 0. 1. ]] SLAMing on 22.586296757000003 meters Centerline goodness [0,1] 0.7215665904841055 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.47, Z:-0.56 [[ 0.99996439 0.00218307 -0.00815192 1.87450454] [-0.00214814 0.99998848 0.00429179 -0.4650026 ] [ 0.00816119 -0.00427413 0.99995756 -0.55503636] [ 0. 0. 0. 1. ]] SLAMing on 22.616296757000004 meters Centerline goodness [0,1] 0.7457986688851914 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.47, Z:-0.56 [[ 0.9999625 0.00258015 -0.00826644 1.87495521] [-0.00254103 0.99998554 0.00473908 -0.46681613] [ 0.00827855 -0.00471789 0.9999546 -0.55529187] [ 0. 0. 0. 1. ]] SLAMing on 22.646296757 meters Centerline goodness [0,1] 0.73804478790145 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 0.99995951 0.0028919 -0.00852143 1.87578341] [-0.00284961 0.99998359 0.00497047 -0.46789416] [ 0.00853566 -0.00494599 0.99995134 -0.55572604] [ 0. 0. 0. 1. ]] SLAMing on 22.676296757000003 meters Centerline goodness [0,1] 0.7333347177804543 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 0.99995614 0.0032925 -0.00876757 1.87652669] [-0.00324712 0.99998129 0.00518506 -0.46841471] [ 0.00878447 -0.00515636 0.99994812 -0.55614682] [ 0. 0. 0. 1. ]] SLAMing on 22.706296757000004 meters Centerline goodness [0,1] 0.7254443501831198 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 0.99994829 0.00409994 -0.00930638 1.87876842] [-0.00404591 0.9999749 0.00581692 -0.46977639] [ 0.00933 -0.00577897 0.99993978 -0.55775991] [ 0. 0. 0. 1. ]] SLAMing on 22.736296757 meters Centerline goodness [0,1] 0.7198413026408232 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 0.99994499 0.00404015 -0.00967916 1.88119735] [-0.00398386 0.99997509 0.00582718 -0.47081028] [ 0.00970247 -0.0057883 0.99993618 -0.5599032 ] [ 0. 0. 0. 1. ]] SLAMing on 22.766296757000003 meters Centerline goodness [0,1] 0.7169276010603048 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 0.99994356 0.00389708 -0.00988386 1.88190449] [-0.00384176 0.99997688 0.00561031 -0.4701428 ] [ 0.0099055 -0.00557202 0.99993541 -0.56031098] [ 0. 0. 0. 1. ]] SLAMing on 22.796296757000004 meters Centerline goodness [0,1] 0.713247473910883 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 0.99994243 0.00379053 -0.01003872 1.88229322] [-0.0037363 0.99997836 0.00541566 -0.46944949] [ 0.01005903 -0.00537784 0.99993495 -0.56036871] [ 0. 0. 0. 1. ]] SLAMing on 22.826296757 meters Centerline goodness [0,1] 0.7091033255385635 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 9.99951694e-01 1.05254999e-03 -9.77249246e-03 1.88062520e+00] [-1.02945905e-03 9.99996667e-01 2.36757974e-03 -4.69641326e-01] [ 9.77495189e-03 -2.35740500e-03 9.99949445e-01 -5.58475154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856296757000003 meters Centerline goodness [0,1] 0.7140165241339325 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.47, Z:-0.56 [[ 9.99948865e-01 4.73398526e-04 -1.01016252e-02 1.88149722e+00] [-4.49538686e-04 9.99997104e-01 2.36412021e-03 -4.71474216e-01] [ 1.01027152e-02 -2.35945825e-03 9.99946183e-01 -5.58397827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886296757000004 meters Centerline goodness [0,1] 0.7487943702783815 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.47, Z:-0.56 [[ 9.99929192e-01 -4.24470377e-03 -1.11172235e-02 1.88643687e+00] [ 4.22689960e-03 9.99989747e-01 -1.62450140e-03 -4.72520843e-01] [ 1.11240050e-02 1.57739498e-03 9.99936882e-01 -5.61617996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.916296757 meters Centerline goodness [0,1] 0.750466282587972 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.47, Z:-0.56 [[ 0.99991371 -0.00567743 -0.01184636 1.88984217] [ 0.00564591 0.99998044 -0.00269274 -0.47243002] [ 0.01186141 0.00262562 0.9999262 -0.56404086] [ 0. 0. 0. 1. ]] SLAMing on 22.946296757000002 meters Centerline goodness [0,1] 0.754592684954281 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.47, Z:-0.57 [[ 0.99989908 -0.00681888 -0.01246352 1.89249478] [ 0.00677623 0.99997105 -0.00346081 -0.47214568] [ 0.01248676 0.00337601 0.99991634 -0.56573114] [ 0. 0. 0. 1. ]] SLAMing on 22.976296757000004 meters Centerline goodness [0,1] 0.7624071415194457 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.47, Z:-0.57 [[ 0.99987553 -0.00898482 -0.01296939 1.89545289] [ 0.00892473 0.99994921 -0.00468337 -0.47156102] [ 0.01301082 0.00456704 0.99990493 -0.5674611 ] [ 0. 0. 0. 1. ]] SLAMing on 23.006296757 meters Centerline goodness [0,1] 0.7653464934199568 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.47, Z:-0.57 [[ 0.99986503 -0.00955393 -0.01336601 1.89666339] [ 0.00949077 0.99994353 -0.00478078 -0.47207545] [ 0.01341093 0.00465328 0.99989924 -0.56769086] [ 0. 0. 0. 1. ]] SLAMing on 23.036296757000002 meters Centerline goodness [0,1] 0.7759606157954024 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.47, Z:-0.57 [[ 0.99980343 -0.0141973 -0.01383972 1.89819637] [ 0.01407185 0.99985939 -0.00912022 -0.4719539 ] [ 0.01396726 0.00892367 0.99986263 -0.5679613 ] [ 0. 0. 0. 1. ]] SLAMing on 23.066296757000003 meters Centerline goodness [0,1] 0.7804969565579922 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.47, Z:-0.57 [[ 0.99978862 -0.01480535 -0.01426579 1.89961566] [ 0.01467394 0.99984933 -0.00927284 -0.47266707] [ 0.01440093 0.00906155 0.99985524 -0.56842636] [ 0. 0. 0. 1. ]] SLAMing on 23.096296757 meters Centerline goodness [0,1] 0.7839681281548538 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.47, Z:-0.57 [[ 0.99977637 -0.0152253 -0.01467684 1.90104136] [ 0.01508767 0.99984158 -0.00944318 -0.4728557 ] [ 0.01481829 0.00921963 0.9998477 -0.56905518] [ 0. 0. 0. 1. ]] SLAMing on 23.126296757000002 meters Centerline goodness [0,1] 0.7814519828197323 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.47, Z:-0.57 [[ 0.99975435 -0.01593562 -0.01540465 1.90384022] [ 0.01578108 0.99982444 -0.01010202 -0.47216343] [ 0.01556293 0.00985643 0.99983031 -0.57063625] [ 0. 0. 0. 1. ]] SLAMing on 23.156296757000003 meters Centerline goodness [0,1] 0.7815252327086029 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.47, Z:-0.57 [[ 0.99979698 -0.01238439 -0.01589423 1.9051873 ] [ 0.01229112 0.99990674 -0.00595263 -0.47389041] [ 0.01596646 0.00575607 0.99985596 -0.57087047] [ 0. 0. 0. 1. ]] SLAMing on 23.186296757 meters Centerline goodness [0,1] 0.7702100175014585 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.58 [[ 0.99992269 -0.00660178 -0.01053747 1.919134 ] [ 0.00650443 0.99993609 -0.00924687 -0.47104874] [ 0.01059784 0.00917761 0.99990172 -0.57530944] [ 0. 0. 0. 1. ]] SLAMing on 23.216296757000002 meters Centerline goodness [0,1] 0.7656764301487438 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.58 [[ 0.99993803 -0.00258397 -0.0108283 1.91979327] [ 0.00253111 0.99998483 -0.00489266 -0.47206109] [ 0.01084078 0.00486495 0.9999294 -0.57519294] [ 0. 0. 0. 1. ]] SLAMing on 23.246296757000003 meters Centerline goodness [0,1] 0.7746537540351973 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.57 [[ 9.99938240e-01 1.55045613e-03 -1.10050658e-02 1.91991145e+00] [-1.55828879e-03 9.99998539e-01 -7.03193511e-04 -4.72738963e-01] [ 1.10039594e-02 7.20299153e-04 9.99939195e-01 -5.74404460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276296757000004 meters Centerline goodness [0,1] 0.7707896430721953 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.57 [[ 9.99934630e-01 1.74600297e-03 -1.12998740e-02 1.92052020e+00] [-1.75698235e-03 9.99997994e-01 -9.61782793e-04 -4.71658784e-01] [ 1.12981721e-02 9.81573601e-04 9.99935692e-01 -5.74536653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306296757000002 meters Centerline goodness [0,1] 0.7663463743043541 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.57 [[ 9.99933366e-01 2.29805767e-03 -1.13129695e-02 1.92000533e+00] [-2.30673841e-03 9.99997055e-01 -7.54337502e-04 -4.70692288e-01] [ 1.13112027e-02 7.80383298e-04 9.99935722e-01 -5.73887943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.336296757000003 meters Centerline goodness [0,1] 0.7570910908409346 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.57 [[ 9.99928590e-01 2.96007976e-03 -1.15781220e-02 1.92054214e+00] [-2.97198960e-03 9.99995072e-01 -1.01157966e-03 -4.68130684e-01] [ 1.15750706e-02 1.04591748e-03 9.99932460e-01 -5.74205802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366296757000004 meters Centerline goodness [0,1] 0.7588643612031768 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.58 [[ 9.99925252e-01 2.90072109e-03 -1.18775356e-02 1.92167343e+00] [-2.91717050e-03 9.99994810e-01 -1.36782738e-03 -4.66998477e-01] [ 1.18735062e-02 1.40237393e-03 9.99928524e-01 -5.75061399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.396296757 meters Centerline goodness [0,1] 0.7494052835858269 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.58 [[ 9.99921244e-01 2.92684752e-03 -1.22041016e-02 1.92316249e+00] [-2.94918158e-03 9.99994009e-01 -1.81245025e-03 -4.65742178e-01] [ 1.21987238e-02 1.84829961e-03 9.99923885e-01 -5.76412528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426296757000003 meters Centerline goodness [0,1] 0.7446040161983885 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.58 [[ 9.99918810e-01 2.96080238e-03 -1.23938459e-02 1.92377238e+00] [-2.98381870e-03 9.99993857e-01 -1.83899738e-03 -4.66001804e-01] [ 1.23883249e-02 1.87582906e-03 9.99921502e-01 -5.76744563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456296757000004 meters Centerline goodness [0,1] 0.7424264537247461 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.47, Z:-0.58 [[ 9.99916306e-01 2.81116466e-03 -1.26284656e-02 1.92477500e+00] [-2.83329242e-03 9.99994482e-01 -1.73466391e-03 -4.67331246e-01] [ 1.26235194e-02 1.77029887e-03 9.99918753e-01 -5.77066970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486296757 meters Centerline goodness [0,1] 0.772069856618873 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.47, Z:-0.58 [[ 9.99915079e-01 2.68429747e-03 -1.27526423e-02 1.92544077e+00] [-2.70857172e-03 9.99994552e-01 -1.88657824e-03 -4.66984437e-01] [ 1.27475087e-02 1.92095947e-03 9.99916902e-01 -5.77561118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.516296757000003 meters Centerline goodness [0,1] 0.7449547016557325 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.47, Z:-0.58 [[ 0.99991432 0.00247066 -0.01285454 1.92609689] [-0.00250062 0.99999419 -0.00231497 -0.46519855] [ 0.01284875 0.00234691 0.9999147 -0.57811785] [ 0. 0. 0. 1. ]] SLAMing on 23.546296757000004 meters Centerline goodness [0,1] 0.7841148604937499 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.58 [[ 0.99991534 0.00294378 -0.01267456 1.92611238] [-0.00297174 0.99999319 -0.00218749 -0.46067499] [ 0.01266804 0.00222497 0.99991728 -0.57834568] [ 0. 0. 0. 1. ]] SLAMing on 23.576296757 meters Centerline goodness [0,1] 0.7813445132761822 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.58 [[ 0.99991094 0.00277872 -0.01305312 1.92711557] [-0.00281166 0.99999291 -0.00250554 -0.46004753] [ 0.01304607 0.00254202 0.99991167 -0.5786822 ] [ 0. 0. 0. 1. ]] SLAMing on 23.606296757000003 meters Centerline goodness [0,1] 0.7440515945900819 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.58 [[ 0.99990592 0.00256752 -0.01347408 1.92828323] [-0.00260156 0.99999347 -0.00250987 -0.46110341] [ 0.01346755 0.00254468 0.99990607 -0.57906057] [ 0. 0. 0. 1. ]] SLAMing on 23.636296757000004 meters Centerline goodness [0,1] 0.7440515945900819 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.58 [[ 0.99990592 0.00256752 -0.01347408 1.92828323] [-0.00260156 0.99999347 -0.00250987 -0.46110341] [ 0.01346755 0.00254468 0.99990607 -0.57906057] [ 0. 0. 0. 1. ]] SLAMing on 23.666296757 meters Centerline goodness [0,1] 0.7793306593131111 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.58 [[ 9.99897346e-01 -2.97161060e-04 -1.43251237e-02 1.93162281e+00] [ 2.22771477e-04 9.99986485e-01 -5.19426133e-03 -4.63194598e-01] [ 1.43264736e-02 5.19053689e-03 9.99883899e-01 -5.81046955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696296757000002 meters Centerline goodness [0,1] 0.7860659157279933 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.46, Z:-0.58 [[ 9.99890086e-01 -6.93240290e-04 -1.48099714e-02 1.93317536e+00] [ 6.13831636e-04 9.99985416e-01 -5.36571005e-03 -4.63439362e-01] [ 1.48134751e-02 5.35602945e-03 9.99875929e-01 -5.81784457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726296757000004 meters Centerline goodness [0,1] 0.7977157096874675 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.46, Z:-0.58 [[ 9.99840209e-01 -1.91409022e-03 -1.77733685e-02 1.94214223e+00] [ 1.86816757e-03 9.99994875e-01 -2.60003352e-03 -4.61514190e-01] [ 1.77782541e-02 2.56641443e-03 9.99838661e-01 -5.82014863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.756296757 meters Centerline goodness [0,1] 0.8093760413195601 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.46, Z:-0.58 [[ 0.99983407 -0.00225923 -0.0180757 1.94304495] [ 0.00220936 0.9999937 -0.00277835 -0.46069748] [ 0.01808186 0.00273796 0.99983276 -0.58232638] [ 0. 0. 0. 1. ]] SLAMing on 23.786296757000002 meters Centerline goodness [0,1] 0.8313355985908153 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.46, Z:-0.58 [[ 0.99982674 -0.00248261 -0.01844781 1.94415777] [ 0.00243108 0.99999308 -0.00281509 -0.46053764] [ 0.01845467 0.00276975 0.99982586 -0.58272423] [ 0. 0. 0. 1. ]] SLAMing on 23.816296757000003 meters Centerline goodness [0,1] 0.8118146444994694 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.46, Z:-0.58 [[ 0.99980406 -0.00425337 -0.01933266 1.94748262] [ 0.00418099 0.9999841 -0.00378286 -0.46321938] [ 0.01934844 0.00370129 0.99980595 -0.58405995] [ 0. 0. 0. 1. ]] SLAMing on 23.846296757 meters Centerline goodness [0,1] 0.8313202918736877 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.47, Z:-0.59 [[ 0.99978366 -0.00527985 -0.0201185 1.95033895] [ 0.00519422 0.99997724 -0.00430586 -0.46553824] [ 0.02014078 0.00420043 0.99978833 -0.58547703] [ 0. 0. 0. 1. ]] SLAMing on 23.876296757000002 meters Centerline goodness [0,1] 0.8318700066577897 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.47, Z:-0.59 [[ 0.9997487 -0.00897514 -0.02054244 1.95167371] [ 0.00881928 0.99993173 -0.00766526 -0.46813226] [ 0.02060984 0.00748216 0.9997596 -0.58600069] [ 0. 0. 0. 1. ]] SLAMing on 23.906296757000003 meters Centerline goodness [0,1] 0.8345452651317846 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.47, Z:-0.59 [[ 0.99973792 -0.00910207 -0.02100596 1.95326591] [ 0.00894395 0.99993105 -0.00760917 -0.46872427] [ 0.02107377 0.0074193 0.99975039 -0.58689721] [ 0. 0. 0. 1. ]] SLAMing on 23.936296757 meters Centerline goodness [0,1] 0.8343347817951223 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.47, Z:-0.59 [[ 0.99974013 -0.00674665 -0.02177493 1.95682483] [ 0.00664832 0.99996739 -0.00458473 -0.46990612] [ 0.02180515 0.00443878 0.99975239 -0.58917522] [ 0. 0. 0. 1. ]] SLAMing on 23.966296757000002 meters Centerline goodness [0,1] 0.8381443942641886 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.47, Z:-0.59 [[ 9.99741935e-01 -3.68220982e-03 -2.24166384e-02 1.95999979e+00] [ 3.65933998e-03 9.99992742e-01 -1.06115187e-03 -4.70168922e-01] [ 2.24203830e-02 9.78847923e-04 9.99748152e-01 -5.91365870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.996296757000003 meters Centerline goodness [0,1] 0.8371986699916875 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.47, Z:-0.60 [[ 9.99948357e-01 -3.12264606e-03 -9.67116409e-03 1.96382103e+00] [ 3.11587908e-03 9.99994890e-01 -7.14695320e-04 -4.70806476e-01] [ 9.67334641e-03 6.84524234e-04 9.99952978e-01 -5.97411134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026296757000004 meters Centerline goodness [0,1] 0.8317403590425532 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.60 [[ 9.99948780e-01 -1.98173581e-03 -9.92517783e-03 1.96397633e+00] [ 1.99258741e-03 9.99997428e-01 1.08357066e-03 -4.76701109e-01] [ 9.92300494e-03 -1.10329194e-03 9.99950157e-01 -5.96652131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.056296757000002 meters Centerline goodness [0,1] 0.8284519698797687 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.48, Z:-0.60 [[ 9.99947234e-01 -1.40103319e-03 -1.01767560e-02 1.96441935e+00] [ 1.42134409e-03 9.99997012e-01 1.98885378e-03 -4.79377749e-01] [ 1.01739391e-02 -2.00321351e-03 9.99946238e-01 -5.96498329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086296757000003 meters Centerline goodness [0,1] 0.8225004679797833 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.48, Z:-0.60 [[ 9.99945036e-01 -1.05745160e-03 -1.04310387e-02 1.96526819e+00] [ 1.08293326e-03 9.99996443e-01 2.43752366e-03 -4.80882709e-01] [ 1.04284240e-02 -2.44868581e-03 9.99942624e-01 -5.96984323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.116296757000004 meters Centerline goodness [0,1] 0.8140992383837965 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.48, Z:-0.60 [[ 9.99942695e-01 -3.49927503e-05 -1.07053518e-02 1.96627897e+00] [ 6.81034138e-05 9.99995216e-01 3.09255863e-03 -4.80777334e-01] [ 1.07051924e-02 -3.09311049e-03 9.99937914e-01 -5.97776741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146296757 meters Centerline goodness [0,1] 0.817998712597853 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.48, Z:-0.60 [[ 9.99940063e-01 2.59649321e-04 -1.09454541e-02 1.96702080e+00] [-2.25467874e-04 9.99995095e-01 3.12400804e-03 -4.80299044e-01] [ 1.09462116e-02 -3.12135295e-03 9.99935217e-01 -5.98294698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.176296757000003 meters Centerline goodness [0,1] 0.789689951438177 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.48, Z:-0.60 [[ 9.99933785e-01 7.58298267e-04 -1.14826049e-02 1.96883121e+00] [-7.14033158e-04 9.99992301e-01 3.85858004e-03 -4.82964094e-01] [ 1.14854425e-02 -3.85012559e-03 9.99926628e-01 -5.99301178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206296757000004 meters Centerline goodness [0,1] 0.790199652058653 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.49, Z:-0.60 [[ 9.99927207e-01 3.34230788e-04 -1.20610459e-02 1.97110205e+00] [-2.89445193e-04 9.99993058e-01 3.71479763e-03 -4.85070886e-01] [ 1.20622038e-02 -3.71103621e-03 9.99920363e-01 -6.00689625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.236296757 meters Centerline goodness [0,1] 0.8235976468638662 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.49, Z:-0.60 [[ 9.99922935e-01 -1.70119769e-03 -1.22975616e-02 1.97179720e+00] [ 1.72239496e-03 9.99997049e-01 1.71331167e-03 -4.87699483e-01] [ 1.22946106e-02 -1.73436089e-03 9.99922914e-01 -6.00998005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266296757000003 meters Centerline goodness [0,1] 0.8152688483244785 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.49, Z:-0.60 [[ 9.99913428e-01 -3.99616707e-03 -1.25366173e-02 1.97225559e+00] [ 3.99844696e-03 9.99991994e-01 1.56798639e-04 -4.94124605e-01] [ 1.25358904e-02 -2.06912064e-04 9.99921401e-01 -6.00594269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.296296757000004 meters Centerline goodness [0,1] 0.8165528124416022 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.60 [[ 9.99911608e-01 -3.74252781e-03 -1.27581082e-02 1.97280534e+00] [ 3.75539409e-03 9.99992464e-01 9.84670261e-04 -4.96426240e-01] [ 1.27543269e-02 -1.03249495e-03 9.99918127e-01 -6.00532189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326296757 meters Centerline goodness [0,1] 0.8144890253516451 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.60 [[ 9.99908463e-01 -3.27326449e-03 -1.31282893e-02 1.97426583e+00] [ 3.29826771e-03 9.99992787e-01 1.88333129e-03 -4.97574105e-01] [ 1.31220299e-02 -1.92645951e-03 9.99912047e-01 -6.01339645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.356296757000003 meters Centerline goodness [0,1] 0.8103058579574909 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.50, Z:-0.60 [[ 0.99990749 -0.00292469 -0.01328359 1.97495217] [ 0.00295351 0.99999333 0.00215091 -0.49761794] [ 0.01327721 -0.00218994 0.99990946 -0.60186023] [ 0. 0. 0. 1. ]] SLAMing on 24.386296757000004 meters Centerline goodness [0,1] 0.7978084348330433 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.60 [[ 0.99990278 -0.00248923 -0.01371975 1.97588786] [ 0.00252064 0.99999424 0.00227305 -0.49741355] [ 0.01371402 -0.00230741 0.9999033 -0.60211982] [ 0. 0. 0. 1. ]] SLAMing on 24.416296757 meters Centerline goodness [0,1] 0.775115551225983 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.60 [[ 9.99901817e-01 -9.96527253e-04 -1.39772093e-02 1.97623212e+00] [ 1.04030243e-03 9.99994576e-01 3.12497598e-03 -4.98744390e-01] [ 1.39740194e-02 -3.13920969e-03 9.99897431e-01 -6.02237292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446296757000002 meters Centerline goodness [0,1] 0.7948872242856846 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.60 [[ 9.99896801e-01 -6.00691987e-04 -1.43536319e-02 1.97739574e+00] [ 6.49326450e-04 9.99994064e-01 3.38388355e-03 -4.99954522e-01] [ 1.43515141e-02 -3.39285453e-03 9.99891255e-01 -6.02831391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.476296757000004 meters Centerline goodness [0,1] 0.7722784625938013 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.50, Z:-0.60 [[ 9.99895014e-01 4.37369531e-04 -1.44834258e-02 1.97783160e+00] [-3.77353673e-04 9.99991333e-01 4.14623481e-03 -5.02128798e-01] [ 1.44851137e-02 -4.14033414e-03 9.99886513e-01 -6.03226992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506296757 meters Centerline goodness [0,1] 0.7678890319365422 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.61 [[ 9.99963335e-01 4.16458536e-03 -7.48227472e-03 1.98836871e+00] [-4.17826072e-03 9.99989628e-01 -1.81299928e-03 -4.99576557e-01] [ 7.47464672e-03 1.84419570e-03 9.99970364e-01 -6.07343715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.536296757000002 meters Centerline goodness [0,1] 0.7605689368770764 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.61 [[ 9.99959707e-01 4.89981222e-03 -7.52168737e-03 1.98805902e+00] [-4.91239771e-03 9.99986563e-01 -1.65566425e-03 -4.96310966e-01] [ 7.51347386e-03 1.69254706e-03 9.99970341e-01 -6.06830867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566296757000003 meters Centerline goodness [0,1] 0.7544023589999169 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.61 [[ 9.99956501e-01 4.99691779e-03 -7.87575750e-03 1.98885769e+00] [-5.00980091e-03 9.99986144e-01 -1.61691461e-03 -4.96634885e-01] [ 7.86756879e-03 1.65630025e-03 9.99967678e-01 -6.06985756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596296757 meters Centerline goodness [0,1] 0.7504525310529929 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.61 [[ 9.99952376e-01 5.18585771e-03 -8.26761507e-03 1.98966462e+00] [-5.19541611e-03 9.99985860e-01 -1.13506699e-03 -4.98922827e-01] [ 8.26161186e-03 1.17796664e-03 9.99965178e-01 -6.06945039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626296757000002 meters Centerline goodness [0,1] 0.7395692435750703 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.61 [[ 9.99948433e-01 4.91266509e-03 -8.88797691e-03 1.99216375e+00] [-4.92252208e-03 9.99987293e-01 -1.08748954e-03 -5.02885181e-01] [ 8.88252149e-03 1.13118473e-03 9.99959910e-01 -6.08520950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656296757000003 meters Centerline goodness [0,1] 0.7394608098261684 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.50, Z:-0.61 [[ 9.99945889e-01 4.90628849e-03 -9.17318395e-03 1.99329695e+00] [-4.91693389e-03 9.99987264e-01 -1.13829991e-03 -5.02814669e-01] [ 9.16748229e-03 1.18334226e-03 9.99957278e-01 -6.09345409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686296757000004 meters Centerline goodness [0,1] 0.7307804491853827 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.50, Z:-0.61 [[ 9.99941506e-01 5.19961049e-03 -9.48411367e-03 1.99520728e+00] [-5.21040792e-03 9.99985805e-01 -1.11412193e-03 -5.02037971e-01] [ 9.47818605e-03 1.16347286e-03 9.99954404e-01 -6.11282746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716296757000002 meters Centerline goodness [0,1] 0.7270051354849485 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.50, Z:-0.61 [[ 9.99938560e-01 5.39168727e-03 -9.68530650e-03 1.99568214e+00] [-5.40016099e-03 9.99985059e-01 -8.48966462e-04 -5.02419565e-01] [ 9.68058442e-03 9.01216516e-04 9.99952736e-01 -6.11366908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746296757000003 meters Centerline goodness [0,1] 0.7323884690267339 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.50, Z:-0.61 [[ 9.99934412e-01 5.52193560e-03 -1.00339388e-02 1.99619558e+00] [-5.52759137e-03 9.99984579e-01 -5.36018731e-04 -5.03517560e-01] [ 1.00308242e-02 5.91447088e-04 9.99949515e-01 -6.11063044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.776296757000004 meters Centerline goodness [0,1] 0.7483304632701919 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99928237e-01 5.71009216e-03 -1.05316833e-02 1.99698566e+00] [-5.70841179e-03 9.99983689e-01 1.89607236e-04 -5.06678409e-01] [ 1.05325942e-02 -1.29474444e-04 9.99944522e-01 -6.10431016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806296757000002 meters Centerline goodness [0,1] 0.7400929215632687 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99925099e-01 5.69360059e-03 -1.08341385e-02 1.99788575e+00] [-5.69161187e-03 9.99983780e-01 2.14385234e-04 -5.07576751e-01] [ 1.08351834e-02 -1.52705465e-04 9.99941286e-01 -6.10815105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.836296757000003 meters Centerline goodness [0,1] 0.7339254966192096 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99920731e-01 5.33592732e-03 -1.14043335e-02 1.99967401e+00] [-5.33948346e-03 9.99985705e-01 -2.81398253e-04 -5.07609833e-01] [ 1.14026690e-02 3.42269197e-04 9.99934929e-01 -6.11736519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866296757000004 meters Centerline goodness [0,1] 0.7292854887930127 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99916431e-01 5.38833897e-03 -1.17514573e-02 2.00029359e+00] [-5.38775523e-03 9.99985483e-01 8.13318785e-05 -5.09632244e-01] [ 1.17517249e-02 -1.80111063e-05 9.99930946e-01 -6.11412365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.896296757 meters Centerline goodness [0,1] 0.7259147047066001 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99913139e-01 4.87205119e-03 -1.22465128e-02 2.00210703e+00] [-4.87755801e-03 9.99988017e-01 -4.19836713e-04 -5.09925700e-01] [ 1.22443206e-02 4.79533322e-04 9.99924921e-01 -6.12504042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926296757000003 meters Centerline goodness [0,1] 0.7274216240052076 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99909954e-01 4.58030033e-03 -1.26136780e-02 2.00330081e+00] [-4.59020107e-03 9.99989179e-01 -7.56081869e-04 -5.09475870e-01] [ 1.26100784e-02 8.13913105e-04 9.99920159e-01 -6.13102353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.956296757000004 meters Centerline goodness [0,1] 0.7259235869908431 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.61 [[ 9.99908952e-01 4.29918768e-03 -1.27908441e-02 2.00358492e+00] [-4.30972237e-03 9.99990396e-01 -7.96162277e-04 -5.08833076e-01] [ 1.27872984e-02 8.51214775e-04 9.99917877e-01 -6.12727018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986296757 meters Centerline goodness [0,1] 0.7291200675247942 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.61 [[ 9.99906134e-01 3.17932310e-03 -1.33272662e-02 2.00581002e+00] [-3.20072899e-03 9.99993621e-01 -1.58515057e-03 -5.09212327e-01] [ 1.33221415e-02 1.62765874e-03 9.99909932e-01 -6.13869622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016296757000003 meters Centerline goodness [0,1] 0.7276586756785299 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.61 [[ 9.99901968e-01 2.83091050e-03 -1.37127791e-02 2.00687181e+00] [-2.85382256e-03 9.99994564e-01 -1.65157467e-03 -5.10186850e-01] [ 1.37080291e-02 1.69054660e-03 9.99904611e-01 -6.14077760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046296757000004 meters Centerline goodness [0,1] 0.728159645232816 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.61 [[ 9.99897411e-01 2.46625031e-03 -1.41097729e-02 2.00813738e+00] [-2.49051710e-03 9.99995449e-01 -1.70254455e-03 -5.11506682e-01] [ 1.41055098e-02 1.73751051e-03 9.99899003e-01 -6.14496681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076296757 meters Centerline goodness [0,1] 0.732362657016012 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.62 [[ 9.99890970e-01 1.79653010e-03 -1.46567515e-02 2.01021346e+00] [-1.82993020e-03 9.99995759e-01 -2.26572752e-03 -5.11622413e-01] [ 1.46526189e-02 2.29230132e-03 9.99890017e-01 -6.15624408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106296757000003 meters Centerline goodness [0,1] 0.7511175775978407 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.62 [[ 9.99886068e-01 1.24739447e-03 -1.50430870e-02 2.01142255e+00] [-1.29036834e-03 9.99995114e-01 -2.84735095e-03 -5.09242475e-01] [ 1.50394617e-02 2.86643767e-03 9.99882792e-01 -6.16007584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136296757000004 meters Centerline goodness [0,1] 0.7338383944080531 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.62 [[ 9.99870807e-01 3.29698103e-03 -1.57321240e-02 2.01470098e+00] [-3.30675972e-03 9.99994355e-01 -5.95602264e-04 -5.08218183e-01] [ 1.57300715e-02 6.47547670e-04 9.99876065e-01 -6.18018143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166296757 meters Centerline goodness [0,1] 0.7546294361075117 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.62 [[ 9.99865014e-01 3.14856768e-03 -1.61257775e-02 2.01551225e+00] [-3.16939446e-03 9.99994176e-01 -1.26612807e-03 -5.05390224e-01] [ 1.61216971e-02 1.31706611e-03 9.99869170e-01 -6.18060599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.196296757000002 meters Centerline goodness [0,1] 0.750849542393729 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.62 [[ 9.99860614e-01 2.95562077e-03 -1.64321876e-02 2.01635951e+00] [-2.98277273e-03 9.99994226e-01 -1.62810197e-03 -5.04689710e-01] [ 1.64272807e-02 1.67688852e-03 9.99863657e-01 -6.18344197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226296757000004 meters Centerline goodness [0,1] 0.7471587361059073 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.62 [[ 9.99856253e-01 2.90713157e-03 -1.67039464e-02 2.01705715e+00] [-2.93807421e-03 9.99994013e-01 -1.82817300e-03 -5.04275294e-01] [ 1.66985317e-02 1.87698764e-03 9.99858808e-01 -6.18540565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.256296757 meters Centerline goodness [0,1] 0.7412117301808645 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.62 [[ 0.99985314 0.00312132 -0.01685086 2.01711287] [-0.00315667 0.99999287 -0.00207149 -0.50273768] [ 0.01684428 0.00212437 0.99985587 -0.61825293] [ 0. 0. 0. 1. ]] SLAMing on 25.286296757000002 meters Centerline goodness [0,1] 0.7367544845382279 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.62 [[ 9.99835617e-01 5.85271907e-03 -1.71605628e-02 2.01918607e+00] [-5.84592399e-03 9.99982813e-01 4.46107319e-04 -4.98753838e-01] [ 1.71628788e-02 -3.45714640e-04 9.99852647e-01 -6.19730236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.316296757000003 meters Centerline goodness [0,1] 0.7347557808572082 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.62 [[ 0.9998055 0.00824871 -0.01791448 2.02250308] [-0.00819821 0.99996222 0.00289055 -0.4971972 ] [ 0.01793765 -0.00274312 0.99983534 -0.62176358] [ 0. 0. 0. 1. ]] SLAMing on 25.346296757 meters Centerline goodness [0,1] 0.7313862522165433 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.50, Z:-0.62 [[ 0.99980499 0.00804883 -0.01803335 2.0233308 ] [-0.00800773 0.99996518 0.00234996 -0.49553498] [ 0.01805163 -0.00220509 0.99983462 -0.62262075] [ 0. 0. 0. 1. ]] SLAMing on 25.376296757000002 meters Centerline goodness [0,1] 0.7403252710592161 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.49, Z:-0.62 [[ 9.99798976e-01 7.37546987e-03 -1.86442957e-02 2.02550601e+00] [-7.34858625e-03 9.99971859e-01 1.51002290e-03 -4.94968718e-01] [ 1.86549082e-02 -1.37271014e-03 9.99825040e-01 -6.23891958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406296757000003 meters Centerline goodness [0,1] 0.7506009741006292 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.50, Z:-0.62 [[ 9.99814578e-01 4.04661085e-03 -1.88264060e-02 2.02564727e+00] [-4.08415201e-03 9.99989747e-01 -1.95604831e-03 -4.96610507e-01] [ 1.88182976e-02 2.03257552e-03 9.99820854e-01 -6.23782564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.436296757000004 meters Centerline goodness [0,1] 0.7213485025932742 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.50, Z:-0.62 [[ 0.99980418 0.00288847 -0.01957719 2.02803385] [-0.00293455 0.99999299 -0.00232545 -0.49836174] [ 0.01957034 0.00238244 0.99980564 -0.62420492] [ 0. 0. 0. 1. ]] SLAMing on 25.466296757000002 meters Centerline goodness [0,1] 0.7248478001631833 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.50, Z:-0.62 [[ 0.999799 0.00259422 -0.01988043 2.02909854] [-0.00264964 0.99999267 -0.00276216 -0.4966136 ] [ 0.01987312 0.00281428 0.99979855 -0.62481423] [ 0. 0. 0. 1. ]] SLAMing on 25.496296757000003 meters Centerline goodness [0,1] 0.7480960627621174 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.49, Z:-0.63 [[ 9.99774928e-01 4.95469792e-03 -2.06287453e-02 2.03224739e+00] [-4.96031051e-03 9.99987673e-01 -2.20916558e-04 -4.94890305e-01] [ 2.06273964e-02 3.23191818e-04 9.99787180e-01 -6.26588115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526296757000004 meters Centerline goodness [0,1] 0.7438312770923641 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.49, Z:-0.63 [[ 9.99949160e-01 5.82353189e-03 -8.23184109e-03 2.03704533e+00] [-5.83016338e-03 9.99982699e-01 -7.81822054e-04 -4.89424194e-01] [ 8.22714570e-03 8.29775284e-04 9.99965812e-01 -6.31527342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.556296757000002 meters Centerline goodness [0,1] 0.7438312770923641 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.49, Z:-0.63 [[ 9.99949160e-01 5.82353189e-03 -8.23184109e-03 2.03704533e+00] [-5.83016338e-03 9.99982699e-01 -7.81822054e-04 -4.89424194e-01] [ 8.22714570e-03 8.29775284e-04 9.99965812e-01 -6.31527342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586296757000003 meters Centerline goodness [0,1] 0.7383826003863811 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.49, Z:-0.63 [[ 9.99947355e-01 5.35346213e-03 -8.75368705e-03 2.03812924e+00] [-5.36450060e-03 9.99984845e-01 -1.23801418e-03 -4.89395459e-01] [ 8.74692673e-03 1.28490816e-03 9.99960919e-01 -6.31443885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.616296757000004 meters Centerline goodness [0,1] 0.7373575646677202 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.49, Z:-0.63 [[ 9.99946080e-01 5.03561707e-03 -9.08187942e-03 2.03896222e+00] [-5.04755777e-03 9.99986426e-01 -1.29234163e-03 -4.91032445e-01] [ 9.07524841e-03 1.33811326e-03 9.99957924e-01 -6.31451300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646296757 meters Centerline goodness [0,1] 0.7279064444305721 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.49, Z:-0.63 [[ 0.99994703 0.00360252 -0.00964131 2.04182058] [-0.00362678 0.9999903 -0.0024999 -0.49205559] [ 0.00963221 0.00253474 0.9999504 -0.63347518] [ 0. 0. 0. 1. ]] SLAMing on 25.676296757000003 meters Centerline goodness [0,1] 0.7292655508368724 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.49, Z:-0.63 [[ 0.99994518 0.00300689 -0.01002959 2.0435724 ] [-0.0030396 0.99999011 -0.00324744 -0.49052518] [ 0.01001973 0.00327775 0.99994443 -0.63479774] [ 0. 0. 0. 1. ]] SLAMing on 25.706296757000004 meters Centerline goodness [0,1] 0.7732655103402268 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.49, Z:-0.64 [[ 9.99934506e-01 3.89319611e-03 -1.07623230e-02 2.04806176e+00] [-3.91363038e-03 9.99990578e-01 -1.87827727e-03 -4.86721248e-01] [ 1.07549091e-02 1.92027401e-03 9.99940320e-01 -6.37903187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.736296757 meters Centerline goodness [0,1] 0.7282178424101005 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.48, Z:-0.64 [[ 0.99993423 0.0034681 -0.01093186 2.04875463] [-0.00349677 0.99999049 -0.00260489 -0.48402974] [ 0.01092272 0.00264294 0.99993685 -0.63827094] [ 0. 0. 0. 1. ]] SLAMing on 25.766296757000003 meters Centerline goodness [0,1] 0.7662021630615641 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.48, Z:-0.64 [[ 0.99993311 0.00266277 -0.01125547 2.04908011] [-0.00269966 0.99999103 -0.00326386 -0.48157981] [ 0.01124668 0.00329402 0.99993133 -0.63693336] [ 0. 0. 0. 1. ]] SLAMing on 25.796296757000004 meters Centerline goodness [0,1] 0.7249128486055777 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.48, Z:-0.64 [[ 9.99930077e-01 2.00258891e-03 -1.16546607e-02 2.05035140e+00] [-2.04607854e-03 9.99990985e-01 -3.72079672e-03 -4.81656925e-01] [ 1.16471044e-02 3.74438290e-03 9.99925159e-01 -6.37244438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826296757 meters Centerline goodness [0,1] 0.7665100224569574 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.48, Z:-0.64 [[ 9.99926373e-01 1.40305273e-03 -1.20531978e-02 2.05167439e+00] [-1.45214914e-03 9.99990681e-01 -4.06552442e-03 -4.82037583e-01] [ 1.20473814e-02 4.08272813e-03 9.99919093e-01 -6.37696365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.856296757000003 meters Centerline goodness [0,1] 0.7891531080517313 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.64 [[ 9.99918139e-01 -6.32457065e-04 -1.27794804e-02 2.05535395e+00] [ 5.58856762e-04 9.99983243e-01 -5.76200676e-03 -4.80516733e-01] [ 1.27829105e-02 5.75439318e-03 9.99901737e-01 -6.40174204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886296757000004 meters Centerline goodness [0,1] 0.7727963684068051 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.64 [[ 9.99910366e-01 3.30754343e-04 -1.33846793e-02 2.05919249e+00] [-3.90294942e-04 9.99990040e-01 -4.44604679e-03 -4.79829978e-01] [ 1.33830754e-02 4.45087225e-03 9.99900537e-01 -6.43083949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.916296757 meters Centerline goodness [0,1] 0.7881615395830296 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.64 [[ 9.99904948e-01 -2.01656777e-04 -1.37860355e-02 2.06066948e+00] [ 1.30713093e-04 9.99986747e-01 -5.14676141e-03 -4.77831770e-01] [ 1.37868907e-02 5.14447019e-03 9.99891722e-01 -6.43967572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946296757000002 meters Centerline goodness [0,1] 0.78790278877819 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.48, Z:-0.65 [[ 9.99895310e-01 4.09527059e-04 -1.44637692e-02 2.06471158e+00] [-4.65857605e-04 9.99992320e-01 -3.89144210e-03 -4.75859237e-01] [ 1.44620645e-02 3.89777277e-03 9.99887822e-01 -6.46560752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.976296757000004 meters Centerline goodness [0,1] 0.7866969608537958 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.48, Z:-0.65 [[ 9.99891895e-01 -3.98551866e-05 -1.47036580e-02 2.06555344e+00] [-2.11568910e-05 9.99991392e-01 -4.14927003e-03 -4.75004783e-01] [ 1.47036968e-02 4.14913255e-03 9.99883286e-01 -6.46672623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006296757 meters Centerline goodness [0,1] 0.7876259413004025 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.48, Z:-0.65 [[ 9.99888141e-01 -1.67230660e-04 -1.49558755e-02 2.06603912e+00] [ 1.05809078e-04 9.99991558e-01 -4.10754996e-03 -4.75221905e-01] [ 1.49564362e-02 4.10550803e-03 9.99879718e-01 -6.46517760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.036296757000002 meters Centerline goodness [0,1] 0.797258387581372 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.48, Z:-0.65 [[ 9.99883938e-01 -2.30321666e-04 -1.52334594e-02 2.06675906e+00] [ 1.68021133e-04 9.99991618e-01 -4.09087005e-03 -4.75691281e-01] [ 1.52342739e-02 4.08783571e-03 9.99875596e-01 -6.46692208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066296757000003 meters Centerline goodness [0,1] 0.775635407537248 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.47, Z:-0.65 [[ 9.99879654e-01 -6.15105072e-05 -1.55136518e-02 2.06737241e+00] [-5.16542702e-06 9.99990764e-01 -4.29781108e-03 -4.74315821e-01] [ 1.55137728e-02 4.29737400e-03 9.99870419e-01 -6.46744195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096296757 meters Centerline goodness [0,1] 0.7687623813992285 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.47, Z:-0.65 [[ 9.99869587e-01 3.10114033e-03 -1.58490651e-02 2.06889704e+00] [-3.11792588e-03 9.99994604e-01 -1.03448805e-03 -4.73333090e-01] [ 1.58457715e-02 1.08376934e-03 9.99873861e-01 -6.47572523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126296757000002 meters Centerline goodness [0,1] 0.7793122066702662 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.65 [[ 0.99991729 0.00777976 -0.01024132 2.08295154] [-0.00782945 0.99995773 -0.00482077 -0.4673516 ] [ 0.01020338 0.00490055 0.99993594 -0.651327 ] [ 0. 0. 0. 1. ]] SLAMing on 26.156296757000003 meters Centerline goodness [0,1] 0.7693860982159585 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.65 [[ 0.99991473 0.00789524 -0.01040222 2.08332944] [-0.00794634 0.99995652 -0.00488057 -0.46703944] [ 0.01036323 0.00496281 0.99993398 -0.6514396 ] [ 0. 0. 0. 1. ]] SLAMing on 26.186296757000004 meters Centerline goodness [0,1] 0.7639195896067064 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.65 [[ 0.99991202 0.00792164 -0.01063967 2.08387166] [-0.0079719 0.99995722 -0.00469012 -0.46840178] [ 0.01060206 0.00477453 0.9999324 -0.65140863] [ 0. 0. 0. 1. ]] SLAMing on 26.216296757000002 meters Centerline goodness [0,1] 0.7539262653613831 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.47, Z:-0.65 [[ 0.99991421 0.0075284 -0.01071925 2.08474814] [-0.00757692 0.9999612 -0.00449269 -0.47062966] [ 0.01068501 0.00457353 0.99993245 -0.65183407] [ 0. 0. 0. 1. ]] SLAMing on 26.246296757000003 meters Centerline goodness [0,1] 0.7549987503124219 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.47, Z:-0.65 [[ 0.99991461 0.00725189 -0.01087113 2.0853879 ] [-0.00730322 0.99996233 -0.00468991 -0.47034126] [ 0.01083671 0.0047689 0.99992991 -0.65219907] [ 0. 0. 0. 1. ]] SLAMing on 26.276296757000004 meters Centerline goodness [0,1] 0.7563667232597623 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.47, Z:-0.65 [[ 0.9999018 0.00779187 -0.01164829 2.08966217] [-0.00782937 0.9999643 -0.00317766 -0.46952682] [ 0.01162312 0.00326855 0.99992711 -0.65461457] [ 0. 0. 0. 1. ]] SLAMing on 26.306296757000002 meters Centerline goodness [0,1] 0.7577531085331056 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.47, Z:-0.66 [[ 0.99990023 0.00744853 -0.01200236 2.0910309 ] [-0.00749102 0.99996582 -0.00349952 -0.46868647] [ 0.01197588 0.00358908 0.99992185 -0.65552069] [ 0. 0. 0. 1. ]] SLAMing on 26.336296757000003 meters Centerline goodness [0,1] 0.765982710134361 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.47, Z:-0.66 [[ 0.99989828 0.0067762 -0.01255064 2.09337465] [-0.00682796 0.99996834 -0.00408601 -0.46839383] [ 0.01252255 0.00417129 0.99991289 -0.65720917] [ 0. 0. 0. 1. ]] SLAMing on 26.366296757000004 meters Centerline goodness [0,1] 0.7561552342826325 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.47, Z:-0.66 [[ 0.99989345 0.00584187 -0.01337747 2.09648762] [-0.00590675 0.99997096 -0.0048154 -0.46900595] [ 0.01334895 0.00489391 0.99989892 -0.6590831 ] [ 0. 0. 0. 1. ]] SLAMing on 26.396296757 meters Centerline goodness [0,1] 0.7659769540122106 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.47, Z:-0.66 [[ 9.99905047e-01 1.95138668e-03 -1.36414655e-02 2.09677781e+00] [-2.06044431e-03 9.99965996e-01 -7.98509110e-03 -4.72457442e-01] [ 1.36254196e-02 8.01244037e-03 9.99875067e-01 -6.58511156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426296757000003 meters Centerline goodness [0,1] 0.8108723346490404 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 9.99907581e-01 1.32368963e-03 -1.35306367e-02 2.09663907e+00] [-1.41917609e-03 9.99974142e-01 -7.04989172e-03 -4.76080599e-01] [ 1.35209550e-02 7.06844253e-03 9.99883604e-01 -6.57247278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.456296757000004 meters Centerline goodness [0,1] 0.8108300229981183 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 9.99905455e-01 1.47668029e-03 -1.36711282e-02 2.09675248e+00] [-1.56952430e-03 9.99975763e-01 -6.78301094e-03 -4.75720896e-01] [ 1.36607805e-02 6.80382681e-03 9.99883539e-01 -6.56994075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486296757 meters Centerline goodness [0,1] 0.812089932717623 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 0.99989304 0.00464135 -0.01386951 2.09789653] [-0.00468458 0.99998426 -0.00308673 -0.47621113] [ 0.01385497 0.00315138 0.99989905 -0.65746162] [ 0. 0. 0. 1. ]] SLAMing on 26.516296757000003 meters Centerline goodness [0,1] 0.8095705777870651 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 0.99988929 0.00487931 -0.01405735 2.09828358] [-0.00492384 0.99998296 -0.00313463 -0.47520293] [ 0.01404181 0.0032035 0.99989628 -0.65760594] [ 0. 0. 0. 1. ]] SLAMing on 26.546296757000004 meters Centerline goodness [0,1] 0.7922099632230023 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.47, Z:-0.66 [[ 0.9998804 0.005782 -0.01434431 2.09899078] [-0.0058237 0.99997893 -0.00286729 -0.47489673] [ 0.01432743 0.00295049 0.999893 -0.65810636] [ 0. 0. 0. 1. ]] SLAMing on 26.576296757 meters Centerline goodness [0,1] 0.7590739732909113 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 0.99986825 0.00689826 -0.01469332 2.09942458] [-0.00692984 0.99997378 -0.00209956 -0.47687842] [ 0.01467845 0.00220111 0.99988984 -0.65809522] [ 0. 0. 0. 1. ]] SLAMing on 26.606296757000003 meters Centerline goodness [0,1] 0.7785720257503553 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 0.99986166 0.00699995 -0.01508813 2.10049967] [-0.00703354 0.9999729 -0.00217447 -0.47722249] [ 0.0150725 0.00228029 0.9998838 -0.65860135] [ 0. 0. 0. 1. ]] SLAMing on 26.636296757000004 meters Centerline goodness [0,1] 0.7708468070014395 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.48, Z:-0.66 [[ 0.99985538 0.00704918 -0.01547663 2.10150187] [-0.00708746 0.99997196 -0.00241949 -0.47642343] [ 0.01545914 0.00252883 0.9998773 -0.65906199] [ 0. 0. 0. 1. ]] SLAMing on 26.666296757 meters Centerline goodness [0,1] 0.7695495646349632 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.47, Z:-0.66 [[ 0.99985248 0.0074488 -0.01547678 2.10138617] [-0.00748664 0.99996912 -0.00238815 -0.47485634] [ 0.01545851 0.00250367 0.99987738 -0.65903618] [ 0. 0. 0. 1. ]] SLAMing on 26.696296757000002 meters Centerline goodness [0,1] 0.7646296063914335 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.47, Z:-0.66 [[ 9.99810841e-01 1.08133611e-02 -1.61664041e-02 2.10355993e+00] [-1.08025184e-02 9.99941364e-01 7.57870034e-04 -4.72909952e-01] [ 1.61736513e-02 -5.83088799e-04 9.99869028e-01 -6.59945851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726296757000004 meters Centerline goodness [0,1] 0.747949447606294 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.47, Z:-0.66 [[ 9.99802920e-01 1.03947900e-02 -1.69135757e-02 2.10558320e+00] [-1.03876370e-02 9.99945917e-01 5.10714386e-04 -4.74772980e-01] [ 1.69179697e-02 -3.34921649e-04 9.99856825e-01 -6.60650967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.756296757 meters Centerline goodness [0,1] 0.7430394310218597 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.48, Z:-0.66 [[ 9.99813458e-01 8.19799801e-03 -1.74883299e-02 2.10717015e+00] [-8.22845520e-03 9.99964751e-01 -1.67032587e-03 -4.77566370e-01] [ 1.74740201e-02 1.81391622e-03 9.99845672e-01 -6.61446009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786296757000002 meters Centerline goodness [0,1] 0.7419906914616075 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.48, Z:-0.66 [[ 9.99807385e-01 7.56704126e-03 -1.81089338e-02 2.10966779e+00] [-7.60109141e-03 9.99969469e-01 -1.81220400e-03 -4.80666198e-01] [ 1.80946679e-02 1.94950260e-03 9.99834378e-01 -6.62967137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.816296757000003 meters Centerline goodness [0,1] 0.7399803884750996 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.48, Z:-0.66 [[ 9.99801553e-01 7.50628252e-03 -1.84529087e-02 2.11130567e+00] [-7.53486354e-03 9.99970518e-01 -1.47982383e-03 -4.81607802e-01] [ 1.84412567e-02 1.61857031e-03 9.99828635e-01 -6.64145166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846296757000005 meters Centerline goodness [0,1] 0.7412716907328034 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.48, Z:-0.67 [[ 9.99764652e-01 1.00679316e-02 -1.92166132e-02 2.11425352e+00] [-1.00363480e-02 9.99948122e-01 1.73929463e-03 -4.82254356e-01] [ 1.92331274e-02 -1.54602067e-03 9.99813831e-01 -6.65495498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876296757000002 meters Centerline goodness [0,1] 0.7437753510140406 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.49, Z:-0.67 [[ 9.99758744e-01 9.17036573e-03 -1.99589248e-02 2.11674193e+00] [-9.13611168e-03 9.99956633e-01 1.80673547e-03 -4.85850233e-01] [ 1.99746277e-02 -1.62395262e-03 9.99799168e-01 -6.66357063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906296757000003 meters Centerline goodness [0,1] 0.7442596331994088 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.49, Z:-0.67 [[ 9.99777020e-01 5.76533292e-03 -2.03143320e-02 2.11724490e+00] [-5.79233487e-03 9.99982417e-01 -1.27061736e-03 -4.88501687e-01] [ 2.03066493e-02 1.38800145e-03 9.99792835e-01 -6.66271672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.936296757000004 meters Centerline goodness [0,1] 0.7461090303786932 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.49, Z:-0.67 [[ 9.99766104e-01 4.87628997e-03 -2.10703559e-02 2.11980092e+00] [-4.90615232e-03 9.99987032e-01 -1.36580754e-03 -4.92836249e-01] [ 2.10634226e-02 1.46886246e-03 9.99777062e-01 -6.67321604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966296757000002 meters Centerline goodness [0,1] 0.7903621471040705 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.50, Z:-0.67 [[ 9.99730366e-01 3.81918720e-03 -2.29043302e-02 2.12350483e+00] [-3.80881540e-03 9.99992623e-01 4.96439562e-04 -4.97746969e-01] [ 2.29060572e-02 -4.09067340e-04 9.99737538e-01 -6.65312560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.996296757000003 meters Centerline goodness [0,1] 0.7892209843698038 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.50, Z:-0.67 [[ 9.99948533e-01 3.50789183e-03 -9.51974415e-03 2.12608508e+00] [-3.49589391e-03 9.99993074e-01 1.27666767e-03 -4.98018522e-01] [ 9.52415663e-03 -1.24332195e-03 9.99953871e-01 -6.71236218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026296757000004 meters Centerline goodness [0,1] 0.8135473408457732 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.50, Z:-0.67 [[ 9.99944463e-01 3.35032089e-03 -9.99226333e-03 2.12741316e+00] [-3.33413330e-03 9.99993103e-01 1.63623116e-03 -4.99557076e-01] [ 9.99767632e-03 -1.60282475e-03 9.99948737e-01 -6.71480979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056296757000002 meters Centerline goodness [0,1] 0.813749583472176 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.50, Z:-0.67 [[ 9.99939725e-01 2.87904453e-03 -1.05951544e-02 2.12935275e+00] [-2.86393403e-03 9.99994861e-01 1.44106730e-03 -5.00949760e-01] [ 1.05992489e-02 -1.41063662e-03 9.99942831e-01 -6.72380677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086296757000003 meters Centerline goodness [0,1] 0.7550416666666666 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.50, Z:-0.67 [[ 9.99934207e-01 2.54610065e-03 -1.11847287e-02 2.13115841e+00] [-2.53003100e-03 9.99995747e-01 1.45066353e-03 -5.02873555e-01] [ 1.11883746e-02 -1.42227038e-03 9.99936397e-01 -6.73085019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.116296757000004 meters Centerline goodness [0,1] 0.8076119215817414 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.67 [[ 9.99931786e-01 -5.34539608e-04 -1.16678127e-02 2.13186837e+00] [ 5.15854176e-04 9.99998580e-01 -1.60440194e-03 -5.05954206e-01] [ 1.16686537e-02 1.59827361e-03 9.99930642e-01 -6.72926532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146296757 meters Centerline goodness [0,1] 0.807780847145488 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.67 [[ 9.99927248e-01 -4.68150796e-04 -1.20532183e-02 2.13278607e+00] [ 4.52455093e-04 9.99999046e-01 -1.30489410e-03 -5.07703761e-01] [ 1.20538177e-02 1.29934562e-03 9.99926506e-01 -6.72988639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.176296757000003 meters Centerline goodness [0,1] 0.788803751622493 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.67 [[ 9.99923614e-01 -8.48630586e-05 -1.23595484e-02 2.13399875e+00] [ 7.04808949e-05 9.99999320e-01 -1.16407892e-03 -5.07253563e-01] [ 1.23596388e-02 1.16311889e-03 9.99922940e-01 -6.73956629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206296757000004 meters Centerline goodness [0,1] 0.8002724224643756 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.67 [[ 9.99921508e-01 1.86780609e-04 -1.25276494e-02 2.13470637e+00] [-2.02846426e-04 9.99999159e-01 -1.28117029e-03 -5.05616237e-01] [ 1.25273996e-02 1.28361092e-03 9.99920705e-01 -6.74671185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236296757 meters Centerline goodness [0,1] 0.7937349397590361 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.50, Z:-0.68 [[ 9.99919056e-01 5.11861187e-04 -1.27129437e-02 2.13522693e+00] [-5.28213461e-04 9.99999038e-01 -1.28294525e-03 -5.04661651e-01] [ 1.27122747e-02 1.28955655e-03 9.99918364e-01 -6.75065695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266296757000003 meters Centerline goodness [0,1] 0.7742539669177996 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.67 [[ 9.99916217e-01 1.60131247e-03 -1.28450107e-02 2.13498059e+00] [-1.60770254e-03 9.99998589e-01 -4.87164893e-04 -5.06560877e-01] [ 1.28442125e-02 5.07775033e-04 9.99917381e-01 -6.74476578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.296296757000004 meters Centerline goodness [0,1] 0.7697096311302439 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.67 [[ 9.99912900e-01 2.07107257e-03 -1.30346520e-02 2.13525202e+00] [-2.07181464e-03 9.99997853e-01 -4.34274425e-05 -5.08438587e-01] [ 1.30345341e-02 7.04290429e-05 9.99915044e-01 -6.74316525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326296757 meters Centerline goodness [0,1] 0.755127170820772 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.68 [[ 9.99908295e-01 2.51114973e-03 -1.33077574e-02 2.13659203e+00] [-2.50556489e-03 9.99996766e-01 4.36324065e-04 -5.11649187e-01] [ 1.33088100e-02 -4.02940602e-04 9.99911353e-01 -6.75400128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.356296757000003 meters Centerline goodness [0,1] 0.7511472982975573 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.68 [[ 9.99894233e-01 3.95535835e-03 -1.39956148e-02 2.14021143e+00] [-3.92745576e-03 9.99990246e-01 2.02059018e-03 -5.12635611e-01] [ 1.40034704e-02 -1.96540931e-03 9.99900015e-01 -6.78001480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386296757000004 meters Centerline goodness [0,1] 0.7504608539040153 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.68 [[ 9.99891455e-01 4.33941063e-03 -1.40800262e-02 2.14063917e+00] [-4.30908822e-03 9.99988333e-01 2.18319990e-03 -5.11760846e-01] [ 1.40893357e-02 -2.12229085e-03 9.99898488e-01 -6.78519429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.416296757 meters Centerline goodness [0,1] 0.7504608539040153 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.68 [[ 9.99891455e-01 4.33941063e-03 -1.40800262e-02 2.14063917e+00] [-4.30908822e-03 9.99988333e-01 2.18319990e-03 -5.11760846e-01] [ 1.40893357e-02 -2.12229085e-03 9.99898488e-01 -6.78519429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446296757000002 meters Centerline goodness [0,1] 0.7470909168407144 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.68 [[ 0.99988591 0.00429627 -0.01448125 2.14168942] [-0.00426181 0.99998801 0.00241001 -0.51321146] [ 0.01449143 -0.00234802 0.99989224 -0.67879507] [ 0. 0. 0. 1. ]] SLAMing on 27.476296757000004 meters Centerline goodness [0,1] 0.7432070744920026 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.52, Z:-0.68 [[ 0.99987838 0.00393255 -0.01509177 2.14372326] [-0.00389476 0.99998921 0.00253232 -0.51603705] [ 0.01510156 -0.00247323 0.99988291 -0.67971032] [ 0. 0. 0. 1. ]] SLAMing on 27.506296757 meters Centerline goodness [0,1] 0.7400591167015469 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.52, Z:-0.68 [[ 9.99884274e-01 1.08914177e-03 -1.51740660e-02 2.14354809e+00] [-1.08861255e-03 9.99999407e-01 4.31362456e-05 -5.19950704e-01] [ 1.51741040e-02 -2.66125749e-05 9.99884866e-01 -6.79322378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536296757000002 meters Centerline goodness [0,1] 0.7371754685574698 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.52, Z:-0.68 [[ 9.99879286e-01 1.08869273e-03 -1.54992685e-02 2.14439679e+00] [-1.08304610e-03 9.99999344e-01 3.72705122e-04 -5.21772604e-01] [ 1.54996640e-02 -3.55873710e-04 9.99879810e-01 -6.79480114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566296757000003 meters Centerline goodness [0,1] 0.7391699681756186 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99997025e-01 1.37138808e-03 -2.01717622e-03 2.14607401e+00] [-1.36963972e-03 9.99998685e-01 8.67862913e-04 -5.22898545e-01] [ 2.01836374e-03 -8.65097526e-04 9.99997589e-01 -6.85143983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.596296757000005 meters Centerline goodness [0,1] 0.7562770562770562 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99996828e-01 1.26018096e-03 -2.18093199e-03 2.14676153e+00] [-1.25889041e-03 9.99999032e-01 5.93011614e-04 -5.22221999e-01] [ 2.18167718e-03 -5.90264179e-04 9.99997446e-01 -6.85697007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626296757000002 meters Centerline goodness [0,1] 0.7691775191450698 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99996099e-01 9.55878717e-04 -2.62468185e-03 2.14817028e+00] [-9.55519815e-04 9.99999534e-01 1.37991602e-04 -5.21349507e-01] [ 2.62481253e-03 -1.35483128e-04 9.99996546e-01 -6.86504706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.656296757000003 meters Centerline goodness [0,1] 0.7673279132791329 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99995267e-01 9.55811941e-04 -2.92434591e-03 2.14887646e+00] [-9.55207062e-04 9.99999522e-01 2.08232325e-04 -5.21869025e-01] [ 2.92454354e-03 -2.05437984e-04 9.99995702e-01 -6.86662016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686296757000004 meters Centerline goodness [0,1] 0.7542540475931762 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.53, Z:-0.69 [[ 9.99993446e-01 -3.24551682e-06 -3.62048277e-03 2.15116819e+00] [ 1.71492713e-06 9.99999911e-01 -4.22761476e-04 -5.25808707e-01] [ 3.62048382e-03 4.22752496e-04 9.99993357e-01 -6.87502787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.716296757000002 meters Centerline goodness [0,1] 0.7469095356659241 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.53, Z:-0.69 [[ 9.99993326e-01 9.96639022e-06 -3.65338327e-03 2.15101578e+00] [-9.77596064e-06 9.99999999e-01 5.21420253e-05 -5.30104626e-01] [ 3.65338378e-03 -5.21059620e-05 9.99993325e-01 -6.86833355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746296757000003 meters Centerline goodness [0,1] 0.7156726164562472 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.53, Z:-0.69 [[ 9.99992848e-01 -4.95203898e-05 -3.78173073e-03 2.15160869e+00] [ 4.86032271e-05 9.99999969e-01 -2.42616123e-04 -5.29279869e-01] [ 3.78174263e-03 2.42430583e-04 9.99992820e-01 -6.87358158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.776296757000004 meters Centerline goodness [0,1] 0.7396759812982494 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.53, Z:-0.69 [[ 9.99993288e-01 3.80567884e-04 -3.64393610e-03 2.15115886e+00] [-3.81702915e-04 9.99999879e-01 -3.10794582e-04 -5.26992962e-01] [ 3.64381738e-03 3.12183397e-04 9.99993313e-01 -6.87334210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806296757000002 meters Centerline goodness [0,1] 0.7239635121698154 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 0.99998406 0.00404123 -0.00394274 2.15237778] [-0.00403064 0.99998826 0.00269105 -0.52301652] [ 0.00395357 -0.00267511 0.99998861 -0.68844311] [ 0. 0. 0. 1. ]] SLAMing on 27.836296757000003 meters Centerline goodness [0,1] 0.7214358265078988 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99983010e-01 4.04490964e-03 -4.19736485e-03 2.15325236e+00] [-4.03593032e-03 9.99989554e-01 2.14554602e-03 -5.21539152e-01] [ 4.20599954e-03 -2.12856929e-03 9.99988889e-01 -6.89193329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866296757000004 meters Centerline goodness [0,1] 0.7093499902400937 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99986739e-01 1.96998228e-03 -4.75834050e-03 2.15359628e+00] [-1.97448072e-03 9.99997608e-01 -9.40867920e-04 -5.21668014e-01] [ 4.75647563e-03 9.50250694e-04 9.99988236e-01 -6.89095808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.896296757 meters Centerline goodness [0,1] 0.7070707070707071 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.52, Z:-0.69 [[ 9.99984892e-01 1.90318115e-03 -5.15686294e-03 2.15445160e+00] [-1.90784040e-03 9.99997776e-01 -8.98736068e-04 -5.22800973e-01] [ 5.15514101e-03 9.08560961e-04 9.99986299e-01 -6.89124415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926296757000003 meters Centerline goodness [0,1] 0.703125 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99983876e-01 1.60046705e-03 -5.44855537e-03 2.15562213e+00] [-1.60707480e-03 9.99997978e-01 -1.20859077e-03 -5.22870533e-01] [ 5.44661005e-03 1.21732752e-03 9.99984426e-01 -6.89888903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956296757000004 meters Centerline goodness [0,1] 0.7047898338220919 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99982853e-01 1.42737903e-03 -5.67944581e-03 2.15627450e+00] [-1.43664277e-03 9.99997644e-01 -1.62735448e-03 -5.20585949e-01] [ 5.67710958e-03 1.63548591e-03 9.99982548e-01 -6.90176594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986296757 meters Centerline goodness [0,1] 0.7041975629851265 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99981704e-01 9.89940039e-04 -5.96760472e-03 2.15740695e+00] [-1.00426193e-03 9.99996622e-01 -2.39742095e-03 -5.18446223e-01] [ 5.96521126e-03 2.40337013e-03 9.99979320e-01 -6.90962205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016296757000003 meters Centerline goodness [0,1] 0.7002170138888889 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99979976e-01 1.07945258e-03 -6.23562889e-03 2.15743203e+00] [-1.09496408e-03 9.99996314e-01 -2.48468261e-03 -5.17330929e-01] [ 6.23292381e-03 2.49146065e-03 9.99977471e-01 -6.90221092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046296757000004 meters Centerline goodness [0,1] 0.7020870395279213 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99978210e-01 1.08909772e-03 -6.51096492e-03 2.15760330e+00] [-1.10495392e-03 9.99996432e-01 -2.43220638e-03 -5.17401251e-01] [ 6.50829278e-03 2.43934770e-03 9.99975846e-01 -6.89639961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.076296757 meters Centerline goodness [0,1] 0.7007570006290262 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99977287e-01 1.14363125e-03 -6.64217020e-03 2.15748116e+00] [-1.15906222e-03 9.99996638e-01 -2.31979730e-03 -5.17550674e-01] [ 6.63949487e-03 2.32744330e-03 9.99975250e-01 -6.89000058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106296757000003 meters Centerline goodness [0,1] 0.7277266243029439 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99976818e-01 8.47782083e-04 -6.75613761e-03 2.15755405e+00] [-8.63928369e-04 9.99996777e-01 -2.38730941e-03 -5.17533784e-01] [ 6.75409192e-03 2.39309089e-03 9.99974327e-01 -6.88447399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.136296757000004 meters Centerline goodness [0,1] 0.7402209422283357 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.52, Z:-0.69 [[ 9.99975093e-01 -1.20314186e-04 -7.05681883e-03 2.15910106e+00] [ 9.76984296e-05 9.99994859e-01 -3.20506609e-03 -5.15056154e-01] [ 7.05716817e-03 3.20429683e-03 9.99969964e-01 -6.89392478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166296757 meters Centerline goodness [0,1] 0.765786922331143 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99973970e-01 -3.42731136e-04 -7.20702218e-03 2.15969640e+00] [ 3.17596826e-04 9.99993865e-01 -3.48833037e-03 -5.13830317e-01] [ 7.20817353e-03 3.48595065e-03 9.99967945e-01 -6.89733213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.196296757000002 meters Centerline goodness [0,1] 0.7375398810037079 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99971971e-01 -4.53020255e-04 -7.47346286e-03 2.16028136e+00] [ 4.26213736e-04 9.99993472e-01 -3.58809680e-03 -5.13548270e-01] [ 7.47503956e-03 3.58481094e-03 9.99965636e-01 -6.89741189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226296757000004 meters Centerline goodness [0,1] 0.7364831322440699 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99971375e-01 -4.01508830e-04 -7.55571022e-03 2.16032505e+00] [ 3.75955293e-04 9.99994207e-01 -3.38313314e-03 -5.14105468e-01] [ 7.55702480e-03 3.38019568e-03 9.99965732e-01 -6.89432090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256296757000005 meters Centerline goodness [0,1] 0.7592604577912972 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99972325e-01 -6.08424320e-04 -7.41475313e-03 2.15987345e+00] [ 5.83307057e-04 9.99994087e-01 -3.38916317e-03 -5.13514842e-01] [ 7.41677133e-03 3.38474430e-03 9.99966767e-01 -6.88779348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286296757000002 meters Centerline goodness [0,1] 0.7648234940018059 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99970043e-01 -1.14886656e-03 -7.65465874e-03 2.16040805e+00] [ 1.11887051e-03 9.99991684e-01 -3.92179700e-03 -5.10850879e-01] [ 7.65910071e-03 3.91311494e-03 9.99963012e-01 -6.88565855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.316296757000003 meters Centerline goodness [0,1] 0.7661186192648705 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99967283e-01 -1.40814835e-03 -7.96549843e-03 2.16103616e+00] [ 1.37436697e-03 9.99990046e-01 -4.24484802e-03 -5.09817742e-01] [ 7.97139652e-03 4.23376162e-03 9.99959265e-01 -6.88535695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346296757000005 meters Centerline goodness [0,1] 0.762788611461159 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99961920e-01 4.03740687e-04 -8.71749294e-03 2.16441205e+00] [-4.20877522e-04 9.99997983e-01 -1.96405360e-03 -5.10030935e-01] [ 8.71668239e-03 1.96764780e-03 9.99960073e-01 -6.90359325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.376296757000002 meters Centerline goodness [0,1] 0.7633048725685305 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.69 [[ 9.99959849e-01 2.97595261e-04 -8.95612049e-03 2.16493380e+00] [-3.17983045e-04 9.99997361e-01 -2.27507007e-03 -5.08922792e-01] [ 8.95541981e-03 2.27782662e-03 9.99957305e-01 -6.90443066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406296757000003 meters Centerline goodness [0,1] 0.7557102411818549 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.51, Z:-0.69 [[ 9.99956457e-01 -1.84263427e-04 -9.33012055e-03 2.16647905e+00] [ 1.53342277e-04 9.99994495e-01 -3.31472809e-03 -5.06320612e-01] [ 9.33067997e-03 3.31315305e-03 9.99950980e-01 -6.91636115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.436296757000004 meters Centerline goodness [0,1] 0.7497419694576093 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99949768e-01 2.19618663e-03 -9.77945122e-03 2.16913064e+00] [-2.20373924e-03 9.99997282e-01 -7.61585291e-04 -5.04663230e-01] [ 9.77775206e-03 7.83098396e-04 9.99951890e-01 -6.93406855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466296757000002 meters Centerline goodness [0,1] 0.7830688948513722 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99948881e-01 2.08775574e-03 -9.89325948e-03 2.16939117e+00] [-2.09895083e-03 9.99997168e-01 -1.12133924e-03 -5.02931465e-01] [ 9.89089038e-03 1.14204739e-03 9.99950432e-01 -6.93512660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.496296757000003 meters Centerline goodness [0,1] 0.7484141535478704 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99947149e-01 1.75983391e-03 -1.01293134e-02 2.17026166e+00] [-1.77732637e-03 9.99996944e-01 -1.71817191e-03 -5.01381226e-01] [ 1.01262587e-02 1.73608419e-03 9.99947221e-01 -6.94039278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526296757000004 meters Centerline goodness [0,1] 0.7432016526835027 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99945600e-01 1.64048645e-03 -1.03008032e-02 2.17077402e+00] [-1.66324694e-03 9.99996194e-01 -2.20140688e-03 -4.99054611e-01] [ 1.02971526e-02 2.21841990e-03 9.99944522e-01 -6.94327174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.556296757000002 meters Centerline goodness [0,1] 0.7802016962741044 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99945331e-01 1.74740381e-03 -1.03093094e-02 2.17078005e+00] [-1.77061949e-03 9.99995916e-01 -2.24321684e-03 -4.98451446e-01] [ 1.03053475e-02 2.26134807e-03 9.99944342e-01 -6.94305715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586296757000003 meters Centerline goodness [0,1] 0.7807393037133881 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99946247e-01 1.96471381e-03 -1.01804978e-02 2.16997724e+00] [-1.98858097e-03 9.99995297e-01 -2.33480734e-03 -4.96950463e-01] [ 1.01758627e-02 2.35492658e-03 9.99945452e-01 -6.93460933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.616296757000004 meters Centerline goodness [0,1] 0.7803220035778176 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99946269e-01 2.03659731e-03 -1.01641906e-02 2.16959344e+00] [-2.06098529e-03 9.99995021e-01 -2.38950487e-03 -4.95797062e-01] [ 1.01592735e-02 2.41032473e-03 9.99945488e-01 -6.92921519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646296757 meters Centerline goodness [0,1] 0.7847629083245522 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.69 [[ 9.99945668e-01 1.98783089e-03 -1.02327968e-02 2.16947875e+00] [-2.01410120e-03 9.99994701e-01 -2.55760085e-03 -4.94703149e-01] [ 1.02276585e-02 2.57807177e-03 9.99944373e-01 -6.92541316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.676296757000003 meters Centerline goodness [0,1] 0.7869974517195628 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.69 [[ 9.99944380e-01 1.95093899e-03 -1.03649111e-02 2.16942394e+00] [-1.97653519e-03 9.99995021e-01 -2.45983485e-03 -4.94501226e-01] [ 1.03600605e-02 2.48018464e-03 9.99943257e-01 -6.91981869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706296757000004 meters Centerline goodness [0,1] 0.788749868573231 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.69 [[ 9.99941901e-01 1.31029542e-03 -1.06994648e-02 2.17059145e+00] [-1.33986722e-03 9.99995301e-01 -2.75715765e-03 -4.94656689e-01] [ 1.06958019e-02 2.77133332e-03 9.99938958e-01 -6.92299206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.736296757 meters Centerline goodness [0,1] 0.7907462057335581 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99937295e-01 5.59107317e-04 -1.11845565e-02 2.17271661e+00] [-5.93848922e-04 9.99995009e-01 -3.10313221e-03 -4.95479519e-01] [ 1.11827656e-02 3.10957957e-03 9.99932636e-01 -6.93586753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766296757000003 meters Centerline goodness [0,1] 0.7905381156452532 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99935394e-01 4.75548140e-04 -1.13569801e-02 2.17339402e+00] [-5.10495060e-04 9.99995144e-01 -3.07443074e-03 -4.95924499e-01] [ 1.13554629e-02 3.08002980e-03 9.99930781e-01 -6.93973302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.796296757000004 meters Centerline goodness [0,1] 0.7875152843951596 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.69 [[ 9.99934915e-01 5.21704900e-04 -1.13970621e-02 2.17364168e+00] [-5.56571432e-04 9.99995175e-01 -3.05629871e-03 -4.95594414e-01] [ 1.13954126e-02 3.06244307e-03 9.99930381e-01 -6.94197202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826296757 meters Centerline goodness [0,1] 0.7840763124091895 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.69 [[ 9.99934015e-01 5.38968515e-04 -1.14750096e-02 2.17391682e+00] [-5.76538821e-04 9.99994484e-01 -3.27104178e-03 -4.93974145e-01] [ 1.14731834e-02 3.27744173e-03 9.99928810e-01 -6.94449937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.856296757000003 meters Centerline goodness [0,1] 0.7905090160144592 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.70 [[ 9.99927540e-01 3.44078602e-03 -1.15358630e-02 2.17526953e+00] [-3.44571788e-03 9.99993980e-01 -4.07676081e-04 -4.90692310e-01] [ 1.15343909e-02 4.47395871e-04 9.99933377e-01 -6.95709496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886296757000004 meters Centerline goodness [0,1] 0.8135952485886377 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.70 [[ 9.99926847e-01 3.17154683e-03 -1.16722477e-02 2.17589100e+00] [-3.18255361e-03 9.99994508e-01 -9.24533544e-04 -4.89146490e-01] [ 1.16692514e-02 9.61613466e-04 9.99931450e-01 -6.96228248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.916296757 meters Centerline goodness [0,1] 0.8024559418285451 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.70 [[ 9.99926784e-01 2.76133998e-03 -1.17814425e-02 2.17598967e+00] [-2.76984158e-03 9.99995915e-01 -7.05353250e-04 -4.91804271e-01] [ 1.17794467e-02 7.37934336e-04 9.99930348e-01 -6.95512631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946296757000002 meters Centerline goodness [0,1] 0.8113759933082392 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.70 [[ 9.99925657e-01 2.66263915e-03 -1.18992322e-02 2.17611057e+00] [-2.66983767e-03 9.99996262e-01 -5.89112706e-04 -4.92705178e-01] [ 1.18976191e-02 6.20837928e-04 9.99929028e-01 -6.95148997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.976296757000004 meters Centerline goodness [0,1] 0.8186879639669697 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.70 [[ 9.99926865e-01 2.06349671e-03 -1.19166724e-02 2.17719311e+00] [-2.08322035e-03 9.99996480e-01 -1.64295388e-03 -4.88788499e-01] [ 1.19132402e-02 1.66765878e-03 9.99927644e-01 -6.96550737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006296757000005 meters Centerline goodness [0,1] 0.8151706069490362 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.70 [[ 9.99922992e-01 1.48193082e-03 -1.23212738e-02 2.17886567e+00] [-1.51599789e-03 9.99995053e-01 -2.75601852e-03 -4.85479934e-01] [ 1.23171287e-02 2.77448531e-03 9.99920292e-01 -6.97897155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.036296757000002 meters Centerline goodness [0,1] 0.8319436337863754 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.70 [[ 9.99921454e-01 1.46949048e-03 -1.24469155e-02 2.17924479e+00] [-1.50737185e-03 9.99994259e-01 -3.03460026e-03 -4.84090760e-01] [ 1.24423847e-02 3.05312403e-03 9.99917929e-01 -6.98168472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066296757000003 meters Centerline goodness [0,1] 0.8117561229807191 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.70 [[ 9.99916811e-01 1.31781697e-03 -1.28309998e-02 2.18047179e+00] [-1.35866961e-03 9.99994034e-01 -3.17570577e-03 -4.84365352e-01] [ 1.28267383e-02 3.19287468e-03 9.99912636e-01 -6.98729899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.096296757000005 meters Centerline goodness [0,1] 0.8129949153955156 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.70 [[ 9.99914630e-01 1.35475267e-03 -1.29960887e-02 2.18106054e+00] [-1.39420042e-03 9.99994447e-01 -3.02677565e-03 -4.84948005e-01] [ 1.29919160e-02 3.04463641e-03 9.99910966e-01 -6.99001459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126296757000002 meters Centerline goodness [0,1] 0.8422337185531311 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.70 [[ 9.99912875e-01 1.37166749e-03 -1.31285981e-02 2.18185888e+00] [-1.41434424e-03 9.99993745e-01 -3.24193849e-03 -4.84210687e-01] [ 1.31240691e-02 3.26022439e-03 9.99908561e-01 -6.99730622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.156296757000003 meters Centerline goodness [0,1] 0.8409772556860785 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.70 [[ 9.99910364e-01 1.45898882e-03 -1.33092233e-02 2.18255107e+00] [-1.50564068e-03 9.99992756e-01 -3.49588227e-03 -4.82702407e-01] [ 1.33040265e-02 3.51560782e-03 9.99905317e-01 -7.00320975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186296757000004 meters Centerline goodness [0,1] 0.8425672998728027 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.70 [[ 9.99907091e-01 1.91035303e-03 -1.34966907e-02 2.18381265e+00] [-1.95490250e-03 9.99992683e-01 -3.28834806e-03 -4.81861822e-01] [ 1.34903101e-02 3.31442725e-03 9.99903508e-01 -7.01752649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.216296757000002 meters Centerline goodness [0,1] 0.8377995120221884 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.48, Z:-0.70 [[ 9.99902080e-01 1.66705671e-03 -1.38943093e-02 2.18554479e+00] [-1.71434651e-03 9.99992777e-01 -3.39232234e-03 -4.82586115e-01] [ 1.38885538e-02 3.41580982e-03 9.99897715e-01 -7.02972762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246296757000003 meters Centerline goodness [0,1] 0.8079452226374131 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.48, Z:-0.70 [[ 9.99900036e-01 1.85745802e-03 -1.40167016e-02 2.18580221e+00] [-1.89799008e-03 9.99994055e-01 -2.87894901e-03 -4.83962344e-01] [ 1.40112707e-02 2.90526477e-03 9.99897617e-01 -7.02829115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.276296757000004 meters Centerline goodness [0,1] 0.8351903824404139 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99901740e-01 1.83111687e-03 -1.38981184e-02 2.18579141e+00] [-1.86112249e-03 9.99995965e-01 -2.14634335e-03 -4.86705687e-01] [ 1.38941321e-02 2.17199855e-03 9.99901113e-01 -7.02382063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306296757000002 meters Centerline goodness [0,1] 0.7700561656467433 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99900483e-01 1.93524755e-03 -1.39742466e-02 2.18578382e+00] [-1.95949362e-03 9.99996598e-01 -1.72157036e-03 -4.87967340e-01] [ 1.39708674e-02 1.74878148e-03 9.99900873e-01 -7.02025589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.336296757000003 meters Centerline goodness [0,1] 0.837162941978806 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99899674e-01 1.85996211e-03 -1.40421907e-02 2.18624672e+00] [-1.88312792e-03 9.99996888e-01 -1.63668694e-03 -4.88596251e-01] [ 1.40391029e-02 1.66296598e-03 9.99900064e-01 -7.02363410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.366296757000004 meters Centerline goodness [0,1] 0.837162941978806 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99899674e-01 1.85996211e-03 -1.40421907e-02 2.18624672e+00] [-1.88312792e-03 9.99996888e-01 -1.63668694e-03 -4.88596251e-01] [ 1.40391029e-02 1.66296598e-03 9.99900064e-01 -7.02363410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.396296757 meters Centerline goodness [0,1] 0.7598883103795767 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99898967e-01 1.79798618e-03 -1.41004402e-02 2.18697165e+00] [-1.81745819e-03 9.99997412e-01 -1.36825789e-03 -4.89661069e-01] [ 1.40979436e-02 1.39374661e-03 9.99899648e-01 -7.02978963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.426296757000003 meters Centerline goodness [0,1] 0.8384847975810515 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99896242e-01 1.54147753e-03 -1.43223132e-02 2.18793765e+00] [-1.56333870e-03 9.99997630e-01 -1.51530050e-03 -4.90157781e-01] [ 1.43199434e-02 1.53753390e-03 9.99896282e-01 -7.03560626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.456296757000004 meters Centerline goodness [0,1] 0.8402146464646465 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99899629e-01 2.35725916e-03 -1.39705192e-02 2.18626953e+00] [-2.35995547e-03 9.99997200e-01 -1.76517818e-04 -4.92604187e-01] [ 1.39700639e-02 2.09469904e-04 9.99902392e-01 -7.01662329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486296757 meters Centerline goodness [0,1] 0.8476380852183062 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99899047e-01 2.47070589e-03 -1.39925337e-02 2.18631395e+00] [-2.47346253e-03 9.99996925e-01 -1.79705419e-04 -4.92401736e-01] [ 1.39920467e-02 2.14297285e-04 9.99902084e-01 -7.01675295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.516296757000003 meters Centerline goodness [0,1] 0.831811981953625 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.70 [[ 9.99897482e-01 2.36939115e-03 -1.41212919e-02 2.18699452e+00] [-2.37813910e-03 9.99996991e-01 -6.02726295e-04 -4.91185436e-01] [ 1.41198213e-02 6.36246901e-04 9.99900108e-01 -7.02380233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.546296757000004 meters Centerline goodness [0,1] 0.838064381270903 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.71 [[ 9.99879761e-01 4.93246083e-03 -1.47015123e-02 2.19021887e+00] [-4.90600091e-03 9.99986281e-01 1.83533088e-03 -4.89127223e-01] [ 1.47103633e-02 -1.76298457e-03 9.99890243e-01 -7.05066062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.576296757 meters Centerline goodness [0,1] 0.8454311481241238 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.71 [[ 9.99876700e-01 4.73198864e-03 -1.49730879e-02 2.19133788e+00] [-4.71273708e-03 9.99988023e-01 1.32076756e-03 -4.88083348e-01] [ 1.49791584e-02 -1.25004048e-03 9.99887025e-01 -7.05992730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.606296757000003 meters Centerline goodness [0,1] 0.8366480540393584 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.71 [[ 9.99872550e-01 3.74605790e-03 -1.55193960e-02 2.19368142e+00] [-3.73820390e-03 9.99992870e-01 5.35054493e-04 -4.90658379e-01] [ 1.55212897e-02 -4.76971633e-04 9.99879424e-01 -7.07449252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.636296757000004 meters Centerline goodness [0,1] 0.8324155691882498 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.71 [[ 9.99867103e-01 3.30294222e-03 -1.59645404e-02 2.19535238e+00] [-3.29798957e-03 9.99994505e-01 3.36545610e-04 -4.92199510e-01] [ 1.59655643e-02 -2.83849996e-04 9.99872502e-01 -7.08376374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666296757 meters Centerline goodness [0,1] 0.8349148494941243 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.71 [[ 9.99863611e-01 2.86329861e-03 -1.62653325e-02 2.19679087e+00] [-2.86467603e-03 9.99995895e-01 -6.13857452e-05 -4.92229664e-01] [ 1.62650900e-02 1.07972281e-04 9.99867709e-01 -7.09456365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.696296757000002 meters Centerline goodness [0,1] 0.8320735358780544 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.71 [[ 9.99860050e-01 2.55682044e-03 -1.65330747e-02 2.19807148e+00] [-2.56597102e-03 9.99996566e-01 -5.32281719e-04 -4.91334318e-01] [ 1.65316570e-02 5.74630617e-04 9.99863178e-01 -7.10533923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726296757000004 meters Centerline goodness [0,1] 0.824582038141645 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.71 [[ 9.99855531e-01 2.55324003e-03 -1.68046880e-02 2.19942473e+00] [-2.56221243e-03 9.99996586e-01 -5.12414174e-04 -4.91681809e-01] [ 1.68033223e-02 5.55397327e-04 9.99858660e-01 -7.11717730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.756296757000005 meters Centerline goodness [0,1] 0.8354334198695624 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.71 [[ 0.99994446 0.00414577 -0.00968918 2.20977869] [-0.00421434 0.99996615 -0.007067 -0.49381471] [ 0.00965956 0.00710744 0.99992809 -0.71390628] [ 0. 0. 0. 1. ]] SLAMing on 29.786296757000002 meters Centerline goodness [0,1] 0.810565204467281 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.71 [[ 0.99994129 0.00459864 -0.0098115 2.20967096] [-0.00465888 0.99997038 -0.00612579 -0.49641745] [ 0.00978304 0.00617114 0.9999331 -0.71324453] [ 0. 0. 0. 1. ]] SLAMing on 29.816296757000003 meters Centerline goodness [0,1] 0.8165448462505593 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.71 [[ 0.99993833 0.00481566 -0.01000711 2.21018856] [-0.00487228 0.99997222 -0.00564136 -0.49785134] [ 0.00997966 0.00568976 0.99993401 -0.71334339] [ 0. 0. 0. 1. ]] SLAMing on 29.846296757000005 meters Centerline goodness [0,1] 0.8053363074811256 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.71 [[ 0.99993445 0.00539656 -0.01009831 2.21068021] [-0.00544661 0.99997299 -0.00493545 -0.49894904] [ 0.0100714 0.00499013 0.99993683 -0.71383483] [ 0. 0. 0. 1. ]] SLAMing on 29.876296757000002 meters Centerline goodness [0,1] 0.801335451734799 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.71 [[ 0.99993 0.00545697 -0.01049834 2.21192582] [-0.00550615 0.99997398 -0.00466072 -0.50033799] [ 0.01047263 0.0047182 0.99993403 -0.71445831] [ 0. 0. 0. 1. ]] SLAMing on 29.906296757000003 meters Centerline goodness [0,1] 0.8307752088595298 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.71 [[ 0.99993912 0.00233503 -0.01078407 2.21239623] [-0.00241218 0.99997155 -0.00714678 -0.50460394] [ 0.01076708 0.00717236 0.99991631 -0.71435581] [ 0. 0. 0. 1. ]] SLAMing on 29.936296757000004 meters Centerline goodness [0,1] 0.8285992217898832 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.51, Z:-0.71 [[ 0.99993571 0.00235907 -0.011091 2.21332068] [-0.00243061 0.99997631 -0.00644041 -0.50724581] [ 0.01107554 0.00646696 0.99991775 -0.71454341] [ 0. 0. 0. 1. ]] SLAMing on 29.966296757000002 meters Centerline goodness [0,1] 0.8320529744000347 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.51, Z:-0.71 [[ 0.99993294 0.00232719 -0.01134431 2.21402625] [-0.00239477 0.99997945 -0.00594739 -0.50894401] [ 0.01133024 0.00597416 0.99991796 -0.71463369] [ 0. 0. 0. 1. ]] SLAMing on 29.996296757000003 meters Centerline goodness [0,1] 0.8290258016795022 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.51, Z:-0.72 [[ 9.99932113e-01 1.38188858e-03 -1.15697684e-02 2.21548199e+00] [-1.44752260e-03 9.99982898e-01 -5.66643901e-03 -5.13805098e-01] [ 1.15617401e-02 5.68280183e-03 9.99917013e-01 -7.15200716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026296757000004 meters Centerline goodness [0,1] 0.8259673934394028 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.52, Z:-0.72 [[ 9.99929080e-01 1.49689767e-03 -1.18150010e-02 2.21614717e+00] [-1.55467075e-03 9.99986874e-01 -4.88213837e-03 -5.16993241e-01] [ 1.18075379e-02 4.90016057e-03 9.99918282e-01 -7.15161207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.056296757000002 meters Centerline goodness [0,1] 0.8249665548172029 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.52, Z:-0.72 [[ 9.99924889e-01 1.01739672e-03 -1.22139388e-02 2.21865548e+00] [-1.07381250e-03 9.99988782e-01 -4.61329780e-03 -5.20293280e-01] [ 1.22091082e-02 4.62606677e-03 9.99914765e-01 -7.17193369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086296757000003 meters Centerline goodness [0,1] 0.8257968214944245 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.52, Z:-0.72 [[ 9.99922839e-01 1.07218163e-03 -1.23760226e-02 2.21947719e+00] [-1.12634336e-03 9.99989816e-01 -4.37020380e-03 -5.20948675e-01] [ 1.23712109e-02 4.38380624e-03 9.99913864e-01 -7.17866071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.116296757000004 meters Centerline goodness [0,1] 0.8229929012549175 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.52, Z:-0.72 [[ 9.99921914e-01 1.33221023e-03 -1.24254258e-02 2.21985479e+00] [-1.37985703e-03 9.99991726e-01 -3.82683665e-03 -5.22140575e-01] [ 1.24202249e-02 3.84368314e-03 9.99915478e-01 -7.18196060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146296757 meters Centerline goodness [0,1] 0.8249658394675365 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99921118e-01 1.61809870e-03 -1.24555249e-02 2.22044019e+00] [-1.65329693e-03 9.99994668e-01 -2.81613482e-03 -5.25518158e-01] [ 1.24509017e-02 2.83650535e-03 9.99918461e-01 -7.18634310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.176296757000003 meters Centerline goodness [0,1] 0.8197443807844865 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99918734e-01 1.69524391e-03 -1.26353355e-02 2.22118794e+00] [-1.72756870e-03 9.99995262e-01 -2.54780929e-03 -5.26684511e-01] [ 1.26309564e-02 2.56943065e-03 9.99916925e-01 -7.19095150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206296757000004 meters Centerline goodness [0,1] 0.8148369794090919 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99918086e-01 2.29470309e-03 -1.25918587e-02 2.22094511e+00] [-2.31236484e-03 9.99996363e-01 -1.38825223e-03 -5.29911510e-01] [ 1.25886273e-02 1.41725549e-03 9.99919756e-01 -7.18605705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.236296757 meters Centerline goodness [0,1] 0.8116962171016225 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99913153e-01 2.31471854e-03 -1.29741303e-02 2.22167128e+00] [-2.32939779e-03 9.99996664e-01 -1.11642713e-03 -5.31475075e-01] [ 1.29715028e-02 1.14655208e-03 9.99915209e-01 -7.18422274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.266296757000003 meters Centerline goodness [0,1] 0.8089987353848201 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99908940e-01 2.75450433e-03 -1.32107850e-02 2.22157816e+00] [-2.75909867e-03 9.99996139e-01 -3.29558802e-04 -5.33467289e-01] [ 1.32098262e-02 3.65978652e-04 9.99912679e-01 -7.17566564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.296296757000004 meters Centerline goodness [0,1] 0.8028271996100415 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99899887e-01 2.46026955e-03 -1.39342444e-02 2.22371006e+00] [-2.46839720e-03 9.99996793e-01 -5.66117338e-04 -5.33990878e-01] [ 1.39328069e-02 6.00455912e-04 9.99902753e-01 -7.18483399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326296757 meters Centerline goodness [0,1] 0.8131144623871169 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99895661e-01 2.85194291e-03 -1.41610200e-02 2.22424298e+00] [-2.85751563e-03 9.99995848e-01 -3.73307641e-04 -5.33553908e-01] [ 1.41598966e-02 4.13734026e-04 9.99899658e-01 -7.18770569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.356296757000003 meters Centerline goodness [0,1] 0.8253276080717289 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99893762e-01 3.01087420e-03 -1.42617916e-02 2.22457992e+00] [-3.01782987e-03 9.99995338e-01 -4.66217190e-04 -5.33326506e-01] [ 1.42603214e-02 5.09207321e-04 9.99898187e-01 -7.19078452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386296757000004 meters Centerline goodness [0,1] 0.8262048728436777 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.53, Z:-0.72 [[ 9.99892551e-01 3.17586129e-03 -1.43108750e-02 2.22492248e+00] [-3.18335482e-03 9.99994808e-01 -5.00875706e-04 -5.33357986e-01] [ 1.43092100e-02 5.46378480e-04 9.99897469e-01 -7.19499514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.416296757000005 meters Centerline goodness [0,1] 0.8209077793807569 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.53, Z:-0.72 [[ 9.99889668e-01 3.34973236e-03 -1.44717120e-02 2.22548305e+00] [-3.35672406e-03 9.99994261e-01 -4.58865859e-04 -5.33524072e-01] [ 1.44700918e-02 5.07392776e-04 9.99895174e-01 -7.19922437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446296757000002 meters Centerline goodness [0,1] 0.7507684822751498 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.53, Z:-0.72 [[ 9.99866969e-01 5.82197724e-03 -1.52364182e-02 2.22927247e+00] [-5.79112197e-03 9.99981092e-01 2.06843785e-03 -5.33419580e-01] [ 1.52481725e-02 -1.97992672e-03 9.99881780e-01 -7.22745764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.476296757000004 meters Centerline goodness [0,1] 0.8060114736305846 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.53, Z:-0.72 [[ 9.99864690e-01 5.69470023e-03 -1.54328443e-02 2.23040877e+00] [-5.67199211e-03 9.99982767e-01 1.51478615e-03 -5.32035058e-01] [ 1.54412046e-02 -1.42704621e-03 9.99879759e-01 -7.23972164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506296757000005 meters Centerline goodness [0,1] 0.7861334396244382 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.53, Z:-0.73 [[ 9.99857519e-01 5.46206601e-03 -1.59720948e-02 2.23266549e+00] [-5.44774761e-03 9.99984719e-01 9.39835149e-04 -5.31646227e-01] [ 1.59769842e-02 -8.52689298e-04 9.99871996e-01 -7.25831512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.536296757000002 meters Centerline goodness [0,1] 0.7749673303949146 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.53, Z:-0.73 [[ 9.99850377e-01 4.95321477e-03 -1.65737325e-02 2.23455858e+00] [-4.94429704e-03 9.99987609e-01 5.78996357e-04 -5.32429244e-01] [ 1.65763950e-02 -4.96964269e-04 9.99862479e-01 -7.26694370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566296757000003 meters Centerline goodness [0,1] 0.790677025527192 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.54, Z:-0.73 [[ 9.99838924e-01 4.18703004e-03 -1.74526733e-02 2.23673668e+00] [-4.17345214e-03 9.99990960e-01 8.14332828e-04 -5.35801025e-01] [ 1.74559252e-02 -7.41363761e-04 9.99847359e-01 -7.26570641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.596296757000005 meters Centerline goodness [0,1] 0.7957675960746791 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.54, Z:-0.73 [[ 9.99829474e-01 3.48392594e-03 -1.81352061e-02 2.23873277e+00] [-3.47354609e-03 9.99993785e-01 6.03827068e-04 -5.37221872e-01] [ 1.81371970e-02 -5.40730626e-04 9.99835361e-01 -7.27093058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626296757000002 meters Centerline goodness [0,1] 0.8344028520499109 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.54, Z:-0.73 [[ 9.99820575e-01 2.97931730e-03 -1.87067279e-02 2.24043510e+00] [-2.96960851e-03 9.99995441e-01 5.46756662e-04 -5.38491531e-01] [ 1.87082715e-02 -4.91106902e-04 9.99824864e-01 -7.27624516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.656296757000003 meters Centerline goodness [0,1] 0.8032951353279529 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.54, Z:-0.73 [[ 9.99811876e-01 2.32721063e-03 -1.92561053e-02 2.24237873e+00] [-2.32149730e-03 9.99997254e-01 3.19050644e-04 -5.39376074e-01] [ 1.92567949e-02 -2.74287626e-04 9.99814533e-01 -7.28485229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686296757000004 meters Centerline goodness [0,1] 0.8487165116018384 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.54, Z:-0.73 [[ 9.99799038e-01 1.01620811e-03 -2.00212619e-02 2.24482370e+00] [-1.00312997e-03 9.99999277e-01 6.63244642e-04 -5.43452205e-01] [ 2.00219214e-02 -6.43027427e-04 9.99799334e-01 -7.28551697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.716296757000002 meters Centerline goodness [0,1] 0.8239927976592393 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.73 [[ 9.99785714e-01 8.52156260e-05 -2.07006871e-02 2.24711773e+00] [-7.39800374e-05 9.99999850e-01 5.43529237e-04 -5.45949507e-01] [ 2.07007303e-02 -5.41881329e-04 9.99785570e-01 -7.29278248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746296757000003 meters Centerline goodness [0,1] 0.8535076429813272 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.73 [[ 0.99976516 -0.004435 -0.02121229 2.24878916] [ 0.00437328 0.99998607 -0.00295521 -0.5487505 ] [ 0.0212251 0.00286175 0.99977063 -0.72967253] [ 0. 0. 0. 1. ]] SLAMing on 30.776296757000004 meters Centerline goodness [0,1] 0.8540837554269175 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.73 [[ 0.99974672 -0.00523276 -0.0218889 2.25108165] [ 0.00517019 0.99998239 -0.00291418 -0.55079888] [ 0.02190376 0.00280027 0.99975616 -0.73042731] [ 0. 0. 0. 1. ]] SLAMing on 30.806296757000002 meters Centerline goodness [0,1] 0.8519473469941647 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.55, Z:-0.73 [[ 0.99972491 -0.0061458 -0.02263488 2.25381516] [ 0.00607631 0.99997662 -0.00313751 -0.55275619] [ 0.02265363 0.00299911 0.99973888 -0.73163089] [ 0. 0. 0. 1. ]] SLAMing on 30.836296757000003 meters Centerline goodness [0,1] 0.851742064939803 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.73 [[ 0.99971136 -0.00680729 -0.02304026 2.25560632] [ 0.00674146 0.99997297 -0.00293371 -0.55549832] [ 0.0230596 0.00277754 0.99973023 -0.73233135] [ 0. 0. 0. 1. ]] SLAMing on 30.866296757000004 meters Centerline goodness [0,1] 0.8508294867693433 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 0.99992266 -0.00712664 -0.01019278 2.25762616] [ 0.00709246 0.99996911 -0.00338626 -0.55531575] [ 0.0102166 0.00331371 0.99994232 -0.73959746] [ 0. 0. 0. 1. ]] SLAMing on 30.896296757 meters Centerline goodness [0,1] 0.8467775182080528 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 0.99992973 -0.00634054 -0.01001628 2.25652391] [ 0.00631456 0.99997662 -0.00262241 -0.55626172] [ 0.01003267 0.00255897 0.9999464 -0.73849871] [ 0. 0. 0. 1. ]] SLAMing on 30.926296757000003 meters Centerline goodness [0,1] 0.8454616052258919 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99931890e-01 -5.88464545e-03 -1.00789628e-02 2.25613336e+00] [ 5.86313086e-03 9.99980473e-01 -2.16282300e-03 -5.56716717e-01] [ 1.00914935e-02 2.10358141e-03 9.99946867e-01 -7.37785916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.956296757000004 meters Centerline goodness [0,1] 0.841467041892603 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99934652e-01 -5.33579046e-03 -1.01104610e-02 2.25549178e+00] [ 5.31854513e-03 9.99984357e-01 -1.73181226e-03 -5.57066447e-01] [ 1.01195434e-02 1.67792615e-03 9.99947388e-01 -7.36917757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.986296757 meters Centerline goodness [0,1] 0.8333524486753068 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.56, Z:-0.74 [[ 9.99942930e-01 -3.98556571e-03 -9.91222696e-03 2.25432777e+00] [ 3.97585843e-03 9.99991597e-01 -9.98836459e-04 -5.56807910e-01] [ 9.91612460e-03 9.59369844e-04 9.99950374e-01 -7.36368172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.016296757000003 meters Centerline goodness [0,1] 0.8268276508655188 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99944373e-01 -6.12236358e-04 -1.05297636e-02 2.25666261e+00] [ 6.39269452e-04 9.99996508e-01 2.56412887e-03 -5.57739150e-01] [ 1.05281570e-02 -2.57071760e-03 9.99941273e-01 -7.37639836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046296757000004 meters Centerline goodness [0,1] 0.8052114285714286 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 0.99993462 0.00329824 -0.01094915 2.25890534] [-0.0032348 0.99997791 0.00580634 -0.55626705] [ 0.01096806 -0.00577054 0.9999232 -0.73995977] [ 0. 0. 0. 1. ]] SLAMing on 31.076296757 meters Centerline goodness [0,1] 0.7972858354537744 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 0.99993298 0.00358458 -0.01100821 2.25958859] [-0.00352686 0.99997996 0.00525808 -0.55421857] [ 0.01102684 -0.00521891 0.99992558 -0.74127685] [ 0. 0. 0. 1. ]] SLAMing on 31.106296757000003 meters Centerline goodness [0,1] 0.8155758381874054 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 0.99993062 0.00390457 -0.01111376 2.26012302] [-0.00385046 0.99998065 0.00488525 -0.55281772] [ 0.01113262 -0.00484212 0.99992631 -0.74216072] [ 0. 0. 0. 1. ]] SLAMing on 31.136296757000004 meters Centerline goodness [0,1] 0.7955780746199907 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 0.9999256 0.00463836 -0.01128186 2.26033908] [-0.00458133 0.99997662 0.00507572 -0.5533422 ] [ 0.01130514 -0.00502366 0.99992348 -0.74248799] [ 0. 0. 0. 1. ]] SLAMing on 31.166296757000005 meters Centerline goodness [0,1] 0.7787004359559893 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 9.99934122e-01 1.49787231e-03 -1.13801729e-02 2.26014973e+00] [-1.48605480e-03 9.99998348e-01 1.04681524e-03 -5.51778430e-01] [ 1.13817221e-02 -1.02983472e-03 9.99934696e-01 -7.42731126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.196296757000002 meters Centerline goodness [0,1] 0.7756241026353573 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 9.99929457e-01 6.92259577e-04 -1.18575615e-02 2.26194356e+00] [-6.82441910e-04 9.99999421e-01 8.31992966e-04 -5.53410032e-01] [ 1.18581306e-02 -8.23842178e-04 9.99929351e-01 -7.43451588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226296757000004 meters Centerline goodness [0,1] 0.7870821161960402 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 9.99926057e-01 4.76005033e-04 -1.21512643e-02 2.26289475e+00] [-4.64068222e-04 9.99999407e-01 9.85152047e-04 -5.54543047e-01] [ 1.21517261e-02 -9.79440186e-04 9.99925685e-01 -7.43772000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.256296757000005 meters Centerline goodness [0,1] 0.7870821161960402 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.55, Z:-0.74 [[ 9.99926057e-01 4.76005033e-04 -1.21512643e-02 2.26289475e+00] [-4.64068222e-04 9.99999407e-01 9.85152047e-04 -5.54543047e-01] [ 1.21517261e-02 -9.79440186e-04 9.99925685e-01 -7.43772000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.286296757000002 meters Centerline goodness [0,1] 0.7996563813238606 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99922058e-01 1.85421655e-04 -1.24836955e-02 2.26389894e+00] [-1.72091410e-04 9.99999414e-01 1.06887816e-03 -5.55376807e-01] [ 1.24838864e-02 -1.06664651e-03 9.99921504e-01 -7.43982095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.316296757000003 meters Centerline goodness [0,1] 0.7964659381539176 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99920920e-01 -2.23868395e-04 -1.25738987e-02 2.26460854e+00] [ 2.41212509e-04 9.99999022e-01 1.37787479e-03 -5.57466725e-01] [ 1.25735780e-02 -1.38079881e-03 9.99919996e-01 -7.44171953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.346296757000005 meters Centerline goodness [0,1] 0.8018087313241498 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99919852e-01 -1.77465417e-04 -1.26593469e-02 2.26470677e+00] [ 2.00541353e-04 9.99998321e-01 1.82159170e-03 -5.59071822e-01] [ 1.26590024e-02 -1.82398443e-03 9.99918208e-01 -7.43894334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.376296757000002 meters Centerline goodness [0,1] 0.8031156156156156 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99914697e-01 -3.59786443e-03 -1.25560742e-02 2.26367696e+00] [ 3.58386123e-03 9.99992931e-01 -1.13757550e-03 -5.61146172e-01] [ 1.25600783e-02 1.09247923e-03 9.99920522e-01 -7.42569564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.406296757000003 meters Centerline goodness [0,1] 0.8106717417353916 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.56, Z:-0.74 [[ 9.99908445e-01 -3.97234559e-03 -1.29353424e-02 2.26439093e+00] [ 3.96452776e-03 9.99991943e-01 -6.29963175e-04 -5.63703495e-01] [ 1.29377406e-02 5.78622975e-04 9.99916137e-01 -7.41864289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.436296757000004 meters Centerline goodness [0,1] 0.8133099990540157 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.57, Z:-0.74 [[ 9.99904834e-01 -4.53851996e-03 -1.30278533e-02 2.26423142e+00] [ 4.54092181e-03 9.99989678e-01 1.54788355e-04 -5.65977716e-01] [ 1.30270163e-02 -2.13932088e-04 9.99915122e-01 -7.40119807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466296757000002 meters Centerline goodness [0,1] 0.8138056527081955 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.57, Z:-0.74 [[ 9.99900249e-01 -4.59710083e-03 -1.33551371e-02 2.26474785e+00] [ 4.60068724e-03 9.99989389e-01 2.37830861e-04 -5.65691406e-01] [ 1.33539020e-02 -2.99249946e-04 9.99910788e-01 -7.39822940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.496296757000003 meters Centerline goodness [0,1] 0.8153111631095039 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.74 [[ 9.99893717e-01 -4.78205693e-03 -1.37726969e-02 2.26581867e+00] [ 4.78251832e-03 9.99988564e-01 5.65150808e-07 -5.64867137e-01] [ 1.37725367e-02 -6.64332660e-05 9.99905152e-01 -7.40157661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.526296757000004 meters Centerline goodness [0,1] 0.8239248897171569 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.57, Z:-0.74 [[ 9.99884401e-01 -5.12505894e-03 -1.43149547e-02 2.26753754e+00] [ 5.12175761e-03 9.99986848e-01 -2.67272790e-04 -5.65422719e-01] [ 1.43161362e-02 1.93924165e-04 9.99897500e-01 -7.40928451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.556296757000002 meters Centerline goodness [0,1] 0.8154854163731153 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.57, Z:-0.74 [[ 9.99877400e-01 -5.30288833e-03 -1.47330777e-02 2.26884624e+00] [ 5.29586320e-03 9.99985844e-01 -5.15800858e-04 -5.65625016e-01] [ 1.47356044e-02 4.37713257e-04 9.99891329e-01 -7.41565208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.586296757000003 meters Centerline goodness [0,1] 0.8208308952603862 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.74 [[ 9.99886130e-01 -2.04759944e-03 -1.49510329e-02 2.26997736e+00] [ 2.09132387e-03 9.99993581e-01 2.90946055e-03 -5.64609210e-01] [ 1.49449795e-02 -2.94039670e-03 9.99883994e-01 -7.42018190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.616296757000004 meters Centerline goodness [0,1] 0.7950898175617277 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.74 [[ 9.99885079e-01 -2.31250707e-03 -1.49826940e-02 2.27062235e+00] [ 2.34608265e-03 9.99994775e-01 2.22376886e-03 -5.62455479e-01] [ 1.49774732e-02 -2.25866394e-03 9.99885280e-01 -7.42954867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646296757 meters Centerline goodness [0,1] 0.7863473726058792 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.74 [[ 9.99880025e-01 -2.60306758e-03 -1.52695624e-02 2.27196765e+00] [ 2.63160432e-03 9.99994828e-01 1.84906964e-03 -5.62701425e-01] [ 1.52646701e-02 -1.88903125e-03 9.99881704e-01 -7.44004041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.676296757000003 meters Centerline goodness [0,1] 0.8164333621555935 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.74 [[ 9.99875890e-01 -2.52188778e-03 -1.55513314e-02 2.27240809e+00] [ 2.55459684e-03 9.99994566e-01 2.08379049e-03 -5.64076555e-01] [ 1.55459918e-02 -2.12325926e-03 9.99876899e-01 -7.43780180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706296757000004 meters Centerline goodness [0,1] 0.8127074664547197 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.75 [[ 9.99994651e-01 -2.79307761e-03 -1.70172092e-03 2.27389089e+00] [ 2.79006767e-03 9.99994544e-01 -1.76857810e-03 -5.62790811e-01] [ 1.70665141e-03 1.76382072e-03 9.99996988e-01 -7.50801340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.736296757 meters Centerline goodness [0,1] 0.8066321631811901 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.56, Z:-0.75 [[ 9.99995666e-01 -2.37552676e-03 -1.73923301e-03 2.27362118e+00] [ 2.37293750e-03 9.99996076e-01 -1.48929179e-03 -5.62571377e-01] [ 1.74276404e-03 1.48515825e-03 9.99997379e-01 -7.50433369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766296757000003 meters Centerline goodness [0,1] 0.7969663785269927 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.75 [[ 9.99996748e-01 1.17657436e-03 -2.26270206e-03 2.27585272e+00] [-1.17314968e-03 9.99998165e-01 1.51426923e-03 -5.59911509e-01] [ 2.26447956e-03 -1.51160982e-03 9.99996294e-01 -7.52236203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.796296757000004 meters Centerline goodness [0,1] 0.7831146896184725 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.75 [[ 0.9999838 0.00481614 -0.00303258 2.2782596 ] [-0.0048026 0.99997853 0.00445737 -0.55703587] [ 0.00305398 -0.00444273 0.99998547 -0.7536311 ] [ 0. 0. 0. 1. ]] SLAMing on 31.826296757000005 meters Centerline goodness [0,1] 0.7661323944966878 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.75 [[ 0.99998245 0.00493346 -0.00328177 2.27871211] [-0.00491994 0.99997942 0.00411688 -0.55619845] [ 0.00330202 -0.00410066 0.99998614 -0.75377917] [ 0. 0. 0. 1. ]] SLAMing on 31.856296757000003 meters Centerline goodness [0,1] 0.7559947176980284 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.75 [[ 0.99998155 0.00482089 -0.00369708 2.27982281] [-0.00480687 0.99998126 0.00379085 -0.55641548] [ 0.00371529 -0.00377301 0.99998598 -0.75424805] [ 0. 0. 0. 1. ]] SLAMing on 31.886296757000004 meters Centerline goodness [0,1] 0.7548990121000393 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.75 [[ 0.9999817 0.00453872 -0.00399973 2.2809735 ] [-0.00452467 0.99998359 0.00351393 -0.55687192] [ 0.00401562 -0.00349577 0.99998583 -0.75492833] [ 0. 0. 0. 1. ]] SLAMing on 31.916296757000005 meters Centerline goodness [0,1] 0.7769976905311778 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.76 [[ 0.99998375 0.00377621 -0.00427091 2.28236151] [-0.00376509 0.99998951 0.00260954 -0.5554521 ] [ 0.00428072 -0.00259342 0.99998747 -0.75603056] [ 0. 0. 0. 1. ]] SLAMing on 31.946296757000002 meters Centerline goodness [0,1] 0.7774573807930979 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.55, Z:-0.76 [[ 9.99984195e-01 3.39243686e-03 -4.48336464e-03 2.28289500e+00] [-3.38274875e-03 9.99991931e-01 2.16672194e-03 -5.54457142e-01] [ 4.49067893e-03 -2.15152160e-03 9.99987602e-01 -7.56083637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.976296757000004 meters Centerline goodness [0,1] 0.7815067860770012 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.75 [[ 0.99998357 0.00292569 -0.00492851 2.28351436] [-0.00291383 0.99999284 0.00241253 -0.55590831] [ 0.00493553 -0.00239813 0.99998494 -0.75498441] [ 0. 0. 0. 1. ]] SLAMing on 32.006296757 meters Centerline goodness [0,1] 0.7771750421273746 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.56, Z:-0.76 [[ 0.99998269 0.00249404 -0.0053293 2.28469473] [-0.00248068 0.99999377 0.00251288 -0.55747553] [ 0.00533553 -0.00249962 0.99998264 -0.75513453] [ 0. 0. 0. 1. ]] SLAMing on 32.036296757 meters Centerline goodness [0,1] 0.7820732441316728 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.56, Z:-0.76 [[ 9.99981295e-01 2.09864826e-03 -5.74509354e-03 2.28587099e+00] [-2.08443720e-03 9.99994756e-01 2.47846978e-03 -5.58402675e-01] [ 5.75026485e-03 -2.46644813e-03 9.99980425e-01 -7.55357290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.066296756999996 meters Centerline goodness [0,1] 0.7834841576596385 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.56, Z:-0.76 [[ 9.99981197e-01 1.58075840e-03 -5.92502448e-03 2.28672724e+00] [-1.57032188e-03 9.99997208e-01 1.76567066e-03 -5.55692453e-01] [ 5.92779904e-03 -1.75633327e-03 9.99980888e-01 -7.56070072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.096296757 meters Centerline goodness [0,1] 0.7834296989720999 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.56, Z:-0.76 [[ 0.99996962 0.00393014 -0.006732 2.28999587] [-0.0038988 0.99998153 0.00466168 -0.55500646] [ 0.0067502 -0.00463529 0.99996647 -0.75760588] [ 0. 0. 0. 1. ]] SLAMing on 32.126296757 meters Centerline goodness [0,1] 0.7772188120182766 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.55, Z:-0.76 [[ 0.99997021 0.0032565 -0.00699819 2.29088416] [-0.00322811 0.99998653 0.00406413 -0.5536204 ] [ 0.00701133 -0.00404142 0.99996725 -0.7578843 ] [ 0. 0. 0. 1. ]] SLAMing on 32.156296757 meters Centerline goodness [0,1] 0.7796571112544934 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.55, Z:-0.76 [[ 9.99975730e-01 1.09355443e-04 -6.96616797e-03 2.28980844e+00] [-1.06436496e-04 9.99999906e-01 4.19386872e-04 -5.52701717e-01] [ 6.96621318e-03 -4.18635238e-04 9.99975648e-01 -7.56941862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186296757 meters Centerline goodness [0,1] 0.7809473173212511 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.55, Z:-0.76 [[ 9.99973483e-01 -1.23366192e-04 -7.28135364e-03 2.29015876e+00] [ 1.28538908e-04 9.99999740e-01 7.09942194e-04 -5.54075520e-01] [ 7.28126416e-03 -7.10859306e-04 9.99973239e-01 -7.56140601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.216296757 meters Centerline goodness [0,1] 0.7808836789900812 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.55, Z:-0.76 [[ 9.99969854e-01 -1.03233506e-03 -7.69579184e-03 2.29153479e+00] [ 1.03376561e-03 9.99999449e-01 1.81911035e-04 -5.54216376e-01] [ 7.69559980e-03 -1.89861196e-04 9.99970370e-01 -7.56369975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.246296757 meters Centerline goodness [0,1] 0.8030700025506063 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.55, Z:-0.76 [[ 9.99965549e-01 -1.65331384e-03 -8.13427679e-03 2.29332486e+00] [ 1.64865035e-03 9.99998473e-01 -5.79984662e-04 -5.52672232e-01] [ 8.13522327e-03 5.66554103e-04 9.99966748e-01 -7.57659947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.276296757 meters Centerline goodness [0,1] 0.7771489292891959 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.55, Z:-0.76 [[ 9.99956726e-01 1.64511917e-04 -9.30152448e-03 2.29843100e+00] [-1.53083661e-04 9.99999233e-01 1.22934190e-03 -5.48680986e-01] [ 9.30171958e-03 -1.22786479e-03 9.99955984e-01 -7.61155560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.306296757 meters Centerline goodness [0,1] 0.7685904678456963 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.55, Z:-0.76 [[ 9.99954927e-01 6.75148018e-05 -9.49417553e-03 2.29921138e+00] [-6.23704244e-05 9.99999851e-01 5.42140661e-04 -5.46105794e-01] [ 9.49421072e-03 -5.41524069e-04 9.99954782e-01 -7.61988466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.336296757 meters Centerline goodness [0,1] 0.7840503237401784 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99954699e-01 2.47193128e-04 -9.51522548e-03 2.29915483e+00] [-2.45073932e-04 9.99999945e-01 2.23881746e-04 -5.44836366e-01] [ 9.51528030e-03 -2.21539670e-04 9.99954704e-01 -7.62045722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366296757 meters Centerline goodness [0,1] 0.7760811901741437 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.55, Z:-0.76 [[ 9.99954583e-01 1.17849141e-03 -9.45746594e-03 2.29774258e+00] [-1.17137261e-03 9.99999026e-01 7.58221870e-04 -5.45835953e-01] [ 9.45835029e-03 -7.47109217e-04 9.99954990e-01 -7.60234446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.396296757 meters Centerline goodness [0,1] 0.7547344324461812 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.55, Z:-0.76 [[ 9.99953905e-01 1.45533908e-03 -9.49048136e-03 2.29738467e+00] [-1.44648760e-03 9.99998513e-01 9.39466230e-04 -5.45798164e-01] [ 9.49183448e-03 -9.25695062e-04 9.99954523e-01 -7.59606160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426296757 meters Centerline goodness [0,1] 0.7677029560869465 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99953929e-01 1.58506931e-03 -9.46714975e-03 2.29742499e+00] [-1.57926294e-03 9.99998560e-01 6.20761546e-04 -5.44575526e-01] [ 9.46812007e-03 -6.05781828e-04 9.99954993e-01 -7.59897886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.456296757 meters Centerline goodness [0,1] 0.7634406117875379 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99954907e-01 2.33636659e-03 -9.20462025e-03 2.29699673e+00] [-2.33235189e-03 9.99997180e-01 4.46871729e-04 -5.42310008e-01] [ 9.20563835e-03 -4.25383165e-04 9.99957537e-01 -7.60634797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.486296757 meters Centerline goodness [0,1] 0.7300755178864229 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99953758e-01 2.32679075e-03 -9.33105119e-03 2.29764890e+00] [-2.32415612e-03 9.99997256e-01 2.93185036e-04 -5.41804578e-01] [ 9.33170777e-03 -2.71484659e-04 9.99956422e-01 -7.61296899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.516296757 meters Centerline goodness [0,1] 0.7724697666890189 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99954213e-01 2.27117010e-03 -9.29586587e-03 2.29831691e+00] [-2.27031439e-03 9.99997418e-01 1.02604964e-04 -5.41396969e-01] [ 9.29607489e-03 -8.14957276e-05 9.99956787e-01 -7.62445997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546296757 meters Centerline goodness [0,1] 0.7734544281038218 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99952198e-01 1.99191176e-03 -9.57255266e-03 2.29921872e+00] [-1.99453488e-03 9.99997976e-01 -2.64487132e-04 -5.40831974e-01] [ 9.57200645e-03 2.83567280e-04 9.99954147e-01 -7.62904849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.576296757 meters Centerline goodness [0,1] 0.7656480797636632 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99953067e-01 2.29986937e-03 -9.41139359e-03 2.29839333e+00] [-2.29586172e-03 9.99997269e-01 4.36610718e-04 -5.42400105e-01] [ 9.41237203e-03 -4.14982968e-04 9.99955617e-01 -7.61789471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606296757 meters Centerline goodness [0,1] 0.7629274587519587 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99952069e-01 2.04008442e-03 -9.57587568e-03 2.29886011e+00] [-2.03608892e-03 9.99997836e-01 4.26975918e-04 -5.43014599e-01] [ 9.57672603e-03 -4.07458118e-04 9.99954059e-01 -7.61693771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.636296757 meters Centerline goodness [0,1] 0.7716586151368761 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99951833e-01 1.73024089e-03 -9.66111896e-03 2.29904950e+00] [-1.72596278e-03 9.99998409e-01 4.51137180e-04 -5.43495560e-01] [ 9.66188416e-03 -4.34440718e-04 9.99953229e-01 -7.61189325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.666296757 meters Centerline goodness [0,1] 0.7747303190268533 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99950501e-01 1.36912525e-03 -9.85496268e-03 2.30001483e+00] [-1.36897925e-03 9.99999063e-01 2.15604594e-05 -5.42892609e-01] [ 9.85498296e-03 -8.06815273e-06 9.99951438e-01 -7.61936645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.696296757 meters Centerline goodness [0,1] 0.7745325226568773 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99948569e-01 9.42991705e-04 -1.00980519e-02 2.30133242e+00] [-9.47951137e-04 9.99999432e-01 -4.86352492e-04 -5.41941570e-01] [ 1.00975875e-02 4.95899938e-04 9.99948895e-01 -7.63081373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726296757 meters Centerline goodness [0,1] 0.7773246890105611 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99948307e-01 4.99061191e-04 -1.01555173e-02 2.30238362e+00] [-5.11946783e-04 9.99999067e-01 -1.26626665e-03 -5.39680953e-01] [ 1.01548759e-02 1.27140028e-03 9.99947630e-01 -7.64447606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.756296757 meters Centerline goodness [0,1] 0.7969064616511075 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99946175e-01 3.20910750e-04 -1.03703109e-02 2.30287892e+00] [-3.33945375e-04 9.99999156e-01 -1.25521024e-03 -5.40018639e-01] [ 1.03698993e-02 1.25860580e-03 9.99945439e-01 -7.64322314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786296757 meters Centerline goodness [0,1] 0.7968312927041775 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99945121e-01 1.63347662e-04 -1.04751280e-02 2.30293282e+00] [-1.69421919e-04 9.99999818e-01 -5.78989511e-04 -5.42488938e-01] [ 1.04750315e-02 5.80732453e-04 9.99944967e-01 -7.63332698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.816296756999996 meters Centerline goodness [0,1] 0.7955194226860627 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.54, Z:-0.76 [[ 9.99941759e-01 -1.00084664e-04 -1.07920877e-02 2.30406099e+00] [ 9.22413899e-05 9.99999731e-01 -7.27256823e-04 -5.42547077e-01] [ 1.07921576e-02 7.26218990e-04 9.99941499e-01 -7.63893940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.846296757 meters Centerline goodness [0,1] 0.8064199671472896 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.76 [[ 9.99937726e-01 -4.16216513e-04 -1.11521808e-02 2.30508855e+00] [ 4.05320850e-04 9.99999438e-01 -9.79240795e-04 -5.41857813e-01] [ 1.11525821e-02 9.74659603e-04 9.99937333e-01 -7.64218630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.876296757 meters Centerline goodness [0,1] 0.8035872806318712 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.76 [[ 9.99933462e-01 -6.95877558e-04 -1.15146768e-02 2.30606220e+00] [ 6.80752410e-04 9.99998900e-01 -1.31742114e-03 -5.40641798e-01] [ 1.15155809e-02 1.30949484e-03 9.99932836e-01 -7.64536715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906296757 meters Centerline goodness [0,1] 0.7938802882538817 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99928410e-01 -1.02975196e-03 -1.19211864e-02 2.30736845e+00] [ 1.01051666e-03 9.99998178e-01 -1.61945015e-03 -5.39549869e-01] [ 1.19228323e-02 1.60728765e-03 9.99927629e-01 -7.65013666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.936296757 meters Centerline goodness [0,1] 0.8098357672535371 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99923249e-01 -1.28283316e-03 -1.23227841e-02 2.30870927e+00] [ 1.26129779e-03 9.99997664e-01 -1.75521870e-03 -5.39824418e-01] [ 1.23250070e-02 1.73954128e-03 9.99922531e-01 -7.65672760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.966296757 meters Centerline goodness [0,1] 0.7975125513464172 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99917476e-01 -1.58079384e-03 -1.27491891e-02 2.31046231e+00] [ 1.55467763e-03 9.99996674e-01 -2.05811111e-03 -5.40213162e-01] [ 1.27524002e-02 2.03812039e-03 9.99916608e-01 -7.66905631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.996296757 meters Centerline goodness [0,1] 0.80965818579036 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99911194e-01 -3.32679076e-04 -1.33227033e-02 2.31382811e+00] [ 3.23611108e-04 9.99999715e-01 -6.82790296e-04 -5.40139387e-01] [ 1.33229266e-02 6.78418285e-04 9.99911016e-01 -7.69270418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.026296757 meters Centerline goodness [0,1] 0.8086722474396113 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99913187e-01 -1.36719759e-04 -1.31756983e-02 2.31359720e+00] [ 1.24919925e-04 9.99999590e-01 -8.96394411e-04 -5.38437894e-01] [ 1.31758155e-02 8.94670685e-04 9.99912795e-01 -7.69551345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.056296757 meters Centerline goodness [0,1] 0.8087031844810686 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99915094e-01 3.27820582e-04 -1.30267717e-02 2.31294218e+00] [-3.39770047e-04 9.99999524e-01 -9.15098029e-04 -5.36238640e-01] [ 1.30264655e-02 9.19446439e-04 9.99914729e-01 -7.69272688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.086296757 meters Centerline goodness [0,1] 0.8019476817114055 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99912273e-01 3.63051995e-04 -1.32406531e-02 2.31330088e+00] [-3.72212675e-04 9.99999693e-01 -6.89402397e-04 -5.36985386e-01] [ 1.32403988e-02 6.94270256e-04 9.99912101e-01 -7.69035598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.116296757 meters Centerline goodness [0,1] 0.8056254287674365 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99909793e-01 -4.60533560e-05 -1.34314397e-02 2.31398955e+00] [ 4.40645788e-05 9.99999988e-01 -1.48364703e-04 -5.39899716e-01] [ 1.34314464e-02 1.47759468e-04 9.99909783e-01 -7.68596641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.146296757 meters Centerline goodness [0,1] 0.8087895495413053 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99906818e-01 -2.03019681e-04 -1.36496639e-02 2.31442855e+00] [ 2.03367772e-04 9.99999979e-01 2.41137707e-05 -5.40776287e-01] [ 1.36496587e-02 -2.68874255e-05 9.99906839e-01 -7.68359640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.176296757 meters Centerline goodness [0,1] 0.8087895495413053 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99906818e-01 -2.03019681e-04 -1.36496639e-02 2.31442855e+00] [ 2.03367772e-04 9.99999979e-01 2.41137707e-05 -5.40776287e-01] [ 1.36496587e-02 -2.68874255e-05 9.99906839e-01 -7.68359640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.206296757 meters Centerline goodness [0,1] 0.8069866398243045 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.54, Z:-0.77 [[ 9.99903703e-01 -4.02350962e-04 -1.38716902e-02 2.31511240e+00] [ 4.04205923e-04 9.99999910e-01 1.30919358e-04 -5.41849319e-01] [ 1.38716363e-02 -1.36513770e-04 9.99903775e-01 -7.68465449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.236296757 meters Centerline goodness [0,1] 0.8038077761211149 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99904147e-01 -1.89014794e-04 -1.38441386e-02 2.31478968e+00] [ 1.99405698e-04 9.99999699e-01 7.49186951e-04 -5.43808308e-01] [ 1.38439928e-02 -7.51875740e-04 9.99903885e-01 -7.67671486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.266296757 meters Centerline goodness [0,1] 0.8053526303698599 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.54, Z:-0.77 [[ 9.99902359e-01 -4.12698247e-05 -1.39739051e-02 2.31494762e+00] [ 5.29233853e-05 9.99999651e-01 8.33582844e-04 -5.44117245e-01] [ 1.39738659e-02 -8.34240999e-04 9.99902013e-01 -7.67557297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.296296757 meters Centerline goodness [0,1] 0.7969702525553468 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99995735 0.00420773 -0.00822195 2.32676931] [-0.00425343 0.99997556 -0.005549 -0.54215986] [ 0.00819841 0.00558373 0.9999508 -0.77206758] [ 0. 0. 0. 1. ]] SLAMing on 33.326296757 meters Centerline goodness [0,1] 0.7947150735294117 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99995466 0.00471038 -0.0082763 2.32647394] [-0.00475447 0.99997457 -0.00531497 -0.54116965] [ 0.00825105 0.00535407 0.99995163 -0.77167645] [ 0. 0. 0. 1. ]] SLAMing on 33.356296757 meters Centerline goodness [0,1] 0.8112742273743403 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99995205 0.005309 -0.00822873 2.32596994] [-0.00535021 0.99997321 -0.00499472 -0.54065683] [ 0.00820199 0.00503851 0.99995367 -0.77130905] [ 0. 0. 0. 1. ]] SLAMing on 33.386296757 meters Centerline goodness [0,1] 0.8034152628187425 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99994563 0.00588932 -0.00860569 2.32645163] [-0.00592843 0.99997218 -0.00452629 -0.54119331] [ 0.00857879 0.00457706 0.99995273 -0.77105252] [ 0. 0. 0. 1. ]] SLAMing on 33.416296757 meters Centerline goodness [0,1] 0.8030358785648575 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99994251 0.0060642 -0.00884313 2.32689143] [-0.00610141 0.99997262 -0.00418694 -0.54228693] [ 0.0088175 0.00424065 0.99995213 -0.77091707] [ 0. 0. 0. 1. ]] SLAMing on 33.446296757 meters Centerline goodness [0,1] 0.796578209078784 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99994034 0.00587484 -0.0092093 2.32806465] [-0.00591317 0.99997394 -0.00414055 -0.5433916 ] [ 0.00918473 0.00419476 0.99994902 -0.77128664] [ 0. 0. 0. 1. ]] SLAMing on 33.476296757 meters Centerline goodness [0,1] 0.8055690016826867 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99993836 0.0056837 -0.00953826 2.32892251] [-0.0057244 0.99997461 -0.0042447 -0.54328527] [ 0.00951389 0.00429904 0.9999455 -0.77144713] [ 0. 0. 0. 1. ]] SLAMing on 33.506296757 meters Centerline goodness [0,1] 0.8056163972978581 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99993726 0.00542123 -0.00980286 2.32979014] [-0.00546514 0.99997513 -0.00445824 -0.54297004] [ 0.00977845 0.00451154 0.99994201 -0.77182712] [ 0. 0. 0. 1. ]] SLAMing on 33.536296757 meters Centerline goodness [0,1] 0.8011917909074177 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99993616 0.00538312 -0.00993455 2.33012826] [-0.00542867 0.99997485 -0.0045634 -0.54231873] [ 0.00990974 0.00461704 0.99994024 -0.77173338] [ 0. 0. 0. 1. ]] SLAMing on 33.566296756999996 meters Centerline goodness [0,1] 0.8003732632888643 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99993546 0.00561131 -0.0098791 2.32962153] [-0.00565504 0.99997431 -0.00440377 -0.54208485] [ 0.00985413 0.00445935 0.9999415 -0.77111071] [ 0. 0. 0. 1. ]] SLAMing on 33.596296757 meters Centerline goodness [0,1] 0.7903772979415945 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99993267 0.0064671 -0.00963484 2.32826876] [-0.00650738 0.9999702 -0.00415434 -0.5403165 ] [ 0.00960768 0.00421676 0.99994495 -0.77008019] [ 0. 0. 0. 1. ]] SLAMing on 33.626296757 meters Centerline goodness [0,1] 0.7327722613341895 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 0.99993184 0.00668745 -0.00956999 2.32777999] [-0.00672968 0.99996773 -0.00438778 -0.53817635] [ 0.00954034 0.00445188 0.99994458 -0.76970715] [ 0. 0. 0. 1. ]] SLAMing on 33.656296757 meters Centerline goodness [0,1] 0.7716115749742651 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.54, Z:-0.77 [[ 9.99899011e-01 1.01493850e-02 -9.94780118e-03 2.32909800e+00] [-1.01609304e-02 9.99947760e-01 -1.11074351e-03 -5.36047688e-01] [ 9.93600814e-03 1.21171025e-03 9.99949902e-01 -7.70176194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686296757 meters Centerline goodness [0,1] 0.7632485456826736 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.53, Z:-0.77 [[ 9.99899422e-01 9.76531160e-03 -1.02851857e-02 2.33047479e+00] [-9.78708092e-03 9.99949966e-01 -2.06836737e-03 -5.33743129e-01] [ 1.02644728e-02 2.16882128e-03 9.99944967e-01 -7.71295913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.716296757 meters Centerline goodness [0,1] 0.7628446759417906 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.53, Z:-0.77 [[ 0.99989909 0.00971299 -0.0103668 2.33104474] [-0.00973941 0.99994944 -0.00250079 -0.53263439] [ 0.01034199 0.00260151 0.99994314 -0.77196066] [ 0. 0. 0. 1. ]] SLAMing on 33.746296757 meters Centerline goodness [0,1] 0.7539865404357249 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.53, Z:-0.77 [[ 0.99989957 0.00955165 -0.01047005 2.33167656] [-0.00958414 0.9999494 -0.00305728 -0.53168098] [ 0.01044032 0.00315732 0.99994051 -0.77264257] [ 0. 0. 0. 1. ]] SLAMing on 33.776296757 meters Centerline goodness [0,1] 0.7787294951606307 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.53, Z:-0.77 [[ 0.99989928 0.00943023 -0.01060628 2.33209253] [-0.0094667 0.99994943 -0.00339313 -0.53066765] [ 0.01057374 0.00349319 0.99993799 -0.77286886] [ 0. 0. 0. 1. ]] SLAMing on 33.806296757 meters Centerline goodness [0,1] 0.7779262547562964 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.53, Z:-0.77 [[ 0.99990057 0.00925159 -0.01064211 2.33265044] [-0.0092953 0.99994853 -0.00406536 -0.52727697] [ 0.01060395 0.00416388 0.99993511 -0.77366438] [ 0. 0. 0. 1. ]] SLAMing on 33.836296757 meters Centerline goodness [0,1] 0.7994074275116478 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.53, Z:-0.77 [[ 0.99990095 0.00902491 -0.01079974 2.33326868] [-0.00907546 0.99994805 -0.00464071 -0.52519267] [ 0.0107573 0.00473827 0.99993091 -0.77416196] [ 0. 0. 0. 1. ]] SLAMing on 33.866296757 meters Centerline goodness [0,1] 0.7970798300334508 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99990135 0.00910119 -0.01069895 2.33283012] [-0.00915487 0.9999457 -0.00497926 -0.52316492] [ 0.01065305 0.00507672 0.99993037 -0.77388719] [ 0. 0. 0. 1. ]] SLAMing on 33.896296757 meters Centerline goodness [0,1] 0.7845014450867052 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99989892 0.00923956 -0.01080651 2.33260332] [-0.00929312 0.99994473 -0.00491669 -0.52286147] [ 0.01076049 0.00501662 0.99992952 -0.77321611] [ 0. 0. 0. 1. ]] SLAMing on 33.926296757 meters Centerline goodness [0,1] 0.7848767593701286 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99989633 0.00907841 -0.01117635 2.33321571] [-0.0091347 0.9999458 -0.0049955 -0.52293917] [ 0.0111304 0.00509708 0.99992506 -0.77286352] [ 0. 0. 0. 1. ]] SLAMing on 33.956296757 meters Centerline goodness [0,1] 0.7897159360122741 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99989818 0.00868206 -0.01132497 2.33366516] [-0.00873757 0.99995001 -0.00486152 -0.52425289] [ 0.0112822 0.00495998 0.99992405 -0.77256308] [ 0. 0. 0. 1. ]] SLAMing on 33.986296757 meters Centerline goodness [0,1] 0.7941063738642257 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99989782 0.00850135 -0.01149211 2.33413028] [-0.00856035 0.99995038 -0.00509423 -0.52313889] [ 0.01144823 0.00519208 0.99992099 -0.77271934] [ 0. 0. 0. 1. ]] SLAMing on 34.016296757 meters Centerline goodness [0,1] 0.8072647072061935 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99990064 0.00812892 -0.01151614 2.33420464] [-0.00819201 0.99995164 -0.00544134 -0.52050212] [ 0.01147135 0.00553514 0.99991888 -0.77252547] [ 0. 0. 0. 1. ]] SLAMing on 34.046296757 meters Centerline goodness [0,1] 0.8147264666831694 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.52, Z:-0.77 [[ 0.99989984 0.00793994 -0.01171621 2.33438317] [-0.00800242 0.99995396 -0.00529574 -0.52068107] [ 0.01167362 0.00538897 0.99991734 -0.77195582] [ 0. 0. 0. 1. ]] SLAMing on 34.076296757 meters Centerline goodness [0,1] 0.8165027963196825 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.77 [[ 0.99990585 0.0067214 -0.01196322 2.33510511] [-0.00678476 0.99996313 -0.00526351 -0.52283149] [ 0.0119274 0.00534419 0.99991458 -0.77113123] [ 0. 0. 0. 1. ]] SLAMing on 34.106296757 meters Centerline goodness [0,1] 0.8219707176861583 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.77 [[ 0.99990082 0.00590634 -0.012785 2.33719321] [-0.00597654 0.99996724 -0.00545957 -0.52388614] [ 0.01275233 0.00553544 0.99990336 -0.77139221] [ 0. 0. 0. 1. ]] SLAMing on 34.136296757 meters Centerline goodness [0,1] 0.8238518451682757 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.77 [[ 0.99989699 0.00534244 -0.01332199 2.33865008] [-0.00541637 0.9999701 -0.00551898 -0.52494195] [ 0.0132921 0.00559057 0.99989603 -0.77163346] [ 0. 0. 0. 1. ]] SLAMing on 34.166296757 meters Centerline goodness [0,1] 0.8311468376724547 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.53, Z:-0.77 [[ 0.99989233 0.00474585 -0.01388538 2.34049251] [-0.00482606 0.99997183 -0.00574903 -0.52557095] [ 0.0138577 0.00581542 0.99988707 -0.77241755] [ 0. 0. 0. 1. ]] SLAMing on 34.196296757 meters Centerline goodness [0,1] 0.8325522425230365 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.53, Z:-0.77 [[ 0.99988703 0.003564 -0.01460246 2.34362788] [-0.00366048 0.99997162 -0.00658528 -0.52504217] [ 0.01457857 0.00663799 0.99987169 -0.77448396] [ 0. 0. 0. 1. ]] SLAMing on 34.226296757 meters Centerline goodness [0,1] 0.8332428519724937 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.52, Z:-0.78 [[ 0.99988224 0.00317365 -0.01501439 2.34509411] [-0.00327594 0.99997156 -0.00679354 -0.52470951] [ 0.0149924 0.00684193 0.9998642 -0.77520325] [ 0. 0. 0. 1. ]] SLAMing on 34.256296757 meters Centerline goodness [0,1] 0.8332730724035071 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 0.99988025 0.00351331 -0.01507131 2.34503958] [-0.00361038 0.99997288 -0.00641859 -0.52509632] [ 0.01504835 0.00647224 0.99986582 -0.77494005] [ 0. 0. 0. 1. ]] SLAMing on 34.286296757 meters Centerline goodness [0,1] 0.83268491291563 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.77 [[ 0.99987866 0.00385744 -0.01509274 2.34489617] [-0.00395161 0.99997288 -0.00621507 -0.52485248] [ 0.01506836 0.00627395 0.99986678 -0.77475783] [ 0. 0. 0. 1. ]] SLAMing on 34.316296756999996 meters Centerline goodness [0,1] 0.8357230087294767 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.77 [[ 0.9998756 0.00417941 -0.01520929 2.34492624] [-0.00427188 0.99997256 -0.00605229 -0.52438853] [ 0.01518358 0.00611651 0.99986601 -0.77455094] [ 0. 0. 0. 1. ]] SLAMing on 34.346296757 meters Centerline goodness [0,1] 0.827544828835356 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.52, Z:-0.77 [[ 0.99987034 0.00507912 -0.01528059 2.34449717] [-0.00516283 0.99997186 -0.00544361 -0.52431814] [ 0.01525251 0.00552179 0.99986843 -0.77392108] [ 0. 0. 0. 1. ]] SLAMing on 34.376296757 meters Centerline goodness [0,1] 0.8278435351144178 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.78 [[ 0.99984371 0.0075878 -0.01596802 2.34720513] [-0.00762913 0.9999677 -0.0025284 -0.52543729] [ 0.01594832 0.00264982 0.99986931 -0.77513622] [ 0. 0. 0. 1. ]] SLAMing on 34.406296757 meters Centerline goodness [0,1] 0.826499207965603 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.52, Z:-0.77 [[ 9.99838472e-01 8.34240103e-03 -1.59195887e-02 2.34670778e+00] [-8.37840348e-03 9.99962489e-01 -2.19616464e-03 -5.24646455e-01] [ 1.59006703e-02 2.32919064e-03 9.99870863e-01 -7.74775752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.436296757 meters Centerline goodness [0,1] 0.8226310073309802 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.52, Z:-0.77 [[ 9.99833627e-01 8.43638852e-03 -1.61723674e-02 2.34735830e+00] [-8.47381303e-03 9.99961572e-01 -2.24697449e-03 -5.24705660e-01] [ 1.61527896e-02 2.38364227e-03 9.99866694e-01 -7.74993930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.466296757 meters Centerline goodness [0,1] 0.8211573769748624 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 9.99828931e-01 8.78491664e-03 -1.62767886e-02 2.34729911e+00] [-8.81767400e-03 9.99959238e-01 -1.94184609e-03 -5.25332737e-01] [ 1.62590662e-02 2.08503732e-03 9.99865639e-01 -7.74640172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.496296757 meters Centerline goodness [0,1] 0.8328009243526133 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 9.99826826e-01 8.83895585e-03 -1.63765523e-02 2.34756383e+00] [-8.87142263e-03 9.99958822e-01 -1.91093003e-03 -5.25302493e-01] [ 1.63589873e-02 2.05588242e-03 9.99864069e-01 -7.74548176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.526296757 meters Centerline goodness [0,1] 0.8326606503106435 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 9.99825950e-01 8.88428068e-03 -1.64054829e-02 2.34763026e+00] [-8.91666212e-03 9.99958437e-01 -1.90172676e-03 -5.25102834e-01] [ 1.63879056e-02 2.04767792e-03 9.99863612e-01 -7.74499869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.556296757 meters Centerline goodness [0,1] 0.8330193604030959 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 9.99827002e-01 9.07914508e-03 -1.62337578e-02 2.34674647e+00] [-9.10149861e-03 9.99957731e-01 -1.30362646e-03 -5.26209655e-01] [ 1.62212358e-02 1.45115246e-03 9.99867374e-01 -7.73228873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.586296757 meters Centerline goodness [0,1] 0.8298925756853126 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 9.99822717e-01 8.93092798e-03 -1.65762586e-02 2.34727789e+00] [-8.95118888e-03 9.99959278e-01 -1.14849164e-03 -5.26914227e-01] [ 1.65653264e-02 1.29666525e-03 9.99861945e-01 -7.72813250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.616296757 meters Centerline goodness [0,1] 0.8342773948451967 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 9.99816764e-01 8.65824462e-03 -1.70725719e-02 2.34843548e+00] [-8.67635888e-03 9.99961872e-01 -9.87230197e-04 -5.28452332e-01] [ 1.70633732e-02 1.13517706e-03 9.99853766e-01 -7.72806538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646296757 meters Centerline goodness [0,1] 0.8323948478285649 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.77 [[ 0.9998311 0.00621582 -0.01729528 2.35067128] [-0.0062665 0.99997622 -0.0028777 -0.530546 ] [ 0.01727698 0.00298559 0.99984628 -0.77455032] [ 0. 0. 0. 1. ]] SLAMing on 34.676296757 meters Centerline goodness [0,1] 0.8346694073312778 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.53, Z:-0.78 [[ 0.99982864 0.00574299 -0.01759854 2.3521707 ] [-0.00579945 0.99997819 -0.00315888 -0.53042574] [ 0.01758002 0.0032604 0.99984014 -0.77562584] [ 0. 0. 0. 1. ]] SLAMing on 34.706296757 meters Centerline goodness [0,1] 0.8339949806068903 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.53, Z:-0.78 [[ 0.99982182 0.00474112 -0.01827163 2.35504713] [-0.00481288 0.99998087 -0.00388568 -0.52914204] [ 0.01825286 0.00397293 0.99982551 -0.77749884] [ 0. 0. 0. 1. ]] SLAMing on 34.736296757 meters Centerline goodness [0,1] 0.8352916971470373 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.53, Z:-0.78 [[ 0.999814 0.00432524 -0.01879493 2.3568451 ] [-0.00440067 0.99998242 -0.00397374 -0.5302792 ] [ 0.01877741 0.00405571 0.99981546 -0.77833437] [ 0. 0. 0. 1. ]] SLAMing on 34.766296757 meters Centerline goodness [0,1] 0.8317142464372451 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.53, Z:-0.78 [[ 0.9998086 0.0042137 -0.01910534 2.35757931] [-0.00428017 0.99998492 -0.00343968 -0.53295932] [ 0.01909056 0.0035208 0.99981156 -0.77811705] [ 0. 0. 0. 1. ]] SLAMing on 34.796296757 meters Centerline goodness [0,1] 0.8317513707782334 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99819848e-01 1.02778719e-03 -1.89529658e-02 2.35623002e+00] [-1.13927187e-03 9.99982109e-01 -5.87231709e-03 -5.37233892e-01] [ 1.89465912e-02 5.89285177e-03 9.99803131e-01 -7.76410495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.826296757 meters Centerline goodness [0,1] 0.8293208018889764 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.77 [[ 9.99819960e-01 1.54354075e-03 -1.89120507e-02 2.35503460e+00] [-1.62780883e-03 9.99988813e-01 -4.44120407e-03 -5.39474009e-01] [ 1.89049839e-02 4.47118967e-03 9.99811287e-01 -7.74221430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.856296757 meters Centerline goodness [0,1] 0.8290265814578124 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.54, Z:-0.77 [[ 9.99818383e-01 2.03827107e-03 -1.89485363e-02 2.35460944e+00] [-2.11651097e-03 9.99989314e-01 -4.10993681e-03 -5.38326649e-01] [ 1.89399567e-02 4.14929516e-03 9.99812013e-01 -7.73607658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.886296757 meters Centerline goodness [0,1] 0.8264470457594966 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.77 [[ 9.99791396e-01 5.00530529e-03 -1.98017898e-02 2.35746881e+00] [-5.02119160e-03 9.99987111e-01 -7.52628344e-04 -5.38601038e-01] [ 1.97977674e-02 8.51899924e-04 9.99803642e-01 -7.74692345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.916296757 meters Centerline goodness [0,1] 0.8192514359829535 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99779312e-01 5.59008325e-03 -2.02503758e-02 2.35845368e+00] [-5.60670390e-03 9.99983990e-01 -7.64075357e-04 -5.38149600e-01] [ 2.02457803e-02 8.77444596e-04 9.99794648e-01 -7.75262061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.946296757 meters Centerline goodness [0,1] 0.8290986646884273 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99770617e-01 5.43984877e-03 -2.07152516e-02 2.36009955e+00] [-5.46552170e-03 9.99984364e-01 -1.18291027e-03 -5.38095188e-01] [ 2.07084928e-02 1.29585859e-03 9.99784716e-01 -7.76350650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.976296757 meters Centerline goodness [0,1] 0.8248437971802197 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99767328e-01 5.61077276e-03 -2.08280996e-02 2.36078194e+00] [-5.63918713e-03 9.99983247e-01 -1.30574933e-03 -5.38108574e-01] [ 2.08204244e-02 1.42289907e-03 9.99782219e-01 -7.77134786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006296757 meters Centerline goodness [0,1] 0.8178582982853445 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99731464e-01 9.08476772e-03 -2.13182321e-02 2.36298019e+00] [-9.04398134e-03 9.99957085e-01 2.00885035e-03 -5.37750927e-01] [ 2.13355671e-02 -1.81550920e-03 9.99770722e-01 -7.78471414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.036296757 meters Centerline goodness [0,1] 0.810621312044429 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99732306e-01 9.59008793e-03 -2.10558076e-02 2.36221325e+00] [-9.55304362e-03 9.99952640e-01 1.85922198e-03 -5.35444821e-01] [ 2.10726405e-02 -1.65757723e-03 9.99776573e-01 -7.78447602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.066296757 meters Centerline goodness [0,1] 0.810621312044429 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.54, Z:-0.78 [[ 9.99732306e-01 9.59008793e-03 -2.10558076e-02 2.36221325e+00] [-9.55304362e-03 9.99952640e-01 1.85922198e-03 -5.35444821e-01] [ 2.10726405e-02 -1.65757723e-03 9.99776573e-01 -7.78447602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.096296757 meters Centerline goodness [0,1] 0.792600120097926 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.53, Z:-0.78 [[ 0.99979274 0.01390575 -0.01486937 2.37315343] [-0.0139726 0.99989269 -0.00440144 -0.53189085] [ 0.01480657 0.00460829 0.99987976 -0.78210555] [ 0. 0. 0. 1. ]] SLAMing on 35.126296757 meters Centerline goodness [0,1] 0.7873455721048378 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.53, Z:-0.78 [[ 0.99978732 0.01400153 -0.0151415 2.37327519] [-0.01406544 0.99989258 -0.00412261 -0.53292668] [ 0.01508215 0.0043347 0.99987686 -0.78137864] [ 0. 0. 0. 1. ]] SLAMing on 35.156296757 meters Centerline goodness [0,1] 0.7861753070997293 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.53, Z:-0.78 [[ 0.99978292 0.01425556 -0.01519506 2.37277308] [-0.01431024 0.99989149 -0.00349578 -0.53471509] [ 0.01514357 0.00371247 0.99987844 -0.78033527] [ 0. 0. 0. 1. ]] SLAMing on 35.186296757 meters Centerline goodness [0,1] 0.8003553135526741 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.53, Z:-0.78 [[ 0.9997873 0.01394582 -0.01519413 2.37286075] [-0.0140002 0.99989594 -0.00347879 -0.53461363] [ 0.01514404 0.00369077 0.99987851 -0.78007161] [ 0. 0. 0. 1. ]] SLAMing on 35.216296757 meters Centerline goodness [0,1] 0.8142747861563782 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.53, Z:-0.78 [[ 0.99978785 0.01360253 -0.01546672 2.37393642] [-0.01366222 0.9998996 -0.00376016 -0.53397257] [ 0.01541402 0.00397067 0.99987331 -0.780711 ] [ 0. 0. 0. 1. ]] SLAMing on 35.246296757 meters Centerline goodness [0,1] 0.8146678731351941 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99979176 0.01298532 -0.01574232 2.37505887] [-0.01304527 0.99990802 -0.00371136 -0.53517796] [ 0.01569268 0.00391595 0.99986919 -0.78101074] [ 0. 0. 0. 1. ]] SLAMing on 35.276296757 meters Centerline goodness [0,1] 0.8185933147632312 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99979082 0.01277503 -0.01597218 2.37560003] [-0.01283237 0.99991156 -0.00349273 -0.53623215] [ 0.01592614 0.00369696 0.99986634 -0.78082362] [ 0. 0. 0. 1. ]] SLAMing on 35.306296757 meters Centerline goodness [0,1] 0.8207818738972978 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.9997902 0.01272318 -0.01605258 2.37565257] [-0.01277754 0.99991296 -0.00328886 -0.53667586] [ 0.01600934 0.00349328 0.99986574 -0.78050556] [ 0. 0. 0. 1. ]] SLAMing on 35.336296757 meters Centerline goodness [0,1] 0.8222376489644799 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99979046 0.01233235 -0.01633864 2.37629781] [-0.01238616 0.99991818 -0.00319644 -0.53734481] [ 0.01629788 0.00339815 0.99986141 -0.78017183] [ 0. 0. 0. 1. ]] SLAMing on 35.366296757 meters Centerline goodness [0,1] 0.826209705412723 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99978736 0.01214625 -0.01666427 2.37732632] [-0.01220328 0.99992001 -0.00332515 -0.53741486] [ 0.01662254 0.0035278 0.99985561 -0.78064799] [ 0. 0. 0. 1. ]] SLAMing on 35.396296757 meters Centerline goodness [0,1] 0.8208410351201478 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99978604 0.01175929 -0.0170177 2.37882758] [-0.01182612 0.99992273 -0.00383207 -0.53681934] [ 0.01697133 0.00403251 0.99984784 -0.78168449] [ 0. 0. 0. 1. ]] SLAMing on 35.426296757 meters Centerline goodness [0,1] 0.8252611147056105 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99978547 0.01184809 -0.01698921 2.37839294] [-0.01191301 0.9999221 -0.00372512 -0.53675862] [ 0.01694375 0.00392671 0.99984873 -0.78108532] [ 0. 0. 0. 1. ]] SLAMing on 35.456296757 meters Centerline goodness [0,1] 0.8276306997534619 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.54, Z:-0.78 [[ 0.99978253 0.01260341 -0.01661438 2.37616812] [-0.01265688 0.99991504 -0.00311726 -0.53577702] [ 0.01657368 0.00332687 0.99985711 -0.77898832] [ 0. 0. 0. 1. ]] SLAMing on 35.486296757 meters Centerline goodness [0,1] 0.8238380119650253 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 0.99978268 0.01258767 -0.01661741 2.37629483] [-0.01264682 0.99991404 -0.00345948 -0.5342924 ] [ 0.01657243 0.00366889 0.99985594 -0.77926967] [ 0. 0. 0. 1. ]] SLAMing on 35.516296757 meters Centerline goodness [0,1] 0.8207984721716988 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99746446e-01 1.43104909e-02 -1.73854447e-02 2.37987929e+00] [-1.43372887e-02 9.99896211e-01 -1.41772247e-03 -5.34309518e-01] [ 1.73633519e-02 1.66662314e-03 9.99847857e-01 -7.81289674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.546296757 meters Centerline goodness [0,1] 0.8269636147007607 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99740789e-01 1.46006535e-02 -1.74692563e-02 2.38042880e+00] [-1.46348119e-02 9.99891232e-01 -1.82909970e-03 -5.32076150e-01] [ 1.74406502e-02 2.08428486e-03 9.99845728e-01 -7.82151532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.576296757 meters Centerline goodness [0,1] 0.8087839992710374 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 0.99973855 0.01434788 -0.01780363 2.38178111] [-0.01439388 0.99989338 -0.00245835 -0.53106299] [ 0.01776646 0.00271397 0.99983848 -0.78322231] [ 0. 0. 0. 1. ]] SLAMing on 35.606296757 meters Centerline goodness [0,1] 0.8172635235505177 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99731432e-01 1.49335350e-02 -1.77215504e-02 2.38119167e+00] [-1.49770405e-02 9.99885135e-01 -2.32476651e-03 -5.30656423e-01] [ 1.76847978e-02 2.58955853e-03 9.99840258e-01 -7.82880962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.636296757 meters Centerline goodness [0,1] 0.8186520196818858 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 0.99972735 0.01517086 -0.01775012 2.38116222] [-0.01521707 0.99988116 -0.00247141 -0.52940549] [ 0.01771052 0.00274084 0.9998394 -0.78293241] [ 0. 0. 0. 1. ]] SLAMing on 35.666296757 meters Centerline goodness [0,1] 0.8205889744351282 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99660407e-01 1.88235718e-02 -1.80206636e-02 2.38196861e+00] [-1.88073140e-02 9.99822553e-01 1.07123793e-03 -5.27292351e-01] [ 1.80376304e-02 -7.31953868e-04 9.99837041e-01 -7.82888294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.696296757 meters Centerline goodness [0,1] 0.790500946257154 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99656710e-01 1.87951893e-02 -1.82538579e-02 2.38249957e+00] [-1.87847851e-02 9.99823276e-01 7.41279793e-04 -5.26081922e-01] [ 1.82645645e-02 -3.98130521e-04 9.99833110e-01 -7.83075973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.726296757 meters Centerline goodness [0,1] 0.792521524088661 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99653985e-01 1.88338727e-02 -1.83628797e-02 2.38242596e+00] [-1.88209198e-02 9.99822485e-01 8.77961713e-04 -5.26161054e-01] [ 1.83761555e-02 -5.32051638e-04 9.99831003e-01 -7.82543935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.756296757 meters Centerline goodness [0,1] 0.8092372706184975 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 9.99651344e-01 1.85040830e-02 -1.88358612e-02 2.38347774e+00] [-1.84916779e-02 9.99828668e-01 8.32562936e-04 -5.27252022e-01] [ 1.88480399e-02 -4.83965979e-04 9.99822243e-01 -7.82540041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786296757 meters Centerline goodness [0,1] 0.8140175450778881 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.53, Z:-0.78 [[ 0.99971285 0.01419777 -0.01930366 2.38465867] [-0.01425798 0.99989389 -0.00298492 -0.53046166] [ 0.01925923 0.0032593 0.99980921 -0.78292912] [ 0. 0. 0. 1. ]] SLAMing on 35.816296757 meters Centerline goodness [0,1] 0.8105206780923995 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.78 [[ 0.99972576 0.01266005 -0.01970101 2.38712658] [-0.01273107 0.99991289 -0.00348354 -0.53278222] [ 0.01965519 0.0037334 0.99979985 -0.78453683] [ 0. 0. 0. 1. ]] SLAMing on 35.846296757 meters Centerline goodness [0,1] 0.8314742517196505 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99972349 0.01224197 -0.02007692 2.3885954 ] [-0.01231833 0.99991734 -0.00368413 -0.53235198] [ 0.02003016 0.00393043 0.99979165 -0.78541652] [ 0. 0. 0. 1. ]] SLAMing on 35.876296757 meters Centerline goodness [0,1] 0.8296480774601992 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99972414 0.01185897 -0.02027327 2.38945037] [-0.01194113 0.99992095 -0.00393648 -0.53146096] [ 0.02022499 0.00417748 0.99978673 -0.78591197] [ 0. 0. 0. 1. ]] SLAMing on 35.906296757 meters Centerline goodness [0,1] 0.8130126771066368 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99972243 0.01173194 -0.02043091 2.38973833] [-0.01181155 0.9999231 -0.00378004 -0.53141837] [ 0.02038499 0.00402031 0.99978412 -0.78566312] [ 0. 0. 0. 1. ]] SLAMing on 35.936296757 meters Centerline goodness [0,1] 0.826315175551149 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99993068 0.00882463 -0.00779452 2.39222718] [-0.00885679 0.99995237 -0.00410138 -0.53237722] [ 0.00775795 0.00417013 0.99996121 -0.78891577] [ 0. 0. 0. 1. ]] SLAMing on 35.966296757 meters Centerline goodness [0,1] 0.8257087780337581 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99995372 0.00609274 -0.00744499 2.38994427] [-0.00614653 0.99995503 -0.00722264 -0.53260748] [ 0.00740065 0.00726807 0.9999462 -0.78719348] [ 0. 0. 0. 1. ]] SLAMing on 35.996296757 meters Centerline goodness [0,1] 0.8275034132103009 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.54, Z:-0.79 [[ 0.99995499 0.00582352 -0.0074901 2.38943427] [-0.0058719 0.99996193 -0.00645368 -0.53607049] [ 0.00745223 0.00649737 0.99995112 -0.78549944] [ 0. 0. 0. 1. ]] SLAMing on 36.026296757 meters Centerline goodness [0,1] 0.8283680588290752 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.54, Z:-0.79 [[ 0.99995488 0.00572665 -0.00757895 2.38985492] [-0.00577563 0.99996248 -0.00645607 -0.53590501] [ 0.00754169 0.00649955 0.99995044 -0.78569938] [ 0. 0. 0. 1. ]] SLAMing on 36.056296757 meters Centerline goodness [0,1] 0.8246344101189637 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99995641 0.00495207 -0.00791588 2.39193042] [-0.0050107 0.99996004 -0.00740318 -0.53285617] [ 0.0078789 0.00744253 0.99994126 -0.78754963] [ 0. 0. 0. 1. ]] SLAMing on 36.086296757 meters Centerline goodness [0,1] 0.8225272013724062 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99995596 0.00483227 -0.00804545 2.39280731] [-0.00489499 0.99995765 -0.00779373 -0.53137666] [ 0.00800745 0.00783277 0.99993726 -0.78848292] [ 0. 0. 0. 1. ]] SLAMing on 36.116296757 meters Centerline goodness [0,1] 0.8181967713889606 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.999954 0.00519027 -0.00806595 2.3928352 ] [-0.00525238 0.99995658 -0.00769807 -0.53140665] [ 0.00802564 0.00774008 0.99993784 -0.78863725] [ 0. 0. 0. 1. ]] SLAMing on 36.146296757 meters Centerline goodness [0,1] 0.8171466214944476 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99995161 0.00563949 -0.00806084 2.39227504] [-0.00569746 0.99995794 -0.00718735 -0.53247411] [ 0.00801997 0.00723293 0.99994168 -0.78783229] [ 0. 0. 0. 1. ]] SLAMing on 36.176296757 meters Centerline goodness [0,1] 0.8156253676903165 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.9999487 0.0062409 -0.00797823 2.3913567 ] [-0.00629383 0.99995824 -0.00662602 -0.53314496] [ 0.00793654 0.00667589 0.99994622 -0.78685383] [ 0. 0. 0. 1. ]] SLAMing on 36.206296757 meters Centerline goodness [0,1] 0.8095884956788533 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.78 [[ 0.99993607 0.00850152 -0.00745499 2.38892458] [-0.00853519 0.99995346 -0.00449685 -0.53152262] [ 0.00741641 0.0045602 0.9999621 -0.78487831] [ 0. 0. 0. 1. ]] SLAMing on 36.236296757 meters Centerline goodness [0,1] 0.8059670206819453 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99993336 0.00855064 -0.00775605 2.38979238] [-0.00859002 0.99995031 -0.00505863 -0.52889128] [ 0.00771241 0.00512492 0.99995713 -0.7855428 ] [ 0. 0. 0. 1. ]] SLAMing on 36.266296757 meters Centerline goodness [0,1] 0.7953980244044161 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 9.99894750e-01 1.20825039e-02 -8.03136474e-03 2.39163355e+00] [-1.20987058e-02 9.99924864e-01 -1.97181430e-03 -5.26380141e-01] [ 8.00693684e-03 2.06877589e-03 9.99965804e-01 -7.87303461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.296296757 meters Centerline goodness [0,1] 0.7881569139023481 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99989456 0.01187095 -0.00836367 2.39276374] [-0.01189213 0.99992619 -0.00248831 -0.52566198] [ 0.00833351 0.00258751 0.99996193 -0.78811895] [ 0. 0. 0. 1. ]] SLAMing on 36.326296757 meters Centerline goodness [0,1] 0.7992104832870057 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 0.99989231 0.01184224 -0.00866734 2.39346118] [-0.0118638 0.99992664 -0.00244033 -0.52691976] [ 0.00863781 0.00254289 0.99995946 -0.78820562] [ 0. 0. 0. 1. ]] SLAMing on 36.356296757 meters Centerline goodness [0,1] 0.7927877297740311 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989634 0.011115 -0.00915254 2.39519104] [-0.01113925 0.99993457 -0.00260237 -0.5304791 ] [ 0.00912301 0.00270405 0.99995473 -0.78882559] [ 0. 0. 0. 1. ]] SLAMing on 36.386296757 meters Centerline goodness [0,1] 0.7964782292668058 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989623 0.01102872 -0.00926805 2.39539497] [-0.0110523 0.9999358 -0.00249696 -0.53073736] [ 0.00923991 0.00259913 0.99995393 -0.78869252] [ 0. 0. 0. 1. ]] SLAMing on 36.416296757 meters Centerline goodness [0,1] 0.8047139620173328 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.53, Z:-0.79 [[ 9.99898737e-01 1.10702054e-02 -8.94240564e-03 2.39430531e+00] [-1.10909796e-02 9.99935901e-01 -2.27687712e-03 -5.27996487e-01] [ 8.91662695e-03 2.37582660e-03 9.99957424e-01 -7.87709786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446296757 meters Centerline goodness [0,1] 0.8121697432435578 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989843 0.01071122 -0.00940261 2.39533273] [-0.0107363 0.99993893 -0.0026212 -0.52696937] [ 0.00937396 0.00272188 0.99995236 -0.78776069] [ 0. 0. 0. 1. ]] SLAMing on 36.476296757 meters Centerline goodness [0,1] 0.809600297972391 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989737 0.01050734 -0.00973864 2.39620739] [-0.01053486 0.99994064 -0.00277918 -0.52724422] [ 0.00970886 0.00288149 0.99994872 -0.78798117] [ 0. 0. 0. 1. ]] SLAMing on 36.506296757 meters Centerline goodness [0,1] 0.800563039482562 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989562 0.01017001 -0.01026266 2.39773985] [-0.01019813 0.99994437 -0.00269176 -0.52985477] [ 0.01023472 0.00279614 0.99994371 -0.78843472] [ 0. 0. 0. 1. ]] SLAMing on 36.536296757 meters Centerline goodness [0,1] 0.8011763885336991 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989617 0.01000212 -0.01037326 2.39827024] [-0.01003284 0.99994542 -0.00291405 -0.52974044] [ 0.01034355 0.00301782 0.99994195 -0.78880699] [ 0. 0. 0. 1. ]] SLAMing on 36.566296757 meters Centerline goodness [0,1] 0.8091235382656015 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.53, Z:-0.79 [[ 0.99989872 0.00996359 -0.01016276 2.39789804] [-0.00999812 0.9999444 -0.00335289 -0.52725632] [ 0.01012879 0.00345416 0.99994274 -0.78885542] [ 0. 0. 0. 1. ]] SLAMing on 36.596296757 meters Centerline goodness [0,1] 0.8079370588915886 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989782 0.00999745 -0.01021769 2.39785398] [-0.01003562 0.99994283 -0.00369156 -0.52485166] [ 0.0101802 0.00379373 0.99994098 -0.78875639] [ 0. 0. 0. 1. ]] SLAMing on 36.626296757 meters Centerline goodness [0,1] 0.8130750605326876 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989676 0.01016759 -0.0101532 2.39745722] [-0.01020809 0.99994011 -0.00394528 -0.52243288] [ 0.01011248 0.00404852 0.99994067 -0.78850203] [ 0. 0. 0. 1. ]] SLAMing on 36.656296757 meters Centerline goodness [0,1] 0.8080550188609807 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989904 0.01001943 -0.01007621 2.39695087] [-0.01006263 0.99994035 -0.00424626 -0.52081982] [ 0.01003306 0.00434722 0.99994022 -0.78770523] [ 0. 0. 0. 1. ]] SLAMing on 36.686296757 meters Centerline goodness [0,1] 0.8096194234808096 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989739 0.00976448 -0.0104813 2.39785136] [-0.00980956 0.99994282 -0.00425801 -0.52209454] [ 0.01043912 0.00436039 0.999936 -0.78768823] [ 0. 0. 0. 1. ]] SLAMing on 36.716296757 meters Centerline goodness [0,1] 0.8094555873925502 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989706 0.00938131 -0.01085659 2.39927214] [-0.00943268 0.99994451 -0.00468999 -0.52271854] [ 0.01081199 0.00479192 0.99993007 -0.78854861] [ 0. 0. 0. 1. ]] SLAMing on 36.746296757 meters Centerline goodness [0,1] 0.8086137654064534 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989756 0.00904137 -0.01109622 2.40058748] [-0.00910183 0.99994394 -0.0054101 -0.52119633] [ 0.01104668 0.00551054 0.9999238 -0.78985026] [ 0. 0. 0. 1. ]] SLAMing on 36.776296757 meters Centerline goodness [0,1] 0.8004835367257657 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 0.99989628 0.00899816 -0.01124522 2.40128068] [-0.00906549 0.9999412 -0.0059511 -0.51895992] [ 0.01119101 0.00605243 0.99991906 -0.79059975] [ 0. 0. 0. 1. ]] SLAMing on 36.806296757 meters Centerline goodness [0,1] 0.7980544211444042 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.52, Z:-0.79 [[ 9.99850662e-01 1.32251153e-02 -1.11242576e-02 2.40095963e+00] [-1.32511693e-02 9.99909619e-01 -2.27165307e-03 -5.16623498e-01] [ 1.10932093e-02 2.41872325e-03 9.99935543e-01 -7.90345168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.836296757 meters Centerline goodness [0,1] 0.781085214691716 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99984552 0.01357961 -0.01115975 2.4007649 ] [-0.01361037 0.99990377 -0.00268458 -0.51445488] [ 0.01112222 0.00283606 0.99993412 -0.79033546] [ 0. 0. 0. 1. ]] SLAMing on 36.866296757 meters Centerline goodness [0,1] 0.7919578024386902 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99982854 0.01502271 -0.01082639 2.39892196] [-0.01504991 0.99988378 -0.0024352 -0.51225804] [ 0.01078854 0.00259772 0.99993843 -0.78932581] [ 0. 0. 0. 1. ]] SLAMing on 36.896296757 meters Centerline goodness [0,1] 0.7678726417249098 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.9998259 0.0151442 -0.0109007 2.39941062] [-0.01517618 0.99988076 -0.00285633 -0.51106107] [ 0.01085615 0.00302127 0.99993651 -0.79005268] [ 0. 0. 0. 1. ]] SLAMing on 36.926296757 meters Centerline goodness [0,1] 0.7542044574085046 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99982367 0.01511278 -0.01114563 2.40031101] [-0.01515141 0.99987947 -0.00338903 -0.50975884] [ 0.01109307 0.0035573 0.99993214 -0.79082462] [ 0. 0. 0. 1. ]] SLAMing on 36.956296757 meters Centerline goodness [0,1] 0.7542044574085046 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99982367 0.01511278 -0.01114563 2.40031101] [-0.01515141 0.99987947 -0.00338903 -0.50975884] [ 0.01109307 0.0035573 0.99993214 -0.79082462] [ 0. 0. 0. 1. ]] SLAMing on 36.986296757 meters Centerline goodness [0,1] 0.7547516860821581 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99981639 0.01562745 -0.01108945 2.40022382] [-0.01567035 0.99987002 -0.00379301 -0.50723513] [ 0.01102874 0.00396609 0.99993132 -0.79131124] [ 0. 0. 0. 1. ]] SLAMing on 37.016296757 meters Centerline goodness [0,1] 0.7439447150787357 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99981453 0.01575268 -0.0110796 2.40025548] [-0.01579768 0.99986726 -0.00398601 -0.50624195] [ 0.01101534 0.00416031 0.99993067 -0.79149751] [ 0. 0. 0. 1. ]] SLAMing on 37.046296757 meters Centerline goodness [0,1] 0.7369524067063278 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.79 [[ 0.99981329 0.01591271 -0.01096239 2.40038392] [-0.01596139 0.99986307 -0.00436817 -0.50420697] [ 0.01089138 0.00454233 0.99993037 -0.79219724] [ 0. 0. 0. 1. ]] SLAMing on 37.076296757 meters Centerline goodness [0,1] 0.7372606442892544 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.79 [[ 0.9998151 0.01580719 -0.01094994 2.40061341] [-0.01585951 0.99986315 -0.00470798 -0.50284088] [ 0.01087402 0.00488077 0.99992896 -0.79254823] [ 0. 0. 0. 1. ]] SLAMing on 37.106296757 meters Centerline goodness [0,1] 0.7643499775078723 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.79 [[ 0.99981678 0.01571983 -0.01092205 2.39994575] [-0.01577197 0.99986455 -0.00470446 -0.50214542] [ 0.01084662 0.00487586 0.99992929 -0.79135618] [ 0. 0. 0. 1. ]] SLAMing on 37.136296757 meters Centerline goodness [0,1] 0.7700531148721642 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.79 [[ 0.99981858 0.01540221 -0.01120624 2.40040182] [-0.01545546 0.9998696 -0.0046812 -0.50315746] [ 0.01113268 0.00485354 0.99992625 -0.79094038] [ 0. 0. 0. 1. ]] SLAMing on 37.166296757 meters Centerline goodness [0,1] 0.7888446215139442 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.79 [[ 0.99982508 0.0147455 -0.01150544 2.40143507] [-0.01480213 0.99987867 -0.00485256 -0.50460712] [ 0.01143249 0.00502202 0.99992204 -0.79115267] [ 0. 0. 0. 1. ]] SLAMing on 37.196296757 meters Centerline goodness [0,1] 0.7842955178583562 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99987967 0.01021584 -0.01167442 2.40211389] [-0.01031858 0.99990826 -0.00877433 -0.50584547] [ 0.01158371 0.00889374 0.99989335 -0.79141791] [ 0. 0. 0. 1. ]] SLAMing on 37.226296757 meters Centerline goodness [0,1] 0.8021873298239245 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.51, Z:-0.79 [[ 0.99988087 0.00964513 -0.01205053 2.40339401] [-0.00974951 0.9999152 -0.00863326 -0.50720893] [ 0.01196624 0.00874972 0.99989012 -0.79176847] [ 0. 0. 0. 1. ]] SLAMing on 37.256296757 meters Centerline goodness [0,1] 0.7959364963669908 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:-0.79 [[ 0.99989318 0.00792492 -0.01228133 2.40577041] [-0.00803619 0.99992687 -0.00903753 -0.50909686] [ 0.01220881 0.00913526 0.99988374 -0.79339613] [ 0. 0. 0. 1. ]] SLAMing on 37.286296757 meters Centerline goodness [0,1] 0.8031863974107671 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:-0.79 [[ 0.99989275 0.00758705 -0.01252662 2.4068335 ] [-0.00769982 0.99993005 -0.00897863 -0.50936304] [ 0.01245763 0.00907412 0.99988123 -0.79398467] [ 0. 0. 0. 1. ]] SLAMing on 37.316296757 meters Centerline goodness [0,1] 0.8124360344788374 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:-0.79 [[ 0.99989081 0.00738321 -0.01280097 2.40762548] [-0.00749765 0.99993215 -0.00891487 -0.50936222] [ 0.01273428 0.00900987 0.99987832 -0.79420334] [ 0. 0. 0. 1. ]] SLAMing on 37.346296757 meters Centerline goodness [0,1] 0.812807881773399 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:-0.79 [[ 0.99989418 0.00657996 -0.01297449 2.4083516 ] [-0.00668824 0.99994302 -0.00831985 -0.51271131] [ 0.01291901 0.00840574 0.99988121 -0.79365927] [ 0. 0. 0. 1. ]] SLAMing on 37.376296757 meters Centerline goodness [0,1] 0.8095902952620737 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.79 [[ 0.99989096 0.00627598 -0.01336748 2.40945238] [-0.0063794 0.99994994 -0.00770845 -0.51655424] [ 0.01331843 0.00779288 0.99988094 -0.79363611] [ 0. 0. 0. 1. ]] SLAMing on 37.406296757 meters Centerline goodness [0,1] 0.8113705164663793 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.79 [[ 0.99988399 0.00560792 -0.01416195 2.41180793] [-0.00571146 0.99995718 -0.00728081 -0.52110673] [ 0.01412051 0.00736085 0.99987321 -0.79398978] [ 0. 0. 0. 1. ]] SLAMing on 37.436296757 meters Centerline goodness [0,1] 0.8069354616760699 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.79 [[ 0.99988104 0.00595589 -0.01422807 2.41190096] [-0.00605418 0.99995804 -0.00687512 -0.52168864] [ 0.01418652 0.00696045 0.99987514 -0.79391 ] [ 0. 0. 0. 1. ]] SLAMing on 37.466296757 meters Centerline goodness [0,1] 0.8023631983480555 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.79 [[ 0.99987803 0.00631614 -0.01428394 2.41198327] [-0.00641228 0.99995703 -0.00669491 -0.52157201] [ 0.01424104 0.00678568 0.99987557 -0.79401225] [ 0. 0. 0. 1. ]] SLAMing on 37.496296757 meters Centerline goodness [0,1] 0.8131438557763061 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.80 [[ 0.99984213 0.01012724 -0.01459981 2.41368714] [-0.01016582 0.99994502 -0.00257083 -0.52262182] [ 0.01457297 0.00271884 0.99989011 -0.79515565] [ 0. 0. 0. 1. ]] SLAMing on 37.526296757 meters Centerline goodness [0,1] 0.7942490100377567 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.80 [[ 0.99984026 0.01019068 -0.01468369 2.41432683] [-0.0102311 0.99994407 -0.00267971 -0.52246388] [ 0.01465556 0.00282952 0.9998886 -0.79593012] [ 0. 0. 0. 1. ]] SLAMing on 37.556296757 meters Centerline goodness [0,1] 0.8106526597092635 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.52, Z:-0.80 [[ 9.99835440e-01 1.03524440e-02 -1.48969783e-02 2.41487002e+00] [-1.03889364e-02 9.99943215e-01 -2.37435360e-03 -5.23666178e-01] [ 1.48715520e-02 2.52872664e-03 9.99886215e-01 -7.96102515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.586296757 meters Centerline goodness [0,1] 0.8056469933701145 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.53, Z:-0.80 [[ 9.99827390e-01 1.06398244e-02 -1.52310473e-02 2.41560395e+00] [-1.06649316e-02 9.99941898e-01 -1.56814231e-03 -5.28946227e-01] [ 1.52134775e-02 1.73030971e-03 9.99882771e-01 -7.96111149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.616296757 meters Centerline goodness [0,1] 0.8047437624866423 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.53, Z:-0.80 [[ 9.99823211e-01 1.06391727e-02 -1.55034107e-02 2.41653883e+00] [-1.06591423e-02 9.99942462e-01 -1.20601379e-03 -5.31696962e-01] [ 1.54896877e-02 1.37105365e-03 9.99879088e-01 -7.96507486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646296757 meters Centerline goodness [0,1] 0.7910853794642857 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.53, Z:-0.80 [[ 9.99816703e-01 1.07522918e-02 -1.58413521e-02 2.41801877e+00] [-1.07648187e-02 9.99941809e-01 -7.05711418e-04 -5.34371894e-01] [ 1.58328423e-02 8.76111346e-04 9.99874269e-01 -7.97521484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.676296757 meters Centerline goodness [0,1] 0.8060043489443288 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.53, Z:-0.80 [[ 9.99813662e-01 1.10122088e-02 -1.58547469e-02 2.41823676e+00] [-1.10199584e-02 9.99939198e-01 -4.01501867e-04 -5.34916216e-01] [ 1.58493615e-02 5.76145704e-04 9.99874225e-01 -7.97824869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.706296757 meters Centerline goodness [0,1] 0.7816073063648956 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.54, Z:-0.80 [[ 9.99807395e-01 1.10557834e-02 -1.62155043e-02 2.42000920e+00] [-1.10590995e-02 9.99938840e-01 -1.14842488e-04 -5.36958894e-01] [ 1.62132429e-02 2.94149245e-04 9.99868513e-01 -7.99315511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.736296757 meters Centerline goodness [0,1] 0.7893546867640132 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.54, Z:-0.80 [[ 9.99802335e-01 1.10284919e-02 -1.65427740e-02 2.42091638e+00] [-1.10262867e-02 9.99939183e-01 2.24506999e-04 -5.38710414e-01] [ 1.65442439e-02 -4.20572523e-05 9.99863134e-01 -7.99495351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766296757 meters Centerline goodness [0,1] 0.7918531781557744 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.54, Z:-0.80 [[ 9.99796297e-01 1.09218269e-02 -1.69728542e-02 2.42189024e+00] [-1.09116298e-02 9.99940226e-01 6.93281965e-04 -5.41460749e-01] [ 1.69794116e-02 -5.07939239e-04 9.99855710e-01 -7.99418667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.796296757 meters Centerline goodness [0,1] 0.7874258600237248 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.55, Z:-0.80 [[ 9.99820445e-01 7.94975448e-03 -1.72011592e-02 2.42101804e+00] [-7.96490263e-03 9.99967950e-01 -8.12317413e-04 -5.48628607e-01] [ 1.71941502e-02 9.49177116e-04 9.99851719e-01 -7.97141146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826296757 meters Centerline goodness [0,1] 0.7899790336414753 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.55, Z:-0.80 [[ 9.99817104e-01 7.35156748e-03 -1.76554004e-02 2.42265626e+00] [-7.36395901e-03 9.99972683e-01 -6.36944877e-04 -5.52247840e-01] [ 1.76502355e-02 7.66842027e-04 9.99843928e-01 -7.97703146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.856296757 meters Centerline goodness [0,1] 0.7760709080918364 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.56, Z:-0.80 [[ 9.99813803e-01 6.88645771e-03 -1.80259874e-02 2.42422475e+00] [-6.88763403e-03 9.99976280e-01 -3.17347634e-06 -5.56717872e-01] [ 1.80255379e-02 1.27329289e-04 9.99837519e-01 -7.98189858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886296757 meters Centerline goodness [0,1] 0.7883747720072958 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.56, Z:-0.80 [[ 9.99808563e-01 7.07186571e-03 -1.82435384e-02 2.42446471e+00] [-7.06113527e-03 9.99974857e-01 6.52526763e-04 -5.58686644e-01] [ 1.82476943e-02 -5.23581753e-04 9.99833360e-01 -7.97687559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.916296757 meters Centerline goodness [0,1] 0.8066599200038552 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.56, Z:-0.80 [[ 9.99804420e-01 7.33367866e-03 -1.83667880e-02 2.42463997e+00] [-7.31069913e-03 9.99972408e-01 1.31797672e-03 -5.60833594e-01] [ 1.83759468e-02 -1.18344489e-03 9.99830448e-01 -7.97454392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946296757 meters Centerline goodness [0,1] 0.801621490803485 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.56, Z:-0.80 [[ 9.99792237e-01 7.29340594e-03 -1.90338814e-02 2.42714616e+00] [-7.25792432e-03 9.99971794e-01 1.93254451e-03 -5.64759523e-01] [ 1.90474394e-02 -1.79399653e-03 9.99816972e-01 -7.98805183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.976296757 meters Centerline goodness [0,1] 0.7872811284046692 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.57, Z:-0.80 [[ 9.99787918e-01 7.55769022e-03 -1.91572398e-02 2.42775527e+00] [-7.51257681e-03 9.99968838e-01 2.42577622e-03 -5.66916582e-01] [ 1.91749761e-02 -2.28134152e-03 9.99813541e-01 -7.99274167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006296757 meters Centerline goodness [0,1] 0.7886897494750208 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.57, Z:-0.80 [[ 0.99978074 0.00791181 -0.01938774 2.42861215] [-0.00785181 0.99996415 0.00316879 -0.5704843 ] [ 0.01941212 -0.00301586 0.99980702 -0.79972808] [ 0. 0. 0. 1. ]] SLAMing on 38.036296757 meters Centerline goodness [0,1] 0.7928376932801712 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.57, Z:-0.80 [[ 0.99977625 0.00784133 -0.01964609 2.42967452] [-0.00777925 0.99996451 0.00323442 -0.57081438] [ 0.01967076 -0.00308087 0.99980177 -0.80034083] [ 0. 0. 0. 1. ]] SLAMing on 38.066296757 meters Centerline goodness [0,1] 0.788160852145021 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.57, Z:-0.80 [[ 0.99977459 0.00791681 -0.01970033 2.42995274] [-0.00785212 0.99996353 0.00335887 -0.57103216] [ 0.0197262 -0.00320343 0.99980029 -0.80054353] [ 0. 0. 0. 1. ]] SLAMing on 38.096296757 meters Centerline goodness [0,1] 0.7858402311798991 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 0.99985958 0.0087226 -0.01430886 2.44199291] [-0.00881523 0.99994051 -0.00642327 -0.5705643 ] [ 0.01425198 0.00654851 0.99987699 -0.80479302] [ 0. 0. 0. 1. ]] SLAMing on 38.126296757 meters Centerline goodness [0,1] 0.7846513343992129 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 0.99985284 0.00891327 -0.01465751 2.44269304] [-0.00900104 0.99994189 -0.00593286 -0.57275366] [ 0.01460378 0.00606392 0.99987497 -0.80471534] [ 0. 0. 0. 1. ]] SLAMing on 38.156296757 meters Centerline goodness [0,1] 0.7711342238872184 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.81 [[ 0.9998464 0.00914443 -0.0149515 2.44428106] [-0.00923391 0.9999398 -0.00592661 -0.57400538] [ 0.0148964 0.00606376 0.99987066 -0.80639302] [ 0. 0. 0. 1. ]] SLAMing on 38.186296757 meters Centerline goodness [0,1] 0.7683040993299173 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.81 [[ 0.99984448 0.00926673 -0.01500488 2.44486227] [-0.00936006 0.99993721 -0.00616163 -0.57293444] [ 0.01494684 0.00630112 0.99986844 -0.80723827] [ 0. 0. 0. 1. ]] SLAMing on 38.216296757 meters Centerline goodness [0,1] 0.7599254060951073 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.57, Z:-0.81 [[ 0.99984197 0.00958577 -0.01497186 2.44507647] [-0.00967959 0.99993389 -0.00620675 -0.57132036] [ 0.01491138 0.00635069 0.99986865 -0.80780264] [ 0. 0. 0. 1. ]] SLAMing on 38.246296757 meters Centerline goodness [0,1] 0.7469344712576025 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.57, Z:-0.81 [[ 9.99791519e-01 1.37517633e-02 -1.50933122e-02 2.44515975e+00] [-1.37830893e-02 9.99903061e-01 -1.97342868e-03 -5.70871589e-01] [ 1.50647110e-02 2.18104973e-03 9.99884142e-01 -8.07209750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.276296757 meters Centerline goodness [0,1] 0.7352984452400804 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.81 [[ 9.99778173e-01 1.49990789e-02 -1.47862579e-02 2.44299068e+00] [-1.50158902e-02 9.99886728e-01 -1.02657913e-03 -5.72006079e-01] [ 1.47691853e-02 1.24838023e-03 9.99890150e-01 -8.05300678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306296757 meters Centerline goodness [0,1] 0.7502088349466857 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 9.99773189e-01 1.52162842e-02 -1.49008480e-02 2.44276444e+00] [-1.52306448e-02 9.99883645e-01 -8.50731748e-04 -5.72647697e-01] [ 1.48861693e-02 1.07748832e-03 9.99888614e-01 -8.04672454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.336296757 meters Centerline goodness [0,1] 0.7529301914146006 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 9.99769152e-01 1.52172834e-02 -1.51682972e-02 2.44304623e+00] [-1.52305347e-02 9.99883721e-01 -7.58477890e-04 -5.73215023e-01] [ 1.51549915e-02 9.89324073e-04 9.99884667e-01 -8.04218782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.366296757 meters Centerline goodness [0,1] 0.7529837340354849 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 9.99769617e-01 1.50491828e-02 -1.53047101e-02 2.44334423e+00] [-1.50630929e-02 9.99886230e-01 -7.94003440e-04 -5.73319460e-01] [ 1.52910198e-02 1.02435679e-03 9.99882561e-01 -8.04096145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.396296757 meters Centerline goodness [0,1] 0.7563425722246664 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 9.99775263e-01 1.44081828e-02 -1.55508009e-02 2.44435693e+00] [-1.44325586e-02 9.99894785e-01 -1.45640799e-03 -5.71080473e-01] [ 1.55281805e-02 1.68051853e-03 9.99878018e-01 -8.04581753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.426296757 meters Centerline goodness [0,1] 0.7641200878691725 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.57, Z:-0.80 [[ 9.99778264e-01 1.40609765e-02 -1.56751696e-02 2.44492883e+00] [-1.40929719e-02 9.99898822e-01 -1.93255982e-03 -5.69334112e-01] [ 1.56464100e-02 2.15304103e-03 9.99875269e-01 -8.04941381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.456296757 meters Centerline goodness [0,1] 0.7748937832690336 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.57, Z:-0.80 [[ 9.99777300e-01 1.37529785e-02 -1.60064591e-02 2.44535124e+00] [-1.37856551e-02 9.99903105e-01 -1.93291691e-03 -5.70357496e-01] [ 1.59783248e-02 2.15314598e-03 9.99870020e-01 -8.04209959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.486296757 meters Centerline goodness [0,1] 0.7722709396907594 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.57, Z:-0.80 [[ 9.99773498e-01 1.36015875e-02 -1.63691794e-02 2.44583266e+00] [-1.36333313e-02 9.99905389e-01 -1.82921040e-03 -5.71680983e-01] [ 1.63427505e-02 2.05196252e-03 9.99864343e-01 -8.03668354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.516296757 meters Centerline goodness [0,1] 0.7687861271676301 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.57, Z:-0.80 [[ 9.99771779e-01 1.35451525e-02 -1.65202308e-02 2.44600811e+00] [-1.35782841e-02 9.99906015e-01 -1.89499577e-03 -5.71558933e-01] [ 1.64930101e-02 2.11887969e-03 9.99861736e-01 -8.03422831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.546296757 meters Centerline goodness [0,1] 0.7887659574468086 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.57, Z:-0.80 [[ 9.99725268e-01 1.62799851e-02 -1.68627163e-02 2.44795518e+00] [-1.62649351e-02 9.99867187e-01 1.02926917e-03 -5.68277799e-01] [ 1.68772332e-02 -7.54715415e-04 9.99857285e-01 -8.04313512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.576296757 meters Centerline goodness [0,1] 0.7925755743651753 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.56, Z:-0.81 [[ 0.99967878 0.0183324 -0.01750026 2.45136757] [-0.01827479 0.99982706 0.00344572 -0.56462594] [ 0.01756041 -0.0031248 0.99984092 -0.80622156] [ 0. 0. 0. 1. ]] SLAMing on 38.606296757 meters Centerline goodness [0,1] 0.7896997779708466 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.56, Z:-0.81 [[ 0.99968135 0.01775543 -0.0179428 2.45274365] [-0.01770528 0.9998389 0.00294972 -0.56435063] [ 0.01799228 -0.0026311 0.99983466 -0.80671967] [ 0. 0. 0. 1. ]] SLAMing on 38.636296757000004 meters Centerline goodness [0,1] 0.7903994580339213 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.56, Z:-0.81 [[ 9.99740662e-01 1.42183821e-02 -1.77889293e-02 2.45191406e+00] [-1.42439995e-02 9.99897685e-01 -1.31419130e-03 -5.63504583e-01] [ 1.77684236e-02 1.56723598e-03 9.99840901e-01 -8.06713461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666296757 meters Centerline goodness [0,1] 0.7924968980366397 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.56, Z:-0.81 [[ 0.99978316 0.01100342 -0.01767939 2.45086658] [-0.01109845 0.99992444 -0.00528644 -0.56332028] [ 0.01761988 0.00548151 0.99982973 -0.80637341] [ 0. 0. 0. 1. ]] SLAMing on 38.696296757 meters Centerline goodness [0,1] 0.7890268749393616 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.56, Z:-0.81 [[ 0.99978484 0.01074157 -0.01774501 2.45178772] [-0.01084968 0.99992309 -0.00600741 -0.56106586] [ 0.01767912 0.00619865 0.9998245 -0.80757074] [ 0. 0. 0. 1. ]] SLAMing on 38.726296757 meters Centerline goodness [0,1] 0.8005611914526225 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.55, Z:-0.81 [[ 0.99974099 0.0140856 -0.01787614 2.453251 ] [-0.01414609 0.99989462 -0.0032623 -0.55493617] [ 0.0178283 0.00351433 0.99983489 -0.80893692] [ 0. 0. 0. 1. ]] SLAMing on 38.756296757 meters Centerline goodness [0,1] 0.7972634142846908 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.55, Z:-0.81 [[ 0.99973307 0.01486308 -0.01768818 2.45208307] [-0.01492033 0.99988385 -0.00310945 -0.55192406] [ 0.01763991 0.00337253 0.99983872 -0.80812884] [ 0. 0. 0. 1. ]] SLAMing on 38.786296757 meters Centerline goodness [0,1] 0.8034104459813975 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.55, Z:-0.81 [[ 0.99972745 0.01544557 -0.01750614 2.4508982 ] [-0.01550073 0.9998753 -0.00301981 -0.55084341] [ 0.01745731 0.00329034 0.9998422 -0.80724005] [ 0. 0. 0. 1. ]] SLAMing on 38.816296757 meters Centerline goodness [0,1] 0.7574468085106383 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.55, Z:-0.81 [[ 0.99977625 0.01824552 -0.0107027 2.45814114] [-0.0183728 0.99976019 -0.01191685 -0.55024385] [ 0.0104827 0.01211082 0.99987171 -0.80915587] [ 0. 0. 0. 1. ]] SLAMing on 38.846296757 meters Centerline goodness [0,1] 0.7574468085106383 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.55, Z:-0.81 [[ 0.99977625 0.01824552 -0.0107027 2.45814114] [-0.0183728 0.99976019 -0.01191685 -0.55024385] [ 0.0104827 0.01211082 0.99987171 -0.80915587] [ 0. 0. 0. 1. ]] SLAMing on 38.876296757 meters Centerline goodness [0,1] 0.7474255000356744 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.55, Z:-0.81 [[ 0.99977115 0.01855194 -0.01065202 2.45787754] [-0.01867788 0.99975535 -0.01184849 -0.54979397] [ 0.0104296 0.01204473 0.99987307 -0.80900508] [ 0. 0. 0. 1. ]] SLAMing on 38.906296757 meters Centerline goodness [0,1] 0.7379632262344802 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.55, Z:-0.81 [[ 0.99969787 0.02206494 -0.01083086 2.45928891] [-0.02216179 0.99971473 -0.00890561 -0.54542078] [ 0.01063127 0.00914295 0.99990169 -0.81014281] [ 0. 0. 0. 1. ]] SLAMing on 38.936296757 meters Centerline goodness [0,1] 0.7363934735897617 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99961566 0.02531176 -0.01130657 2.461246 ] [-0.02537639 0.99966223 -0.00560944 -0.54383774] [ 0.01116077 0.0058942 0.99992034 -0.81100616] [ 0. 0. 0. 1. ]] SLAMing on 38.966296757 meters Centerline goodness [0,1] 0.7273905156776367 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99960534 0.02577033 -0.01118263 2.46067035] [-0.02583602 0.99964954 -0.00576995 -0.54105609] [ 0.01103001 0.00605658 0.99992083 -0.81076304] [ 0. 0. 0. 1. ]] SLAMing on 38.996296757 meters Centerline goodness [0,1] 0.7557742565865373 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99959771 0.0260213 -0.01128356 2.46008645] [-0.0260905 0.9996414 -0.0060292 -0.53972047] [ 0.01112263 0.00632117 0.99991816 -0.80975948] [ 0. 0. 0. 1. ]] SLAMing on 39.026296757 meters Centerline goodness [0,1] 0.7743054735997357 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99959351 0.0261135 -0.011441 2.45975722] [-0.02617913 0.99964145 -0.00562395 -0.54103755] [ 0.01129003 0.00592118 0.99991873 -0.80866591] [ 0. 0. 0. 1. ]] SLAMing on 39.056296757 meters Centerline goodness [0,1] 0.7644480060337513 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99960727 0.02552722 -0.0115616 2.45981089] [-0.02559344 0.99965666 -0.00561649 -0.54182013] [ 0.01141426 0.00591018 0.99991739 -0.80783539] [ 0. 0. 0. 1. ]] SLAMing on 39.086296757 meters Centerline goodness [0,1] 0.7473264241365472 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99961567 0.02517855 -0.01160002 2.4603043 ] [-0.02525043 0.99966259 -0.00609215 -0.54016569] [ 0.01144272 0.00638271 0.99991416 -0.80829504] [ 0. 0. 0. 1. ]] SLAMing on 39.116296757 meters Centerline goodness [0,1] 0.7736897891885526 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99962172 0.02485788 -0.01176897 2.46106351] [-0.02493853 0.99966616 -0.00675626 -0.53777779] [ 0.0115971 0.00704721 0.99990792 -0.80893267] [ 0. 0. 0. 1. ]] SLAMing on 39.146296757 meters Centerline goodness [0,1] 0.7653216552305566 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99952955 0.02826023 -0.01191823 2.46211062] [-0.02830417 0.99959311 -0.0035341 -0.53562336] [ 0.01181351 0.00386977 0.99992273 -0.80946903] [ 0. 0. 0. 1. ]] SLAMing on 39.176296757 meters Centerline goodness [0,1] 0.7581022855001873 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.53, Z:-0.81 [[ 0.99953382 0.02802376 -0.01211668 2.46217303] [-0.02807209 0.99959854 -0.00383697 -0.53448491] [ 0.01200428 0.00417532 0.99991923 -0.80887192] [ 0. 0. 0. 1. ]] SLAMing on 39.206296757 meters Centerline goodness [0,1] 0.7588940221852207 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.54, Z:-0.81 [[ 0.99954044 0.02756512 -0.01261244 2.46324935] [-0.02761699 0.99961075 -0.00395636 -0.53531019] [ 0.01249847 0.00430286 0.99991263 -0.8088053 ] [ 0. 0. 0. 1. ]] SLAMing on 39.236296757 meters Centerline goodness [0,1] 0.7699746502675805 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.53, Z:-0.81 [[ 0.99963253 0.02395836 -0.01268089 2.46295867] [-0.02406026 0.99967894 -0.00794521 -0.53473795] [ 0.01248646 0.0082474 0.99988803 -0.80882738] [ 0. 0. 0. 1. ]] SLAMing on 39.266296757 meters Centerline goodness [0,1] 0.7770252792475014 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99966531 0.02211107 -0.01342984 2.46603361] [-0.02223167 0.99971324 -0.00889836 -0.5363534 ] [ 0.01322924 0.00919395 0.99987022 -0.81030866] [ 0. 0. 0. 1. ]] SLAMing on 39.296296757 meters Centerline goodness [0,1] 0.7801846674341564 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.9996697 0.02181094 -0.01359349 2.46685417] [-0.02193688 0.99971716 -0.0091852 -0.53549731] [ 0.01338931 0.00948036 0.99986542 -0.81093499] [ 0. 0. 0. 1. ]] SLAMing on 39.326296757 meters Centerline goodness [0,1] 0.8018609229615393 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.53, Z:-0.81 [[ 0.99967266 0.02155605 -0.01378083 2.46764873] [-0.02168978 0.99971837 -0.0096294 -0.5325592 ] [ 0.01356938 0.00992515 0.99985867 -0.81142837] [ 0. 0. 0. 1. ]] SLAMing on 39.356296757 meters Centerline goodness [0,1] 0.7730240831324455 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.53, Z:-0.81 [[ 0.99967246 0.02142186 -0.01400307 2.46835357] [-0.02155925 0.99972017 -0.00973546 -0.5322462 ] [ 0.01379059 0.01003417 0.99985456 -0.81172915] [ 0. 0. 0. 1. ]] SLAMing on 39.386296757000004 meters Centerline goodness [0,1] 0.7927621549358539 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.53, Z:-0.81 [[ 0.99967084 0.02127494 -0.01433829 2.46921768] [-0.02141599 0.99972305 -0.00975626 -0.5326166 ] [ 0.01412676 0.01006012 0.9998496 -0.81190685] [ 0. 0. 0. 1. ]] SLAMing on 39.416296757 meters Centerline goodness [0,1] 0.7834205686801528 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99967363 0.02076531 -0.01488089 2.47086785] [-0.02091189 0.99973365 -0.00976355 -0.53611279] [ 0.01467418 0.01007155 0.9998416 -0.81247238] [ 0. 0. 0. 1. ]] SLAMing on 39.446296757 meters Centerline goodness [0,1] 0.7923658709524934 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99966726 0.02105388 -0.014903 2.47067105] [-0.02118953 0.99973494 -0.00900332 -0.53886897] [ 0.0147095 0.00931611 0.99984841 -0.81191515] [ 0. 0. 0. 1. ]] SLAMing on 39.476296757 meters Centerline goodness [0,1] 0.7786140669608097 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99966444 0.02124538 -0.01482047 2.47055331] [-0.02138072 0.99973059 -0.00903387 -0.53749055] [ 0.01462455 0.00934771 0.99984936 -0.81205482] [ 0. 0. 0. 1. ]] SLAMing on 39.506296757 meters Centerline goodness [0,1] 0.8002113420218386 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99958108 0.02467223 -0.01513083 2.47193107] [-0.02475346 0.99968004 -0.00520479 -0.53725671] [ 0.01499757 0.00557715 0.99987198 -0.81236625] [ 0. 0. 0. 1. ]] SLAMing on 39.536296757 meters Centerline goodness [0,1] 0.7861086961629737 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99483559e-01 2.83138418e-02 -1.51967487e-02 2.47261023e+00] [-2.83369156e-02 9.99597577e-01 -1.30512023e-03 -5.36563210e-01] [ 1.51536802e-02 1.73507520e-03 9.99883671e-01 -8.12399122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.566296757 meters Centerline goodness [0,1] 0.7486620974556379 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99476780e-01 2.84758592e-02 -1.53392421e-02 2.47256099e+00] [-2.84962833e-02 9.99593277e-01 -1.11452613e-03 -5.37356048e-01] [ 1.53012662e-02 1.55105438e-03 9.99881726e-01 -8.11968636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.596296757 meters Centerline goodness [0,1] 0.7952003014530982 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99956608 0.02515837 -0.01531997 2.47162856] [-0.0252277 0.99967227 -0.00434945 -0.54040128] [ 0.01520552 0.00473405 0.99987318 -0.81122696] [ 0. 0. 0. 1. ]] SLAMing on 39.626296757 meters Centerline goodness [0,1] 0.7980553654449768 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99956705 0.02506868 -0.01540375 2.4718402 ] [-0.02513364 0.99967594 -0.00403831 -0.54225695] [ 0.01529752 0.00442372 0.9998732 -0.81107016] [ 0. 0. 0. 1. ]] SLAMing on 39.656296757 meters Centerline goodness [0,1] 0.798382914525482 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 0.99957026 0.02495273 -0.01538333 2.47209183] [-0.02501996 0.99967815 -0.00419391 -0.54177925] [ 0.01527373 0.004577 0.99987287 -0.81139067] [ 0. 0. 0. 1. ]] SLAMing on 39.686296757 meters Centerline goodness [0,1] 0.7980316443774722 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99486599e-01 2.79738672e-02 -1.56205392e-02 2.47366285e+00] [-2.79912911e-02 9.99607764e-01 -8.97891847e-04 -5.39998484e-01] [ 1.55892948e-02 1.33466993e-03 9.99877589e-01 -8.12039041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.716296757 meters Centerline goodness [0,1] 0.7921839729119639 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99487131e-01 2.79446301e-02 -1.56388273e-02 2.47390360e+00] [-2.79661533e-02 9.99608198e-01 -1.15923355e-03 -5.39069717e-01] [ 1.56003056e-02 1.59599685e-03 9.99877034e-01 -8.12375212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.746296757 meters Centerline goodness [0,1] 0.7847406954024342 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99479037e-01 2.81945745e-02 -1.57073126e-02 2.47398732e+00] [-2.82139647e-02 9.99601392e-01 -1.01419806e-03 -5.39806952e-01] [ 1.56724566e-02 1.45683526e-03 9.99876118e-01 -8.12408362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.776296757 meters Centerline goodness [0,1] 0.775441072688779 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99478371e-01 2.81977385e-02 -1.57440170e-02 2.47403276e+00] [-2.82181981e-02 9.99601205e-01 -1.07884502e-03 -5.40100985e-01] [ 1.57073174e-02 1.52255006e-03 9.99875473e-01 -8.12378120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806296757 meters Centerline goodness [0,1] 0.7674287459761743 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99477626e-01 2.82710189e-02 -1.56596577e-02 2.47374713e+00] [-2.82932735e-02 9.99598943e-01 -1.20138166e-03 -5.39787154e-01] [ 1.56194130e-02 1.64381707e-03 9.99876658e-01 -8.12279590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.836296757 meters Centerline goodness [0,1] 0.7636811832374693 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99470123e-01 2.86285930e-02 -1.54879827e-02 2.47298694e+00] [-2.86491041e-02 9.99588920e-01 -1.10403149e-03 -5.38802505e-01] [ 1.54500090e-02 1.54716331e-03 9.99879444e-01 -8.11783878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866296757 meters Centerline goodness [0,1] 0.7613370733987845 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99462921e-01 2.89083079e-02 -1.54330351e-02 2.47273649e+00] [-2.89313841e-02 9.99580588e-01 -1.27403981e-03 -5.35671733e-01] [ 1.53897320e-02 1.71985461e-03 9.99880092e-01 -8.11677576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.896296757 meters Centerline goodness [0,1] 0.7569933753130925 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.54, Z:-0.81 [[ 9.99469862e-01 2.84743673e-02 -1.57862619e-02 2.47386719e+00] [-2.85041657e-02 9.99592286e-01 -1.66579206e-03 -5.35299877e-01] [ 1.57323932e-02 2.11488318e-03 9.99874002e-01 -8.12197380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.926296757 meters Centerline goodness [0,1] 0.750439738267783 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.53, Z:-0.81 [[ 0.9995688 0.02473875 -0.0158179 2.47345244] [-0.02483292 0.99967488 -0.00578501 -0.5344114 ] [ 0.01566965 0.00617532 0.99985815 -0.81210891] [ 0. 0. 0. 1. ]] SLAMing on 39.956296757 meters Centerline goodness [0,1] 0.7611297159317112 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.53, Z:-0.81 [[ 0.99957367 0.02430629 -0.01617632 2.47463565] [-0.0244079 0.99968339 -0.0061139 -0.53416916] [ 0.01602259 0.00650613 0.99985046 -0.81264326] [ 0. 0. 0. 1. ]] SLAMing on 39.986296757 meters Centerline goodness [0,1] 0.7618311311029894 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.9995927 0.02309557 -0.01676389 2.4774301 ] [-0.02322179 0.99970314 -0.00737457 -0.53210603] [ 0.01658859 0.00776086 0.99983228 -0.81471941] [ 0. 0. 0. 1. ]] SLAMing on 40.016296757 meters Centerline goodness [0,1] 0.770554761960518 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.82 [[ 0.99959657 0.02277682 -0.01696811 2.47826038] [-0.02290955 0.99970812 -0.00766925 -0.53183821] [ 0.01678848 0.00805489 0.99982662 -0.81524612] [ 0. 0. 0. 1. ]] SLAMing on 40.046296757 meters Centerline goodness [0,1] 0.7717954704646276 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99959523 0.02253892 -0.01735987 2.47853594] [-0.02266317 0.99971869 -0.00699419 -0.53383655] [ 0.01719734 0.00738479 0.99982484 -0.81387011] [ 0. 0. 0. 1. ]] SLAMing on 40.076296757 meters Centerline goodness [0,1] 0.7709043372706476 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99959148 0.02275496 -0.01729435 2.47789088] [-0.02286883 0.99971789 -0.00641534 -0.53498103] [ 0.01714349 0.00680822 0.99982986 -0.81294782] [ 0. 0. 0. 1. ]] SLAMing on 40.106296757 meters Centerline goodness [0,1] 0.7687903150416004 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.54, Z:-0.81 [[ 0.999588 0.02299272 -0.01718057 2.47702436] [-0.02309631 0.9997161 -0.00585558 -0.53570837] [ 0.01704106 0.00624997 0.99983526 -0.81182524] [ 0. 0. 0. 1. ]] SLAMing on 40.136296757000004 meters Centerline goodness [0,1] 0.8204877821952523 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.54, Z:-0.81 [[ 0.99958628 0.02317245 -0.01703843 2.47614447] [-0.02326683 0.99971491 -0.00536181 -0.53541029] [ 0.01690933 0.00575602 0.99984046 -0.81067914] [ 0. 0. 0. 1. ]] SLAMing on 40.166296757 meters Centerline goodness [0,1] 0.7718832891246684 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99958719 0.02309222 -0.01709367 2.47643606] [-0.02319007 0.99971568 -0.00554802 -0.53443694] [ 0.01696069 0.00594213 0.9998385 -0.81091335] [ 0. 0. 0. 1. ]] SLAMing on 40.196296757 meters Centerline goodness [0,1] 0.8208212167035012 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99958995 0.02284954 -0.01725787 2.47748594] [-0.02295791 0.99971778 -0.00610751 -0.53283422] [ 0.01711345 0.00650121 0.99983242 -0.81203178] [ 0. 0. 0. 1. ]] SLAMing on 40.226296757 meters Centerline goodness [0,1] 0.8235513062088539 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.9995901 0.02279513 -0.01732098 2.47778518] [-0.02290558 0.99971838 -0.00620513 -0.53273925] [ 0.01717465 0.00659933 0.99983073 -0.81224339] [ 0. 0. 0. 1. ]] SLAMing on 40.256296757 meters Centerline goodness [0,1] 0.8212872899892958 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99958897 0.02267913 -0.01753695 2.47808314] [-0.02279007 0.99972134 -0.00615256 -0.53325646] [ 0.01739252 0.0065497 0.99982729 -0.81192322] [ 0. 0. 0. 1. ]] SLAMing on 40.286296757 meters Centerline goodness [0,1] 0.8245634458672876 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.54, Z:-0.81 [[ 0.99959308 0.02249422 -0.01754077 2.47755045] [-0.02259435 0.99972941 -0.0055312 -0.53570727] [ 0.0174116 0.00592527 0.99983085 -0.81052807] [ 0. 0. 0. 1. ]] SLAMing on 40.316296757 meters Centerline goodness [0,1] 0.8240338360716692 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.54, Z:-0.81 [[ 0.99959495 0.02233867 -0.01763266 2.47771667] [-0.02244058 0.99973248 -0.00560312 -0.53548694] [ 0.01750278 0.00599654 0.99982883 -0.81039987] [ 0. 0. 0. 1. ]] SLAMing on 40.346296757 meters Centerline goodness [0,1] 0.8251892795763853 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99959426 0.02232926 -0.01768364 2.47796876] [-0.02243975 0.99972974 -0.00607462 -0.53225352] [ 0.01754322 0.00646897 0.99982518 -0.81072541] [ 0. 0. 0. 1. ]] SLAMing on 40.376296757 meters Centerline goodness [0,1] 0.8246637497974396 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99959312 0.02234736 -0.01772538 2.47825008] [-0.02246588 0.99972638 -0.00651604 -0.53038626] [ 0.01757491 0.0069116 0.99982166 -0.81116137] [ 0. 0. 0. 1. ]] SLAMing on 40.406296757 meters Centerline goodness [0,1] 0.8248197115384616 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99958782 0.02260218 -0.01770142 2.47815637] [-0.02272291 0.99971969 -0.00664901 -0.52926125] [ 0.01754617 0.0070485 0.99982121 -0.81126737] [ 0. 0. 0. 1. ]] SLAMing on 40.436296757 meters Centerline goodness [0,1] 0.8193275367681065 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99957358 0.02351833 -0.01730739 2.47642622] [-0.02362921 0.99970138 -0.00623011 -0.5289681 ] [ 0.0171557 0.00663641 0.99983081 -0.81020804] [ 0. 0. 0. 1. ]] SLAMing on 40.466296757 meters Centerline goodness [0,1] 0.8159783938505575 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.9995713 0.0236542 -0.01725377 2.47620757] [-0.02376489 0.99969811 -0.00623891 -0.52880482] [ 0.01710099 0.00664627 0.99983168 -0.8100483 ] [ 0. 0. 0. 1. ]] SLAMing on 40.496296757 meters Centerline goodness [0,1] 0.8115072035463613 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99956413 0.02391776 -0.01730554 2.47617249] [-0.02403226 0.99969045 -0.00643892 -0.5270216 ] [ 0.01714618 0.00685201 0.99982951 -0.81005528] [ 0. 0. 0. 1. ]] SLAMing on 40.526296757 meters Centerline goodness [0,1] 0.8027467969398101 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99956254 0.02382429 -0.01752489 2.47685909] [-0.02394649 0.99969014 -0.0067964 -0.52581149] [ 0.01735754 0.00721309 0.99982333 -0.81046757] [ 0. 0. 0. 1. ]] SLAMing on 40.556296757 meters Centerline goodness [0,1] 0.8019552046998348 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.52, Z:-0.81 [[ 0.99956242 0.02365296 -0.01776242 2.47772674] [-0.02378376 0.99969127 -0.0071895 -0.52464008] [ 0.01758688 0.00760881 0.99981639 -0.81099736] [ 0. 0. 0. 1. ]] SLAMing on 40.586296757 meters Centerline goodness [0,1] 0.7941251066380761 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.52, Z:-0.81 [[ 0.99956064 0.0235196 -0.01803742 2.47880149] [-0.02366136 0.99969048 -0.00768626 -0.5228268 ] [ 0.01785106 0.00810967 0.99980777 -0.81186413] [ 0. 0. 0. 1. ]] SLAMing on 40.616296757 meters Centerline goodness [0,1] 0.79075240534367 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.52, Z:-0.81 [[ 0.99956929 0.02278137 -0.0184998 2.48109434] [-0.02293869 0.99970212 -0.00833648 -0.52309957] [ 0.01830437 0.00875725 0.99979411 -0.81374726] [ 0. 0. 0. 1. ]] SLAMing on 40.646296757 meters Centerline goodness [0,1] 0.7841113727663112 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.52, Z:-0.81 [[ 0.99956807 0.02265451 -0.01872045 2.48167243] [-0.0228119 0.99970584 -0.00823709 -0.52363673] [ 0.01852834 0.00866058 0.99979083 -0.81380405] [ 0. 0. 0. 1. ]] SLAMing on 40.676296757 meters Centerline goodness [0,1] 0.7956190915379294 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.52, Z:-0.81 [[ 0.99956874 0.02261464 -0.01873285 2.48145355] [-0.02276997 0.99970775 -0.00812051 -0.52366009] [ 0.01854374 0.00854355 0.99979155 -0.8133234 ] [ 0. 0. 0. 1. ]] SLAMing on 40.706296757 meters Centerline goodness [0,1] 0.800281976609809 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.52, Z:-0.81 [[ 0.99958348 0.02200135 -0.01867634 2.48136521] [-0.02215327 0.99972285 -0.00796643 -0.52454514] [ 0.01849589 0.00837685 0.99979384 -0.81266129] [ 0. 0. 0. 1. ]] SLAMing on 40.736296757 meters Centerline goodness [0,1] 0.8189413752401231 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.9995872 0.02157736 -0.01896976 2.48206158] [-0.02172797 0.99973373 -0.00776918 -0.52568947] [ 0.01879707 0.00817815 0.99978987 -0.81243857] [ 0. 0. 0. 1. ]] SLAMing on 40.766296757 meters Centerline goodness [0,1] 0.8189413752401231 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.9995872 0.02157736 -0.01896976 2.48206158] [-0.02172797 0.99973373 -0.00776918 -0.52568947] [ 0.01879707 0.00817815 0.99978987 -0.81243857] [ 0. 0. 0. 1. ]] SLAMing on 40.796296757 meters Centerline goodness [0,1] 0.8201731924205038 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99966734 0.01735517 -0.01907907 2.48202777] [-0.01757907 0.99977782 -0.01163112 -0.52567425] [ 0.01887297 0.01196264 0.99975032 -0.81219363] [ 0. 0. 0. 1. ]] SLAMing on 40.826296757 meters Centerline goodness [0,1] 0.8211025239907539 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99966651 0.01709904 -0.01935173 2.48265454] [-0.01731855 0.99978692 -0.01123299 -0.5275901 ] [ 0.01915554 0.01156438 0.99974963 -0.81198752] [ 0. 0. 0. 1. ]] SLAMing on 40.856296757 meters Centerline goodness [0,1] 0.8194700595307576 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99966231 0.01672342 -0.01988936 2.48386126] [-0.01694026 0.99979834 -0.01078434 -0.53002731] [ 0.019705 0.01111763 0.99974402 -0.81176901] [ 0. 0. 0. 1. ]] SLAMing on 40.886296757000004 meters Centerline goodness [0,1] 0.8183699383906315 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99967263 0.01619186 -0.01981042 2.48381965] [-0.01639514 0.99981415 -0.01014188 -0.53399712] [ 0.01964253 0.01046336 0.99975231 -0.81120632] [ 0. 0. 0. 1. ]] SLAMing on 40.916296757 meters Centerline goodness [0,1] 0.819066193575675 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99966993 0.01632524 -0.01983729 2.48367242] [-0.01652338 0.99981481 -0.00986532 -0.53396779] [ 0.01967257 0.01018984 0.99975455 -0.81083597] [ 0. 0. 0. 1. ]] SLAMing on 40.946296757 meters Centerline goodness [0,1] 0.8160518678026402 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99966375 0.01673751 -0.019805 2.48328781] [-0.01693161 0.99980985 -0.00967385 -0.53204502] [ 0.01963931 0.01000593 0.99975706 -0.81046787] [ 0. 0. 0. 1. ]] SLAMing on 40.976296757 meters Centerline goodness [0,1] 0.8168285547103569 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99965785 0.01695039 -0.01992145 2.48342427] [-0.01714347 0.99980732 -0.00956178 -0.53173819] [ 0.01975554 0.00990004 0.99975582 -0.81038009] [ 0. 0. 0. 1. ]] SLAMing on 41.006296757 meters Centerline goodness [0,1] 0.8136317730229936 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99965101 0.01725561 -0.02000244 2.48334375] [-0.01743821 0.99980752 -0.00899105 -0.53412326] [ 0.01984345 0.00933672 0.9997595 -0.80997438] [ 0. 0. 0. 1. ]] SLAMing on 41.036296757 meters Centerline goodness [0,1] 0.813346454847931 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.54, Z:-0.81 [[ 0.99964236 0.01751335 -0.02020962 2.48349182] [-0.01768913 0.99980696 -0.00855197 -0.53559043] [ 0.02005594 0.0089064 0.99975919 -0.809593 ] [ 0. 0. 0. 1. ]] SLAMing on 41.066296757 meters Centerline goodness [0,1] 0.8126981145366174 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.54, Z:-0.81 [[ 0.99963719 0.01781406 -0.02020288 2.4833176 ] [-0.01798515 0.99980365 -0.00831897 -0.53596356] [ 0.02005072 0.0086793 0.99976129 -0.80941887] [ 0. 0. 0. 1. ]] SLAMing on 41.096296757 meters Centerline goodness [0,1] 0.8100919362762299 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.53, Z:-0.81 [[ 0.99956263 0.02144443 -0.02036387 2.48489403] [-0.02154789 0.99975593 -0.00487511 -0.53472918] [ 0.02025435 0.00531177 0.99978075 -0.81080272] [ 0. 0. 0. 1. ]] SLAMing on 41.126296757 meters Centerline goodness [0,1] 0.8107137024334476 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99955449 0.02184304 -0.0203397 2.48518639] [-0.02195218 0.99974571 -0.00515838 -0.53228391] [ 0.02022186 0.00560258 0.99977982 -0.81157974] [ 0. 0. 0. 1. ]] SLAMing on 41.156296757 meters Centerline goodness [0,1] 0.8050295445028615 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99954729 0.02208223 -0.02043519 2.48582222] [-0.02220185 0.99973757 -0.00564529 -0.52992732] [ 0.02030516 0.00609643 0.99977524 -0.81252309] [ 0. 0. 0. 1. ]] SLAMing on 41.186296757 meters Centerline goodness [0,1] 0.7901508326981267 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99452213e-01 2.58845611e-02 -2.06219022e-02 2.48743492e+00] [-2.59382064e-02 9.99660814e-01 -2.33811690e-03 -5.29059600e-01] [ 2.05543865e-02 2.87173127e-03 9.99784612e-01 -8.14024988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.216296757 meters Centerline goodness [0,1] 0.7758516941307165 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99443293e-01 2.62062941e-02 -2.06478665e-02 2.48738618e+00] [-2.62612603e-02 9.99652244e-01 -2.39539283e-03 -5.29191139e-01] [ 2.05779117e-02 2.93629830e-03 9.99783941e-01 -8.14124777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.246296757 meters Centerline goodness [0,1] 0.7605934167825684 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99429094e-01 2.68194819e-02 -2.05475173e-02 2.48658150e+00] [-2.68637330e-02 9.99637336e-01 -1.88056485e-03 -5.30668685e-01] [ 2.04896296e-02 2.43147425e-03 9.99787109e-01 -8.13408018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.276296757 meters Centerline goodness [0,1] 0.7939340699986129 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99432255e-01 2.66251582e-02 -2.06462807e-02 2.48717286e+00] [-2.66768956e-02 9.99641611e-01 -2.23448820e-03 -5.29599415e-01] [ 2.05793877e-02 2.78399825e-03 9.99784346e-01 -8.13939096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.306296757 meters Centerline goodness [0,1] 0.7601745192640643 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99434220e-01 2.66659667e-02 -2.04979677e-02 2.48639407e+00] [-2.67108245e-02 9.99641363e-01 -1.91769300e-03 -5.29090590e-01] [ 2.04394792e-02 2.46412563e-03 9.99788055e-01 -8.12980027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.336296757 meters Centerline goodness [0,1] 0.7751230445733299 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99430103e-01 2.66746204e-02 -2.06865455e-02 2.48631225e+00] [-2.67116385e-02 9.99642032e-01 -1.51518239e-03 -5.30552064e-01] [ 2.06387234e-02 2.06689042e-03 9.99784862e-01 -8.12151049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366296757 meters Centerline goodness [0,1] 0.7873722661487955 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 9.99428719e-01 2.63456992e-02 -2.11693117e-02 2.48743885e+00] [-2.63818653e-02 9.99650914e-01 -1.43091707e-03 -5.32377672e-01] [ 2.11242233e-02 1.98858555e-03 9.99774881e-01 -8.12171434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.396296757 meters Centerline goodness [0,1] 0.7899776348895723 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99951629 0.02280356 -0.02114674 2.48704864] [-0.02291838 0.9997238 -0.00520332 -0.53302428] [ 0.02102224 0.00568545 0.99976284 -0.81233786] [ 0. 0. 0. 1. ]] SLAMing on 41.426296757 meters Centerline goodness [0,1] 0.8043761638733706 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99951863 0.02251681 -0.02134271 2.48791049] [-0.02263636 0.99972931 -0.00537649 -0.5329579 ] [ 0.02121587 0.00585702 0.99975776 -0.81286707] [ 0. 0. 0. 1. ]] SLAMing on 41.456296757 meters Centerline goodness [0,1] 0.8092417061611374 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99952414 0.02215443 -0.02146347 2.48825863] [-0.02227048 0.99973855 -0.00518288 -0.53334971] [ 0.02134303 0.00565841 0.9997562 -0.81258984] [ 0. 0. 0. 1. ]] SLAMing on 41.486296757 meters Centerline goodness [0,1] 0.8010091380472946 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99952353 0.02202059 -0.02162868 2.48854373] [-0.02212936 0.99974358 -0.00480293 -0.53492861] [ 0.02151737 0.00527927 0.99975454 -0.81224045] [ 0. 0. 0. 1. ]] SLAMing on 41.516296757 meters Centerline goodness [0,1] 0.8091226437049104 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.54, Z:-0.81 [[ 0.99952584 0.02175604 -0.02178904 2.48908331] [-0.02185989 0.99975074 -0.00453936 -0.53673897] [ 0.02168485 0.00501352 0.99975229 -0.81224026] [ 0. 0. 0. 1. ]] SLAMing on 41.546296757 meters Centerline goodness [0,1] 0.8101327629100886 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.54, Z:-0.81 [[ 0.99953592 0.02129412 -0.02178297 2.48987957] [-0.02140212 0.99975973 -0.004737 -0.53738679] [ 0.02167687 0.005201 0.9997515 -0.81306792] [ 0. 0. 0. 1. ]] SLAMing on 41.576296757 meters Centerline goodness [0,1] 0.806536979432657 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.54, Z:-0.81 [[ 0.99953626 0.02133532 -0.02172703 2.48984083] [-0.02144711 0.99975785 -0.00492526 -0.53636924] [ 0.02161669 0.00538896 0.99975181 -0.81323783] [ 0. 0. 0. 1. ]] SLAMing on 41.606296757 meters Centerline goodness [0,1] 0.8019138313609467 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99953178 0.02142647 -0.02184332 2.48999191] [-0.0215469 0.99975383 -0.00529331 -0.53477843] [ 0.02172452 0.00576149 0.99974739 -0.81333421] [ 0. 0. 0. 1. ]] SLAMing on 41.636296757000004 meters Centerline goodness [0,1] 0.8007884057971014 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99952417 0.02165834 -0.02196227 2.49010736] [-0.02177895 0.99974893 -0.00526781 -0.53472181] [ 0.02184266 0.00574362 0.99974492 -0.81331085] [ 0. 0. 0. 1. ]] SLAMing on 41.666296757 meters Centerline goodness [0,1] 0.7928896526100687 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99951452 0.02208936 -0.02197236 2.49009138] [-0.02221479 0.9997382 -0.00548101 -0.53403678] [ 0.02184553 0.00596646 0.99974355 -0.8136463 ] [ 0. 0. 0. 1. ]] SLAMing on 41.696296757 meters Centerline goodness [0,1] 0.7858470402378961 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99950933 0.02220649 -0.0220902 2.49045525] [-0.02233809 0.99973406 -0.00572853 -0.53313155] [ 0.02195712 0.00621917 0.99973957 -0.81399239] [ 0. 0. 0. 1. ]] SLAMing on 41.726296757 meters Centerline goodness [0,1] 0.7788093303934084 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.81 [[ 0.99950316 0.0225685 -0.02200197 2.49021409] [-0.02270268 0.99972504 -0.00586763 -0.53160326] [ 0.0218635 0.00636422 0.99974071 -0.81414361] [ 0. 0. 0. 1. ]] SLAMing on 41.756296757 meters Centerline goodness [0,1] 0.7647304444650644 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.82 [[ 0.99940719 0.02636634 -0.02213794 2.49135134] [-0.02643199 0.99964703 -0.00267821 -0.5289466 ] [ 0.02205951 0.00326178 0.99975134 -0.81517614] [ 0. 0. 0. 1. ]] SLAMing on 41.786296757 meters Centerline goodness [0,1] 0.7551384958010485 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.82 [[ 0.99940551 0.02645745 -0.02210507 2.49151099] [-0.0265323 0.99964315 -0.00309974 -0.52677517] [ 0.02201517 0.0036844 0.99975085 -0.81566284] [ 0. 0. 0. 1. ]] SLAMing on 41.816296757 meters Centerline goodness [0,1] 0.7698202591612094 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.82 [[ 0.99940058 0.02645812 -0.02232615 2.49179462] [-0.02653162 0.99964347 -0.00300188 -0.52745139] [ 0.02223877 0.00359243 0.99974623 -0.81536537] [ 0. 0. 0. 1. ]] SLAMing on 41.846296757 meters Centerline goodness [0,1] 0.7440307191063533 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.82 [[ 0.99939852 0.02605667 -0.02288339 2.493226 ] [-0.02613229 0.99965396 -0.00301181 -0.52909834] [ 0.02279699 0.003608 0.9997336 -0.81564805] [ 0. 0. 0. 1. ]] SLAMing on 41.876296757 meters Centerline goodness [0,1] 0.7821399464431249 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.53, Z:-0.82 [[ 0.99940304 0.02552024 -0.02328676 2.49472674] [-0.02560074 0.99966724 -0.00316528 -0.53043382] [ 0.02319823 0.00375955 0.99972382 -0.8163433 ] [ 0. 0. 0. 1. ]] SLAMing on 41.906296757 meters Centerline goodness [0,1] 0.7872593629681484 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 0.99942957 0.02399068 -0.02376937 2.49713804] [-0.02409088 0.99970202 -0.00393825 -0.53127533] [ 0.02366781 0.00450863 0.99970971 -0.81768497] [ 0. 0. 0. 1. ]] SLAMing on 41.936296757 meters Centerline goodness [0,1] 0.7924211703838355 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 0.99943432 0.02353903 -0.0240199 2.49790376] [-0.0236426 0.99971232 -0.00403684 -0.53117426] [ 0.02391797 0.00460245 0.99970333 -0.81774115] [ 0. 0. 0. 1. ]] SLAMing on 41.966296757 meters Centerline goodness [0,1] 0.7983810767938788 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 0.99944881 0.02271446 -0.02421025 2.49857257] [-0.02281777 0.99973164 -0.00399947 -0.5314844 ] [ 0.02411291 0.00454969 0.99969889 -0.81728708] [ 0. 0. 0. 1. ]] SLAMing on 41.996296757 meters Centerline goodness [0,1] 0.8019471423234965 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 0.99944867 0.02238163 -0.02452394 2.49919859] [-0.02248334 0.99973969 -0.00387936 -0.53276926] [ 0.02443073 0.0044286 0.99969172 -0.81693884] [ 0. 0. 0. 1. ]] SLAMing on 42.026296757 meters Centerline goodness [0,1] 0.7965616045845272 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 0.99946381 0.02114363 -0.02500097 2.49992276] [-0.0212568 0.99976493 -0.00426944 -0.53721705] [ 0.02490482 0.00479859 0.99967831 -0.81607561] [ 0. 0. 0. 1. ]] SLAMing on 42.056296757 meters Centerline goodness [0,1] 0.8010069640504422 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 0.9994615 0.02107772 -0.02514816 2.50046509] [-0.02118593 0.99976737 -0.0040443 -0.53868113] [ 0.02505707 0.0045749 0.99967555 -0.81623965] [ 0. 0. 0. 1. ]] SLAMing on 42.086296757 meters Centerline goodness [0,1] 0.8011931710997925 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 0.99945961 0.02104468 -0.02525112 2.5008126 ] [-0.02115208 0.99976829 -0.00399379 -0.53865303] [ 0.02516122 0.00452574 0.99967316 -0.8163621 ] [ 0. 0. 0. 1. ]] SLAMing on 42.116296757 meters Centerline goodness [0,1] 0.8069254490242697 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 9.99387193e-01 2.40166742e-02 -2.54644378e-02 2.50296380e+00] [-2.40393139e-02 9.99710844e-01 -5.83276470e-04 -5.38512255e-01] [ 2.54430662e-02 1.19506665e-03 9.99675558e-01 -8.17856487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.146296757 meters Centerline goodness [0,1] 0.8043857169775768 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 9.99384458e-01 2.43120515e-02 -2.52909011e-02 2.50249266e+00] [-2.43330959e-02 9.99703769e-01 -5.24626411e-04 -5.37918642e-01] [ 2.52706544e-02 1.13970940e-03 9.99679996e-01 -8.17794238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.176296757 meters Centerline goodness [0,1] 0.8029502266694853 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 9.99382583e-01 2.41022713e-02 -2.55643095e-02 2.50327258e+00] [-2.41300956e-02 9.99708522e-01 -7.80430833e-04 -5.38093177e-01] [ 2.55380479e-02 1.39681821e-03 9.99672875e-01 -8.18089203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206296757000004 meters Centerline goodness [0,1] 0.802229464833971 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 9.99377553e-01 2.43236463e-02 -2.55512531e-02 2.50312651e+00] [-2.43488959e-02 9.99703292e-01 -6.77488979e-04 -5.38398473e-01] [ 2.55271928e-02 1.29921208e-03 9.99673284e-01 -8.17985175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.236296757 meters Centerline goodness [0,1] 0.7930488611662414 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 9.99365646e-01 2.47015257e-02 -2.56542357e-02 2.50332407e+00] [-2.47419601e-02 9.99693077e-01 -1.25985875e-03 -5.36845452e-01] [ 2.56152413e-02 1.89379563e-03 9.99670082e-01 -8.18600484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.266296757 meters Centerline goodness [0,1] 0.7899962267710593 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.54, Z:-0.82 [[ 9.99360216e-01 2.48156256e-02 -2.57554573e-02 2.50349812e+00] [-2.48680959e-02 9.99689263e-01 -1.71890680e-03 -5.35558295e-01] [ 2.57047984e-02 2.35829625e-03 9.99666795e-01 -8.18855912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.296296757 meters Centerline goodness [0,1] 0.778502625939097 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 9.99248726e-01 2.89685581e-02 -2.57450391e-02 2.50400353e+00] [-2.89380140e-02 9.99579993e-01 1.55826074e-03 -5.32940106e-01] [ 2.57793666e-02 -8.12079759e-04 9.99667327e-01 -8.19530805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.326296757 meters Centerline goodness [0,1] 0.7697789446541176 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 9.99235002e-01 2.94425095e-02 -2.57400292e-02 2.50420492e+00] [-2.94262705e-02 9.99566444e-01 1.00952055e-03 -5.29217542e-01] [ 2.57585923e-02 -2.51315204e-04 9.99668161e-01 -8.20282109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.356296757 meters Centerline goodness [0,1] 0.7619927061903872 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.53, Z:-0.82 [[ 9.99228228e-01 2.96110392e-02 -2.58095749e-02 2.50454652e+00] [-2.96136480e-02 9.99561380e-01 2.81223530e-04 -5.26083871e-01] [ 2.58065816e-02 4.83309174e-04 9.99666838e-01 -8.20963303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386296757000004 meters Centerline goodness [0,1] 0.735912865006064 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.52, Z:-0.82 [[ 9.99216581e-01 2.98480631e-02 -2.59868751e-02 2.50477750e+00] [-2.98657236e-02 9.99553877e-01 -2.91646601e-04 -5.24555671e-01] [ 2.59665766e-02 1.06753495e-03 9.99662242e-01 -8.21296215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.416296757 meters Centerline goodness [0,1] 0.7349180749363065 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.52, Z:-0.82 [[ 9.99211809e-01 2.97735641e-02 -2.62544353e-02 2.50540132e+00] [-2.97925101e-02 9.99556050e-01 -3.30678011e-04 -5.24918203e-01] [ 2.62329342e-02 1.11260290e-03 9.99655238e-01 -8.21389692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446296757 meters Centerline goodness [0,1] 0.7575346629568145 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.52, Z:-0.82 [[ 9.99225163e-01 2.90623980e-02 -2.65415076e-02 2.50688269e+00] [-2.90958258e-02 9.99576245e-01 -8.74050807e-04 -5.24793860e-01] [ 2.65048585e-02 1.64562064e-03 9.99647330e-01 -8.22449479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.476296757 meters Centerline goodness [0,1] 0.7382918182666294 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.52, Z:-0.82 [[ 9.99234118e-01 2.83579675e-02 -2.69629944e-02 2.50833398e+00] [-2.84028282e-02 9.99595736e-01 -1.28218837e-03 -5.24743340e-01] [ 2.69157340e-02 2.04703167e-03 9.99635610e-01 -8.23022438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506296757 meters Centerline goodness [0,1] 0.7427038376297679 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.53, Z:-0.82 [[ 9.99239874e-01 2.78328986e-02 -2.72947696e-02 2.50928253e+00] [-2.78766833e-02 9.99610619e-01 -1.22486823e-03 -5.25799456e-01] [ 2.72500499e-02 1.98482482e-03 9.99626678e-01 -8.23015405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.536296757 meters Centerline goodness [0,1] 0.7771204544921004 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.53, Z:-0.82 [[ 0.99935341 0.02293522 -0.02768993 2.51006287] [-0.0230794 0.99972163 -0.00489855 -0.52750776] [ 0.02756987 0.00553445 0.99960456 -0.82245092] [ 0. 0. 0. 1. ]] SLAMing on 42.566296757 meters Centerline goodness [0,1] 0.7696181086613803 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.53, Z:-0.82 [[ 0.99936343 0.02195389 -0.02812052 2.51153485] [-0.02209552 0.99974465 -0.00473569 -0.53011119] [ 0.02800938 0.00535402 0.99959332 -0.82250166] [ 0. 0. 0. 1. ]] SLAMing on 42.596296757 meters Centerline goodness [0,1] 0.8060624733374413 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.53, Z:-0.82 [[ 0.99944463 0.01729483 -0.02848376 2.51222595] [-0.01752541 0.99981548 -0.00786559 -0.53343761] [ 0.02834247 0.00836042 0.99956331 -0.82173537] [ 0. 0. 0. 1. ]] SLAMing on 42.626296757 meters Centerline goodness [0,1] 0.8074656655419854 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99943645 0.01706097 -0.02890854 2.51277528] [-0.01726572 0.99982749 -0.00684794 -0.53703993] [ 0.02878672 0.00734321 0.9995586 -0.82060595] [ 0. 0. 0. 1. ]] SLAMing on 42.656296757 meters Centerline goodness [0,1] 0.8074656655419854 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99943645 0.01706097 -0.02890854 2.51277528] [-0.01726572 0.99982749 -0.00684794 -0.53703993] [ 0.02878672 0.00734321 0.9995586 -0.82060595] [ 0. 0. 0. 1. ]] SLAMing on 42.686296757 meters Centerline goodness [0,1] 0.8138909385190298 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99943067 0.01699228 -0.02914794 2.51277302] [-0.01717119 0.99983516 -0.00589859 -0.5401058 ] [ 0.02904291 0.00639573 0.9995577 -0.81931299] [ 0. 0. 0. 1. ]] SLAMing on 42.716296757 meters Centerline goodness [0,1] 0.8167312676860152 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99942094 0.01682941 -0.02957294 2.51376387] [-0.0169892 0.99984236 -0.0051602 -0.54221373] [ 0.02948143 0.00565963 0.99954931 -0.81885734] [ 0. 0. 0. 1. ]] SLAMing on 42.746296757 meters Centerline goodness [0,1] 0.8173623498632417 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99941472 0.01694398 -0.02971717 2.51401275] [-0.01710424 0.99984047 -0.00514668 -0.541638 ] [ 0.02962523 0.00565195 0.9995451 -0.81887593] [ 0. 0. 0. 1. ]] SLAMing on 42.776296757 meters Centerline goodness [0,1] 0.8167835492689884 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99940497 0.01705499 -0.02998054 2.51452271] [-0.01721514 0.99983884 -0.00509185 -0.54117696] [ 0.02988887 0.00560494 0.99953751 -0.81884167] [ 0. 0. 0. 1. ]] SLAMing on 42.806296757 meters Centerline goodness [0,1] 0.8178353658536586 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.54, Z:-0.82 [[ 0.99938608 0.01762591 -0.03027869 2.51477407] [-0.01777979 0.99983031 -0.00482052 -0.54125444] [ 0.03018859 0.00535591 0.99952987 -0.81859486] [ 0. 0. 0. 1. ]] SLAMing on 42.836296757 meters Centerline goodness [0,1] 0.8153140235159162 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.54, Z:-0.82 [[ 0.99938161 0.01783054 -0.0303062 2.51507693] [-0.01798588 0.99982643 -0.00486082 -0.5411106 ] [ 0.03021427 0.0054029 0.99952884 -0.81903739] [ 0. 0. 0. 1. ]] SLAMing on 42.866296757 meters Centerline goodness [0,1] 0.8039885229185934 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.54, Z:-0.82 [[ 9.99303828e-01 2.05819813e-02 -3.11165820e-02 2.51879619e+00] [-2.06566600e-02 9.99784464e-01 -2.08037955e-03 -5.42122787e-01] [ 3.10670570e-02 2.72169591e-03 9.99513597e-01 -8.21349098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.896296757 meters Centerline goodness [0,1] 0.8022269479821271 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.54, Z:-0.82 [[ 9.99299943e-01 2.07222919e-02 -3.11482123e-02 2.51923953e+00] [-2.08014685e-02 9.99781161e-01 -2.22000571e-03 -5.41688040e-01] [ 3.10953922e-02 2.86638013e-03 9.99512311e-01 -8.22003088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.926296757 meters Centerline goodness [0,1] 0.8093363866227756 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.54, Z:-0.82 [[ 0.99929852 0.02073126 -0.03118796 2.51989047] [-0.02082085 0.99977997 -0.00255049 -0.54091374] [ 0.03112822 0.00319806 0.99951028 -0.82291225] [ 0. 0. 0. 1. ]] SLAMing on 42.956296757000004 meters Centerline goodness [0,1] 0.8086178085461924 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.54, Z:-0.83 [[ 9.99220369e-01 2.33538009e-02 -3.18316432e-02 2.52346886e+00] [-2.33550859e-02 9.99727178e-01 3.31492372e-04 -5.41126397e-01] [ 3.18307004e-02 4.12196830e-04 9.99493190e-01 -8.25273796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.986296757 meters Centerline goodness [0,1] 0.7932117260720535 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.54, Z:-0.83 [[ 9.99215304e-01 2.28194152e-02 -3.23736071e-02 2.52547036e+00] [-2.28257906e-02 9.99739443e-01 1.72673707e-04 -5.42789311e-01] [ 3.23691122e-02 5.66414966e-04 9.99475822e-01 -8.26196093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.016296757 meters Centerline goodness [0,1] 0.7961059902288754 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.55, Z:-0.83 [[ 9.99206563e-01 2.26486633e-02 -3.27609755e-02 2.52633273e+00] [-2.26423945e-02 9.99743470e-01 5.62377943e-04 -5.45220463e-01] [ 3.27653084e-02 1.79855200e-04 9.99463057e-01 -8.26013860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046296757 meters Centerline goodness [0,1] 0.7924391481955959 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.55, Z:-0.83 [[ 9.99199268e-01 2.23360907e-02 -3.31952096e-02 2.52754337e+00] [-2.23213124e-02 9.99750516e-01 8.15754319e-04 -5.47494038e-01] [ 3.32051487e-02 -7.41404731e-05 9.99448554e-01 -8.26176018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.076296757 meters Centerline goodness [0,1] 0.8075887333511245 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.55, Z:-0.83 [[ 9.99194106e-01 2.19665947e-02 -3.35947562e-02 2.52887799e+00] [-2.19439748e-02 9.99758659e-01 1.04191665e-03 -5.49731040e-01] [ 3.36095358e-02 -3.03874494e-04 9.99434994e-01 -8.26561603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.106296757 meters Centerline goodness [0,1] 0.8077551119884965 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.55, Z:-0.83 [[ 9.99614853e-01 1.84218352e-02 -2.07552862e-02 2.53089399e+00] [-1.84165254e-02 9.99830302e-01 4.46957540e-04 -5.53648616e-01] [ 2.07599978e-02 -6.45451399e-05 9.99784486e-01 -8.30244679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.136296757000004 meters Centerline goodness [0,1] 0.8122891094919067 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.56, Z:-0.83 [[ 9.99608474e-01 1.87121809e-02 -2.08027134e-02 2.53043692e+00] [-1.86858816e-02 9.99824341e-01 1.45790381e-03 -5.56597082e-01] [ 2.08263398e-02 -1.06861597e-03 9.99782537e-01 -8.29171629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166296757 meters Centerline goodness [0,1] 0.809209881384178 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.56, Z:-0.83 [[ 9.99604012e-01 1.88912825e-02 -2.08551729e-02 2.53061992e+00] [-1.88426061e-02 9.99819266e-01 2.52808004e-03 -5.59849920e-01] [ 2.08991623e-02 -2.13411315e-03 9.99779311e-01 -8.28793390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.196296757 meters Centerline goodness [0,1] 0.8092276682562313 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.56, Z:-0.83 [[ 9.99599907e-01 1.88791972e-02 -2.10618447e-02 2.53139381e+00] [-1.88270480e-02 9.99819186e-01 2.67156547e-03 -5.60787345e-01] [ 2.11084734e-02 -2.27396423e-03 9.99774605e-01 -8.29257597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226296757 meters Centerline goodness [0,1] 0.8034453057708871 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.56, Z:-0.83 [[ 9.99594191e-01 1.88786407e-02 -2.13319212e-02 2.53219064e+00] [-1.88203066e-02 9.99818583e-01 2.93206861e-03 -5.62340732e-01] [ 2.13834047e-02 -2.52940546e-03 9.99768149e-01 -8.29535679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256296757 meters Centerline goodness [0,1] 0.7961263261781396 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 0.99968955 0.01976764 -0.01516705 2.54244044] [-0.01986526 0.99978273 -0.00631316 -0.56422587] [ 0.01503896 0.0066125 0.99986504 -0.83266609] [ 0. 0. 0. 1. ]] SLAMing on 43.286296757 meters Centerline goodness [0,1] 0.7921057864386558 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.57, Z:-0.83 [[ 0.99967214 0.02096821 -0.01469498 2.54094518] [-0.02104892 0.99976408 -0.00535957 -0.56674702] [ 0.01457913 0.00566713 0.99987766 -0.83232493] [ 0. 0. 0. 1. ]] SLAMing on 43.316296757 meters Centerline goodness [0,1] 0.7846107992648155 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.57, Z:-0.83 [[ 0.99966363 0.02155658 -0.01442012 2.54049896] [-0.02163757 0.99975084 -0.0054839 -0.56518265] [ 0.01429832 0.00579407 0.99988099 -0.83290235] [ 0. 0. 0. 1. ]] SLAMing on 43.346296757 meters Centerline goodness [0,1] 0.7775228226005428 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 9.99570551e-01 2.55158594e-02 -1.44102505e-02 2.54105004e+00] [-2.55417007e-02 9.99672458e-01 -1.61204297e-03 -5.64556292e-01] [ 1.43643979e-02 1.97941298e-03 9.99894867e-01 -8.33291349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.376296757 meters Centerline goodness [0,1] 0.7493865331762859 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 9.99435296e-01 3.07580928e-02 -1.35288258e-02 2.53865008e+00] [-3.07279188e-02 9.99524826e-01 2.43263757e-03 -5.61626722e-01] [ 1.35972206e-02 -2.01555119e-03 9.99905522e-01 -8.32693540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406296757 meters Centerline goodness [0,1] 0.7282712629023953 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 9.99422011e-01 3.12245158e-02 -1.34414542e-02 2.53824989e+00] [-3.11990722e-02 9.99510987e-01 2.09852207e-03 -5.60157774e-01] [ 1.35004065e-02 -1.67794825e-03 9.99907457e-01 -8.32874053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.436296757 meters Centerline goodness [0,1] 0.7239420688976862 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 9.99390533e-01 3.23075560e-02 -1.32205831e-02 2.53715718e+00] [-3.22804977e-02 9.99476305e-01 2.25503721e-03 -5.61047935e-01] [ 1.32865142e-02 -1.82689584e-03 9.99910061e-01 -8.32744872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.466296757 meters Centerline goodness [0,1] 0.7183505558548411 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 9.99385842e-01 3.23730632e-02 -1.34135814e-02 2.53768152e+00] [-3.23511800e-02 9.99474860e-01 1.84526184e-03 -5.60269566e-01] [ 1.34662742e-02 -1.41018337e-03 9.99908331e-01 -8.33224661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.496296757 meters Centerline goodness [0,1] 0.7192453015358948 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.56, Z:-0.83 [[ 9.99377298e-01 3.27276645e-02 -1.31877563e-02 2.53730672e+00] [-3.27101394e-02 9.99463690e-01 1.54246149e-03 -5.58181361e-01] [ 1.32311648e-02 -1.11012765e-03 9.99911848e-01 -8.33670240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526296757 meters Centerline goodness [0,1] 0.7145634370975189 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.84 [[ 0.99926717 0.03584672 -0.0134216 2.53950514] [-0.03579378 0.99935052 0.00416433 -0.55334512] [ 0.01356216 -0.00368086 0.99990125 -0.83555805] [ 0. 0. 0. 1. ]] SLAMing on 43.556296757 meters Centerline goodness [0,1] 0.7165885751741885 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.84 [[ 0.99927543 0.03556915 -0.01354455 2.54012716] [-0.03552507 0.99936272 0.00348143 -0.55086828] [ 0.01365975 -0.00299774 0.99990221 -0.83619956] [ 0. 0. 0. 1. ]] SLAMing on 43.586296757 meters Centerline goodness [0,1] 0.7170558647000218 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.84 [[ 9.99405840e-01 3.16808974e-02 -1.35752361e-02 2.53975902e+00] [-3.16988869e-02 9.99496845e-01 -1.11200243e-03 -5.49047017e-01] [ 1.35331764e-02 1.54166160e-03 9.99907234e-01 -8.36505037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.616296757 meters Centerline goodness [0,1] 0.715127892813642 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.84 [[ 0.99951434 0.02810792 -0.01345483 2.53891986] [-0.02817919 0.99958969 -0.0051372 -0.54830665] [ 0.01330492 0.00551385 0.99989628 -0.83638339] [ 0. 0. 0. 1. ]] SLAMing on 43.646296757 meters Centerline goodness [0,1] 0.7211783865243917 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.84 [[ 0.99952713 0.02743527 -0.01388614 2.54026458] [-0.02751403 0.99960622 -0.00551298 -0.54873442] [ 0.01372942 0.00589244 0.99988838 -0.83681949] [ 0. 0. 0. 1. ]] SLAMing on 43.676296757 meters Centerline goodness [0,1] 0.7280050163997684 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.84 [[ 0.99955555 0.02619618 -0.01422879 2.54220285] [-0.02629264 0.99963227 -0.00663521 -0.54581352] [ 0.01404974 0.00700638 0.99987675 -0.83810594] [ 0. 0. 0. 1. ]] SLAMing on 43.706296757000004 meters Centerline goodness [0,1] 0.7307514759833815 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.84 [[ 0.9995676 0.02564551 -0.01438468 2.54299158] [-0.02575081 0.99964258 -0.00718368 -0.54392254] [ 0.01419531 0.00755099 0.99987073 -0.83863002] [ 0. 0. 0. 1. ]] SLAMing on 43.736296757 meters Centerline goodness [0,1] 0.7661155624409963 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.84 [[ 0.99958296 0.025079 -0.01431639 2.54194548] [-0.0251773 0.99966036 -0.00672793 -0.54363672] [ 0.0141428 0.00708557 0.99987488 -0.83610362] [ 0. 0. 0. 1. ]] SLAMing on 43.766296757 meters Centerline goodness [0,1] 0.7712646182901141 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.55, Z:-0.83 [[ 0.99958316 0.02497751 -0.0144783 2.54144538] [-0.0250677 0.99966726 -0.00608138 -0.54524829] [ 0.01432159 0.00644178 0.99987669 -0.83436478] [ 0. 0. 0. 1. ]] SLAMing on 43.796296757 meters Centerline goodness [0,1] 0.7903057889257439 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.83 [[ 0.99966685 0.02144278 -0.01436642 2.540221 ] [-0.02158685 0.99971747 -0.00994945 -0.54434885] [ 0.01414902 0.01025626 0.9998473 -0.83351522] [ 0. 0. 0. 1. ]] SLAMing on 43.826296757 meters Centerline goodness [0,1] 0.7958454968756785 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.83 [[ 0.999685 0.02023271 -0.01485033 2.5422782 ] [-0.02039504 0.99973299 -0.01086264 -0.54359101] [ 0.01462659 0.01116209 0.99983072 -0.83466298] [ 0. 0. 0. 1. ]] SLAMing on 43.856296757 meters Centerline goodness [0,1] 0.7965889381383696 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.84 [[ 0.99969007 0.01982198 -0.01506176 2.54319487] [-0.01999628 0.99973378 -0.01151148 -0.54147559] [ 0.01482957 0.01180909 0.9998203 -0.83533157] [ 0. 0. 0. 1. ]] SLAMing on 43.886296757000004 meters Centerline goodness [0,1] 0.7988086087624904 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.84 [[ 0.99968772 0.01988201 -0.01513836 2.54313517] [-0.02006395 0.99972713 -0.01196281 -0.5378822 ] [ 0.01489639 0.01226281 0.99981384 -0.83509444] [ 0. 0. 0. 1. ]] SLAMing on 43.916296757 meters Centerline goodness [0,1] 0.7998228096640567 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.83 [[ 0.99968443 0.01995201 -0.01526304 2.54317641] [-0.02013778 0.9997238 -0.01211575 -0.53677932] [ 0.01501709 0.01241929 0.99981011 -0.83487449] [ 0. 0. 0. 1. ]] SLAMing on 43.946296757 meters Centerline goodness [0,1] 0.7959823780108222 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.54, Z:-0.83 [[ 0.99967911 0.02014948 -0.01535152 2.54311387] [-0.02033676 0.99971945 -0.01214255 -0.5359575 ] [ 0.01510255 0.01245085 0.99980843 -0.83462673] [ 0. 0. 0. 1. ]] SLAMing on 43.976296757 meters Centerline goodness [0,1] 0.796578947368421 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.53, Z:-0.84 [[ 0.99967511 0.02010796 -0.01566376 2.54400293] [-0.02030674 0.99971394 -0.01263609 -0.53402857] [ 0.01540519 0.01295007 0.99979747 -0.83521219] [ 0. 0. 0. 1. ]] SLAMing on 44.006296757 meters Centerline goodness [0,1] 0.8017703349282297 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.53, Z:-0.84 [[ 0.99967164 0.0201318 -0.01585333 2.54447534] [-0.02033662 0.9997104 -0.01286613 -0.53293202] [ 0.01558972 0.01318431 0.99979155 -0.8354607 ] [ 0. 0. 0. 1. ]] SLAMing on 44.036296757 meters Centerline goodness [0,1] 0.7937636761487965 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.84 [[ 0.99960439 0.02286966 -0.01637198 2.54706259] [-0.02303179 0.99968686 -0.00978373 -0.53199518] [ 0.0161431 0.01015694 0.9998181 -0.83673782] [ 0. 0. 0. 1. ]] SLAMing on 44.066296757 meters Centerline goodness [0,1] 0.7984527493453939 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.84 [[ 0.99960319 0.02295795 -0.01632136 2.54693151] [-0.02312194 0.99968333 -0.00993093 -0.53066099] [ 0.01608819 0.01030437 0.99981748 -0.8367046 ] [ 0. 0. 0. 1. ]] SLAMing on 44.096296757 meters Centerline goodness [0,1] 0.7929047619047619 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.84 [[ 0.99959715 0.02321186 -0.01633256 2.54629905] [-0.02337327 0.99967915 -0.00976203 -0.52991623] [ 0.01610073 0.01013985 0.99981896 -0.83573377] [ 0. 0. 0. 1. ]] SLAMing on 44.126296757 meters Centerline goodness [0,1] 0.795742560159476 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.84 [[ 0.99959559 0.02300987 -0.01670956 2.54713913] [-0.02317567 0.9996834 -0.00979745 -0.52987747] [ 0.01647884 0.01018075 0.99981238 -0.83569446] [ 0. 0. 0. 1. ]] SLAMing on 44.156296757 meters Centerline goodness [0,1] 0.8023812358614121 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.84 [[ 0.99959885 0.02267865 -0.01696538 2.54804178] [-0.0228508 0.99968864 -0.01002297 -0.52950171] [ 0.01673279 0.01040662 0.99980584 -0.83610313] [ 0. 0. 0. 1. ]] SLAMing on 44.186296757 meters Centerline goodness [0,1] 0.8011722379738391 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.84 [[ 0.99960481 0.02212207 -0.01734466 2.54884331] [-0.02229997 0.99969999 -0.01013106 -0.52988652] [ 0.01711534 0.01051384 0.99979824 -0.83578487] [ 0. 0. 0. 1. ]] SLAMing on 44.216296757 meters Centerline goodness [0,1] 0.8042405018006631 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99959885 0.0222622 -0.01750812 2.54850976] [-0.02243244 0.99970239 -0.00958747 -0.53093646] [ 0.01728947 0.00997637 0.99980075 -0.83462173] [ 0. 0. 0. 1. ]] SLAMing on 44.246296757 meters Centerline goodness [0,1] 0.8087961859356376 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99959587 0.02251426 -0.01735533 2.54729985] [-0.02266974 0.99970415 -0.00881478 -0.53163714] [ 0.01715174 0.00920466 0.99981053 -0.83286126] [ 0. 0. 0. 1. ]] SLAMing on 44.276296757 meters Centerline goodness [0,1] 0.8099001467038948 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99952578 0.02532985 -0.01751051 2.54839516] [-0.02542141 0.99966419 -0.00502659 -0.53284873] [ 0.01737731 0.00546935 0.99983404 -0.83271736] [ 0. 0. 0. 1. ]] SLAMing on 44.306296757 meters Centerline goodness [0,1] 0.8127940237819437 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99952682 0.02527798 -0.01752624 2.54830792] [-0.02537328 0.99966433 -0.0052368 -0.53132596] [ 0.01738798 0.00567902 0.99983269 -0.83254315] [ 0. 0. 0. 1. ]] SLAMing on 44.336296757 meters Centerline goodness [0,1] 0.8129027689257134 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99952279 0.02546884 -0.01747927 2.54755436] [-0.02556218 0.99966003 -0.00513772 -0.53022365] [ 0.01734247 0.00558207 0.99983403 -0.83153842] [ 0. 0. 0. 1. ]] SLAMing on 44.366296757 meters Centerline goodness [0,1] 0.8143507703923928 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99951884 0.02554804 -0.01758941 2.54755615] [-0.02564057 0.99965844 -0.00505544 -0.53063429] [ 0.01745425 0.00550401 0.99983251 -0.83121175] [ 0. 0. 0. 1. ]] SLAMing on 44.396296757 meters Centerline goodness [0,1] 0.8153534305984397 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.9995145 0.02574031 -0.01755541 2.54719186] [-0.0258369 0.99965213 -0.0052979 -0.52968773] [ 0.01741293 0.00574891 0.99983186 -0.83090486] [ 0. 0. 0. 1. ]] SLAMing on 44.426296757 meters Centerline goodness [0,1] 0.8168084655087082 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.53, Z:-0.83 [[ 0.99951368 0.02570652 -0.01765157 2.54763437] [-0.02581294 0.9996498 -0.00582783 -0.52744961] [ 0.01749558 0.00628063 0.99982721 -0.83140624] [ 0. 0. 0. 1. ]] SLAMing on 44.456296757000004 meters Centerline goodness [0,1] 0.815994920754362 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99951306 0.02561863 -0.01781349 2.54858077] [-0.02574017 0.9996467 -0.00662766 -0.52408988] [ 0.0176374 0.00708295 0.99981936 -0.83249616] [ 0. 0. 0. 1. ]] SLAMing on 44.486296757 meters Centerline goodness [0,1] 0.8120982633288923 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99942301 0.02863999 -0.01825938 2.55131261] [-0.02872196 0.99957843 -0.00424286 -0.52089938] [ 0.01813016 0.00476486 0.99982428 -0.83481641] [ 0. 0. 0. 1. ]] SLAMing on 44.516296757 meters Centerline goodness [0,1] 0.8144734995555971 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99941885 0.0287271 -0.01834992 2.55133854] [-0.02881251 0.99957512 -0.00440709 -0.52040327] [ 0.01821552 0.00493324 0.99982191 -0.83471461] [ 0. 0. 0. 1. ]] SLAMing on 44.546296757 meters Centerline goodness [0,1] 0.8153781649623815 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99941148 0.02892144 -0.01844553 2.5507879 ] [-0.02900759 0.99956942 -0.00442027 -0.52051355] [ 0.01830975 0.00495273 0.9998201 -0.83365127] [ 0. 0. 0. 1. ]] SLAMing on 44.576296757 meters Centerline goodness [0,1] 0.8154663048817572 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.9994027 0.02925739 -0.01839127 2.5501037 ] [-0.02934125 0.99956018 -0.00430661 -0.52020974] [ 0.01825718 0.00484366 0.99982159 -0.83291624] [ 0. 0. 0. 1. ]] SLAMing on 44.606296757 meters Centerline goodness [0,1] 0.8154663048817572 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.9994027 0.02925739 -0.01839127 2.5501037 ] [-0.02934125 0.99956018 -0.00430661 -0.52020974] [ 0.01825718 0.00484366 0.99982159 -0.83291624] [ 0. 0. 0. 1. ]] SLAMing on 44.636296757000004 meters Centerline goodness [0,1] 0.8129583781006213 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99939729 0.02952075 -0.0182643 2.54980655] [-0.0296069 0.99955165 -0.00446468 -0.51905212] [ 0.01812431 0.00500274 0.99982323 -0.83295862] [ 0. 0. 0. 1. ]] SLAMing on 44.666296757 meters Centerline goodness [0,1] 0.8172120479687646 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 9.99301179e-01 3.23343866e-02 -1.87520811e-02 2.55271972e+00] [-3.23695109e-02 9.99474733e-01 -1.57252205e-03 -5.16988072e-01] [ 1.86913847e-02 2.17841883e-03 9.99822928e-01 -8.34966915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.696296757 meters Centerline goodness [0,1] 0.8170210790231219 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 9.99310620e-01 3.18603956e-02 -1.90578059e-02 2.55405595e+00] [-3.19087153e-02 9.99488285e-01 -2.23666640e-03 -5.15022448e-01] [ 1.89767927e-02 2.84323459e-03 9.99815882e-01 -8.35956871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726296757 meters Centerline goodness [0,1] 0.8153412400680383 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99942676 0.02795999 -0.01908924 2.55374445] [-0.02807977 0.99958746 -0.00603584 -0.51503395] [ 0.0189126 0.0065684 0.99979956 -0.83577674] [ 0. 0. 0. 1. ]] SLAMing on 44.756296757 meters Centerline goodness [0,1] 0.8179824561403508 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99944529 0.02682493 -0.01973689 2.5554119 ] [-0.02694827 0.99961876 -0.0060099 -0.5185112 ] [ 0.01956815 0.00653844 0.99978715 -0.83556058] [ 0. 0. 0. 1. ]] SLAMing on 44.786296757 meters Centerline goodness [0,1] 0.8213065655856615 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99953958 0.02300058 -0.01978898 2.55509575] [-0.02319248 0.99968566 -0.00952306 -0.51993956] [ 0.01956372 0.00997763 0.99975882 -0.83524384] [ 0. 0. 0. 1. ]] SLAMing on 44.816296757 meters Centerline goodness [0,1] 0.8244969131438805 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99963675 0.01819602 -0.01988143 2.55582617] [-0.01846881 0.9997366 -0.01362454 -0.52040173] [ 0.01962829 0.01398678 0.99970951 -0.83580655] [ 0. 0. 0. 1. ]] SLAMing on 44.846296757 meters Centerline goodness [0,1] 0.8224704274470993 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99964114 0.01782744 -0.01999456 2.55631499] [-0.01810089 0.99974394 -0.01357977 -0.52015295] [ 0.01974735 0.01393681 0.99970786 -0.83581345] [ 0. 0. 0. 1. ]] SLAMing on 44.876296757 meters Centerline goodness [0,1] 0.8246051147047763 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99964856 0.01735066 -0.02004252 2.55657962] [-0.01762234 0.99975412 -0.01345917 -0.51991176] [ 0.01980407 0.01380763 0.99970853 -0.83545872] [ 0. 0. 0. 1. ]] SLAMing on 44.906296757 meters Centerline goodness [0,1] 0.8242499473030892 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99964422 0.01729538 -0.02030538 2.55696792] [-0.01756436 0.99975933 -0.01314434 -0.52060836] [ 0.02007316 0.01349631 0.99970742 -0.83502134] [ 0. 0. 0. 1. ]] SLAMing on 44.936296757 meters Centerline goodness [0,1] 0.8240295835688713 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99969908 0.01447838 -0.01980231 2.55416541] [-0.01479698 0.99976189 -0.01603807 -0.52152613] [ 0.01956539 0.01632626 0.99967527 -0.83284063] [ 0. 0. 0. 1. ]] SLAMing on 44.966296757 meters Centerline goodness [0,1] 0.8239785729389376 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99969259 0.01469198 -0.01997152 2.55408573] [-0.01500534 0.99976521 -0.0156323 -0.52253889] [ 0.01973716 0.01592717 0.99967833 -0.83220899] [ 0. 0. 0. 1. ]] SLAMing on 44.996296757 meters Centerline goodness [0,1] 0.8246870670017143 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.83 [[ 0.99968946 0.01494309 -0.01994224 2.55383021] [-0.01525373 0.99976325 -0.01551674 -0.52217652] [ 0.01970565 0.01581611 0.99968072 -0.83197855] [ 0. 0. 0. 1. ]] SLAMing on 45.026296757 meters Centerline goodness [0,1] 0.8219773035072152 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.83 [[ 0.99962673 0.01848235 -0.02011987 2.55582398] [-0.01873537 0.99974683 -0.01246079 -0.51939425] [ 0.01988447 0.01283309 0.99971992 -0.83398566] [ 0. 0. 0. 1. ]] SLAMing on 45.056296757 meters Centerline goodness [0,1] 0.8182198563425463 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.83 [[ 0.99954669 0.02217729 -0.02036121 2.55711461] [-0.02236066 0.99971104 -0.00882281 -0.51898 ] [ 0.02015966 0.0092741 0.99975376 -0.83473285] [ 0. 0. 0. 1. ]] SLAMing on 45.086296757 meters Centerline goodness [0,1] 0.8204325026683372 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.83 [[ 0.9995294 0.02312115 -0.02015923 2.55631128] [-0.02329959 0.999691 -0.00866195 -0.51711959] [ 0.01995273 0.00912758 0.99975926 -0.83457431] [ 0. 0. 0. 1. ]] SLAMing on 45.116296757 meters Centerline goodness [0,1] 0.815185253626536 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.83 [[ 0.99941229 0.02777925 -0.0200844 2.55575179] [-0.02788193 0.99959945 -0.00485105 -0.51602836] [ 0.0199416 0.00540819 0.99978652 -0.8339858 ] [ 0. 0. 0. 1. ]] SLAMing on 45.146296757 meters Centerline goodness [0,1] 0.8114772936201508 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.83 [[ 9.99277683e-01 3.23074420e-02 -2.00085269e-02 2.55551645e+00] [-3.23365414e-02 9.99476396e-01 -1.13244257e-03 -5.14449736e-01] [ 1.99614640e-02 1.77863115e-03 9.99799168e-01 -8.33752154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.176296757 meters Centerline goodness [0,1] 0.8129969524071401 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.83 [[ 9.99272062e-01 3.24531807e-02 -2.00533645e-02 2.55602273e+00] [-3.24976514e-02 9.99470014e-01 -1.89564993e-03 -5.11514020e-01] [ 1.99812167e-02 2.54595727e-03 9.99797114e-01 -8.34655170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.206296757000004 meters Centerline goodness [0,1] 0.8099853694220922 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.84 [[ 0.99926646 0.03259234 -0.02010669 2.55678141] [-0.03265214 0.99946326 -0.00265283 -0.50871094] [ 0.02000944 0.00330741 0.99979432 -0.83591113] [ 0. 0. 0. 1. ]] SLAMing on 45.236296757 meters Centerline goodness [0,1] 0.8144813911616564 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.84 [[ 0.99926322 0.03266789 -0.02014519 2.55747996] [-0.03273877 0.99945882 -0.00319881 -0.50617109] [ 0.02002979 0.00385599 0.99979195 -0.83695014] [ 0. 0. 0. 1. ]] SLAMing on 45.266296757 meters Centerline goodness [0,1] 0.793161269855657 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.50, Z:-0.84 [[ 0.99925916 0.0327217 -0.02025895 2.55852894] [-0.0328055 0.99945446 -0.00381785 -0.50400839] [ 0.02012297 0.00447962 0.99978748 -0.83835526] [ 0. 0. 0. 1. ]] SLAMing on 45.296296757 meters Centerline goodness [0,1] 0.8082830811241324 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.84 [[ 0.99936436 0.02934284 -0.02024558 2.55789736] [-0.02949282 0.99953942 -0.00714973 -0.50639075] [ 0.02002646 0.00774228 0.99976947 -0.83805653] [ 0. 0. 0. 1. ]] SLAMing on 45.326296757 meters Centerline goodness [0,1] 0.8088719261358442 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.84 [[ 0.9993657 0.02910639 -0.02051852 2.55854692] [-0.02925008 0.99954941 -0.0067381 -0.50920984] [ 0.02031316 0.00733399 0.99976677 -0.83794816] [ 0. 0. 0. 1. ]] SLAMing on 45.356296757 meters Centerline goodness [0,1] 0.8083066361556064 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.51, Z:-0.84 [[ 0.99936654 0.0289929 -0.02063798 2.55878628] [-0.02912792 0.99955602 -0.00627154 -0.51113969] [ 0.02044699 0.00686871 0.99976734 -0.83767324] [ 0. 0. 0. 1. ]] SLAMing on 45.386296757000004 meters Centerline goodness [0,1] 0.8127608825283243 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.51, Z:-0.84 [[ 9.99600378e-01 2.46720555e-02 -1.37976306e-02 2.55044061e+00] [-2.47061473e-02 9.99692097e-01 -2.30584457e-03 -5.10858558e-01] [ 1.37364924e-02 2.64580940e-03 9.99902149e-01 -8.41661503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.416296757 meters Centerline goodness [0,1] 0.81659749134353 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.51, Z:-0.84 [[ 9.99603780e-01 2.44267863e-02 -1.39862633e-02 2.55077298e+00] [-2.44598667e-02 9.99698394e-01 -2.19902865e-03 -5.10938119e-01] [ 1.39283298e-02 2.54025949e-03 9.99899769e-01 -8.41373923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446296757 meters Centerline goodness [0,1] 0.8154574494978513 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.51, Z:-0.84 [[ 9.99623970e-01 2.34151119e-02 -1.42706716e-02 2.55133835e+00] [-2.34434292e-02 9.99723508e-01 -1.82023449e-03 -5.14374898e-01] [ 1.42241049e-02 2.15410351e-03 9.99896512e-01 -8.40340112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.476296757 meters Centerline goodness [0,1] 0.8177526841910403 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99969958 0.02015039 -0.01395399 2.54961949] [-0.02022286 0.99978263 -0.00507254 -0.51579725] [ 0.01384875 0.0053532 0.99988977 -0.83921136] [ 0. 0. 0. 1. ]] SLAMing on 45.506296757 meters Centerline goodness [0,1] 0.8158713211400984 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99976413 0.01666319 -0.01392924 2.54882519] [-0.01678361 0.99982239 -0.0085735 -0.51670431] [ 0.01378391 0.00880526 0.99986623 -0.83855846] [ 0. 0. 0. 1. ]] SLAMing on 45.536296757 meters Centerline goodness [0,1] 0.8156917363045497 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99978066 0.01545641 -0.01413284 2.55032221] [-0.01558153 0.99984 -0.00878625 -0.51896892] [ 0.01399478 0.00900453 0.99986152 -0.8392687 ] [ 0. 0. 0. 1. ]] SLAMing on 45.566296757 meters Centerline goodness [0,1] 0.8169638710875824 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99978287 0.01505889 -0.01440274 2.55148447] [-0.01519119 0.999843 -0.00912107 -0.51802523] [ 0.01426313 0.00933788 0.99985467 -0.84002516] [ 0. 0. 0. 1. ]] SLAMing on 45.596296757 meters Centerline goodness [0,1] 0.8145367486402306 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99978458 0.01478294 -0.01456893 2.55217386] [-0.01492075 0.99984453 -0.00939627 -0.51677821] [ 0.01442776 0.00961163 0.99984972 -0.84037941] [ 0. 0. 0. 1. ]] SLAMing on 45.626296757 meters Centerline goodness [0,1] 0.8140432457568008 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99977966 0.01495349 -0.01473175 2.55217525] [-0.0150876 0.99984536 -0.00903475 -0.51787032] [ 0.01459438 0.00925503 0.99985066 -0.83984638] [ 0. 0. 0. 1. ]] SLAMing on 45.656296757 meters Centerline goodness [0,1] 0.8146207410512587 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99977206 0.01534791 -0.01484144 2.55211698] [-0.01547311 0.99984535 -0.00835823 -0.52067173] [ 0.01471087 0.00858597 0.99985493 -0.83932363] [ 0. 0. 0. 1. ]] SLAMing on 45.686296757 meters Centerline goodness [0,1] 0.8131090080616894 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99976774 0.01561028 -0.01485869 2.55217903] [-0.0157323 0.99984318 -0.008131 -0.52110714] [ 0.01472943 0.00836287 0.99985654 -0.83942028] [ 0. 0. 0. 1. ]] SLAMing on 45.716296757 meters Centerline goodness [0,1] 0.8130690572909371 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.9997653 0.01587388 -0.0147433 2.55219328] [-0.0159954 0.99983876 -0.00816118 -0.52037912] [ 0.01461137 0.00839509 0.99985801 -0.83991028] [ 0. 0. 0. 1. ]] SLAMing on 45.746296757 meters Centerline goodness [0,1] 0.8116185281021983 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.9996909 0.02020558 -0.01448581 2.55182855] [-0.0202658 0.99978654 -0.00402245 -0.51929691] [ 0.01440145 0.00431478 0.99988698 -0.83982644] [ 0. 0. 0. 1. ]] SLAMing on 45.776296757000004 meters Centerline goodness [0,1] 0.8120987368177077 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99968454 0.02036255 -0.01470337 2.55249382] [-0.02042983 0.99978143 -0.00443997 -0.51727736] [ 0.01460975 0.00473895 0.99988204 -0.84044006] [ 0. 0. 0. 1. ]] SLAMing on 45.806296757 meters Centerline goodness [0,1] 0.8061376202202295 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.52, Z:-0.84 [[ 0.99966072 0.02134547 -0.01492731 2.55300851] [-0.02141111 0.99976172 -0.00425144 -0.51611374] [ 0.014833 0.00456961 0.99987954 -0.84116549] [ 0. 0. 0. 1. ]] SLAMing on 45.836296757 meters Centerline goodness [0,1] 0.8035677004801781 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99965771 0.02105975 -0.01552243 2.55504292] [-0.02113392 0.99976593 -0.00462958 -0.51677539] [ 0.0154213 0.00495605 0.9998688 -0.84245364] [ 0. 0. 0. 1. ]] SLAMing on 45.866296757 meters Centerline goodness [0,1] 0.7977848397046453 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.84 [[ 0.99971109 0.01819076 -0.01571118 2.55670051] [-0.01831197 0.99980339 -0.00760622 -0.5196973 ] [ 0.01556973 0.00789172 0.99984764 -0.84461968] [ 0. 0. 0. 1. ]] SLAMing on 45.896296757 meters Centerline goodness [0,1] 0.7963923547829338 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.52, Z:-0.85 [[ 0.9997105 0.01790694 -0.01607022 2.55804952] [-0.01802759 0.99981015 -0.00739438 -0.52167663] [ 0.01593476 0.00768195 0.99984352 -0.84524548] [ 0. 0. 0. 1. ]] SLAMing on 45.926296757 meters Centerline goodness [0,1] 0.7994363550962893 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.53, Z:-0.84 [[ 0.99970911 0.01808964 -0.01595177 2.55746983] [-0.01818529 0.99981739 -0.00587187 -0.52585882] [ 0.01584264 0.00616025 0.99985552 -0.84392768] [ 0. 0. 0. 1. ]] SLAMing on 45.956296757000004 meters Centerline goodness [0,1] 0.8023050272219472 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.53, Z:-0.84 [[ 0.99970074 0.0185924 -0.01589847 2.55636253] [-0.01866875 0.99981483 -0.0046675 -0.52818959] [ 0.01580875 0.0049629 0.99986272 -0.84221243] [ 0. 0. 0. 1. ]] SLAMing on 45.986296757 meters Centerline goodness [0,1] 0.8027291184664054 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.53, Z:-0.84 [[ 0.99969011 0.01922433 -0.01581464 2.55522975] [-0.01927856 0.99980876 -0.00328415 -0.53087306] [ 0.01574848 0.00358801 0.99986955 -0.84050026] [ 0. 0. 0. 1. ]] SLAMing on 46.016296757 meters Centerline goodness [0,1] 0.8019330571823073 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.54, Z:-0.84 [[ 9.99679224e-01 1.94968827e-02 -1.61654433e-02 2.55495201e+00] [-1.95039948e-02 9.99809739e-01 -2.82398891e-04 -5.37752730e-01] [ 1.61568618e-02 5.97599026e-04 9.99869291e-01 -8.36960464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046296757 meters Centerline goodness [0,1] 0.7976811180153799 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.54, Z:-0.84 [[ 9.99677300e-01 1.90658449e-02 -1.67865625e-02 2.55700670e+00] [-1.90710252e-02 9.99818120e-01 -1.48556622e-04 -5.40271355e-01] [ 1.67806770e-02 4.68645639e-04 9.99859085e-01 -8.37880857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.076296757 meters Centerline goodness [0,1] 0.7982472989195678 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.54, Z:-0.84 [[ 9.99690710e-01 1.76892525e-02 -1.74806885e-02 2.56071386e+00] [-1.77034244e-02 9.99843067e-01 -6.56291214e-04 -5.43617856e-01] [ 1.74663359e-02 9.65556277e-04 9.99846986e-01 -8.40663923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.106296757 meters Centerline goodness [0,1] 0.7977798646728792 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 9.99688720e-01 1.72090762e-02 -1.80640686e-02 2.56286413e+00] [-1.72265333e-02 9.99851283e-01 -8.11232251e-04 -5.45077724e-01] [ 1.80474216e-02 1.12216101e-03 9.99836502e-01 -8.41910407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.136296757000004 meters Centerline goodness [0,1] 0.793778662072647 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 9.99691541e-01 1.67312476e-02 -1.83545295e-02 2.56461216e+00] [-1.67480266e-02 9.99859453e-01 -7.60815921e-04 -5.47644908e-01] [ 1.83392204e-02 1.06798339e-03 9.99831252e-01 -8.43347924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.166296757 meters Centerline goodness [0,1] 0.7958116450792883 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.84 [[ 9.99688908e-01 1.64631943e-02 -1.87363441e-02 2.56571478e+00] [-1.64806080e-02 9.99863885e-01 -7.75368562e-04 -5.48541329e-01] [ 1.87210287e-02 1.08391369e-03 9.99824159e-01 -8.43694264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.196296757 meters Centerline goodness [0,1] 0.7964284844202987 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 0.99973924 0.01395179 -0.01807769 2.56280373] [-0.01401998 0.99989505 -0.00365101 -0.54953815] [ 0.01802485 0.0039035 0.99982992 -0.84215826] [ 0. 0. 0. 1. ]] SLAMing on 46.226296757 meters Centerline goodness [0,1] 0.795308648002148 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 0.99973345 0.01432014 -0.01811 2.56234861] [-0.0143778 0.99989196 -0.00305789 -0.55153725] [ 0.01806426 0.00331746 0.99983132 -0.84138589] [ 0. 0. 0. 1. ]] SLAMing on 46.256296757 meters Centerline goodness [0,1] 0.7930495518597211 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 9.99727145e-01 1.47700162e-02 -1.80964878e-02 2.56171255e+00] [-1.48170564e-02 9.99887175e-01 -2.46808788e-03 -5.53148839e-01] [ 1.80579924e-02 2.73555113e-03 9.99833199e-01 -8.40549869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.286296757 meters Centerline goodness [0,1] 0.7928615083730595 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 9.99720184e-01 1.55041178e-02 -1.78654982e-02 2.56104414e+00] [-1.55464300e-02 9.99876656e-01 -2.23192404e-03 -5.52724938e-01] [ 1.78286906e-02 2.50904423e-03 9.99837908e-01 -8.40607474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.316296757 meters Centerline goodness [0,1] 0.7903194247419655 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 0.99971776 0.01559904 -0.01791869 2.56161831] [-0.01564766 0.99987425 -0.00257637 -0.55154235] [ 0.01787625 0.00285603 0.99983613 -0.84149436] [ 0. 0. 0. 1. ]] SLAMing on 46.346296757 meters Centerline goodness [0,1] 0.7861950801615469 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.84 [[ 0.99970384 0.01624116 -0.01812317 2.56335602] [-0.01629564 0.99986312 -0.0028624 -0.55079003] [ 0.0180742 0.00315688 0.99983166 -0.8441412 ] [ 0. 0. 0. 1. ]] SLAMing on 46.376296757 meters Centerline goodness [0,1] 0.7797850725808426 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.85 [[ 0.99970256 0.01623899 -0.01819583 2.56435273] [-0.01630281 0.99986144 -0.00336456 -0.54960546] [ 0.01813868 0.00366021 0.99982878 -0.84559412] [ 0. 0. 0. 1. ]] SLAMing on 46.406296757 meters Centerline goodness [0,1] 0.7649420925050807 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 9.99628563e-01 1.99383428e-02 -1.85795051e-02 2.56652219e+00] [-1.99370752e-02 9.99801205e-01 2.53462966e-04 -5.50194563e-01] [ 1.85808652e-02 1.17052171e-04 9.99827354e-01 -8.47299928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.436296757 meters Centerline goodness [0,1] 0.7786714401314337 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 9.99622002e-01 2.02727214e-02 -1.85706518e-02 2.56606448e+00] [-2.02660204e-02 9.99794472e-01 5.48982144e-04 -5.51208822e-01] [ 1.85779644e-02 -1.72421423e-04 9.99827400e-01 -8.46738212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466296757 meters Centerline goodness [0,1] 0.7534367635506677 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 0.99980279 0.0194556 -0.00398293 2.56589261] [-0.01946856 0.99980522 -0.00324142 -0.55119691] [ 0.00391909 0.00331832 0.99998681 -0.8527233 ] [ 0. 0. 0. 1. ]] SLAMing on 46.496296757 meters Centerline goodness [0,1] 0.7534367635506677 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 0.99980279 0.0194556 -0.00398293 2.56589261] [-0.01946856 0.99980522 -0.00324142 -0.55119691] [ 0.00391909 0.00331832 0.99998681 -0.8527233 ] [ 0. 0. 0. 1. ]] SLAMing on 46.526296757000004 meters Centerline goodness [0,1] 0.7767126663380975 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.85 [[ 0.99984812 0.01709461 -0.00339287 2.5627744 ] [-0.01711439 0.99983619 -0.00589059 -0.55239387] [ 0.00329162 0.00594776 0.99997689 -0.85058256] [ 0. 0. 0. 1. ]] SLAMing on 46.556296757 meters Centerline goodness [0,1] 0.7733192191231136 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.55, Z:-0.85 [[ 0.99984751 0.01709967 -0.00354268 2.56304895] [-0.01711979 0.99983703 -0.00572857 -0.55270077] [ 0.00344415 0.00578835 0.99997732 -0.85047516] [ 0. 0. 0. 1. ]] SLAMing on 46.586296757 meters Centerline goodness [0,1] 0.773764445537251 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 0.99985818 0.0163329 -0.00410679 2.56564156] [-0.01635783 0.99984751 -0.00611349 -0.55307893] [ 0.00400631 0.0061798 0.99997288 -0.85225447] [ 0. 0. 0. 1. ]] SLAMing on 46.616296757 meters Centerline goodness [0,1] 0.7813375952790755 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 0.99986173 0.01603579 -0.00440081 2.56678613] [-0.01606281 0.99985192 -0.00617457 -0.55351026] [ 0.00430114 0.0062444 0.99997125 -0.85290757] [ 0. 0. 0. 1. ]] SLAMing on 46.646296757 meters Centerline goodness [0,1] 0.7852583848788782 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.85 [[ 0.99988203 0.01445673 -0.00518918 2.57022983] [-0.0144917 0.9998721 -0.00676506 -0.55587691] [ 0.00509071 0.00683947 0.99996365 -0.85477623] [ 0. 0. 0. 1. ]] SLAMing on 46.676296757 meters Centerline goodness [0,1] 0.7844420839406141 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.86 [[ 0.99988726 0.01390136 -0.00567607 2.57186586] [-0.01393908 0.99988066 -0.00666149 -0.55780076] [ 0.00558279 0.00673986 0.9999617 -0.85530956] [ 0. 0. 0. 1. ]] SLAMing on 46.706296757000004 meters Centerline goodness [0,1] 0.7983320509320162 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.86 [[ 0.99990167 0.0127257 -0.00589203 2.57379879] [-0.01276634 0.99989462 -0.00691125 -0.55964116] [ 0.00580346 0.00698579 0.99995876 -0.85666068] [ 0. 0. 0. 1. ]] SLAMing on 46.736296757 meters Centerline goodness [0,1] 0.8023080161462074 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.86 [[ 0.99990335 0.01251839 -0.0060484 2.57406882] [-0.01255981 0.9998976 -0.00685853 -0.55961839] [ 0.00596192 0.00693383 0.99995819 -0.85638162] [ 0. 0. 0. 1. ]] SLAMing on 46.766296757 meters Centerline goodness [0,1] 0.8023390945281013 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.86 [[ 0.99990283 0.01258309 -0.00599906 2.57350789] [-0.01262218 0.99989907 -0.00652195 -0.55985746] [ 0.00591639 0.00659704 0.99996074 -0.8554633 ] [ 0. 0. 0. 1. ]] SLAMing on 46.796296757 meters Centerline goodness [0,1] 0.8041290513541512 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.85 [[ 0.99989485 0.01323905 -0.00591767 2.5712837 ] [-0.01327037 0.99989798 -0.00528449 -0.56043335] [ 0.00584711 0.00536246 0.99996853 -0.85188225] [ 0. 0. 0. 1. ]] SLAMing on 46.826296757 meters Centerline goodness [0,1] 0.8033827160493827 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.85 [[ 0.99989251 0.01339187 -0.00596928 2.5708298 ] [-0.01342255 0.99989676 -0.00512957 -0.56031413] [ 0.00589997 0.00520915 0.99996903 -0.85102993] [ 0. 0. 0. 1. ]] SLAMing on 46.856296757 meters Centerline goodness [0,1] 0.8067624558650451 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.85 [[ 0.9998956 0.01285017 -0.00660793 2.57203106] [-0.01288846 0.99990021 -0.00578487 -0.55865448] [ 0.00653293 0.00586943 0.99996143 -0.85080041] [ 0. 0. 0. 1. ]] SLAMing on 46.886296757000004 meters Centerline goodness [0,1] 0.8061381825301648 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.56, Z:-0.85 [[ 0.99989835 0.01251225 -0.00683557 2.57303876] [-0.01255586 0.99990085 -0.00637468 -0.5570184 ] [ 0.00675513 0.00645985 0.99995632 -0.85159665] [ 0. 0. 0. 1. ]] SLAMing on 46.916296757 meters Centerline goodness [0,1] 0.8045850190020841 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.55, Z:-0.85 [[ 0.99990516 0.01181727 -0.0070721 2.5748496 ] [-0.0118703 0.99990138 -0.00750525 -0.5543549 ] [ 0.00698271 0.00758849 0.99994683 -0.85352983] [ 0. 0. 0. 1. ]] SLAMing on 46.946296757 meters Centerline goodness [0,1] 0.8041788856304986 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 0.99988543 0.01279092 -0.00809462 2.5803044 ] [-0.01284097 0.99989857 -0.00616128 -0.55201404] [ 0.00801499 0.00626452 0.99994826 -0.85723589] [ 0. 0. 0. 1. ]] SLAMing on 46.976296757 meters Centerline goodness [0,1] 0.8045769493510295 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 0.99988774 0.01239953 -0.00841154 2.5814485 ] [-0.01245405 0.99990158 -0.00645983 -0.5520192 ] [ 0.00833062 0.00656386 0.99994376 -0.85781501] [ 0. 0. 0. 1. ]] SLAMing on 47.006296757 meters Centerline goodness [0,1] 0.80429722909572 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 0.99988881 0.01214327 -0.00865549 2.58176329] [-0.01220156 0.99990302 -0.00671375 -0.55159081] [ 0.00857313 0.00681861 0.99994 -0.85740503] [ 0. 0. 0. 1. ]] SLAMing on 47.036296757 meters Centerline goodness [0,1] 0.8059074819968266 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 0.99988718 0.01220707 -0.0087533 2.58181695] [-0.01226847 0.99990028 -0.00699448 -0.55013545] [ 0.00866704 0.00710108 0.99993723 -0.85735769] [ 0. 0. 0. 1. ]] SLAMing on 47.066296757 meters Centerline goodness [0,1] 0.8063753564204421 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 0.99986994 0.01361472 -0.00864492 2.58138413] [-0.01366678 0.99988865 -0.00599162 -0.54642352] [ 0.00856238 0.00610899 0.99994468 -0.85692224] [ 0. 0. 0. 1. ]] SLAMing on 47.096296757 meters Centerline goodness [0,1] 0.8075741820028536 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 0.99982014 0.01644842 -0.00944086 2.58422807] [-0.01647646 0.99986005 -0.00289974 -0.54594534] [ 0.00939184 0.00305477 0.99995123 -0.85808008] [ 0. 0. 0. 1. ]] SLAMing on 47.126296757 meters Centerline goodness [0,1] 0.8026122015402815 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.54, Z:-0.86 [[ 0.99981811 0.01647592 -0.00960691 2.58450729] [-0.01650825 0.9998583 -0.0032963 -0.54422767] [ 0.00955123 0.00345429 0.99994842 -0.85816866] [ 0. 0. 0. 1. ]] SLAMing on 47.156296757 meters Centerline goodness [0,1] 0.8001115205585725 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.54, Z:-0.86 [[ 0.99981075 0.01686668 -0.00969426 2.58399352] [-0.01689718 0.99985251 -0.00307352 -0.54440949] [ 0.00964099 0.00323674 0.99994829 -0.85728797] [ 0. 0. 0. 1. ]] SLAMing on 47.186296757 meters Centerline goodness [0,1] 0.8028151893810473 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 9.99803092e-01 1.72936125e-02 -9.73177003e-03 2.58326680e+00] [-1.73167972e-02 9.99847400e-01 -2.30315912e-03 -5.46613129e-01] [ 9.69045502e-03 2.47122870e-03 9.99949993e-01 -8.55987893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.216296757 meters Centerline goodness [0,1] 0.8019777864380359 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.55, Z:-0.86 [[ 9.99804170e-01 1.71365276e-02 -9.89752216e-03 2.58357482e+00] [-1.71609641e-02 9.99849885e-01 -2.38932563e-03 -5.46242962e-01] [ 9.85509165e-03 2.55870875e-03 9.99948164e-01 -8.55843350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246296757 meters Centerline goodness [0,1] 0.8017270737046948 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.54, Z:-0.86 [[ 0.99980992 0.0167584 -0.0099643 2.58425785] [-0.01678699 0.99985519 -0.00279247 -0.54494733] [ 0.00991606 0.00295921 0.99994646 -0.85647853] [ 0. 0. 0. 1. ]] SLAMing on 47.276296757000004 meters Centerline goodness [0,1] 0.8036000583005393 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99981833 0.01607379 -0.01024367 2.58570771] [-0.01610966 0.99986435 -0.00342822 -0.5428091 ] [ 0.01018718 0.00359262 0.99994166 -0.85753485] [ 0. 0. 0. 1. ]] SLAMing on 47.306296757 meters Centerline goodness [0,1] 0.803862973760933 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99982316 0.01544256 -0.01073247 2.58716712] [-0.01548321 0.99987323 -0.00371524 -0.54345787] [ 0.01067374 0.00388076 0.9999355 -0.85791015] [ 0. 0. 0. 1. ]] SLAMing on 47.336296757 meters Centerline goodness [0,1] 0.8103435627827362 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99987559 0.01145407 -0.01084435 2.58666451] [-0.01152862 0.99991017 -0.00683669 -0.54701325] [ 0.01076506 0.00696086 0.99991783 -0.85655322] [ 0. 0. 0. 1. ]] SLAMing on 47.366296757 meters Centerline goodness [0,1] 0.8111413376467417 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99987907 0.01082942 -0.01116072 2.58757983] [-0.01090375 0.99991864 -0.00662037 -0.54904729] [ 0.01108812 0.00674127 0.9999158 -0.85635803] [ 0. 0. 0. 1. ]] SLAMing on 47.396296757 meters Centerline goodness [0,1] 0.8129983855975735 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99989597 0.00896389 -0.01130041 2.58927288] [-0.00904474 0.99993372 -0.00712398 -0.54960306] [ 0.01123581 0.00722544 0.99991077 -0.85693027] [ 0. 0. 0. 1. ]] SLAMing on 47.426296757 meters Centerline goodness [0,1] 0.8175677329352162 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99989691 0.00836565 -0.01166965 2.59045822] [-0.00845153 0.99993742 -0.00732999 -0.5492652 ] [ 0.0116076 0.00742786 0.99990504 -0.85720949] [ 0. 0. 0. 1. ]] SLAMing on 47.456296757000004 meters Centerline goodness [0,1] 0.8135705197220319 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99989808 0.00803037 -0.01180402 2.59125769] [-0.00811928 0.99993888 -0.00750416 -0.54890251] [ 0.01174304 0.00759923 0.99990217 -0.85777065] [ 0. 0. 0. 1. ]] SLAMing on 47.486296757 meters Centerline goodness [0,1] 0.8122811742526259 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99989722 0.00816396 -0.01178564 2.59106957] [-0.00824908 0.99994011 -0.00719224 -0.5491383 ] [ 0.01172622 0.00728872 0.99990468 -0.85740491] [ 0. 0. 0. 1. ]] SLAMing on 47.516296757 meters Centerline goodness [0,1] 0.814029243919763 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99989471 0.00832058 -0.01188886 2.59106865] [-0.00840291 0.99994094 -0.00689225 -0.5500582 ] [ 0.01183081 0.00699142 0.99990557 -0.85703002] [ 0. 0. 0. 1. ]] SLAMing on 47.546296757 meters Centerline goodness [0,1] 0.8135643199410247 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.9998886 0.00896848 -0.01193083 2.59043536] [-0.00904168 0.99994054 -0.00609556 -0.55246744] [ 0.01187545 0.00620276 0.99991025 -0.8560151 ] [ 0. 0. 0. 1. ]] SLAMing on 47.576296757 meters Centerline goodness [0,1] 0.8130891594658287 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99988677 0.00910942 -0.01197789 2.59049001] [-0.00918536 0.99993797 -0.00630013 -0.55117421] [ 0.01191976 0.00640943 0.99990842 -0.85611289] [ 0. 0. 0. 1. ]] SLAMing on 47.606296757 meters Centerline goodness [0,1] 0.8138218720269315 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99984277 0.01270919 -0.01236556 2.59217853] [-0.01274739 0.9999142 -0.00301503 -0.54931522] [ 0.01232618 0.00317218 0.999919 -0.85725914] [ 0. 0. 0. 1. ]] SLAMing on 47.636296757000004 meters Centerline goodness [0,1] 0.8122312353401094 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.9998387 0.01309004 -0.01229735 2.5921154 ] [-0.01313012 0.99990873 -0.00318407 -0.54841301] [ 0.01225455 0.00334502 0.99991932 -0.85775234] [ 0. 0. 0. 1. ]] SLAMing on 47.666296757 meters Centerline goodness [0,1] 0.809543528036245 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99982912 0.01392026 -0.0121637 2.5918721 ] [-0.01396278 0.99989667 -0.00341812 -0.54684121] [ 0.01211486 0.00358738 0.99992018 -0.85857217] [ 0. 0. 0. 1. ]] SLAMing on 47.696296757 meters Centerline goodness [0,1] 0.8091010798715829 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.55, Z:-0.86 [[ 0.99982502 0.01433347 -0.01202037 2.59127424] [-0.01437773 0.99989014 -0.00360413 -0.54520504] [ 0.01196739 0.00377632 0.99992126 -0.8584541 ] [ 0. 0. 0. 1. ]] SLAMing on 47.726296757 meters Centerline goodness [0,1] 0.8073681909804017 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99982028 0.01484909 -0.01178629 2.59043674] [-0.0148932 0.99988238 -0.00366367 -0.54388748] [ 0.0117305 0.00383855 0.99992383 -0.85823288] [ 0. 0. 0. 1. ]] SLAMing on 47.756296757 meters Centerline goodness [0,1] 0.8011735609330295 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99980638 0.01595165 -0.01152153 2.58905227] [-0.01599291 0.99986599 -0.00349787 -0.54238452] [ 0.01146419 0.00368145 0.99992751 -0.85770105] [ 0. 0. 0. 1. ]] SLAMing on 47.786296757 meters Centerline goodness [0,1] 0.7873869079297499 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99979479 0.01656842 -0.01165642 2.58890066] [-0.01661568 0.99985407 -0.00396878 -0.53982084] [ 0.01158896 0.00416165 0.99992419 -0.85779157] [ 0. 0. 0. 1. ]] SLAMing on 47.816296757 meters Centerline goodness [0,1] 0.781263584987683 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99979169 0.01683444 -0.01154045 2.58862777] [-0.01688477 0.99984829 -0.00427742 -0.53842404] [ 0.01146669 0.00447138 0.99992426 -0.85801013] [ 0. 0. 0. 1. ]] SLAMing on 47.846296757 meters Centerline goodness [0,1] 0.7744981718685683 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 0.99978733 0.0171813 -0.01140624 2.58802286] [-0.01723192 0.99984203 -0.00435514 -0.53714303] [ 0.01132962 0.00455077 0.99992546 -0.85773013] [ 0. 0. 0. 1. ]] SLAMing on 47.876296757 meters Centerline goodness [0,1] 0.7811911771803659 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 9.99716715e-01 2.06238217e-02 -1.18805513e-02 2.58987676e+00] [-2.06361154e-02 9.99786636e-01 -9.13099687e-04 -5.36882322e-01] [ 1.18591848e-02 1.15800945e-03 9.99929007e-01 -8.58563182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906296757 meters Centerline goodness [0,1] 0.757524640335446 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.54, Z:-0.86 [[ 9.99717688e-01 2.05422697e-02 -1.19398527e-02 2.59045499e+00] [-2.05618499e-02 9.99787428e-01 -1.51945523e-03 -5.35042567e-01] [ 1.19061016e-02 1.76453173e-03 9.99927563e-01 -8.59450915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.936296757 meters Centerline goodness [0,1] 0.7415308309055451 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 9.99710824e-01 2.10430670e-02 -1.16385954e-02 2.58944575e+00] [-2.10645664e-02 9.99776625e-01 -1.72775361e-03 -5.32747894e-01] [ 1.15996384e-02 1.97241595e-03 9.99930777e-01 -8.59207454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.966296757 meters Centerline goodness [0,1] 0.777491698349295 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 9.99709599e-01 2.11034796e-02 -1.16344498e-02 2.58914820e+00] [-2.11252149e-02 9.99775309e-01 -1.74845425e-03 -5.32402306e-01] [ 1.15949371e-02 1.99372675e-03 9.99930789e-01 -8.58771159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.996296757 meters Centerline goodness [0,1] 0.7705457251926724 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 9.99712275e-01 2.08458672e-02 -1.18666766e-02 2.58957130e+00] [-2.08703846e-02 9.99780296e-01 -1.94598349e-03 -5.32302410e-01] [ 1.18235037e-02 2.19308568e-03 9.99927695e-01 -8.58602599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.026296757000004 meters Centerline goodness [0,1] 0.7657750425058072 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 9.99718186e-01 2.03733778e-02 -1.21850002e-02 2.59011996e+00] [-2.03997738e-02 9.99789810e-01 -2.04590529e-03 -5.32325343e-01] [ 1.21407570e-02 2.29389998e-03 9.99923667e-01 -8.58065423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.056296757 meters Centerline goodness [0,1] 0.776470871217588 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 9.99723597e-01 2.00055251e-02 -1.23494548e-02 2.59091026e+00] [-2.00360331e-02 9.99796493e-01 -2.35161745e-03 -5.31696850e-01] [ 1.22998962e-02 2.59840154e-03 9.99920977e-01 -8.58568782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.086296757 meters Centerline goodness [0,1] 0.7849281895125518 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.9997351 0.01926564 -0.01259223 2.59210203] [-0.01930647 0.99980872 -0.00312889 -0.52945582] [ 0.01252954 0.00337117 0.99991582 -0.85936613] [ 0. 0. 0. 1. ]] SLAMing on 48.116296757 meters Centerline goodness [0,1] 0.7868349821544063 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99973758 0.01899023 -0.01281153 2.59257258] [-0.01903422 0.99981332 -0.00332052 -0.52903869] [ 0.01274608 0.00356351 0.99991242 -0.85926086] [ 0. 0. 0. 1. ]] SLAMing on 48.146296757 meters Centerline goodness [0,1] 0.7934605817068503 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99973936 0.01851566 -0.01335596 2.59320387] [-0.01856006 0.9998226 -0.00320882 -0.52990708] [ 0.01329418 0.00345587 0.99990566 -0.85800607] [ 0. 0. 0. 1. ]] SLAMing on 48.176296757 meters Centerline goodness [0,1] 0.7935533384497314 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99977719 0.01666275 -0.01295881 2.59128248] [-0.01672938 0.9998473 -0.00505047 -0.52934753] [ 0.01287268 0.00526614 0.99990328 -0.85657966] [ 0. 0. 0. 1. ]] SLAMing on 48.206296757000004 meters Centerline goodness [0,1] 0.802461450052677 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99978052 0.01628763 -0.01317637 2.59196703] [-0.01635747 0.99985264 -0.00520935 -0.52961773] [ 0.01308958 0.00542374 0.99989962 -0.8566938 ] [ 0. 0. 0. 1. ]] SLAMing on 48.236296757 meters Centerline goodness [0,1] 0.8063665564025121 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99978816 0.01556363 -0.01346884 2.59334587] [-0.01564457 0.99986006 -0.00592516 -0.5278668 ] [ 0.01337474 0.00613462 0.99989174 -0.8575945 ] [ 0. 0. 0. 1. ]] SLAMing on 48.266296757 meters Centerline goodness [0,1] 0.8073524128846845 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99979056 0.01548906 -0.01337619 2.59325148] [-0.01557345 0.99985933 -0.00622847 -0.52632879] [ 0.01327784 0.00643548 0.99989114 -0.85767962] [ 0. 0. 0. 1. ]] SLAMing on 48.296296757 meters Centerline goodness [0,1] 0.8054568437119893 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99978924 0.01552052 -0.01343861 2.59333553] [-0.01560578 0.99985861 -0.00626249 -0.52581654] [ 0.01333952 0.00647089 0.99989009 -0.85759183] [ 0. 0. 0. 1. ]] SLAMing on 48.326296757 meters Centerline goodness [0,1] 0.8035100286532951 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99978982 0.01544512 -0.01348219 2.59367246] [-0.01553423 0.99985802 -0.00652957 -0.52492103] [ 0.01337943 0.00673764 0.99988779 -0.85798905] [ 0. 0. 0. 1. ]] SLAMing on 48.356296757 meters Centerline goodness [0,1] 0.8020282816740466 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99978839 0.01543304 -0.01360136 2.59472612] [-0.0155331 0.99985284 -0.00728189 -0.52249635] [ 0.01348698 0.00749162 0.99988098 -0.85953054] [ 0. 0. 0. 1. ]] SLAMing on 48.386296757000004 meters Centerline goodness [0,1] 0.7986655546288574 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99978674 0.01555546 -0.0135835 2.59491044] [-0.01565903 0.99984887 -0.00755193 -0.52125358] [ 0.01346398 0.00776302 0.99987922 -0.85998702] [ 0. 0. 0. 1. ]] SLAMing on 48.416296757 meters Centerline goodness [0,1] 0.7986655546288574 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99978674 0.01555546 -0.0135835 2.59491044] [-0.01565903 0.99984887 -0.00755193 -0.52125358] [ 0.01346398 0.00776302 0.99987922 -0.85998702] [ 0. 0. 0. 1. ]] SLAMing on 48.446296757 meters Centerline goodness [0,1] 0.7933319034341413 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99977987 0.01618972 -0.0133455 2.59428132] [-0.0162918 0.99983858 -0.00757596 -0.52014296] [ 0.01322069 0.00779172 0.99988224 -0.86014061] [ 0. 0. 0. 1. ]] SLAMing on 48.476296757 meters Centerline goodness [0,1] 0.784228810736211 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99977525 0.01660136 -0.01318464 2.59378568] [-0.01670271 0.9998315 -0.00761472 -0.51903722] [ 0.013056 0.00783322 0.99988408 -0.8601535 ] [ 0. 0. 0. 1. ]] SLAMing on 48.506296757 meters Centerline goodness [0,1] 0.7968831538498031 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99975851 0.01791071 -0.01273317 2.59162436] [-0.01800013 0.99981388 -0.00694298 -0.51669455] [ 0.01260645 0.0071705 0.99989483 -0.85876093] [ 0. 0. 0. 1. ]] SLAMing on 48.536296757 meters Centerline goodness [0,1] 0.7952009853850345 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99975642 0.01800817 -0.01275974 2.5914675 ] [-0.01809632 0.99981294 -0.00682739 -0.51674308] [ 0.0126344 0.00705663 0.99989528 -0.85840245] [ 0. 0. 0. 1. ]] SLAMing on 48.566296757 meters Centerline goodness [0,1] 0.794653041825095 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99975361 0.01812635 -0.01281251 2.59124979] [-0.01820896 0.99981397 -0.00636022 -0.5182662 ] [ 0.01269483 0.00659195 0.99989769 -0.85779 ] [ 0. 0. 0. 1. ]] SLAMing on 48.596296757 meters Centerline goodness [0,1] 0.7963143502556176 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99975826 0.01751219 -0.01329452 2.59256687] [-0.01759217 0.9998277 -0.00592379 -0.52113691] [ 0.01318849 0.00615624 0.99989408 -0.85760502] [ 0. 0. 0. 1. ]] SLAMing on 48.626296757 meters Centerline goodness [0,1] 0.7961273994842899 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99981678 0.01386954 -0.0131925 2.59194197] [-0.01399499 0.99985727 -0.00946493 -0.52148241] [ 0.01305934 0.00964783 0.99986818 -0.85732735] [ 0. 0. 0. 1. ]] SLAMing on 48.656296757 meters Centerline goodness [0,1] 0.7981844746233623 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.52, Z:-0.86 [[ 0.99981457 0.01378117 -0.01345016 2.59238239] [-0.01389965 0.99986506 -0.00875552 -0.52405281] [ 0.01332768 0.00894085 0.99987121 -0.85683081] [ 0. 0. 0. 1. ]] SLAMing on 48.686296757 meters Centerline goodness [0,1] 0.7979037248458973 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99981438 0.01357372 -0.01367312 2.59294908] [-0.0136862 0.99987298 -0.00816715 -0.5264776 ] [ 0.01356053 0.00835277 0.99987316 -0.85657794] [ 0. 0. 0. 1. ]] SLAMing on 48.716296757 meters Centerline goodness [0,1] 0.805611510791367 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99982144 0.01269808 -0.01399447 2.59463995] [-0.01281052 0.99988614 -0.00797476 -0.52853279] [ 0.01389161 0.00815261 0.99987027 -0.8572611 ] [ 0. 0. 0. 1. ]] SLAMing on 48.746296757 meters Centerline goodness [0,1] 0.8055462104099582 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99982031 0.01253294 -0.0142221 2.59527548] [-0.01264645 0.99988867 -0.00791952 -0.52865213] [ 0.01412126 0.00809795 0.9998675 -0.85738391] [ 0. 0. 0. 1. ]] SLAMing on 48.776296757000004 meters Centerline goodness [0,1] 0.8047835607209028 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99982085 0.01250166 -0.0142116 2.59515276] [-0.01260645 0.99989383 -0.00730832 -0.53015737] [ 0.01411872 0.00748617 0.9998723 -0.85678842] [ 0. 0. 0. 1. ]] SLAMing on 48.806296757 meters Centerline goodness [0,1] 0.8041757871695572 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99981668 0.01261304 -0.01440568 2.59526581] [-0.01271271 0.99989574 -0.00684786 -0.5314402 ] [ 0.0143178 0.00702974 0.99987278 -0.85623287] [ 0. 0. 0. 1. ]] SLAMing on 48.836296757 meters Centerline goodness [0,1] 0.8041100190770568 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99981106 0.01321349 -0.01425637 2.59442687] [-0.01330058 0.99989335 -0.00603152 -0.53408061] [ 0.01417515 0.00622 0.99988018 -0.85546964] [ 0. 0. 0. 1. ]] SLAMing on 48.866296757 meters Centerline goodness [0,1] 0.7994333866046782 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.9998082 0.01343985 -0.01424567 2.59453975] [-0.01352476 0.99989124 -0.00588082 -0.53450641] [ 0.01416509 0.00607236 0.99988123 -0.85574541] [ 0. 0. 0. 1. ]] SLAMing on 48.896296757 meters Centerline goodness [0,1] 0.8036510960522826 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99749406e-01 1.71873987e-02 -1.43429117e-02 2.59576861e+00] [-1.72210658e-02 9.99849226e-01 -2.22708985e-03 -5.33798811e-01] [ 1.43024712e-02 2.47353198e-03 9.99894655e-01 -8.56904062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926296757 meters Centerline goodness [0,1] 0.7993399657938477 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99745151e-01 1.75236660e-02 -1.42321440e-02 2.59559259e+00] [-1.75622146e-02 9.99842423e-01 -2.58810137e-03 -5.31215085e-01] [ 1.41845483e-02 2.83738976e-03 9.99895368e-01 -8.57279560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.956296757000004 meters Centerline goodness [0,1] 0.8006928239794078 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.9997411 0.01778911 -0.01418706 2.59537637] [-0.01783295 0.99983657 -0.00296973 -0.52921896] [ 0.01413192 0.00322196 0.99989495 -0.85739486] [ 0. 0. 0. 1. ]] SLAMing on 48.986296757 meters Centerline goodness [0,1] 0.7931715303862082 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.53, Z:-0.86 [[ 0.99973352 0.01820611 -0.01419237 2.59494927] [-0.0182468 0.99982975 -0.00274334 -0.53003199] [ 0.01414 0.00300158 0.99989552 -0.85692782] [ 0. 0. 0. 1. ]] SLAMing on 49.016296757 meters Centerline goodness [0,1] 0.7906459873411605 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99973124 0.01819113 -0.01437118 2.59535116] [-0.0182303 0.99983044 -0.00259943 -0.53145818] [ 0.01432145 0.00286072 0.99989335 -0.85693664] [ 0. 0. 0. 1. ]] SLAMing on 49.046296757 meters Centerline goodness [0,1] 0.7872929506933745 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99728268e-01 1.81742284e-02 -1.45975098e-02 2.59614639e+00] [-1.82127031e-02 9.99830992e-01 -2.50709459e-03 -5.32750808e-01] [ 1.45494782e-02 2.77227344e-03 9.99890308e-01 -8.57409727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.076296757 meters Centerline goodness [0,1] 0.784561572789772 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99972747 0.01822918 -0.01458331 2.59643325] [-0.01827233 0.99982904 -0.00283097 -0.53145213] [ 0.01452921 0.00309667 0.99988965 -0.85803211] [ 0. 0. 0. 1. ]] SLAMing on 49.106296757 meters Centerline goodness [0,1] 0.7874146388381263 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99709569e-01 1.93766889e-02 -1.43290662e-02 2.59571260e+00] [-1.94128820e-02 9.99808693e-01 -2.39107476e-03 -5.29213590e-01] [ 1.42799939e-02 2.66854879e-03 9.99894475e-01 -8.58198611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.136296757000004 meters Centerline goodness [0,1] 0.782236683538202 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99706024e-01 1.96707699e-02 -1.41748448e-02 2.59518770e+00] [-1.97020083e-02 9.99803759e-01 -2.06751040e-03 -5.29927291e-01] [ 1.41313936e-02 2.34617551e-03 9.99897394e-01 -8.57894326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.166296757 meters Centerline goodness [0,1] 0.7573035878120624 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99701918e-01 1.96624222e-02 -1.44728836e-02 2.59571414e+00] [-1.96888302e-02 9.99804737e-01 -1.68442908e-03 -5.31794311e-01] [ 1.44369376e-02 1.96888113e-03 9.99893844e-01 -8.57674462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.196296757 meters Centerline goodness [0,1] 0.7789885712905018 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99709362e-01 1.90856183e-02 -1.47285401e-02 2.59699122e+00] [-1.91118193e-02 9.99816007e-01 -1.64021584e-03 -5.33844348e-01] [ 1.46945256e-02 1.92122832e-03 9.99890184e-01 -8.58324649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.226296757 meters Centerline goodness [0,1] 0.7947456435859528 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 9.99710950e-01 1.88358775e-02 -1.49407603e-02 2.59752332e+00] [-1.88625385e-02 9.99820732e-01 -1.64552321e-03 -5.33658260e-01] [ 1.49070871e-02 1.92686824e-03 9.99887027e-01 -8.58272083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.256296757 meters Centerline goodness [0,1] 0.7962216502355398 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99977034 0.01546356 -0.01483703 2.59614732] [-0.01554063 0.99986626 -0.00509358 -0.53332262] [ 0.01475628 0.00532298 0.99987695 -0.85706292] [ 0. 0. 0. 1. ]] SLAMing on 49.286296757 meters Centerline goodness [0,1] 0.7913896802785692 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.9998185 0.01196304 -0.01482724 2.5953708 ] [-0.01209302 0.99988896 -0.00870783 -0.53373798] [ 0.01472142 0.00888556 0.99985215 -0.85643471] [ 0. 0. 0. 1. ]] SLAMing on 49.316296757 meters Centerline goodness [0,1] 0.8035178453806933 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99982643 0.01116614 -0.01491409 2.59583742] [-0.01128921 0.99990271 -0.00819315 -0.53848272] [ 0.01482116 0.00836009 0.99985521 -0.85583352] [ 0. 0. 0. 1. ]] SLAMing on 49.346296757000005 meters Centerline goodness [0,1] 0.8072336170524108 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99982504 0.01118828 -0.01499024 2.59570585] [-0.01130724 0.99990506 -0.00787486 -0.53896012] [ 0.01490071 0.00804298 0.99985663 -0.85525861] [ 0. 0. 0. 1. ]] SLAMing on 49.376296757 meters Centerline goodness [0,1] 0.8025211106514492 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99982428 0.01127524 -0.01497583 2.59561341] [-0.01139341 0.99990444 -0.00782889 -0.53805849] [ 0.01488612 0.00799814 0.99985721 -0.8551472 ] [ 0. 0. 0. 1. ]] SLAMing on 49.406296757 meters Centerline goodness [0,1] 0.804647432002139 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99982346 0.01119341 -0.01509173 2.5964024 ] [-0.01131802 0.99990235 -0.00819681 -0.53547276] [ 0.01499851 0.00836617 0.99985252 -0.85602877] [ 0. 0. 0. 1. ]] SLAMing on 49.436296757 meters Centerline goodness [0,1] 0.8082331511839709 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99981816 0.01134125 -0.0153306 2.59672866] [-0.01146074 0.99990445 -0.00772877 -0.53676254] [ 0.01524148 0.00790307 0.99985261 -0.85563114] [ 0. 0. 0. 1. ]] SLAMing on 49.466296757 meters Centerline goodness [0,1] 0.8065377890033029 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.85 [[ 0.99981492 0.01150401 -0.01542046 2.59647899] [-0.01161854 0.99990543 -0.00735842 -0.5377367 ] [ 0.01533436 0.00753622 0.99985402 -0.85489521] [ 0. 0. 0. 1. ]] SLAMing on 49.496296757 meters Centerline goodness [0,1] 0.8086626804725099 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.85 [[ 0.99981253 0.01171426 -0.01541706 2.59612492] [-0.01182388 0.99990532 -0.00703829 -0.53859401] [ 0.01533316 0.00721926 0.99985638 -0.85435015] [ 0. 0. 0. 1. ]] SLAMing on 49.526296757000004 meters Centerline goodness [0,1] 0.8035787991356496 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.85 [[ 0.99980955 0.01167529 -0.01563821 2.59632775] [-0.01178582 0.99990608 -0.00699463 -0.53845714] [ 0.01555508 0.00717761 0.99985325 -0.85389455] [ 0. 0. 0. 1. ]] SLAMing on 49.556296757 meters Centerline goodness [0,1] 0.8090546392254172 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.85 [[ 0.99980902 0.01135148 -0.01590797 2.59750726] [-0.01147338 0.99990536 -0.00759226 -0.53642998] [ 0.01582028 0.00777332 0.99984463 -0.85481969] [ 0. 0. 0. 1. ]] SLAMing on 49.586296757 meters Centerline goodness [0,1] 0.8101567245778156 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99980939 0.01114814 -0.01602821 2.59835077] [-0.0112783 0.99990397 -0.00805344 -0.53501761] [ 0.01593689 0.00823267 0.99983911 -0.85570454] [ 0. 0. 0. 1. ]] SLAMing on 49.616296757 meters Centerline goodness [0,1] 0.8081196061747903 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99980867 0.01113985 -0.01607853 2.59867631] [-0.01127325 0.99990258 -0.00823041 -0.53413091] [ 0.01598528 0.00841009 0.99983686 -0.85604305] [ 0. 0. 0. 1. ]] SLAMing on 49.646296757 meters Centerline goodness [0,1] 0.8103410608083506 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.9998044 0.01116465 -0.0163249 2.59918613] [-0.01129927 0.99990273 -0.00817712 -0.53437049] [ 0.01623202 0.00835998 0.9998333 -0.8560535 ] [ 0. 0. 0. 1. ]] SLAMing on 49.676296757 meters Centerline goodness [0,1] 0.8096106168878519 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.86 [[ 0.99980108 0.01126794 -0.01645679 2.59926799] [-0.01139867 0.99990405 -0.00787149 -0.53525409] [ 0.01636652 0.00805751 0.99983359 -0.85570955] [ 0. 0. 0. 1. ]] SLAMing on 49.706296757000004 meters Centerline goodness [0,1] 0.810818038167011 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99980138 0.01126905 -0.01643793 2.59901861] [-0.01139724 0.9999052 -0.00772605 -0.53481654] [ 0.01634931 0.00791186 0.99983504 -0.85520287] [ 0. 0. 0. 1. ]] SLAMing on 49.736296757 meters Centerline goodness [0,1] 0.8138201350076214 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.86 [[ 0.99979975 0.01113673 -0.01662631 2.59941715] [-0.01126951 0.99990518 -0.00791343 -0.53347781] [ 0.0165366 0.00809922 0.99983046 -0.85517277] [ 0. 0. 0. 1. ]] SLAMing on 49.766296757 meters Centerline goodness [0,1] 0.8181202042940479 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.99979754 0.01079847 -0.01697868 2.60011775] [-0.01093568 0.99990813 -0.00800949 -0.5331105 ] [ 0.01689063 0.00819354 0.99982377 -0.85494029] [ 0. 0. 0. 1. ]] SLAMing on 49.796296757 meters Centerline goodness [0,1] 0.8171658038608545 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.99979294 0.01076354 -0.01726938 2.60047325] [-0.01089798 0.99991089 -0.00771013 -0.53438208] [ 0.01718486 0.00789674 0.99982115 -0.85445406] [ 0. 0. 0. 1. ]] SLAMing on 49.826296757 meters Centerline goodness [0,1] 0.8214268440145103 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.85 [[ 0.99978928 0.01082949 -0.01743897 2.60060954] [-0.01095913 0.99991289 -0.00735572 -0.53558098] [ 0.0173578 0.00754528 0.99982087 -0.85401394] [ 0. 0. 0. 1. ]] SLAMing on 49.856296757 meters Centerline goodness [0,1] 0.8200570710001934 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.54, Z:-0.85 [[ 0.99979115 0.01097928 -0.017237 2.59969534] [-0.0111055 0.99991209 -0.00724401 -0.53500575] [ 0.01715595 0.00743393 0.99982519 -0.8531667 ] [ 0. 0. 0. 1. ]] SLAMing on 49.886296757000004 meters Centerline goodness [0,1] 0.8172336367367633 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.99979113 0.0111571 -0.01712328 2.59933433] [-0.01128543 0.99990881 -0.00741647 -0.5330338 ] [ 0.01703898 0.00760816 0.99982588 -0.85303641] [ 0. 0. 0. 1. ]] SLAMing on 49.916296757 meters Centerline goodness [0,1] 0.8165100220581183 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.99973869 0.01513279 -0.01713339 2.59877477] [-0.01519442 0.99987853 -0.00347289 -0.53176109] [ 0.01707875 0.00373231 0.99984718 -0.85174752] [ 0. 0. 0. 1. ]] SLAMing on 49.946296757 meters Centerline goodness [0,1] 0.8163783602472567 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.99973548 0.01537705 -0.0171034 2.59819189] [-0.0154392 0.99987466 -0.00350747 -0.53085451] [ 0.01704732 0.0037706 0.99984757 -0.85103242] [ 0. 0. 0. 1. ]] SLAMing on 49.976296757 meters Centerline goodness [0,1] 0.8163553301920639 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.999728 0.01632232 -0.01665861 2.59600104] [-0.01637507 0.99986131 -0.00303541 -0.53065007] [ 0.01660676 0.00330737 0.99985663 -0.8493946 ] [ 0. 0. 0. 1. ]] SLAMing on 50.006296757 meters Centerline goodness [0,1] 0.8188029711456052 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.9997273 0.01625392 -0.01676698 2.59646718] [-0.01631749 0.99986016 -0.00366147 -0.52878881] [ 0.01670512 0.00393406 0.99985272 -0.84993143] [ 0. 0. 0. 1. ]] SLAMing on 50.036296757 meters Centerline goodness [0,1] 0.8153362395483457 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.53, Z:-0.85 [[ 0.9997239 0.01661609 -0.01661394 2.5961486 ] [-0.01668485 0.99985276 -0.00400855 -0.52610437] [ 0.01654489 0.00428464 0.99985394 -0.85018217] [ 0. 0. 0. 1. ]] SLAMing on 50.066296757 meters Centerline goodness [0,1] 0.8096510308303386 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.52, Z:-0.85 [[ 9.99651262e-01 2.05915146e-02 -1.65331341e-02 2.59660971e+00] [-2.06152425e-02 9.99786682e-01 -1.26600517e-03 -5.21221154e-01] [ 1.65035383e-02 1.60639823e-03 9.99862517e-01 -8.51183991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.096296757000005 meters Centerline goodness [0,1] 0.7913288685230877 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.52, Z:-0.85 [[ 9.99566945e-01 2.43004682e-02 -1.65954870e-02 2.59731117e+00] [-2.42795764e-02 9.99704143e-01 1.45923510e-03 -5.17318460e-01] [ 1.66260372e-02 -1.05567178e-03 9.99861221e-01 -8.51927924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126296757 meters Centerline goodness [0,1] 0.7808219178082192 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.51, Z:-0.85 [[ 9.99569128e-01 2.42397690e-02 -1.65527312e-02 2.59731724e+00] [-2.42312439e-02 9.99706124e-01 7.15420561e-04 -5.14850262e-01] [ 1.65652084e-02 -3.14019039e-04 9.99862738e-01 -8.52248646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.156296757 meters Centerline goodness [0,1] 0.7571215092929859 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.51, Z:-0.85 [[ 9.99573796e-01 2.39213718e-02 -1.67330309e-02 2.59786047e+00] [-2.39268592e-02 9.99713704e-01 -1.27787901e-04 -5.12649380e-01] [ 1.67251834e-02 5.28102312e-04 9.99859985e-01 -8.52641554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.186296757 meters Centerline goodness [0,1] 0.7556507367489932 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.51, Z:-0.85 [[ 9.99576776e-01 2.38825133e-02 -1.66100452e-02 2.59719260e+00] [-2.38980741e-02 9.99714127e-01 -7.38946779e-04 -5.10607449e-01] [ 1.65876489e-02 1.13558213e-03 9.99861771e-01 -8.52171172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.216296757 meters Centerline goodness [0,1] 0.772669220945083 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.51, Z:-0.85 [[ 9.99589825e-01 2.33450011e-02 -1.65889320e-02 2.59797618e+00] [-2.33801970e-02 9.99724781e-01 -1.93086321e-03 -5.06941672e-01] [ 1.65392904e-02 2.31792371e-03 9.99860530e-01 -8.53423885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.246296757 meters Centerline goodness [0,1] 0.8037307380373073 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.50, Z:-0.85 [[ 0.99959752 0.02295732 -0.01666625 2.5986912 ] [-0.02300773 0.99973126 -0.00283933 -0.50389444] [ 0.01659658 0.00322164 0.99985708 -0.85431865] [ 0. 0. 0. 1. ]] SLAMing on 50.276296757000004 meters Centerline goodness [0,1] 0.8091337056352979 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.50, Z:-0.86 [[ 0.99960628 0.02262277 -0.0165978 2.59903557] [-0.02268684 0.99973584 -0.00368166 -0.50099703] [ 0.01651013 0.00405676 0.99985547 -0.85503278] [ 0. 0. 0. 1. ]] SLAMing on 50.306296757 meters Centerline goodness [0,1] 0.8091337056352979 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.50, Z:-0.86 [[ 0.99960628 0.02262277 -0.0165978 2.59903557] [-0.02268684 0.99973584 -0.00368166 -0.50099703] [ 0.01651013 0.00405676 0.99985547 -0.85503278] [ 0. 0. 0. 1. ]] SLAMing on 50.336296757 meters Centerline goodness [0,1] 0.7951056985294118 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.50, Z:-0.85 [[ 0.99961057 0.0226552 -0.01629277 2.59798523] [-0.0227257 0.9997331 -0.00415531 -0.49784178] [ 0.01619429 0.00452395 0.99985863 -0.8544325 ] [ 0. 0. 0. 1. ]] SLAMing on 50.366296757 meters Centerline goodness [0,1] 0.8040093689721687 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.50, Z:-0.85 [[ 0.99961228 0.02247957 -0.01643058 2.59814258] [-0.02255582 0.99973559 -0.00447009 -0.49696421] [ 0.01632575 0.00483896 0.99985502 -0.85425705] [ 0. 0. 0. 1. ]] SLAMing on 50.396296757 meters Centerline goodness [0,1] 0.8040290530354941 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.50, Z:-0.85 [[ 0.99962568 0.02194133 -0.01634246 2.59809116] [-0.02202855 0.99974394 -0.00517594 -0.49508229] [ 0.01622471 0.00553401 0.99985306 -0.85422317] [ 0. 0. 0. 1. ]] SLAMing on 50.426296757 meters Centerline goodness [0,1] 0.7992290321844848 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.49, Z:-0.85 [[ 0.99963097 0.02165099 -0.01640616 2.59838444] [-0.02174557 0.99974781 -0.00560853 -0.49377899] [ 0.01628059 0.00596322 0.99984968 -0.85436842] [ 0. 0. 0. 1. ]] SLAMing on 50.456296757000004 meters Centerline goodness [0,1] 0.7983669198926443 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.49, Z:-0.85 [[ 0.99963577 0.02160664 -0.01617006 2.59739929] [-0.02170546 0.99974664 -0.005961 -0.49116782] [ 0.01603717 0.0063098 0.99985149 -0.85355575] [ 0. 0. 0. 1. ]] SLAMing on 50.486296757 meters Centerline goodness [0,1] 0.8177070324030973 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.49, Z:-0.85 [[ 0.99963929 0.02144882 -0.01616279 2.59735611] [-0.02155336 0.99974771 -0.00632143 -0.48951721] [ 0.01602312 0.00666751 0.99984939 -0.85346122] [ 0. 0. 0. 1. ]] SLAMing on 50.516296757 meters Centerline goodness [0,1] 0.8209262358102302 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.49, Z:-0.85 [[ 0.99964498 0.02114798 -0.01620752 2.59733362] [-0.02126275 0.99974982 -0.006942 -0.48678553] [ 0.01605666 0.00728415 0.99984455 -0.85327255] [ 0. 0. 0. 1. ]] SLAMing on 50.546296757 meters Centerline goodness [0,1] 0.8208476414241822 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.49, Z:-0.85 [[ 0.99964937 0.02075408 -0.01644401 2.59825967] [-0.02087899 0.99975417 -0.00746121 -0.48558239] [ 0.01628512 0.00780193 0.99983695 -0.85386846] [ 0. 0. 0. 1. ]] SLAMing on 50.576296757 meters Centerline goodness [0,1] 0.8230160340978283 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99966214 0.0199143 -0.01670415 2.59985683] [-0.02005873 0.99976247 -0.00852367 -0.48316535] [ 0.01653044 0.00885585 0.99982414 -0.85524173] [ 0. 0. 0. 1. ]] SLAMing on 50.606296757 meters Centerline goodness [0,1] 0.8224610739313639 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.9996676 0.01946162 -0.01690934 2.60094447] [-0.01961617 0.99976687 -0.00902306 -0.48240277] [ 0.01672979 0.00935176 0.99981631 -0.8561192 ] [ 0. 0. 0. 1. ]] SLAMing on 50.636296757000004 meters Centerline goodness [0,1] 0.8230654828969309 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99966964 0.01911305 -0.01718455 2.60188862] [-0.01927631 0.99977014 -0.0093854 -0.48193748] [ 0.01700122 0.00971355 0.99980828 -0.85663635] [ 0. 0. 0. 1. ]] SLAMing on 50.666296757 meters Centerline goodness [0,1] 0.8250625098551574 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99967655 0.01864535 -0.0172958 2.6027838 ] [-0.01881858 0.99977382 -0.00990781 -0.4810012 ] [ 0.01710715 0.01023009 0.99980133 -0.85748808] [ 0. 0. 0. 1. ]] SLAMing on 50.696296757 meters Centerline goodness [0,1] 0.8214742798122909 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.9996763 0.01869393 -0.01725768 2.60286872] [-0.01886803 0.99977216 -0.00998083 -0.4802408 ] [ 0.01706717 0.01030321 0.99980126 -0.85767789] [ 0. 0. 0. 1. ]] SLAMing on 50.726296757 meters Centerline goodness [0,1] 0.8214485866080836 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99967595 0.01881467 -0.01714632 2.60264842] [-0.01899172 0.99976738 -0.01022241 -0.47782853] [ 0.01695 0.01054473 0.99980073 -0.85769892] [ 0. 0. 0. 1. ]] SLAMing on 50.756296757 meters Centerline goodness [0,1] 0.8229112988147783 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99967311 0.01886937 -0.01725177 2.60296178] [-0.01904848 0.99976574 -0.0102776 -0.47723904] [ 0.0170538 0.01060286 0.99979835 -0.85786755] [ 0. 0. 0. 1. ]] SLAMing on 50.786296757 meters Centerline goodness [0,1] 0.82028373888839 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99967011 0.01901115 -0.0172698 2.60281972] [-0.01918922 0.99976379 -0.01020461 -0.47701027] [ 0.01707172 0.01053263 0.99979879 -0.8576152 ] [ 0. 0. 0. 1. ]] SLAMing on 50.816296757 meters Centerline goodness [0,1] 0.8206877974319835 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.9996648 0.0192414 -0.01732229 2.60261196] [-0.01941411 0.99976292 -0.00985831 -0.47774357] [ 0.0171285 0.0101913 0.99980136 -0.85710837] [ 0. 0. 0. 1. ]] SLAMing on 50.846296757000005 meters Centerline goodness [0,1] 0.8182821616020544 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99965706 0.01951871 -0.01745784 2.60250135] [-0.01968395 0.99976259 -0.0093442 -0.47912423] [ 0.01727131 0.00968463 0.99980394 -0.85652782] [ 0. 0. 0. 1. ]] SLAMing on 50.876296757 meters Centerline goodness [0,1] 0.8151041080472707 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99965203 0.01969424 -0.01754892 2.60265636] [-0.01985348 0.99976287 -0.00894643 -0.48049641] [ 0.01736856 0.00929172 0.99980598 -0.85641574] [ 0. 0. 0. 1. ]] SLAMing on 50.906296757 meters Centerline goodness [0,1] 0.8178044488562017 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99957529 0.0231272 -0.01773046 2.60435669] [-0.02322142 0.9997172 -0.00512664 -0.48098433] [ 0.01760688 0.00553619 0.99982966 -0.85766644] [ 0. 0. 0. 1. ]] SLAMing on 50.936296757 meters Centerline goodness [0,1] 0.8160603671584638 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99957444 0.02318544 -0.01770229 2.60468921] [-0.02328219 0.99971499 -0.00527928 -0.48019131] [ 0.01757485 0.00568918 0.99982936 -0.85822099] [ 0. 0. 0. 1. ]] SLAMing on 50.966296757 meters Centerline goodness [0,1] 0.8076119436518456 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99957085 0.02331116 -0.0177399 2.60488481] [-0.02340599 0.99971274 -0.00515664 -0.48037777] [ 0.01761459 0.00556965 0.99982934 -0.85834646] [ 0. 0. 0. 1. ]] SLAMing on 50.996296757 meters Centerline goodness [0,1] 0.8126423561779762 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99956267 0.02369114 -0.0176973 2.60433901] [-0.02377257 0.99970769 -0.00440481 -0.48294965] [ 0.01758777 0.00482359 0.99983369 -0.85757052] [ 0. 0. 0. 1. ]] SLAMing on 51.026296757000004 meters Centerline goodness [0,1] 0.8112119642334287 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.48, Z:-0.86 [[ 0.99956068 0.02370207 -0.01779472 2.60451838] [-0.02378115 0.99970817 -0.00424562 -0.48385746] [ 0.01768889 0.00466694 0.99983265 -0.85747097] [ 0. 0. 0. 1. ]] SLAMing on 51.056296757 meters Centerline goodness [0,1] 0.8083023656303816 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.49, Z:-0.86 [[ 0.99956112 0.02362243 -0.01787589 2.60495642] [-0.02369684 0.99971134 -0.00396225 -0.48566967] [ 0.01777713 0.00438412 0.99983236 -0.85769871] [ 0. 0. 0. 1. ]] SLAMing on 51.086296757 meters Centerline goodness [0,1] 0.8127790747750403 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.49, Z:-0.86 [[ 0.99956134 0.02353638 -0.01797705 2.60547346] [-0.02360892 0.99971392 -0.00383368 -0.48669458] [ 0.01788168 0.00425642 0.99983105 -0.85804966] [ 0. 0. 0. 1. ]] SLAMing on 51.116296757 meters Centerline goodness [0,1] 0.8050608758858804 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.49, Z:-0.86 [[ 0.99956365 0.02335066 -0.01809017 2.60627174] [-0.02341943 0.99971925 -0.00359919 -0.48806654] [ 0.01800104 0.00402128 0.99982988 -0.85863889] [ 0. 0. 0. 1. ]] SLAMing on 51.146296757 meters Centerline goodness [0,1] 0.809634174051352 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.49, Z:-0.86 [[ 0.999563 0.02331154 -0.01817655 2.60675925] [-0.02337773 0.99972079 -0.00343758 -0.48906498] [ 0.01809134 0.003861 0.99982888 -0.85900205] [ 0. 0. 0. 1. ]] SLAMing on 51.176296757 meters Centerline goodness [0,1] 0.807364411391257 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.49, Z:-0.86 [[ 0.999563 0.0230653 -0.01848764 2.60792079] [-0.02312941 0.99972716 -0.00326114 -0.49147363] [ 0.01840738 0.00368732 0.99982377 -0.85960389] [ 0. 0. 0. 1. ]] SLAMing on 51.206296757000004 meters Centerline goodness [0,1] 0.8067245955940741 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.49, Z:-0.86 [[ 0.99955962 0.02315562 -0.01855773 2.60812479] [-0.02321643 0.99972575 -0.00306814 -0.49216661] [ 0.01848159 0.00349764 0.99982308 -0.85967783] [ 0. 0. 0. 1. ]] SLAMing on 51.236296757 meters Centerline goodness [0,1] 0.802784907889058 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.49, Z:-0.86 [[ 9.99553330e-01 2.34040398e-02 -1.85846827e-02 2.60791580e+00] [-2.34518562e-02 9.99722184e-01 -2.35910140e-03 -4.94837558e-01] [ 1.85243071e-02 2.79389296e-03 9.99824507e-01 -8.59154023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.266296757 meters Centerline goodness [0,1] 0.8044872526419099 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99546449e-01 2.36423624e-02 -1.86530181e-02 2.60778089e+00] [-2.36799598e-02 9.99717975e-01 -1.79730285e-03 -4.96644742e-01] [ 1.86052650e-02 2.23819040e-03 9.99824402e-01 -8.58699882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.296296757 meters Centerline goodness [0,1] 0.8044322595384967 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99545757e-01 2.35737641e-02 -1.87764993e-02 2.60830450e+00] [-2.36099925e-02 9.99719783e-01 -1.71009127e-03 -4.97461929e-01] [ 1.87309245e-02 2.15262748e-03 9.99822244e-01 -8.59005553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326296757 meters Centerline goodness [0,1] 0.8067132803217256 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99548079e-01 2.33990669e-02 -1.88711631e-02 2.60960731e+00] [-2.34401485e-02 9.99723323e-01 -1.95867653e-03 -4.97256883e-01] [ 1.88201107e-02 2.40013423e-03 9.99820005e-01 -8.60566352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.356296757 meters Centerline goodness [0,1] 0.8061640696608616 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99543849e-01 2.33121877e-02 -1.91998687e-02 2.61103165e+00] [-2.33507091e-02 9.99725742e-01 -1.78456572e-03 -4.99176961e-01] [ 1.91530008e-02 2.23208224e-03 9.99814073e-01 -8.61605913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386296757000004 meters Centerline goodness [0,1] 0.8027761180309785 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99537186e-01 2.32794818e-02 -1.95826552e-02 2.61204958e+00] [-2.33130277e-02 9.99727109e-01 -1.48647454e-03 -5.01501277e-01] [ 1.95427069e-02 1.94231756e-03 9.99807136e-01 -8.61898863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.416296757 meters Centerline goodness [0,1] 0.8045069514777645 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99533557e-01 2.31743254e-02 -1.98901651e-02 2.61300757e+00] [-2.32024927e-02 9.99730082e-01 -1.18650658e-03 -5.03761191e-01] [ 1.98572999e-02 1.64745456e-03 9.99801467e-01 -8.62282273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.446296757 meters Centerline goodness [0,1] 0.8068517152342309 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.50, Z:-0.86 [[ 9.99536110e-01 2.28343479e-02 -2.01533321e-02 2.61463782e+00] [-2.28629728e-02 9.99737899e-01 -1.19106758e-03 -5.04501805e-01] [ 2.01208526e-02 1.65128014e-03 9.99796192e-01 -8.63690763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.476296757 meters Centerline goodness [0,1] 0.8078864280611187 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.50, Z:-0.86 [[ 9.99539157e-01 2.25719044e-02 -2.02973493e-02 2.61568919e+00] [-2.26051688e-02 9.99743475e-01 -1.41088497e-03 -5.04177332e-01] [ 2.02602962e-02 1.86905978e-03 9.99792992e-01 -8.64682371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.506296757 meters Centerline goodness [0,1] 0.8037331233644427 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.51, Z:-0.87 [[ 9.99541025e-01 2.19495482e-02 -2.08795832e-02 2.61763513e+00] [-2.19796564e-02 9.99757682e-01 -1.21357163e-03 -5.06933922e-01] [ 2.08478864e-02 1.67194070e-03 9.99781261e-01 -8.65393219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.536296757 meters Centerline goodness [0,1] 0.8066933531930739 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.51, Z:-0.87 [[ 0.99961323 0.01851584 -0.02074961 2.61684729] [-0.0186185 0.9998153 -0.00476528 -0.50762702] [ 0.02065754 0.00514976 0.99977335 -0.86511622] [ 0. 0. 0. 1. ]] SLAMing on 51.566296757 meters Centerline goodness [0,1] 0.8072893576311921 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.51, Z:-0.86 [[ 0.99960556 0.01856788 -0.02107044 2.61732357] [-0.0186569 0.9998178 -0.00403622 -0.51099802] [ 0.02099166 0.00442774 0.99976985 -0.86461948] [ 0. 0. 0. 1. ]] SLAMing on 51.596296757000005 meters Centerline goodness [0,1] 0.8094290130685278 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.51, Z:-0.86 [[ 0.99960262 0.01870267 -0.02109067 2.61719646] [-0.01877161 0.99981907 -0.00307558 -0.5144468 ] [ 0.02102933 0.00347027 0.99977284 -0.86398203] [ 0. 0. 0. 1. ]] SLAMing on 51.626296757 meters Centerline goodness [0,1] 0.8051224684798061 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.51, Z:-0.86 [[ 0.9995975 0.01887069 -0.02118357 2.61727939] [-0.01893347 0.99981692 -0.00276705 -0.51403816] [ 0.02112748 0.00316702 0.99977177 -0.86373784] [ 0. 0. 0. 1. ]] SLAMing on 51.656296757 meters Centerline goodness [0,1] 0.802788937681024 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.51, Z:-0.86 [[ 0.99959441 0.01898291 -0.02122884 2.61732756] [-0.01904271 0.99981524 -0.00261815 -0.514343 ] [ 0.02117521 0.00302134 0.99977121 -0.86365787] [ 0. 0. 0. 1. ]] SLAMing on 51.686296757 meters Centerline goodness [0,1] 0.8033551228884047 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.86 [[ 9.99588012e-01 1.91910264e-02 -2.13426963e-02 2.61739772e+00] [-1.92410509e-02 9.99812582e-01 -2.14097438e-03 -5.15719059e-01] [ 2.12976088e-02 2.55074823e-03 9.99769926e-01 -8.63336229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.716296757 meters Centerline goodness [0,1] 0.8068259225330608 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.86 [[ 9.99581747e-01 1.88832509e-02 -2.19032890e-02 2.61897038e+00] [-1.89281252e-02 9.99819148e-01 -1.84322084e-03 -5.19600552e-01] [ 2.18645218e-02 2.25703810e-03 9.99758395e-01 -8.63747219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.746296757 meters Centerline goodness [0,1] 0.8075374873472847 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.86 [[ 9.99576423e-01 1.89303215e-02 -2.21046940e-02 2.61982734e+00] [-1.89678409e-02 9.99818986e-01 -1.48890069e-03 -5.22139138e-01] [ 2.20725074e-02 1.90754835e-03 9.99754553e-01 -8.64310245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.776296757000004 meters Centerline goodness [0,1] 0.8066640016930421 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 9.99574015e-01 1.88143905e-02 -2.23115912e-02 2.62092472e+00] [-1.88583779e-02 9.99820611e-01 -1.76272109e-03 -5.21736598e-01] [ 2.22744242e-02 2.18273062e-03 9.99749511e-01 -8.65329577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806296757 meters Centerline goodness [0,1] 0.8045240339302545 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 9.99572012e-01 1.88904066e-02 -2.23370872e-02 2.62146413e+00] [-1.89368967e-02 9.99818929e-01 -1.87158848e-03 -5.20913714e-01] [ 2.22976876e-02 2.29378257e-03 9.99748744e-01 -8.66079921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.836296757 meters Centerline goodness [0,1] 0.8014142604596346 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 0.99975353 0.02031429 -0.00895626 2.62372492] [-0.02033997 0.99978924 -0.002786 -0.52137404] [ 0.00889777 0.00296749 0.99995601 -0.87341134] [ 0. 0. 0. 1. ]] SLAMing on 51.866296757 meters Centerline goodness [0,1] 0.8019445955856261 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 9.99742286e-01 2.08493014e-02 -8.98149807e-03 2.62300393e+00] [-2.08682387e-02 9.99780194e-01 -2.01993636e-03 -5.23704801e-01] [ 8.93740963e-03 2.20684384e-03 9.99957625e-01 -8.72357893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.896296757 meters Centerline goodness [0,1] 0.7989736035543729 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99978604 0.01863034 -0.00898805 2.62160697] [-0.01867516 0.99981346 -0.00492866 -0.52500125] [ 0.00889455 0.00509546 0.99994746 -0.87144784] [ 0. 0. 0. 1. ]] SLAMing on 51.926296757 meters Centerline goodness [0,1] 0.7960950319864919 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 0.99978459 0.0186376 -0.00913345 2.62248346] [-0.0186846 0.99981249 -0.00508701 -0.52498533] [ 0.00903692 0.00525657 0.99994535 -0.87237296] [ 0. 0. 0. 1. ]] SLAMing on 51.956296757000004 meters Centerline goodness [0,1] 0.7879126629245552 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 0.99977012 0.01937503 -0.00918213 2.62292747] [-0.01942059 0.9997994 -0.00489924 -0.52405113] [ 0.00908537 0.00507643 0.99994584 -0.87329037] [ 0. 0. 0. 1. ]] SLAMing on 51.986296757 meters Centerline goodness [0,1] 0.7744717345212855 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.52, Z:-0.87 [[ 0.99976572 0.01953841 -0.00931406 2.62342181] [-0.01958428 0.9997964 -0.00485884 -0.52396394] [ 0.00921723 0.00504011 0.99994482 -0.87365586] [ 0. 0. 0. 1. ]] SLAMing on 52.016296757 meters Centerline goodness [0,1] 0.7606296579399962 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99976576 0.01919656 -0.00999619 2.62571498] [-0.01924639 0.9998027 -0.00491315 -0.52649859] [ 0.0098999 0.00510439 0.99993797 -0.8749373 ] [ 0. 0. 0. 1. ]] SLAMing on 52.046296757 meters Centerline goodness [0,1] 0.7683121969859807 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.88 [[ 0.99976749 0.01893553 -0.01031522 2.62696733] [-0.01898744 0.99980743 -0.00495714 -0.52792095] [ 0.01021936 0.00515184 0.99993451 -0.87567159] [ 0. 0. 0. 1. ]] SLAMing on 52.076296757 meters Centerline goodness [0,1] 0.7763908189180124 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.88 [[ 0.99976871 0.01889324 -0.01027509 2.62741687] [-0.01894274 0.99980933 -0.00474156 -0.52874573] [ 0.01018355 0.0049351 0.99993597 -0.87627164] [ 0. 0. 0. 1. ]] SLAMing on 52.106296757 meters Centerline goodness [0,1] 0.769711480905064 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.88 [[ 0.99976798 0.01889164 -0.01034845 2.62751636] [-0.01894016 0.99980999 -0.00461079 -0.52897484] [ 0.01025938 0.00480572 0.99993582 -0.87611857] [ 0. 0. 0. 1. ]] SLAMing on 52.136296757000004 meters Centerline goodness [0,1] 0.7875957451917305 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99976124 0.01934629 -0.01015777 2.62552718] [-0.01937604 0.99980824 -0.00283886 -0.53265339] [ 0.01010091 0.003035 0.99994438 -0.87276422] [ 0. 0. 0. 1. ]] SLAMing on 52.166296757 meters Centerline goodness [0,1] 0.7883750571146863 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99981933 0.0162705 -0.00982734 2.6235782 ] [-0.01633099 0.99984799 -0.00610631 -0.53247437] [ 0.00972649 0.0062657 0.99993307 -0.87144932] [ 0. 0. 0. 1. ]] SLAMing on 52.196296757 meters Centerline goodness [0,1] 0.7883750571146863 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99981933 0.0162705 -0.00982734 2.6235782 ] [-0.01633099 0.99984799 -0.00610631 -0.53247437] [ 0.00972649 0.0062657 0.99993307 -0.87144932] [ 0. 0. 0. 1. ]] SLAMing on 52.226296757 meters Centerline goodness [0,1] 0.7976014893977127 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99987459 0.0125937 -0.0096026 2.62254516] [-0.01268688 0.99987242 -0.00970515 -0.53295714] [ 0.00947915 0.00982576 0.9999068 -0.87087296] [ 0. 0. 0. 1. ]] SLAMing on 52.256296757 meters Centerline goodness [0,1] 0.7985788863109049 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99987458 0.01246862 -0.00976511 2.62286351] [-0.01255992 0.99987745 -0.0093449 -0.53411397] [ 0.0096474 0.00946637 0.99990865 -0.87055224] [ 0. 0. 0. 1. ]] SLAMing on 52.286296757 meters Centerline goodness [0,1] 0.8009314284328232 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.54, Z:-0.87 [[ 0.99987967 0.01191215 -0.00993673 2.62362545] [-0.01200296 0.99988628 -0.00912954 -0.53560259] [ 0.00982685 0.00924771 0.99990895 -0.87054957] [ 0. 0. 0. 1. ]] SLAMing on 52.316296757 meters Centerline goodness [0,1] 0.7981945253348864 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.54, Z:-0.87 [[ 0.99987958 0.01167712 -0.01022111 2.62460919] [-0.01177167 0.99988802 -0.00924 -0.53553808] [ 0.01011207 0.00935921 0.99990507 -0.8710253 ] [ 0. 0. 0. 1. ]] SLAMing on 52.346296757000005 meters Centerline goodness [0,1] 0.801535406374116 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99987857 0.01153176 -0.0104813 2.6254143 ] [-0.01163057 0.99988803 -0.00941537 -0.53493552] [ 0.01037155 0.00953613 0.99990074 -0.87137533] [ 0. 0. 0. 1. ]] SLAMing on 52.376296757 meters Centerline goodness [0,1] 0.7972246439988375 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99987563 0.01160218 -0.01068223 2.62620176] [-0.01170885 0.99988167 -0.0099776 -0.53248488] [ 0.01056521 0.01010143 0.99989316 -0.87228027] [ 0. 0. 0. 1. ]] SLAMing on 52.406296757 meters Centerline goodness [0,1] 0.7873062838018092 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.9998686 0.01222806 -0.01064247 2.62598054] [-0.01233307 0.99987535 -0.00985842 -0.53194828] [ 0.01052059 0.00998838 0.99989477 -0.8723953 ] [ 0. 0. 0. 1. ]] SLAMing on 52.436296757 meters Centerline goodness [0,1] 0.7780097594134641 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99986438 0.01269553 -0.01048984 2.62540765] [-0.01279698 0.99987144 -0.00966141 -0.53166668] [ 0.01036583 0.00979434 0.99989831 -0.87218225] [ 0. 0. 0. 1. ]] SLAMing on 52.466296757 meters Centerline goodness [0,1] 0.7868534116561885 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99986159 0.01304657 -0.01032381 2.62504714] [-0.01314575 0.99986753 -0.00959743 -0.53074625] [ 0.01019723 0.00973182 0.99990065 -0.87226363] [ 0. 0. 0. 1. ]] SLAMing on 52.496296757 meters Centerline goodness [0,1] 0.7844130045060322 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99985718 0.01333993 -0.01037653 2.625178 ] [-0.01344078 0.99986251 -0.00971065 -0.52896062] [ 0.01024556 0.00984873 0.99989901 -0.87253854] [ 0. 0. 0. 1. ]] SLAMing on 52.526296757000004 meters Centerline goodness [0,1] 0.7820528342090607 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99985373 0.01350842 -0.0104898 2.6253106 ] [-0.01360775 0.99986269 -0.00945636 -0.52919411] [ 0.01036062 0.00959772 0.99990027 -0.87231671] [ 0. 0. 0. 1. ]] SLAMing on 52.556296757 meters Centerline goodness [0,1] 0.7778801396431342 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984906 0.01363408 -0.01076908 2.62531026] [-0.01372759 0.99986829 -0.00865729 -0.53158104] [ 0.01064962 0.00880382 0.99990453 -0.87109198] [ 0. 0. 0. 1. ]] SLAMing on 52.586296757 meters Centerline goodness [0,1] 0.7800388066941547 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984517 0.01361471 -0.01114809 2.62596974] [-0.01370637 0.99987254 -0.00818747 -0.53336254] [ 0.0110352 0.008339 0.99990434 -0.87072765] [ 0. 0. 0. 1. ]] SLAMing on 52.616296757 meters Centerline goodness [0,1] 0.7836085478387567 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984831 0.01294239 -0.01165587 2.62803623] [-0.01304073 0.99987968 -0.00840075 -0.53440347] [ 0.01154575 0.00855148 0.99989678 -0.87188553] [ 0. 0. 0. 1. ]] SLAMing on 52.646296757 meters Centerline goodness [0,1] 0.783577555830964 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.9998487 0.01281087 -0.01176672 2.62863031] [-0.01291016 0.99988136 -0.00840173 -0.53421427] [ 0.01165769 0.00855237 0.99989547 -0.87226059] [ 0. 0. 0. 1. ]] SLAMing on 52.676296757 meters Centerline goodness [0,1] 0.786696133670099 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984842 0.01266927 -0.01194252 2.6292203 ] [-0.01277092 0.99988254 -0.00847423 -0.5336794 ] [ 0.01183375 0.00862546 0.99989278 -0.8724783 ] [ 0. 0. 0. 1. ]] SLAMing on 52.706296757000004 meters Centerline goodness [0,1] 0.7835044059262128 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984545 0.0129891 -0.01184771 2.62861543] [-0.01308487 0.99988205 -0.00804201 -0.53377133] [ 0.01174185 0.00819579 0.99989747 -0.87173731] [ 0. 0. 0. 1. ]] SLAMing on 52.736296757 meters Centerline goodness [0,1] 0.7937760139386313 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984211 0.01337182 -0.01170286 2.6278709 ] [-0.01346155 0.99988034 -0.00762181 -0.53432156] [ 0.01159954 0.00777815 0.99990247 -0.87108597] [ 0. 0. 0. 1. ]] SLAMing on 52.766296757 meters Centerline goodness [0,1] 0.7693479364618844 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.54, Z:-0.87 [[ 0.99983682 0.01400842 -0.01140593 2.62623786] [-0.01408798 0.99987678 -0.00692476 -0.53502171] [ 0.01130752 0.00708431 0.99991097 -0.86950513] [ 0. 0. 0. 1. ]] SLAMing on 52.796296757 meters Centerline goodness [0,1] 0.7675688680380127 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.9998351 0.01404808 -0.01150767 2.62606228] [-0.01412844 0.99987616 -0.00693169 -0.53427969] [ 0.01140887 0.00709313 0.99990976 -0.86891257] [ 0. 0. 0. 1. ]] SLAMing on 52.826296757 meters Centerline goodness [0,1] 0.796965543773594 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99982868 0.01483226 -0.01107349 2.62405685] [-0.01490588 0.99986715 -0.00659562 -0.53113365] [ 0.01097419 0.00675955 0.99991693 -0.8674009 ] [ 0. 0. 0. 1. ]] SLAMing on 52.856296757 meters Centerline goodness [0,1] 0.7954856197078366 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.53, Z:-0.87 [[ 0.99982872 0.01477557 -0.01114489 2.62418791] [-0.01485341 0.99986564 -0.00693356 -0.52953853] [ 0.01104095 0.00709791 0.99991385 -0.86740963] [ 0. 0. 0. 1. ]] SLAMing on 52.886296757000004 meters Centerline goodness [0,1] 0.7950988369310296 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99983116 0.01437272 -0.01144923 2.62521693] [-0.01445888 0.9998675 -0.00747869 -0.5285551 ] [ 0.01134023 0.00764298 0.99990649 -0.86787882] [ 0. 0. 0. 1. ]] SLAMing on 52.916296757000005 meters Centerline goodness [0,1] 0.7884123760602079 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99983144 0.01416563 -0.01167976 2.6260513 ] [-0.01425635 0.99986856 -0.00772141 -0.52833177] [ 0.01156885 0.00788661 0.99990198 -0.86833452] [ 0. 0. 0. 1. ]] SLAMing on 52.946296757 meters Centerline goodness [0,1] 0.7898616196680774 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99983371 0.01390434 -0.01179895 2.62687736] [-0.01400506 0.99986582 -0.00849741 -0.52590761] [ 0.01167922 0.00866125 0.99989428 -0.86928204] [ 0. 0. 0. 1. ]] SLAMing on 52.976296757 meters Centerline goodness [0,1] 0.7899782238212459 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99983562 0.01359378 -0.0119978 2.62780717] [-0.01370353 0.99986457 -0.00911349 -0.52378552] [ 0.01187229 0.0092764 0.99988649 -0.87000506] [ 0. 0. 0. 1. ]] SLAMing on 53.006296757 meters Centerline goodness [0,1] 0.7946886273020695 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99983739 0.01326131 -0.01222002 2.62870954] [-0.01337909 0.99986434 -0.00960764 -0.52203192] [ 0.01209095 0.00976957 0.99987917 -0.87059346] [ 0. 0. 0. 1. ]] SLAMing on 53.036296757 meters Centerline goodness [0,1] 0.7977062154925239 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99984337 0.01250544 -0.01252382 2.63048942] [-0.01263397 0.99986778 -0.01023711 -0.52108629] [ 0.01239414 0.01039374 0.99986917 -0.87196131] [ 0. 0. 0. 1. ]] SLAMing on 53.066296757 meters Centerline goodness [0,1] 0.795484727755644 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99984228 0.01231302 -0.01279871 2.63119991] [-0.01244223 0.99987193 -0.01006585 -0.52202849] [ 0.01267313 0.0102235 0.99986743 -0.87198476] [ 0. 0. 0. 1. ]] SLAMing on 53.096296757000005 meters Centerline goodness [0,1] 0.8055304794032404 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99984673 0.01161051 -0.013104 2.63190232] [-0.01173842 0.99988379 -0.00972656 -0.52493976] [ 0.01298954 0.00987889 0.99986683 -0.87133964] [ 0. 0. 0. 1. ]] SLAMing on 53.126296757 meters Centerline goodness [0,1] 0.8068475912339436 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99984334 0.01151681 -0.0134407 2.63253344] [-0.01164356 0.99988812 -0.00939006 -0.52596196] [ 0.01333106 0.00954508 0.99986558 -0.87106343] [ 0. 0. 0. 1. ]] SLAMing on 53.156296757 meters Centerline goodness [0,1] 0.8095856144987729 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.9998452 0.01090135 -0.01381041 2.63415587] [-0.0110404 0.99988873 -0.01003218 -0.52371798] [ 0.0136995 0.0101831 0.9998543 -0.87213668] [ 0. 0. 0. 1. ]] SLAMing on 53.186296757 meters Centerline goodness [0,1] 0.8074262918112504 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99984573 0.01065333 -0.01396497 2.63488671] [-0.0107991 0.99988755 -0.01040489 -0.52223231] [ 0.01385255 0.0105541 0.99984835 -0.87266497] [ 0. 0. 0. 1. ]] SLAMing on 53.216296757 meters Centerline goodness [0,1] 0.8040470097621079 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.52, Z:-0.87 [[ 0.99983991 0.01103177 -0.01408761 2.63421969] [-0.01116765 0.99989153 -0.00960307 -0.52394133] [ 0.01398015 0.00975886 0.99985465 -0.87113873] [ 0. 0. 0. 1. ]] SLAMing on 53.246296757 meters Centerline goodness [0,1] 0.8038550098511643 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99983302 0.01133372 -0.01433468 2.6339598 ] [-0.01146097 0.99989536 -0.00882645 -0.52616362] [ 0.01423315 0.00898926 0.9998583 -0.86985287] [ 0. 0. 0. 1. ]] SLAMing on 53.276296757000004 meters Centerline goodness [0,1] 0.8035803556550098 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99982645 0.0121546 -0.0141188 2.63200631] [-0.01226072 0.99989705 -0.00745453 -0.52851505] [ 0.01402674 0.00762634 0.99987254 -0.86729409] [ 0. 0. 0. 1. ]] SLAMing on 53.306296757 meters Centerline goodness [0,1] 0.8088515379487669 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99982645 0.01215955 -0.01411449 2.63219624] [-0.01226756 0.99989594 -0.00759097 -0.52733775] [ 0.01402072 0.0077628 0.99987157 -0.86751792] [ 0. 0. 0. 1. ]] SLAMing on 53.336296757 meters Centerline goodness [0,1] 0.799653387778358 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.53, Z:-0.87 [[ 0.99978236 0.01494066 -0.0145607 2.63465855] [-0.0150055 0.99987793 -0.00435429 -0.52631823] [ 0.01449387 0.00457183 0.99988451 -0.86883637] [ 0. 0. 0. 1. ]] SLAMing on 53.366296757 meters Centerline goodness [0,1] 0.7979291837849392 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.53, Z:-0.87 [[ 0.99978099 0.01494266 -0.01465252 2.63519666] [-0.01501225 0.99987649 -0.00465065 -0.5252046 ] [ 0.01458121 0.0048696 0.99988183 -0.86942766] [ 0. 0. 0. 1. ]] SLAMing on 53.396296757 meters Centerline goodness [0,1] 0.7974419211694075 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978072 0.01476394 -0.01485082 2.63610444] [-0.01484215 0.99987648 -0.00516996 -0.5240601 ] [ 0.01477266 0.00538924 0.99987635 -0.87023484] [ 0. 0. 0. 1. ]] SLAMing on 53.426296757 meters Centerline goodness [0,1] 0.7886265585739345 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978323 0.01444305 -0.01499628 2.63721518] [-0.01453316 0.99987688 -0.00591724 -0.52303169] [ 0.01490897 0.0061339 0.99987004 -0.87146148] [ 0. 0. 0. 1. ]] SLAMing on 53.456296757000004 meters Centerline goodness [0,1] 0.7898468250580927 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978899 0.01412875 -0.01491163 2.63762214] [-0.01422864 0.99987689 -0.00661411 -0.52157267] [ 0.01481634 0.00682488 0.99986694 -0.87225379] [ 0. 0. 0. 1. ]] SLAMing on 53.486296757 meters Centerline goodness [0,1] 0.7827425351045441 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99979133 0.0140246 -0.01485256 2.63756467] [-0.01412872 0.99987618 -0.00692816 -0.52039756] [ 0.01475356 0.00713656 0.99986569 -0.87226139] [ 0. 0. 0. 1. ]] SLAMing on 53.516296757 meters Centerline goodness [0,1] 0.7831533579615422 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978909 0.01422758 -0.01481056 2.63707345] [-0.01433065 0.99987366 -0.00687655 -0.5195727 ] [ 0.01471085 0.00708734 0.99986667 -0.87167155] [ 0. 0. 0. 1. ]] SLAMing on 53.546296757 meters Centerline goodness [0,1] 0.7843903131879838 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978642 0.01451887 -0.0147074 2.63609634] [-0.01462033 0.99986989 -0.00681495 -0.51844587] [ 0.01460654 0.00702852 0.99986862 -0.87051941] [ 0. 0. 0. 1. ]] SLAMing on 53.576296757 meters Centerline goodness [0,1] 0.781906224164403 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978495 0.01433591 -0.01498457 2.63703791] [-0.01444145 0.9998715 -0.00695901 -0.51816884] [ 0.01488288 0.00717391 0.99986351 -0.87093822] [ 0. 0. 0. 1. ]] SLAMing on 53.606296757 meters Centerline goodness [0,1] 0.7891969973241137 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978362 0.0142622 -0.01514269 2.63744764] [-0.01436844 0.99987275 -0.00693076 -0.51831134] [ 0.01504192 0.00714684 0.99986132 -0.87097027] [ 0. 0. 0. 1. ]] SLAMing on 53.636296757000004 meters Centerline goodness [0,1] 0.7856180412736685 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978481 0.01424919 -0.01507651 2.63763454] [-0.01435076 0.9998749 -0.00665061 -0.51889321] [ 0.01497986 0.00686554 0.99986422 -0.87111911] [ 0. 0. 0. 1. ]] SLAMing on 53.666296757000005 meters Centerline goodness [0,1] 0.7884173904811492 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978357 0.01412699 -0.01527243 2.63828549] [-0.01423154 0.99987588 -0.00675858 -0.51854711] [ 0.01517506 0.00697446 0.99986053 -0.87144214] [ 0. 0. 0. 1. ]] SLAMing on 53.696296757 meters Centerline goodness [0,1] 0.7874199872451992 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978516 0.01382067 -0.01544771 2.63934429] [-0.01392956 0.99987873 -0.00696374 -0.51840017] [ 0.01534959 0.00717742 0.99985643 -0.8723174 ] [ 0. 0. 0. 1. ]] SLAMing on 53.726296757 meters Centerline goodness [0,1] 0.7894986932763126 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99979135 0.01277753 -0.01593684 2.64133447] [-0.01289166 0.99989184 -0.00707913 -0.52131422] [ 0.01584466 0.0072831 0.99984794 -0.87309247] [ 0. 0. 0. 1. ]] SLAMing on 53.756296757 meters Centerline goodness [0,1] 0.7923012751757836 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99978966 0.01264505 -0.01614748 2.64228363] [-0.0127555 0.99989582 -0.0067557 -0.52327417] [ 0.01606038 0.00696025 0.9998468 -0.87360386] [ 0. 0. 0. 1. ]] SLAMing on 53.786296757 meters Centerline goodness [0,1] 0.7901255150403697 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.9997878 0.01270286 -0.01621676 2.64257351] [-0.01281547 0.99989435 -0.0068591 -0.52232005] [ 0.01612792 0.00706547 0.99984497 -0.87388182] [ 0. 0. 0. 1. ]] SLAMing on 53.816296757 meters Centerline goodness [0,1] 0.791187648456057 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.9997329 0.01603508 -0.01664374 2.64417983] [-0.01608808 0.99986591 -0.00305553 -0.52298385] [ 0.01659251 0.00332248 0.99985681 -0.87414667] [ 0. 0. 0. 1. ]] SLAMing on 53.846296757000005 meters Centerline goodness [0,1] 0.7765531062124249 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99973036 0.01622369 -0.01661333 2.64415302] [-0.01627547 0.99986309 -0.00298666 -0.52327548] [ 0.0165626 0.00325624 0.99985753 -0.8742675 ] [ 0. 0. 0. 1. ]] SLAMing on 53.876296757 meters Centerline goodness [0,1] 0.7937276413069402 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 0.99972767 0.01633026 -0.01667074 2.64436981] [-0.01638077 0.99986163 -0.00289725 -0.52384089] [ 0.01662112 0.00316954 0.99985684 -0.87441098] [ 0. 0. 0. 1. ]] SLAMing on 53.906296757 meters Centerline goodness [0,1] 0.7838674348840531 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 9.99724019e-01 1.66613538e-02 -1.65615704e-02 2.64425161e+00] [-1.67073594e-02 9.99856928e-01 -2.64337229e-03 -5.24801432e-01] [ 1.65151587e-02 2.91934288e-03 9.99859354e-01 -8.74586935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.936296757 meters Centerline goodness [0,1] 0.7819189602446484 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.87 [[ 9.99721149e-01 1.69681554e-02 -1.64227346e-02 2.64381234e+00] [-1.70106216e-02 9.99852308e-01 -2.44958558e-03 -5.24958993e-01] [ 1.63787441e-02 2.72826344e-03 9.99862137e-01 -8.74437734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966296757 meters Centerline goodness [0,1] 0.7693427521359362 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.88 [[ 9.99717530e-01 1.72094433e-02 -1.63919174e-02 2.64423641e+00] [-1.72544643e-02 9.99847727e-01 -2.60906750e-03 -5.24451563e-01] [ 1.63445207e-02 2.89116427e-03 9.99862239e-01 -8.75425563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.996296757 meters Centerline goodness [0,1] 0.7880970613573275 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.52, Z:-0.88 [[ 9.99713816e-01 1.73187087e-02 -1.65030098e-02 2.64463653e+00] [-1.73627194e-02 9.99846063e-01 -2.52727798e-03 -5.24635596e-01] [ 1.64567002e-02 2.81309185e-03 9.99860622e-01 -8.75692023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026296757000004 meters Centerline goodness [0,1] 0.7749534583989689 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.53, Z:-0.88 [[ 9.99711282e-01 1.75177592e-02 -1.64463221e-02 2.64483892e+00] [-1.75612025e-02 9.99842663e-01 -2.50081544e-03 -5.25079766e-01] [ 1.63999258e-02 2.78891060e-03 9.99861623e-01 -8.76187948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.056296757 meters Centerline goodness [0,1] 0.7851954176292661 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99710454e-01 1.73455178e-02 -1.66775734e-02 2.64572460e+00] [-1.73910333e-02 9.99845415e-01 -2.58798239e-03 -5.25638740e-01] [ 1.66301054e-02 2.87727328e-03 9.99857570e-01 -8.76719645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.086296757 meters Centerline goodness [0,1] 0.7851954176292661 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99710454e-01 1.73455178e-02 -1.66775734e-02 2.64572460e+00] [-1.73910333e-02 9.99845415e-01 -2.58798239e-03 -5.25638740e-01] [ 1.66301054e-02 2.87727328e-03 9.99857570e-01 -8.76719645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.116296757 meters Centerline goodness [0,1] 0.783543277030251 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99710821e-01 1.71567253e-02 -1.68499600e-02 2.64659985e+00] [-1.72032011e-02 9.99848589e-01 -2.61713711e-03 -5.26514568e-01] [ 1.68025073e-02 2.90625354e-03 9.99854604e-01 -8.77370128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.146296757 meters Centerline goodness [0,1] 0.780523986122742 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99714353e-01 1.70002636e-02 -1.67989294e-02 2.64698665e+00] [-1.70415986e-02 9.99852089e-01 -2.32048502e-03 -5.28278630e-01] [ 1.67569958e-02 2.60610279e-03 9.99856195e-01 -8.77659736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.176296757 meters Centerline goodness [0,1] 0.7785033490985043 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99716462e-01 1.70874400e-02 -1.65835861e-02 2.64658613e+00] [-1.71229129e-02 9.99851393e-01 -1.99939957e-03 -5.29022367e-01] [ 1.65469571e-02 2.28279196e-03 9.99860484e-01 -8.77426508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206296757000004 meters Centerline goodness [0,1] 0.7827360234283108 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99718873e-01 1.68159444e-02 -1.67152186e-02 2.64743517e+00] [-1.68539946e-02 9.99855675e-01 -2.13811783e-03 -5.29547802e-01] [ 1.66768517e-02 2.41923495e-03 9.99858005e-01 -8.78131790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.236296757 meters Centerline goodness [0,1] 0.7800321751866881 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99718970e-01 1.66002063e-02 -1.69237993e-02 2.64832435e+00] [-1.66390516e-02 9.99859235e-01 -2.15707361e-03 -5.30447820e-01] [ 1.68856092e-02 2.43806338e-03 9.99854455e-01 -8.78670456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.266296757 meters Centerline goodness [0,1] 0.7828517724172832 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99722685e-01 1.62235915e-02 -1.70689312e-02 2.64966021e+00] [-1.62624982e-02 9.99865460e-01 -2.14304949e-03 -5.31975169e-01] [ 1.70318668e-02 2.42003865e-03 9.99852019e-01 -8.79796017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.296296757 meters Centerline goodness [0,1] 0.7824630731789596 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99721551e-01 1.59848893e-02 -1.73581291e-02 2.65081370e+00] [-1.60254733e-02 9.99869160e-01 -2.20145927e-03 -5.32337389e-01] [ 1.73206679e-02 2.47901851e-03 9.99846913e-01 -8.80497347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.326296757 meters Centerline goodness [0,1] 0.78611131162925 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 0.99972638 0.0155257 -0.01749636 2.65272921] [-0.01557624 0.99987489 -0.00275584 -0.53196412] [ 0.01745139 0.00302762 0.99984313 -0.8827616 ] [ 0. 0. 0. 1. ]] SLAMing on 54.356296757 meters Centerline goodness [0,1] 0.7860431654676259 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 0.99972608 0.01527193 -0.01773494 2.65389708] [-0.01532996 0.99987756 -0.00314086 -0.53153531] [ 0.0176848 0.00341188 0.99983779 -0.88375996] [ 0. 0. 0. 1. ]] SLAMing on 54.386296757000004 meters Centerline goodness [0,1] 0.7846545961672557 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 0.99972211 0.01566869 -0.01761211 2.65335844] [-0.01571914 0.99987272 -0.00272965 -0.53225401] [ 0.0175671 0.00300574 0.99984117 -0.88330473] [ 0. 0. 0. 1. ]] SLAMing on 54.416296757000005 meters Centerline goodness [0,1] 0.7861994479779191 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 0.99971905 0.01555403 -0.01788557 2.65401356] [-0.01560653 0.99987429 -0.00279906 -0.5324964 ] [ 0.01783978 0.0030774 0.99983612 -0.88334979] [ 0. 0. 0. 1. ]] SLAMing on 54.446296757 meters Centerline goodness [0,1] 0.7877660723284778 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 9.99715710e-01 1.58772686e-02 -1.77879632e-02 2.65365667e+00] [-1.59236143e-02 9.99870168e-01 -2.46684403e-03 -5.33493646e-01] [ 1.77464870e-02 2.74939140e-03 9.99838739e-01 -8.83056066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.476296757 meters Centerline goodness [0,1] 0.785267964431627 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.53, Z:-0.88 [[ 0.99971427 0.01576238 -0.01796986 2.65433575] [-0.015813 0.99987138 -0.00267856 -0.5328861 ] [ 0.01792533 0.00296195 0.99983494 -0.88348756] [ 0. 0. 0. 1. ]] SLAMing on 54.506296757 meters Centerline goodness [0,1] 0.7835138185223426 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.88 [[ 0.99971417 0.01562346 -0.01809655 2.65509933] [-0.01568225 0.99987219 -0.00311129 -0.53139299] [ 0.01804562 0.0033942 0.9998314 -0.88425911] [ 0. 0. 0. 1. ]] SLAMing on 54.536296757 meters Centerline goodness [0,1] 0.7878285920057616 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99651769e-01 1.85505478e-02 -1.87674611e-02 2.65835201e+00] [-1.85569611e-02 9.99827791e-01 -1.67621308e-04 -5.30517596e-01] [ 1.87611197e-02 5.15829983e-04 9.99823862e-01 -8.86318279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.566296757 meters Centerline goodness [0,1] 0.789459790251746 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99653154e-01 1.83259004e-02 -1.89138320e-02 2.65929261e+00] [-1.83427562e-02 9.99831500e-01 -7.18076282e-04 -5.29514476e-01] [ 1.88974857e-02 1.06475903e-03 9.99820860e-01 -8.87294712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.596296757000005 meters Centerline goodness [0,1] 0.7834673944268888 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99653186e-01 1.83664258e-02 -1.88728140e-02 2.65946407e+00] [-1.83859295e-02 9.99830594e-01 -8.60422520e-04 -5.29142376e-01] [ 1.88538139e-02 1.20711834e-03 9.99821522e-01 -8.87570485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626296757 meters Centerline goodness [0,1] 0.7796975208193739 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99654014e-01 1.82601936e-02 -1.89319332e-02 2.65987943e+00] [-1.82833505e-02 9.99832293e-01 -1.05079191e-03 -5.28863680e-01] [ 1.89095705e-02 1.39656752e-03 9.99820223e-01 -8.87911667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.656296757 meters Centerline goodness [0,1] 0.7804033894259458 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99656137e-01 1.80949664e-02 -1.89784245e-02 2.66037372e+00] [-1.81277133e-02 9.99834471e-01 -1.55485396e-03 -5.27854742e-01] [ 1.89471480e-02 1.89835474e-03 9.99818684e-01 -8.88515311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.686296757 meters Centerline goodness [0,1] 0.7806770435446906 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99656210e-01 1.79729989e-02 -1.90901225e-02 2.66077759e+00] [-1.80123325e-02 9.99835978e-01 -1.89046158e-03 -5.27065392e-01] [ 1.90530140e-02 2.23366929e-03 9.99815980e-01 -8.88790122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.716296757 meters Centerline goodness [0,1] 0.7739010400552158 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.53, Z:-0.89 [[ 9.99656624e-01 1.77710978e-02 -1.92567462e-02 2.66139207e+00] [-1.78185997e-02 9.99838595e-01 -2.29798820e-03 -5.25967234e-01] [ 1.92128003e-02 2.64032738e-03 9.99811931e-01 -8.89099693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746296757 meters Centerline goodness [0,1] 0.7714414757059997 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.52, Z:-0.89 [[ 0.99965462 0.01768707 -0.01943751 2.66194452] [-0.01774396 0.99983876 -0.00275814 -0.52387152] [ 0.01938559 0.00310209 0.99980727 -0.88938324] [ 0. 0. 0. 1. ]] SLAMing on 54.776296757000004 meters Centerline goodness [0,1] 0.7747480030429821 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.52, Z:-0.89 [[ 0.99965486 0.0176141 -0.01949124 2.66206185] [-0.01767682 0.9998391 -0.00305017 -0.52239125] [ 0.01943438 0.00339366 0.99980538 -0.88939499] [ 0. 0. 0. 1. ]] SLAMing on 54.806296757 meters Centerline goodness [0,1] 0.7844854180014713 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.52, Z:-0.89 [[ 0.99964969 0.01759154 -0.01977467 2.66211513] [-0.01765295 0.99983987 -0.00293523 -0.52190982] [ 0.01971987 0.00328329 0.99980015 -0.88822785] [ 0. 0. 0. 1. ]] SLAMing on 54.836296757 meters Centerline goodness [0,1] 0.7682186957245842 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.52, Z:-0.89 [[ 0.99964642 0.01760991 -0.01992285 2.66215702] [-0.01767228 0.99983945 -0.00295915 -0.52177926] [ 0.01986754 0.00331019 0.99979714 -0.88781627] [ 0. 0. 0. 1. ]] SLAMing on 54.866296757 meters Centerline goodness [0,1] 0.7500296848654682 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.52, Z:-0.89 [[ 0.99964786 0.01726355 -0.02015271 2.66354033] [-0.01734501 0.99984206 -0.00387436 -0.51933183] [ 0.02008264 0.00422254 0.99978941 -0.88925918] [ 0. 0. 0. 1. ]] SLAMing on 54.896296757 meters Centerline goodness [0,1] 0.7825045079244567 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.52, Z:-0.89 [[ 0.99964777 0.0167859 -0.02055632 2.66513748] [-0.01688444 0.99984673 -0.00462912 -0.51738462] [ 0.02047547 0.00497458 0.99977798 -0.89037266] [ 0. 0. 0. 1. ]] SLAMing on 54.926296757 meters Centerline goodness [0,1] 0.7768045264079922 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.52, Z:-0.89 [[ 0.99964832 0.0163217 -0.02090071 2.66656087] [-0.01643726 0.99985048 -0.00536919 -0.51521078] [ 0.02080995 0.00571085 0.99976714 -0.89139069] [ 0. 0. 0. 1. ]] SLAMing on 54.956296757000004 meters Centerline goodness [0,1] 0.7767559516773446 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.51, Z:-0.89 [[ 0.99965362 0.0154022 -0.02134017 2.66864574] [-0.01554655 0.99985726 -0.00661511 -0.51165044] [ 0.02123523 0.00694459 0.99975039 -0.8929367 ] [ 0. 0. 0. 1. ]] SLAMing on 54.986296757 meters Centerline goodness [0,1] 0.78291173751215 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.51, Z:-0.89 [[ 0.99966331 0.0140454 -0.02181704 2.67005948] [-0.01419585 0.99987641 -0.00675643 -0.51379345] [ 0.02171945 0.00706387 0.99973915 -0.89225796] [ 0. 0. 0. 1. ]] SLAMing on 55.016296757 meters Centerline goodness [0,1] 0.791295676330223 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.52, Z:-0.89 [[ 0.99966188 0.01351984 -0.02221108 2.67106578] [-0.01367051 0.99988447 -0.00664587 -0.51551526] [ 0.02211867 0.00694726 0.99973121 -0.89201601] [ 0. 0. 0. 1. ]] SLAMing on 55.046296757 meters Centerline goodness [0,1] 0.7918685285456446 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.52, Z:-0.89 [[ 0.99965951 0.01311135 -0.02255987 2.67207321] [-0.01326623 0.99988936 -0.00672929 -0.51593848] [ 0.02246915 0.00702628 0.99972285 -0.8921419 ] [ 0. 0. 0. 1. ]] SLAMing on 55.076296757 meters Centerline goodness [0,1] 0.7991711071640024 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.51, Z:-0.89 [[ 0.99966214 0.01255784 -0.0227574 2.67322172] [-0.01273209 0.99989061 -0.007528 -0.51249095] [ 0.02266038 0.00781521 0.99971267 -0.89300329] [ 0. 0. 0. 1. ]] SLAMing on 55.106296757 meters Centerline goodness [0,1] 0.8000094681279144 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99965568 0.01188507 -0.02339379 2.67530638] [-0.012081 0.99989297 -0.00825203 -0.51049745] [ 0.02329321 0.00853181 0.99969227 -0.89402811] [ 0. 0. 0. 1. ]] SLAMing on 55.136296757000004 meters Centerline goodness [0,1] 0.8037513600454137 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99964754 0.01156336 -0.02389742 2.6767067 ] [-0.01176474 0.99989632 -0.00830353 -0.51086138] [ 0.02379893 0.00858175 0.99967993 -0.89434889] [ 0. 0. 0. 1. ]] SLAMing on 55.166296757000005 meters Centerline goodness [0,1] 0.8037420758822973 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99964062 0.0114977 -0.02421628 2.67737039] [-0.01169349 0.99989996 -0.00795876 -0.51213772] [ 0.02412235 0.00823907 0.99967506 -0.89411837] [ 0. 0. 0. 1. ]] SLAMing on 55.196296757 meters Centerline goodness [0,1] 0.804200606175412 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99963313 0.01160659 -0.02447215 2.67758581] [-0.01178751 0.99990416 -0.0072617 -0.51429866] [ 0.02438552 0.0075475 0.99967414 -0.89324537] [ 0. 0. 0. 1. ]] SLAMing on 55.226296757 meters Centerline goodness [0,1] 0.8041002817168155 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99962786 0.01159095 -0.02469404 2.67819234] [-0.01177007 0.99990538 -0.00712032 -0.51468525] [ 0.02460917 0.00740832 0.9996697 -0.89336666] [ 0. 0. 0. 1. ]] SLAMing on 55.256296757 meters Centerline goodness [0,1] 0.8033155713439906 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99962013 0.01140587 -0.0250899 2.67927139] [-0.01159046 0.99990673 -0.00722411 -0.51380477] [ 0.02500516 0.00751217 0.9996591 -0.89362306] [ 0. 0. 0. 1. ]] SLAMing on 55.286296757 meters Centerline goodness [0,1] 0.8045349222111884 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99961451 0.01117142 -0.02541718 2.68029081] [-0.01136418 0.99990765 -0.00745231 -0.51288484] [ 0.02533158 0.00773828 0.99964915 -0.89402794] [ 0. 0. 0. 1. ]] SLAMing on 55.316296757 meters Centerline goodness [0,1] 0.8025121459888612 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99960617 0.01103109 -0.0258035 2.68128812] [-0.01122536 0.99990964 -0.00739585 -0.51292613] [ 0.02571959 0.00768259 0.99963968 -0.89408406] [ 0. 0. 0. 1. ]] SLAMing on 55.346296757000005 meters Centerline goodness [0,1] 0.801837083452008 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.89 [[ 0.99959645 0.01098078 -0.02619841 2.6820363 ] [-0.01117122 0.99991215 -0.00713362 -0.51433199] [ 0.02611778 0.00742341 0.99963131 -0.89384155] [ 0. 0. 0. 1. ]] SLAMing on 55.376296757 meters Centerline goodness [0,1] 0.8022485827259301 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.52, Z:-0.89 [[ 0.99958421 0.01064641 -0.02679682 2.68364674] [-0.01083255 0.99991813 -0.00681066 -0.51725226] [ 0.02672211 0.00709811 0.9996177 -0.89389028] [ 0. 0. 0. 1. ]] SLAMing on 55.406296757 meters Centerline goodness [0,1] 0.8025368773605074 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.52, Z:-0.89 [[ 0.99957434 0.01038476 -0.02726331 2.68513841] [-0.01058077 0.99991913 -0.00705531 -0.51715879] [ 0.02718784 0.00734077 0.99960339 -0.89459816] [ 0. 0. 0. 1. ]] SLAMing on 55.436296757 meters Centerline goodness [0,1] 0.7968497576736672 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.52, Z:-0.90 [[ 0.99952467 0.01331043 -0.02780767 2.6878981 ] [-0.01341693 0.99990334 -0.00364677 -0.51758673] [ 0.02775644 0.00401813 0.99960664 -0.89605429] [ 0. 0. 0. 1. ]] SLAMing on 55.466296757 meters Centerline goodness [0,1] 0.792152779421161 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.52, Z:-0.90 [[ 9.99457648e-01 1.61386697e-02 -2.87045978e-02 2.69121073e+00] [-1.61562558e-02 9.99869407e-01 -3.80821680e-04 -5.18240524e-01] [ 2.86947032e-02 8.44373964e-04 9.99587866e-01 -8.97365790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.496296757 meters Centerline goodness [0,1] 0.7880788411303729 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.52, Z:-0.90 [[ 9.99449266e-01 1.65394779e-02 -2.87682196e-02 2.69138382e+00] [-1.65631690e-02 9.99862650e-01 -5.85401543e-04 -5.17353845e-01] [ 2.87545860e-02 1.06157203e-03 9.99585938e-01 -8.97816413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526296757000004 meters Centerline goodness [0,1] 0.7889412712326171 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.52, Z:-0.90 [[ 0.99955278 0.01976356 -0.02244209 2.70204074] [-0.01994206 0.99977104 -0.00775785 -0.5160558 ] [ 0.02228363 0.00820192 0.99971804 -0.90147577] [ 0. 0. 0. 1. ]] SLAMing on 55.556296757 meters Centerline goodness [0,1] 0.7968757430215416 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.52, Z:-0.90 [[ 0.99953716 0.02089745 -0.0221078 2.70012787] [-0.02105162 0.99975551 -0.00676404 -0.51693931] [ 0.02196105 0.00722631 0.99973271 -0.89981259] [ 0. 0. 0. 1. ]] SLAMing on 55.586296757 meters Centerline goodness [0,1] 0.792533485323454 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.52, Z:-0.90 [[ 0.99953042 0.02113038 -0.02219094 2.70011779] [-0.02128238 0.99975148 -0.00663568 -0.51667031] [ 0.02204521 0.00710484 0.99973173 -0.89959727] [ 0. 0. 0. 1. ]] SLAMing on 55.616296757 meters Centerline goodness [0,1] 0.7973030720288685 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.52, Z:-0.90 [[ 0.99952496 0.02128117 -0.02229291 2.70029084] [-0.02143587 0.99974762 -0.00672353 -0.51570912] [ 0.0221442 0.00719821 0.99972887 -0.89965377] [ 0. 0. 0. 1. ]] SLAMing on 55.646296757 meters Centerline goodness [0,1] 0.7913099011306117 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.90 [[ 0.99952108 0.02129761 -0.02245027 2.70083554] [-0.02146463 0.9997435 -0.00722469 -0.51256192] [ 0.02229065 0.00770311 0.99972186 -0.90014721] [ 0. 0. 0. 1. ]] SLAMing on 55.676296757 meters Centerline goodness [0,1] 0.7885681785866628 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.90 [[ 0.99951924 0.02094839 -0.02285704 2.70185822] [-0.02112399 0.99974897 -0.00746839 -0.51254339] [ 0.02269486 0.00794763 0.99971085 -0.90024736] [ 0. 0. 0. 1. ]] SLAMing on 55.706296757000004 meters Centerline goodness [0,1] 0.7940430173824373 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.90 [[ 0.99951468 0.02049837 -0.02345677 2.7033724 ] [-0.02068228 0.99975702 -0.00762492 -0.51364217] [ 0.02329478 0.00810636 0.99969577 -0.90049852] [ 0. 0. 0. 1. ]] SLAMing on 55.736296757 meters Centerline goodness [0,1] 0.796011180065375 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.90 [[ 0.99951339 0.0199794 -0.02395441 2.70507493] [-0.02017169 0.999766 -0.00781275 -0.51474411] [ 0.02379271 0.00829215 0.99968252 -0.90120367] [ 0. 0. 0. 1. ]] SLAMing on 55.766296757 meters Centerline goodness [0,1] 0.798613922694039 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.90 [[ 0.9995198 0.01891307 -0.02454512 2.707799 ] [-0.0191319 0.99977902 -0.00871157 -0.51396117] [ 0.02437494 0.00917698 0.99966077 -0.90311936] [ 0. 0. 0. 1. ]] SLAMing on 55.796296757 meters Centerline goodness [0,1] 0.8057564224548049 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.90 [[ 0.99951916 0.01855329 -0.02484392 2.7089245 ] [-0.01878321 0.99978259 -0.0090535 -0.51175478] [ 0.02467055 0.0095158 0.99965035 -0.90365444] [ 0. 0. 0. 1. ]] SLAMing on 55.826296757 meters Centerline goodness [0,1] 0.8063420427553444 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.90 [[ 0.99951484 0.01873231 -0.02488325 2.70869379] [-0.01895464 0.99978224 -0.00872902 -0.51164681] [ 0.02471432 0.00919644 0.99965225 -0.90303737] [ 0. 0. 0. 1. ]] SLAMing on 55.856296757 meters Centerline goodness [0,1] 0.8046965987688066 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.90 [[ 0.99950536 0.0189492 -0.02509912 2.70847547] [-0.01915863 0.9997834 -0.00812968 -0.5129799 ] [ 0.02493963 0.00860653 0.99965191 -0.90192633] [ 0. 0. 0. 1. ]] SLAMing on 55.886296757000004 meters Centerline goodness [0,1] 0.8041219998102647 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.52, Z:-0.90 [[ 0.99948804 0.01897334 -0.02576168 2.70933856] [-0.01915506 0.99979323 -0.00682549 -0.51746016] [ 0.02562685 0.00731546 0.99964481 -0.90034965] [ 0. 0. 0. 1. ]] SLAMing on 55.916296757000005 meters Centerline goodness [0,1] 0.8064707981444035 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.52, Z:-0.90 [[ 0.99948062 0.01892688 -0.02608201 2.71005607] [-0.01910686 0.9997952 -0.00666904 -0.51812352] [ 0.02595045 0.00716392 0.99963756 -0.90035008] [ 0. 0. 0. 1. ]] SLAMing on 55.946296757 meters Centerline goodness [0,1] 0.8069463238610735 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.52, Z:-0.90 [[ 0.99940628 0.02158282 -0.02685651 2.71324421] [-0.02167994 0.99975942 -0.00333022 -0.518267 ] [ 0.02677817 0.00391049 0.99963375 -0.90149674] [ 0. 0. 0. 1. ]] SLAMing on 55.976296757 meters Centerline goodness [0,1] 0.8055562139995733 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.52, Z:-0.90 [[ 0.99940158 0.02149091 -0.02710377 2.71412424] [-0.02160061 0.99975961 -0.00376108 -0.51687137] [ 0.02701642 0.00434429 0.99962555 -0.90209053] [ 0. 0. 0. 1. ]] SLAMing on 56.006296757 meters Centerline goodness [0,1] 0.802875860274815 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.52, Z:-0.90 [[ 0.99939243 0.02149226 -0.02743829 2.71511256] [-0.02160907 0.99975862 -0.00396792 -0.51647888] [ 0.02734639 0.00455843 0.99961562 -0.90267928] [ 0. 0. 0. 1. ]] SLAMing on 56.036296757 meters Centerline goodness [0,1] 0.802875860274815 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.52, Z:-0.90 [[ 0.99939243 0.02149226 -0.02743829 2.71511256] [-0.02160907 0.99975862 -0.00396792 -0.51647888] [ 0.02734639 0.00455843 0.99961562 -0.90267928] [ 0. 0. 0. 1. ]] SLAMing on 56.066296757 meters Centerline goodness [0,1] 0.7997261373562812 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.52, Z:-0.90 [[ 0.99938619 0.02131827 -0.02779876 2.71601333] [-0.02143584 0.99976247 -0.00393822 -0.51709075] [ 0.0277082 0.00453169 0.99960578 -0.90269907] [ 0. 0. 0. 1. ]] SLAMing on 56.096296757000005 meters Centerline goodness [0,1] 0.8028900911161732 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.52, Z:-0.90 [[ 0.99938121 0.02148678 -0.02784793 2.71580569] [-0.02159368 0.99976055 -0.00354347 -0.51789714] [ 0.02776513 0.00414261 0.99960589 -0.90213103] [ 0. 0. 0. 1. ]] SLAMing on 56.126296757 meters Centerline goodness [0,1] 0.8015626849769149 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.52, Z:-0.90 [[ 0.9993772 0.02151687 -0.02796847 2.71618926] [-0.02163014 0.99975899 -0.00375358 -0.51706895] [ 0.02788096 0.0043562 0.99960176 -0.90234917] [ 0. 0. 0. 1. ]] SLAMing on 56.156296757 meters Centerline goodness [0,1] 0.8000993941688754 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99937083 0.02153027 -0.02818488 2.71723577] [-0.02166461 0.9997553 -0.00446959 -0.51497062] [ 0.02808175 0.00507739 0.99959273 -0.90357719] [ 0. 0. 0. 1. ]] SLAMing on 56.186296757 meters Centerline goodness [0,1] 0.7938974699137686 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99936587 0.02163633 -0.02827935 2.7173909 ] [-0.02177262 0.99975273 -0.00452025 -0.51470587] [ 0.02817456 0.0051331 0.99958984 -0.9035414 ] [ 0. 0. 0. 1. ]] SLAMing on 56.216296757 meters Centerline goodness [0,1] 0.7946354524559865 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99935902 0.02189854 -0.02831965 2.7170785 ] [-0.02203282 0.9997474 -0.00443805 -0.51447868] [ 0.02821531 0.00505917 0.99958907 -0.90304431] [ 0. 0. 0. 1. ]] SLAMing on 56.246296757 meters Centerline goodness [0,1] 0.7984930083144369 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99934724 0.02220489 -0.02849609 2.71722194] [-0.0223484 0.99973906 -0.00472783 -0.51232436] [ 0.02838367 0.00536158 0.99958272 -0.90298478] [ 0. 0. 0. 1. ]] SLAMing on 56.276296757000004 meters Centerline goodness [0,1] 0.7950114340948204 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99934303 0.02215239 -0.02868412 2.71767015] [-0.0223076 0.99973813 -0.00510229 -0.51077792] [ 0.02856358 0.00573881 0.9995755 -0.90310922] [ 0. 0. 0. 1. ]] SLAMing on 56.306296757 meters Centerline goodness [0,1] 0.7980730724835693 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99933095 0.02273549 -0.02864856 2.7166413 ] [-0.0228835 0.99972638 -0.00484939 -0.50941758] [ 0.02853047 0.00550172 0.99957778 -0.90186002] [ 0. 0. 0. 1. ]] SLAMing on 56.336296757 meters Centerline goodness [0,1] 0.7937766931055521 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99932496 0.022423 -0.02910047 2.71801162] [-0.02258658 0.99973082 -0.00530462 -0.50856993] [ 0.02897369 0.00595832 0.99956242 -0.90245144] [ 0. 0. 0. 1. ]] SLAMing on 56.366296757 meters Centerline goodness [0,1] 0.7950325195588651 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99932311 0.02187785 -0.02957513 2.72019054] [-0.02206679 0.99973803 -0.00607719 -0.50765647] [ 0.02943443 0.00672571 0.99954409 -0.90423437] [ 0. 0. 0. 1. ]] SLAMing on 56.396296757 meters Centerline goodness [0,1] 0.7988932917536167 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.91 [[ 0.99932123 0.0214518 -0.02994828 2.72173024] [-0.02165741 0.99974394 -0.00655798 -0.50658857] [ 0.02979993 0.00720213 0.99952994 -0.90519191] [ 0. 0. 0. 1. ]] SLAMing on 56.426296757 meters Centerline goodness [0,1] 0.8046631517281781 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.50, Z:-0.91 [[ 0.9993259 0.02105144 -0.03007618 2.72267674] [-0.02127584 0.999748 -0.00716053 -0.50458492] [ 0.02991786 0.0077956 0.99952196 -0.90603323] [ 0. 0. 0. 1. ]] SLAMing on 56.456296757000004 meters Centerline goodness [0,1] 0.8064538890326223 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.50, Z:-0.91 [[ 0.99932178 0.02093819 -0.03029131 2.7229923 ] [-0.0211657 0.99974999 -0.0072096 -0.50415605] [ 0.03013278 0.00784585 0.99951511 -0.90576819] [ 0. 0. 0. 1. ]] SLAMing on 56.486296757000005 meters Centerline goodness [0,1] 0.8109387140065454 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99932217 0.02063577 -0.03048563 2.72278051] [-0.02084625 0.99976089 -0.0066025 -0.50602757] [ 0.0303421 0.00723354 0.9995134 -0.90408008] [ 0. 0. 0. 1. ]] SLAMing on 56.516296757 meters Centerline goodness [0,1] 0.8125205930807249 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99931643 0.02038198 -0.03084221 2.7232086 ] [-0.02058407 0.9997686 -0.00624902 -0.50760361] [ 0.0307077 0.0068796 0.99950473 -0.90329482] [ 0. 0. 0. 1. ]] SLAMing on 56.546296757 meters Centerline goodness [0,1] 0.8207411595636912 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99931482 0.0199544 -0.0311724 2.7238596 ] [-0.02015713 0.99977758 -0.00620305 -0.50832186] [ 0.03104169 0.00682715 0.99949477 -0.90282035] [ 0. 0. 0. 1. ]] SLAMing on 56.576296757 meters Centerline goodness [0,1] 0.8183702796296732 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.90 [[ 0.99931261 0.01977815 -0.03135491 2.72441958] [-0.01999324 0.99977859 -0.00656117 -0.50713043] [ 0.0312182 0.00718355 0.99948678 -0.90311028] [ 0. 0. 0. 1. ]] SLAMing on 56.606296757 meters Centerline goodness [0,1] 0.8191708872631777 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.90 [[ 0.99923234 0.02306647 -0.03166498 2.72585257] [-0.02317213 0.99972707 -0.00297394 -0.50661455] [ 0.03158774 0.0037054 0.99949411 -0.9033231 ] [ 0. 0. 0. 1. ]] SLAMing on 56.636296757000004 meters Centerline goodness [0,1] 0.813750557106331 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.90 [[ 0.99923074 0.02300962 -0.03175658 2.72626956] [-0.02312664 0.99972702 -0.00332242 -0.50542298] [ 0.03167146 0.00405429 0.99949011 -0.90371358] [ 0. 0. 0. 1. ]] SLAMing on 56.666296757000005 meters Centerline goodness [0,1] 0.8153142589118199 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99922575 0.02300452 -0.03191698 2.72746028] [-0.02314263 0.99972431 -0.00396446 -0.50390547] [ 0.03181698 0.00470003 0.99948266 -0.90518169] [ 0. 0. 0. 1. ]] SLAMing on 56.696296757 meters Centerline goodness [0,1] 0.8102681705433612 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99922385 0.02291197 -0.03204289 2.72827346] [-0.023062 0.9997247 -0.0043203 -0.50333253] [ 0.03193508 0.00505592 0.99947716 -0.90601168] [ 0. 0. 0. 1. ]] SLAMing on 56.726296757 meters Centerline goodness [0,1] 0.8066193521186142 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99921705 0.02319436 -0.03205158 2.72818419] [-0.02333586 0.99971949 -0.00404777 -0.50392952] [ 0.03194871 0.00479255 0.99947802 -0.9058388 ] [ 0. 0. 0. 1. ]] SLAMing on 56.756296757 meters Centerline goodness [0,1] 0.8097046413502109 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99921331 0.02314189 -0.03220581 2.72860591] [-0.02328136 0.9997211 -0.00396228 -0.50406864] [ 0.03210513 0.00470896 0.9994734 -0.90586861] [ 0. 0. 0. 1. ]] SLAMing on 56.786296757 meters Centerline goodness [0,1] 0.8055562073253713 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99921527 0.02287492 -0.03233559 2.72935127] [-0.02301973 0.99972655 -0.00411313 -0.50364615] [ 0.03223267 0.00485426 0.9994686 -0.90637639] [ 0. 0. 0. 1. ]] SLAMing on 56.816296757 meters Centerline goodness [0,1] 0.8130361411897061 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99922735 0.02212258 -0.0324853 2.73061352] [-0.02228448 0.99974095 -0.00463002 -0.50189118] [ 0.03237446 0.00535036 0.99946149 -0.90724882] [ 0. 0. 0. 1. ]] SLAMing on 56.846296757000005 meters Centerline goodness [0,1] 0.8162643543473166 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.91 [[ 0.99922683 0.021784 -0.03272926 2.73131535] [-0.02194476 0.99974878 -0.00456053 -0.50254575] [ 0.03262169 0.00527524 0.99945385 -0.90721067] [ 0. 0. 0. 1. ]] SLAMing on 56.876296757 meters Centerline goodness [0,1] 0.8199080080198137 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.91 [[ 0.99929832 0.01802387 -0.03283318 2.73053933] [-0.01827873 0.99980496 -0.00747863 -0.50605639] [ 0.03269198 0.00807353 0.99943287 -0.90566641] [ 0. 0. 0. 1. ]] SLAMing on 56.906296757 meters Centerline goodness [0,1] 0.8264632848527846 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.91 [[ 0.99929512 0.0173747 -0.0332774 2.73169809] [-0.01762153 0.99981924 -0.00713856 -0.50911095] [ 0.03314736 0.00771993 0.99942066 -0.90543219] [ 0. 0. 0. 1. ]] SLAMing on 56.936296757 meters Centerline goodness [0,1] 0.8263084322505745 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.91 [[ 0.99932024 0.01548586 -0.03345527 2.73382822] [-0.01574956 0.99984683 -0.00763306 -0.51025894] [ 0.03333194 0.00815478 0.99941107 -0.90650645] [ 0. 0. 0. 1. ]] SLAMing on 56.966296757 meters Centerline goodness [0,1] 0.8288015874890742 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 0.99932017 0.01481641 -0.03375912 2.7353568 ] [-0.01509759 0.9998533 -0.00808924 -0.50872106] [ 0.03363431 0.00859342 0.99939726 -0.90749072] [ 0. 0. 0. 1. ]] SLAMing on 56.996296757 meters Centerline goodness [0,1] 0.8288600151745068 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 0.99932215 0.01419202 -0.03396805 2.73670824] [-0.0144903 0.99985844 -0.00855116 -0.50755726] [ 0.03384188 0.00903757 0.99938634 -0.9085509 ] [ 0. 0. 0. 1. ]] SLAMing on 57.026296757000004 meters Centerline goodness [0,1] 0.8305375524208921 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 0.99932247 0.01369152 -0.03416351 2.73687832] [-0.01395398 0.99987484 -0.00745581 -0.51167295] [ 0.03405715 0.00792748 0.99938845 -0.90690949] [ 0. 0. 0. 1. ]] SLAMing on 57.056296757 meters Centerline goodness [0,1] 0.8296649342562211 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.52, Z:-0.91 [[ 0.99971368 0.00885585 -0.02222916 2.73585441] [-0.0090316 0.99992865 -0.0078187 -0.51687608] [ 0.02215833 0.00801723 0.99972233 -0.90760268] [ 0. 0. 0. 1. ]] SLAMing on 57.086296757 meters Centerline goodness [0,1] 0.8310057869816825 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.52, Z:-0.91 [[ 0.99970957 0.00909193 -0.02231824 2.73560079] [-0.00925662 0.9999306 -0.00728731 -0.51791139] [ 0.02225044 0.00749179 0.99972436 -0.90683722] [ 0. 0. 0. 1. ]] SLAMing on 57.116296757 meters Centerline goodness [0,1] 0.8266040613976546 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.52, Z:-0.91 [[ 0.9996671 0.01217265 -0.02274888 2.73768955] [-0.01225891 0.99991817 -0.00365598 -0.51854456] [ 0.02270251 0.00393364 0.99973453 -0.9077818 ] [ 0. 0. 0. 1. ]] SLAMing on 57.146296757 meters Centerline goodness [0,1] 0.8312054385674017 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 9.99613231e-01 1.55847937e-02 -2.30326448e-02 2.73993967e+00] [-1.56076006e-02 9.99877865e-01 -8.10755833e-04 -5.14056548e-01] [ 2.30171963e-02 1.16992658e-03 9.99734385e-01 -9.09871709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.176296757 meters Centerline goodness [0,1] 0.8317597785192021 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 9.99606421e-01 1.59102979e-02 -2.31055115e-02 2.74039991e+00] [-1.59438845e-02 9.99872081e-01 -1.27011603e-03 -5.11589473e-01] [ 2.30823480e-02 1.63800775e-03 9.99732225e-01 -9.10723299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206296757000004 meters Centerline goodness [0,1] 0.828581543544961 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 9.99529341e-01 1.93113055e-02 -2.38363278e-02 2.74290148e+00] [-1.92672827e-02 9.99812215e-01 2.07518398e-03 -5.13456758e-01] [ 2.38719262e-02 -1.61494601e-03 9.99713721e-01 -9.11820547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.236296757000005 meters Centerline goodness [0,1] 0.8272324495936693 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 9.99522222e-01 1.95238126e-02 -2.39614152e-02 2.74308870e+00] [-1.94791723e-02 9.99808068e-01 2.09502583e-03 -5.14324304e-01] [ 2.39977191e-02 -1.62727634e-03 9.99710689e-01 -9.11860677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.266296757 meters Centerline goodness [0,1] 0.8292763938315539 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.91 [[ 9.99519206e-01 1.95521098e-02 -2.40639228e-02 2.74366406e+00] [-1.95144747e-02 9.99807958e-01 1.79782489e-03 -5.14013534e-01] [ 2.40944528e-02 -1.32736569e-03 9.99708805e-01 -9.12544771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.296296757 meters Centerline goodness [0,1] 0.828033423561257 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.51, Z:-0.91 [[ 0.99943548 0.02278498 -0.0246894 2.74637279] [-0.02267055 0.99973096 0.00490461 -0.51314779] [ 0.02479451 -0.00434212 0.99968314 -0.91408282] [ 0. 0. 0. 1. ]] SLAMing on 57.326296757 meters Centerline goodness [0,1] 0.8259343041613648 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.51, Z:-0.91 [[ 0.99941807 0.02369045 -0.02454137 2.74566822] [-0.02357748 0.99971009 0.00488251 -0.50998829] [ 0.02464992 -0.00430104 0.99968689 -0.91409751] [ 0. 0. 0. 1. ]] SLAMing on 57.356296757 meters Centerline goodness [0,1] 0.8267066235635574 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.51, Z:-0.91 [[ 0.99941455 0.02368866 -0.02468627 2.74602417] [-0.02357968 0.99971093 0.00469662 -0.50945904] [ 0.02479039 -0.00411178 0.99968421 -0.91426998] [ 0. 0. 0. 1. ]] SLAMing on 57.386296757000004 meters Centerline goodness [0,1] 0.8261975413310725 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99948014 0.02611373 -0.01890832 2.75750543] [-0.02618001 0.99965191 -0.00326632 -0.50828483] [ 0.01881644 0.00375964 0.99981589 -0.91847505] [ 0. 0. 0. 1. ]] SLAMing on 57.416296757000005 meters Centerline goodness [0,1] 0.8269335673457772 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99955548 0.02338053 -0.01849862 2.75502975] [-0.02349531 0.99970587 -0.00601185 -0.51004733] [ 0.01835262 0.00644381 0.99981081 -0.91665342] [ 0. 0. 0. 1. ]] SLAMing on 57.446296757 meters Centerline goodness [0,1] 0.8258856491594644 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99955077 0.02330607 -0.01884368 2.75560818] [-0.02341334 0.99971078 -0.00549202 -0.51221775] [ 0.01871023 0.00593074 0.99980736 -0.91624956] [ 0. 0. 0. 1. ]] SLAMing on 57.476296757 meters Centerline goodness [0,1] 0.8258354755784062 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99956339 0.02244427 -0.01921691 2.7572863 ] [-0.0225509 0.99973138 -0.00535027 -0.51427963] [ 0.01909166 0.00578129 0.99980102 -0.916854 ] [ 0. 0. 0. 1. ]] SLAMing on 57.506296757 meters Centerline goodness [0,1] 0.8255482091043143 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99956421 0.02231423 -0.01932505 2.75768534] [-0.02241836 0.99973521 -0.00518854 -0.51489277] [ 0.01920416 0.00561951 0.99979979 -0.91692411] [ 0. 0. 0. 1. ]] SLAMing on 57.536296757 meters Centerline goodness [0,1] 0.8225301636602557 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.52, Z:-0.92 [[ 0.99955938 0.02245667 -0.01941002 2.75749161] [-0.02254709 0.99973587 -0.00445224 -0.51714524] [ 0.01930491 0.00488792 0.99980169 -0.91601782] [ 0. 0. 0. 1. ]] SLAMing on 57.566296757 meters Centerline goodness [0,1] 0.8210468293150553 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.52, Z:-0.91 [[ 0.99954972 0.02278699 -0.01952202 2.75696711] [-0.02286497 0.99973141 -0.00378083 -0.51875974] [ 0.01943062 0.0042255 0.99980228 -0.91484966] [ 0. 0. 0. 1. ]] SLAMing on 57.596296757000005 meters Centerline goodness [0,1] 0.8217026464892778 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.52, Z:-0.91 [[ 0.9995452 0.02290951 -0.01960974 2.75698643] [-0.02298246 0.99972973 -0.00350277 -0.51959864] [ 0.0195242 0.00395186 0.99980157 -0.91445795] [ 0. 0. 0. 1. ]] SLAMing on 57.626296757 meters Centerline goodness [0,1] 0.8201307878410424 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.52, Z:-0.91 [[ 0.9995388 0.02335667 -0.01940757 2.75657982] [-0.02342887 0.99971938 -0.00350115 -0.51872508] [ 0.01932035 0.00395423 0.99980553 -0.91467665] [ 0. 0. 0. 1. ]] SLAMing on 57.656296757 meters Centerline goodness [0,1] 0.8176190817619082 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.52, Z:-0.92 [[ 9.99441641e-01 2.69796226e-02 -1.97105404e-02 2.75834985e+00] [-2.69885569e-02 9.99635725e-01 -1.87361992e-04 -5.17265548e-01] [ 1.96983054e-02 7.19216417e-04 9.99805711e-01 -9.15941200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686296757 meters Centerline goodness [0,1] 0.815692168229204 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.52, Z:-0.92 [[ 9.99439762e-01 2.71292886e-02 -1.96000851e-02 2.75833744e+00] [-2.71487106e-02 9.99631143e-01 -7.25462559e-04 -5.15446943e-01] [ 1.95731742e-02 1.25717317e-03 9.99807637e-01 -9.16522189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.716296757 meters Centerline goodness [0,1] 0.8124821343496903 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99436114e-01 2.71832497e-02 -1.97110116e-02 2.75859743e+00] [-2.72114563e-02 9.99629022e-01 -1.16416472e-03 -5.14597976e-01] [ 1.96720534e-02 1.69987360e-03 9.99805041e-01 -9.16825310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746296757 meters Centerline goodness [0,1] 0.8086678745112997 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99419826e-01 2.80340946e-02 -1.93417148e-02 2.75719976e+00] [-2.80575404e-02 9.99605866e-01 -9.41838417e-04 -5.14321714e-01] [ 1.93076880e-02 1.48397293e-03 9.99812488e-01 -9.16298543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.776296757000004 meters Centerline goodness [0,1] 0.8071785120038032 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99419012e-01 2.81098014e-02 -1.92737399e-02 2.75711541e+00] [-2.81376936e-02 9.99603363e-01 -1.17745371e-03 -5.13176244e-01] [ 1.92329972e-02 1.71908821e-03 9.99813551e-01 -9.16459934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806296757 meters Centerline goodness [0,1] 0.8082463984103329 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99411493e-01 2.85283625e-02 -1.90472939e-02 2.75646175e+00] [-2.85578737e-02 9.99591322e-01 -1.27911068e-03 -5.10470807e-01] [ 1.90030188e-02 1.82230813e-03 9.99817766e-01 -9.16351683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.836296757 meters Centerline goodness [0,1] 0.8085010762353053 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99409890e-01 2.84210933e-02 -1.92902159e-02 2.75715048e+00] [-2.84554031e-02 9.99593928e-01 -1.50641259e-03 -5.09673875e-01] [ 1.92395688e-02 2.05443451e-03 9.99812792e-01 -9.16626835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.866296757 meters Centerline goodness [0,1] 0.8014605095240346 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99407558e-01 2.81721798e-02 -1.97702372e-02 2.75865528e+00] [-2.82160809e-02 9.99599955e-01 -1.94508826e-03 -5.09682571e-01] [ 1.97075308e-02 2.50177452e-03 9.99802658e-01 -9.17540426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.896296757 meters Centerline goodness [0,1] 0.8002362948960302 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99410286e-01 2.77777358e-02 -2.01860985e-02 2.75999971e+00] [-2.78305056e-02 9.99609922e-01 -2.33790577e-03 -5.09839549e-01] [ 2.01132826e-02 2.89831641e-03 9.99793506e-01 -9.18224854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926296757 meters Centerline goodness [0,1] 0.8002362948960302 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99410286e-01 2.77777358e-02 -2.01860985e-02 2.75999971e+00] [-2.78305056e-02 9.99609922e-01 -2.33790577e-03 -5.09839549e-01] [ 2.01132826e-02 2.89831641e-03 9.99793506e-01 -9.18224854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.956296757000004 meters Centerline goodness [0,1] 0.794888830885319 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99408359e-01 2.76859519e-02 -2.04063776e-02 2.76050350e+00] [-2.77385098e-02 9.99612574e-01 -2.29697250e-03 -5.10429249e-01] [ 2.03348777e-02 2.86165602e-03 9.99789130e-01 -9.18238300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986296757000005 meters Centerline goodness [0,1] 0.7995577430629859 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99417917e-01 2.72166603e-02 -2.05689107e-02 2.76136622e+00] [-2.72690293e-02 9.99625554e-01 -2.26980155e-03 -5.11057203e-01] [ 2.04994323e-02 2.82937457e-03 9.99785861e-01 -9.18567645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.016296757 meters Centerline goodness [0,1] 0.8098492605910509 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99424339e-01 2.69087961e-02 -2.06617480e-02 2.76171680e+00] [-2.69602172e-02 9.99634055e-01 -2.21415454e-03 -5.11116631e-01] [ 2.05946068e-02 2.76992516e-03 9.99784072e-01 -9.18472733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.046296757 meters Centerline goodness [0,1] 0.8027601658959813 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99423963e-01 2.69120699e-02 -2.06756456e-02 2.76165591e+00] [-2.69617195e-02 9.99634205e-01 -2.12631496e-03 -5.11278855e-01] [ 2.06108590e-02 2.68254108e-03 9.99783975e-01 -9.18249106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.076296757 meters Centerline goodness [0,1] 0.8056244633145693 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99422766e-01 2.68064222e-02 -2.08698351e-02 2.76212121e+00] [-2.68583152e-02 9.99636807e-01 -2.21014768e-03 -5.11235590e-01] [ 2.08030092e-02 2.76940052e-03 9.99779758e-01 -9.18309573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106296757 meters Centerline goodness [0,1] 0.8075090527920716 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99420458e-01 2.68845273e-02 -2.08799120e-02 2.76190551e+00] [-2.69363165e-02 9.99634724e-01 -2.20301740e-03 -5.10766895e-01] [ 2.08130579e-02 2.76416858e-03 9.99779564e-01 -9.17952666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.136296757000004 meters Centerline goodness [0,1] 0.8102649797087611 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99421304e-01 2.67357085e-02 -2.10299471e-02 2.76214966e+00] [-2.67894598e-02 9.99638502e-01 -2.27833529e-03 -5.10812225e-01] [ 2.09614319e-02 2.84039775e-03 9.99776250e-01 -9.17770264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166296757000005 meters Centerline goodness [0,1] 0.809031021679243 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99949981 0.02379494 -0.0208308 2.76037673] [-0.02391544 0.99969855 -0.00555495 -0.51075721] [ 0.02069234 0.00605035 0.99976758 -0.91653648] [ 0. 0. 0. 1. ]] SLAMing on 58.196296757 meters Centerline goodness [0,1] 0.8128834355828221 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 0.99949623 0.02382313 -0.02096985 2.76038481] [-0.02394043 0.99969902 -0.00536044 -0.51111057] [ 0.02083584 0.00585977 0.99976574 -0.91607482] [ 0. 0. 0. 1. ]] SLAMing on 58.226296757 meters Centerline goodness [0,1] 0.8125566744618908 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99412402e-01 2.70540018e-02 -2.10459462e-02 2.76150704e+00] [-2.70963451e-02 9.99631331e-01 -1.72933818e-03 -5.10365597e-01] [ 2.09914016e-02 2.29859025e-03 9.99777014e-01 -9.16437149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.256296757 meters Centerline goodness [0,1] 0.8139756510137469 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99411513e-01 2.71160366e-02 -2.10082663e-02 2.76155692e+00] [-2.71666757e-02 9.99628651e-01 -2.12875408e-03 -5.07914048e-01] [ 2.09427415e-02 2.69822609e-03 9.99777036e-01 -9.16715517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286296757 meters Centerline goodness [0,1] 0.8135391923990498 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99410152e-01 2.72248105e-02 -2.09322363e-02 2.76135731e+00] [-2.72793890e-02 9.99625142e-01 -2.32623224e-03 -5.06432937e-01] [ 2.08610584e-02 2.89587873e-03 9.99778190e-01 -9.16659436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.316296757 meters Centerline goodness [0,1] 0.8119312917250718 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99411547e-01 2.69097564e-02 -2.12702845e-02 2.76202853e+00] [-2.69649050e-02 9.99633711e-01 -2.31016099e-03 -5.07668949e-01] [ 2.12003276e-02 2.88235277e-03 9.99771093e-01 -9.16410125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346296757000005 meters Centerline goodness [0,1] 0.8132280918643906 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.92 [[ 9.99413608e-01 2.65611181e-02 -2.16089564e-02 2.76311912e+00] [-2.66195328e-02 9.99642708e-01 -2.42007844e-03 -5.08601485e-01] [ 2.15369557e-02 2.99387965e-03 9.99763570e-01 -9.16850103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.376296757 meters Centerline goodness [0,1] 0.8172293364377183 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99942902 0.02560125 -0.02204997 2.76518826] [-0.02567739 0.99966523 -0.00317706 -0.5083227 ] [ 0.02196126 0.00374144 0.99975182 -0.91827918] [ 0. 0. 0. 1. ]] SLAMing on 58.406296757 meters Centerline goodness [0,1] 0.8142546039861762 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99943465 0.02515228 -0.02231024 2.76647686] [-0.02523993 0.99967474 -0.00365595 -0.50766434] [ 0.02221102 0.00421699 0.99974441 -0.91924441] [ 0. 0. 0. 1. ]] SLAMing on 58.436296757 meters Centerline goodness [0,1] 0.8142440550985087 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99944238 0.02473038 -0.02243531 2.76737478] [-0.02482259 0.99968449 -0.00384084 -0.50720717] [ 0.02233325 0.0043956 0.99974092 -0.91986369] [ 0. 0. 0. 1. ]] SLAMing on 58.466296757 meters Centerline goodness [0,1] 0.8135657446002273 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99944237 0.02454235 -0.02264124 2.76793205] [-0.024639 0.99968841 -0.00399967 -0.50676291] [ 0.02253603 0.0045553 0.99973565 -0.91995445] [ 0. 0. 0. 1. ]] SLAMing on 58.496296757 meters Centerline goodness [0,1] 0.8146762044625515 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99944163 0.02453482 -0.02268209 2.7673132 ] [-0.02462366 0.99969014 -0.00364571 -0.50701221] [ 0.02258562 0.00420219 0.99973608 -0.91859435] [ 0. 0. 0. 1. ]] SLAMing on 58.526296757000004 meters Centerline goodness [0,1] 0.8139054938798748 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99944111 0.02440388 -0.02284558 2.76754843] [-0.0244891 0.99969412 -0.00345814 -0.50818191] [ 0.0227542 0.00401568 0.99973302 -0.91828298] [ 0. 0. 0. 1. ]] SLAMing on 58.556296757 meters Centerline goodness [0,1] 0.8127569571520236 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99943772 0.02427958 -0.0231247 2.76814654] [-0.02436128 0.99969791 -0.00325783 -0.50945911] [ 0.02303862 0.00381934 0.99972728 -0.91819594] [ 0. 0. 0. 1. ]] SLAMing on 58.586296757 meters Centerline goodness [0,1] 0.817488874159644 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99944706 0.02341269 -0.02360965 2.77020456] [-0.02350945 0.99971628 -0.00382919 -0.50920871] [ 0.0235133 0.00438213 0.99971392 -0.9193984 ] [ 0. 0. 0. 1. ]] SLAMing on 58.616296757 meters Centerline goodness [0,1] 0.8211393596986818 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.9994571 0.02254728 -0.02402344 2.7720661 ] [-0.02266156 0.99973309 -0.00449559 -0.50764496] [ 0.02391567 0.00503756 0.99970129 -0.92043882] [ 0. 0. 0. 1. ]] SLAMing on 58.646296757 meters Centerline goodness [0,1] 0.8204933586337761 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99945608 0.02238024 -0.02422116 2.7725887 ] [-0.02249103 0.99973775 -0.00431114 -0.50861896] [ 0.02411832 0.00485355 0.99969733 -0.92044479] [ 0. 0. 0. 1. ]] SLAMing on 58.676296757 meters Centerline goodness [0,1] 0.8205262158054711 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99945963 0.02198934 -0.02443174 2.77314387] [-0.02209567 0.99974749 -0.00409099 -0.5107237 ] [ 0.02433562 0.00462862 0.99969313 -0.92023535] [ 0. 0. 0. 1. ]] SLAMing on 58.706296757000004 meters Centerline goodness [0,1] 0.8200056847790043 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.9994587 0.02185297 -0.02459158 2.77365137] [-0.02196326 0.99974986 -0.00422392 -0.51040437] [ 0.02449313 0.00476175 0.99968866 -0.92039941] [ 0. 0. 0. 1. ]] SLAMing on 58.736296757000005 meters Centerline goodness [0,1] 0.8201903949985792 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99945815 0.02201685 -0.02446776 2.77329171] [-0.02212757 0.99974606 -0.00426376 -0.50902995] [ 0.02436767 0.00480286 0.99969153 -0.9202303 ] [ 0. 0. 0. 1. ]] SLAMing on 58.766296757 meters Centerline goodness [0,1] 0.815276529308795 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.51, Z:-0.92 [[ 0.99943431 0.02354497 -0.02401462 2.77232316] [-0.02362564 0.99971613 -0.0030813 -0.50599334] [ 0.02393525 0.00364692 0.99970686 -0.91990345] [ 0. 0. 0. 1. ]] SLAMing on 58.796296757 meters Centerline goodness [0,1] 0.8146030245746692 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.50, Z:-0.92 [[ 0.99942751 0.02386588 -0.02398066 2.77188053] [-0.02394743 0.99970835 -0.00311926 -0.50490949] [ 0.02389922 0.00369175 0.99970756 -0.91950308] [ 0. 0. 0. 1. ]] SLAMing on 58.826296757 meters Centerline goodness [0,1] 0.8124557845587889 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.92 [[ 0.99947003 0.02722163 -0.01785029 2.78158019] [-0.027413 0.99956836 -0.01056528 -0.50310852] [ 0.01755499 0.01104901 0.99978485 -0.92199954] [ 0. 0. 0. 1. ]] SLAMing on 58.856296757 meters Centerline goodness [0,1] 0.8101466789886496 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.92 [[ 0.9994587 0.02763231 -0.01785403 2.78103095] [-0.02781928 0.9995598 -0.01030991 -0.50346016] [ 0.01756129 0.01080101 0.99978745 -0.92135824] [ 0. 0. 0. 1. ]] SLAMing on 58.886296757000004 meters Centerline goodness [0,1] 0.8078715691351631 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.92 [[ 0.99934537 0.0313822 -0.01799945 2.78212287] [-0.03150585 0.99948159 -0.00662758 -0.50345289] [ 0.01778214 0.00719033 0.99981603 -0.92197175] [ 0. 0. 0. 1. ]] SLAMing on 58.916296757000005 meters Centerline goodness [0,1] 0.805429117237801 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.92 [[ 0.9993296 0.03196509 -0.01784896 2.78163256] [-0.0320891 0.99946252 -0.00670484 -0.50094684] [ 0.01762505 0.0072731 0.99981821 -0.92192422] [ 0. 0. 0. 1. ]] SLAMing on 58.946296757 meters Centerline goodness [0,1] 0.7999200714655132 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.92 [[ 0.99918658 0.03610638 -0.01795825 2.78238581] [-0.03617168 0.99934006 -0.0033245 -0.49811863] [ 0.01782637 0.00397137 0.99983321 -0.92246454] [ 0. 0. 0. 1. ]] SLAMing on 58.976296757 meters Centerline goodness [0,1] 0.7984441467484548 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.92 [[ 0.99917566 0.0364136 -0.01794588 2.78242112] [-0.03648642 0.99932713 -0.00374673 -0.49588531] [ 0.01779737 0.00439842 0.99983194 -0.92283029] [ 0. 0. 0. 1. ]] SLAMing on 59.006296757 meters Centerline goodness [0,1] 0.7960342602370057 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99915838 0.03702467 -0.01765513 2.78160604] [-0.03710243 0.99930307 -0.00409703 -0.49325563] [ 0.01749114 0.00474863 0.99983574 -0.92288381] [ 0. 0. 0. 1. ]] SLAMing on 59.036296757 meters Centerline goodness [0,1] 0.7936429744311517 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99916055 0.03688996 -0.01781368 2.78195009] [-0.03697394 0.99930651 -0.00440829 -0.49295517] [ 0.01763871 0.00506323 0.99983161 -0.92295556] [ 0. 0. 0. 1. ]] SLAMing on 59.066296757 meters Centerline goodness [0,1] 0.7926065015843211 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99915632 0.03696544 -0.017894 2.78174837] [-0.03704704 0.99930448 -0.0042506 -0.49363207] [ 0.01772443 0.00490993 0.99983085 -0.92240571] [ 0. 0. 0. 1. ]] SLAMing on 59.096296757000005 meters Centerline goodness [0,1] 0.7953787629737472 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99915763 0.03690964 -0.01793639 2.78134607] [-0.03698912 0.99930718 -0.00411953 -0.49406024] [ 0.01777191 0.00477951 0.99983064 -0.92150014] [ 0. 0. 0. 1. ]] SLAMing on 59.126296757 meters Centerline goodness [0,1] 0.7946294910179641 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99915715 0.03693957 -0.01790154 2.78104034] [-0.0370239 0.99930468 -0.00440247 -0.49070269] [ 0.01772646 0.00506154 0.99983006 -0.92103737] [ 0. 0. 0. 1. ]] SLAMing on 59.156296757 meters Centerline goodness [0,1] 0.7971983817029537 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99916196 0.03674175 -0.01803953 2.78151587] [-0.03683632 0.99930911 -0.00493874 -0.48851101] [ 0.0178456 0.00559911 0.99982508 -0.92130287] [ 0. 0. 0. 1. ]] SLAMing on 59.186296757 meters Centerline goodness [0,1] 0.7910646343456035 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99916683 0.03652622 -0.01820641 2.78223958] [-0.03663568 0.99931234 -0.00571554 -0.48612992] [ 0.01798512 0.00637779 0.99981791 -0.92199281] [ 0. 0. 0. 1. ]] SLAMing on 59.216296757 meters Centerline goodness [0,1] 0.7899659467276204 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99916529 0.03651265 -0.01831802 2.78246374] [-0.03662433 0.99931228 -0.00579819 -0.48623547] [ 0.01809372 0.00646423 0.9998154 -0.92200581] [ 0. 0. 0. 1. ]] SLAMing on 59.246296757 meters Centerline goodness [0,1] 0.7872567935098445 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.92 [[ 0.99916205 0.03656363 -0.01839267 2.78244431] [-0.03667642 0.99931017 -0.00583264 -0.48608897] [ 0.01816672 0.00650233 0.99981383 -0.92175608] [ 0. 0. 0. 1. ]] SLAMing on 59.276296757000004 meters Centerline goodness [0,1] 0.7814663055304767 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.92 [[ 0.99915702 0.03687862 -0.01803362 2.78144914] [-0.03699561 0.99929621 -0.00619732 -0.48280667] [ 0.01779238 0.00685926 0.99981817 -0.92146164] [ 0. 0. 0. 1. ]] SLAMing on 59.306296757 meters Centerline goodness [0,1] 0.7922212978369384 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.92 [[ 0.99915513 0.03696524 -0.01796099 2.78114501] [-0.03708809 0.9992905 -0.00655506 -0.48048406] [ 0.01770594 0.00721566 0.9998172 -0.9212598 ] [ 0. 0. 0. 1. ]] SLAMing on 59.336296757 meters Centerline goodness [0,1] 0.7880684956729884 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.92 [[ 0.99914784 0.03716023 -0.01796392 2.78074868] [-0.03729188 0.99927955 -0.00704998 -0.47744141] [ 0.01768899 0.00771388 0.99981378 -0.92076164] [ 0. 0. 0. 1. ]] SLAMing on 59.366296757 meters Centerline goodness [0,1] 0.7915342453134355 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.48, Z:-0.92 [[ 0.99914314 0.03727742 -0.01798291 2.78052467] [-0.03741189 0.99927399 -0.00719983 -0.47616555] [ 0.01770146 0.00786644 0.99981237 -0.92038656] [ 0. 0. 0. 1. ]] SLAMing on 59.396296757 meters Centerline goodness [0,1] 0.79010160452393 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99913391 0.03757328 -0.01787962 2.77989317] [-0.03771268 0.99926029 -0.00752443 -0.47391478] [ 0.01758368 0.0081922 0.99981183 -0.91990437] [ 0. 0. 0. 1. ]] SLAMing on 59.426296757 meters Centerline goodness [0,1] 0.7819557491688639 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99913675 0.03734159 -0.0182031 2.78081886] [-0.03749027 0.99926579 -0.00789636 -0.47337066] [ 0.01789487 0.00857199 0.99980313 -0.92031232] [ 0. 0. 0. 1. ]] SLAMing on 59.456296757000004 meters Centerline goodness [0,1] 0.7906784904103938 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99913806 0.03722593 -0.01836769 2.78150395] [-0.03738149 0.99926743 -0.00819978 -0.47258359] [ 0.01804899 0.00887932 0.99979768 -0.92083744] [ 0. 0. 0. 1. ]] SLAMing on 59.486296757000005 meters Centerline goodness [0,1] 0.7860705582253399 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99902264 0.04005065 -0.01870076 2.78415167] [-0.04016 0.99917807 -0.00550901 -0.46949135] [ 0.01846475 0.00625465 0.99980995 -0.92278 ] [ 0. 0. 0. 1. ]] SLAMing on 59.516296757 meters Centerline goodness [0,1] 0.7810716802691704 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99902408 0.03996655 -0.01880333 2.78465801] [-0.04008591 0.99917814 -0.00601413 -0.46721147] [ 0.01854751 0.006762 0.99980511 -0.92323928] [ 0. 0. 0. 1. ]] SLAMing on 59.546296757 meters Centerline goodness [0,1] 0.7868967866469854 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.47, Z:-0.92 [[ 0.99902588 0.03984952 -0.01895515 2.78518564] [-0.03997832 0.99917963 -0.00646521 -0.46659195] [ 0.01868196 0.0072167 0.99979943 -0.92363723] [ 0. 0. 0. 1. ]] SLAMing on 59.576296757 meters Centerline goodness [0,1] 0.7832845439898337 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.47, Z:-0.92 [[ 0.99902781 0.03969093 -0.01918479 2.78578214] [-0.03982285 0.99918533 -0.00654351 -0.46733276] [ 0.01890944 0.00730114 0.99979454 -0.92378037] [ 0. 0. 0. 1. ]] SLAMing on 59.606296757 meters Centerline goodness [0,1] 0.7806026151222285 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.47, Z:-0.92 [[ 0.99902886 0.03967338 -0.01916655 2.78533886] [-0.03980238 0.9991871 -0.00639612 -0.46843089] [ 0.01889721 0.00715278 0.99979585 -0.92306052] [ 0. 0. 0. 1. ]] SLAMing on 59.636296757000004 meters Centerline goodness [0,1] 0.7820035420734753 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99902253 0.03989351 -0.01903914 2.78482823] [-0.04002211 0.99917816 -0.00642139 -0.46716416] [ 0.01876732 0.0071771 0.99979812 -0.9226913 ] [ 0. 0. 0. 1. ]] SLAMing on 59.666296757000005 meters Centerline goodness [0,1] 0.7923571493253645 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.47, Z:-0.92 [[ 0.99900751 0.04033965 -0.01888664 2.78417056] [-0.04046403 0.99916145 -0.00625013 -0.46590395] [ 0.01861867 0.00700815 0.9998021 -0.92223082] [ 0. 0. 0. 1. ]] SLAMing on 59.696296757 meters Centerline goodness [0,1] 0.7761022191119038 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.46, Z:-0.92 [[ 0.99899959 0.04049508 -0.01897295 2.78421017] [-0.04062201 0.99915439 -0.00635274 -0.46442318] [ 0.01869965 0.00711711 0.99979981 -0.92205572] [ 0. 0. 0. 1. ]] SLAMing on 59.726296757 meters Centerline goodness [0,1] 0.7915448922721403 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.46, Z:-0.92 [[ 0.99897853 0.04102271 -0.01894828 2.78351768] [-0.04114266 0.99913536 -0.00598423 -0.46381705] [ 0.01868641 0.0067577 0.99980256 -0.92120238] [ 0. 0. 0. 1. ]] SLAMing on 59.756296757 meters Centerline goodness [0,1] 0.7872205342161354 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.46, Z:-0.92 [[ 0.99897347 0.04104088 -0.01917409 2.78414199] [-0.04116293 0.99913434 -0.00601475 -0.46428999] [ 0.01891064 0.00679783 0.99979807 -0.92151057] [ 0. 0. 0. 1. ]] SLAMing on 59.786296757 meters Centerline goodness [0,1] 0.7860257050728916 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.47, Z:-0.92 [[ 0.99897624 0.04076647 -0.01961061 2.7856078 ] [-0.04089619 0.99914379 -0.0062598 -0.46545732] [ 0.01933862 0.00705539 0.9997881 -0.92235801] [ 0. 0. 0. 1. ]] SLAMing on 59.816296757 meters Centerline goodness [0,1] 0.7800013629239262 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99897659 0.0407577 -0.01961059 2.78573532] [-0.04088922 0.99914349 -0.00635275 -0.4648365 ] [ 0.01933487 0.00714811 0.99978751 -0.92250977] [ 0. 0. 0. 1. ]] SLAMing on 59.846296757000005 meters Centerline goodness [0,1] 0.7800013629239262 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99897659 0.0407577 -0.01961059 2.78573532] [-0.04088922 0.99914349 -0.00635275 -0.4648365 ] [ 0.01933487 0.00714811 0.99978751 -0.92250977] [ 0. 0. 0. 1. ]] SLAMing on 59.876296757 meters Centerline goodness [0,1] 0.7846471241696706 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.46, Z:-0.92 [[ 0.99897202 0.04094429 -0.0194545 2.78494431] [-0.04107354 0.99913632 -0.00629104 -0.46209747] [ 0.01918012 0.00708364 0.99979095 -0.92163731] [ 0. 0. 0. 1. ]] SLAMing on 59.906296757 meters Centerline goodness [0,1] 0.7873922902494331 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99898397 0.04056942 -0.01962502 2.78547081] [-0.04070862 0.99914829 -0.00674627 -0.46068892] [ 0.01933461 0.00753833 0.99978465 -0.9217924 ] [ 0. 0. 0. 1. ]] SLAMing on 59.936296757 meters Centerline goodness [0,1] 0.7858776120078785 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99899458 0.04018811 -0.01986826 2.78598494] [-0.04033506 0.99916133 -0.00705172 -0.45993753] [ 0.0195682 0.00784602 0.99977774 -0.92166254] [ 0. 0. 0. 1. ]] SLAMing on 59.966296757 meters Centerline goodness [0,1] 0.791308867395824 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99914236 0.03614521 -0.02020084 2.78589415] [-0.03637609 0.99927562 -0.01118105 -0.45994467] [ 0.01978206 0.01190629 0.99973342 -0.92109609] [ 0. 0. 0. 1. ]] SLAMing on 59.996296757 meters Centerline goodness [0,1] 0.7938002348053824 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99927165 0.03231552 -0.02029475 2.78537864] [-0.03262476 0.99935366 -0.01509566 -0.4600824 ] [ 0.01979381 0.01574678 0.99968007 -0.92061913] [ 0. 0. 0. 1. ]] SLAMing on 60.026296757000004 meters Centerline goodness [0,1] 0.7956584464181056 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99927837 0.03200618 -0.02045347 2.78630095] [-0.03232685 0.99935647 -0.01554435 -0.45853837] [ 0.01994279 0.01619432 0.99966996 -0.92136852] [ 0. 0. 0. 1. ]] SLAMing on 60.056296757000005 meters Centerline goodness [0,1] 0.7972595330388533 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99917488 0.03489185 -0.02078734 2.78855199] [-0.0351512 0.999307 -0.01224415 -0.45784079] [ 0.02034571 0.01296475 0.99970894 -0.92271519] [ 0. 0. 0. 1. ]] SLAMing on 60.086296757 meters Centerline goodness [0,1] 0.7976597659765976 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99905335 0.03814099 -0.02092055 2.78966683] [-0.03833431 0.99922517 -0.00891842 -0.45556941] [ 0.02056418 0.00971195 0.99974136 -0.9230459 ] [ 0. 0. 0. 1. ]] SLAMing on 60.116296757 meters Centerline goodness [0,1] 0.8006971775553806 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99904236 0.03843274 -0.0209112 2.78912125] [-0.03862065 0.99921644 -0.00865724 -0.4555641 ] [ 0.02056209 0.00945656 0.99974385 -0.92228651] [ 0. 0. 0. 1. ]] SLAMing on 60.146296757 meters Centerline goodness [0,1] 0.792065202748215 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99903138 0.03859602 -0.02113428 2.7890573 ] [-0.03877588 0.99921456 -0.0081672 -0.45761949] [ 0.02080245 0.00897879 0.99974329 -0.92131474] [ 0. 0. 0. 1. ]] SLAMing on 60.176296757 meters Centerline goodness [0,1] 0.7984047227417138 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99903005 0.03857961 -0.02122688 2.78929745] [-0.03875864 0.99921587 -0.00808795 -0.45832863] [ 0.02089821 0.00890283 0.99974197 -0.92132875] [ 0. 0. 0. 1. ]] SLAMing on 60.206296757000004 meters Centerline goodness [0,1] 0.7888069961908626 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99903364 0.03844864 -0.02129527 2.79007486] [-0.03863538 0.99921783 -0.00842798 -0.4570234 ] [ 0.02095457 0.00924258 0.99973771 -0.92211899] [ 0. 0. 0. 1. ]] SLAMing on 60.236296757000005 meters Centerline goodness [0,1] 0.8022208207576917 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99903353 0.03837422 -0.02143439 2.79073398] [-0.03856847 0.99921788 -0.00872366 -0.45577169] [ 0.02108286 0.00954192 0.9997322 -0.92264306] [ 0. 0. 0. 1. ]] SLAMing on 60.266296757 meters Centerline goodness [0,1] 0.8019705988455988 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99902705 0.03845034 -0.02159904 2.79126808] [-0.03864614 0.99921489 -0.0087222 -0.45557324] [ 0.02124671 0.00954843 0.99972867 -0.92287642] [ 0. 0. 0. 1. ]] SLAMing on 60.296296757 meters Centerline goodness [0,1] 0.808827505407354 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99902063 0.03852779 -0.02175744 2.7914713 ] [-0.03871851 0.99921474 -0.00841342 -0.45668987] [ 0.02141621 0.00924759 0.99972788 -0.92261926] [ 0. 0. 0. 1. ]] SLAMing on 60.326296757 meters Centerline goodness [0,1] 0.8094861660079051 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99901079 0.03883515 -0.02166268 2.79082838] [-0.03900742 0.99921012 -0.0075869 -0.45888671] [ 0.02135093 0.0084244 0.99973655 -0.92166592] [ 0. 0. 0. 1. ]] SLAMing on 60.356296757 meters Centerline goodness [0,1] 0.8106594399277326 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99900597 0.03891749 -0.02173687 2.79093484] [-0.03908533 0.99920884 -0.00735075 -0.45932362] [ 0.0214336 0.00819304 0.9997367 -0.92150523] [ 0. 0. 0. 1. ]] SLAMing on 60.386296757000004 meters Centerline goodness [0,1] 0.815062136405822 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99900352 0.0390974 -0.02152604 2.7905488 ] [-0.03925647 0.99920453 -0.00701743 -0.4593031 ] [ 0.02123455 0.00785547 0.99974366 -0.92134556] [ 0. 0. 0. 1. ]] SLAMing on 60.416296757000005 meters Centerline goodness [0,1] 0.8119954904171365 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99900341 0.03892522 -0.02184075 2.79147415] [-0.0390901 0.99920994 -0.00717359 -0.45894905] [ 0.02154426 0.0080202 0.99973573 -0.92170534] [ 0. 0. 0. 1. ]] SLAMing on 60.446296757 meters Centerline goodness [0,1] 0.8142187818292932 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99899945 0.0389698 -0.02194216 2.79150386] [-0.03912983 0.99921023 -0.00691175 -0.45971109] [ 0.02165548 0.00776343 0.99973535 -0.92136966] [ 0. 0. 0. 1. ]] SLAMing on 60.476296757 meters Centerline goodness [0,1] 0.8141920257789276 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99900104 0.03893184 -0.02193725 2.79171761] [-0.03908325 0.99921471 -0.00651587 -0.46253866] [ 0.02166635 0.00736674 0.99973812 -0.92145245] [ 0. 0. 0. 1. ]] SLAMing on 60.506296757 meters Centerline goodness [0,1] 0.8172706245181187 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99899584 0.03902053 -0.0220159 2.79179753] [-0.03916582 0.99921345 -0.00620689 -0.46360481] [ 0.02175639 0.00706293 0.99973835 -0.9212799 ] [ 0. 0. 0. 1. ]] SLAMing on 60.536296757 meters Centerline goodness [0,1] 0.8148373434261512 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99899248 0.03921508 -0.02182201 2.79120118] [-0.03935415 0.99920743 -0.00598014 -0.46334504] [ 0.0215702 0.0068329 0.99974399 -0.9207247 ] [ 0. 0. 0. 1. ]] SLAMing on 60.566296757 meters Centerline goodness [0,1] 0.8199761974266274 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99898236 0.03958261 -0.02162083 2.79030928] [-0.03971536 0.99919452 -0.00574512 -0.46244619] [ 0.021376 0.00659796 0.99974974 -0.91995491] [ 0. 0. 0. 1. ]] SLAMing on 60.596296757000005 meters Centerline goodness [0,1] 0.8184183375947607 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99896942 0.0401893 -0.02109323 2.78832398] [-0.04030818 0.99917355 -0.00524163 -0.461256 ] [ 0.02086514 0.00608646 0.99976377 -0.91840173] [ 0. 0. 0. 1. ]] SLAMing on 60.626296757 meters Centerline goodness [0,1] 0.8183677597716392 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99896633 0.04025053 -0.02112266 2.78819841] [-0.040367 0.99917182 -0.00511697 -0.46165427] [ 0.0208992 0.00596434 0.9997638 -0.91809294] [ 0. 0. 0. 1. ]] SLAMing on 60.656296757 meters Centerline goodness [0,1] 0.816529670082198 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.9989691 0.04012125 -0.02123722 2.78866856] [-0.04024061 0.99917637 -0.00522315 -0.46251591] [ 0.02101016 0.00607237 0.99976082 -0.91835899] [ 0. 0. 0. 1. ]] SLAMing on 60.686296757 meters Centerline goodness [0,1] 0.8146714671467147 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99897547 0.03986802 -0.02141369 2.78951568] [-0.03999623 0.99918418 -0.00559286 -0.46218128] [ 0.02117324 0.00644359 0.99975506 -0.91904335] [ 0. 0. 0. 1. ]] SLAMing on 60.716296757 meters Centerline goodness [0,1] 0.8155829596412556 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99898744 0.03944153 -0.02164401 2.79099945] [-0.03958642 0.99919625 -0.00630696 -0.46057607] [ 0.02137786 0.00715738 0.99974585 -0.92039038] [ 0. 0. 0. 1. ]] SLAMing on 60.746296757 meters Centerline goodness [0,1] 0.815790063922844 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99899252 0.03932449 -0.02162246 2.79132928] [-0.03947658 0.99919835 -0.00665231 -0.45926493] [ 0.02134352 0.00749918 0.99974408 -0.920882 ] [ 0. 0. 0. 1. ]] SLAMing on 60.776296757000004 meters Centerline goodness [0,1] 0.8204697610890934 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99898205 0.03968005 -0.02145581 2.79093458] [-0.03983105 0.99918425 -0.0066569 -0.45710471] [ 0.02117416 0.00750473 0.99974764 -0.92078845] [ 0. 0. 0. 1. ]] SLAMing on 60.806296757000005 meters Centerline goodness [0,1] 0.8125321466109086 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99898469 0.03960592 -0.02147012 2.79134176] [-0.03976206 0.99918539 -0.0068948 -0.45639021] [ 0.02117956 0.0077415 0.99974572 -0.92129169] [ 0. 0. 0. 1. ]] SLAMing on 60.836296757 meters Centerline goodness [0,1] 0.8081607114924806 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99898235 0.03958423 -0.02161858 2.79192758] [-0.03974402 0.99918529 -0.00701197 -0.45620369] [ 0.0213234 0.00786405 0.9997417 -0.92169457] [ 0. 0. 0. 1. ]] SLAMing on 60.866296757 meters Centerline goodness [0,1] 0.8104453929872394 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99896876 0.04009506 -0.02130244 2.79148 ] [-0.04025298 0.99916474 -0.00703643 -0.45560845] [ 0.02100252 0.00788666 0.99974832 -0.92207696] [ 0. 0. 0. 1. ]] SLAMing on 60.896296757 meters Centerline goodness [0,1] 0.8093384343468242 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99895868 0.04039542 -0.0212077 2.79129131] [-0.04055126 0.99915314 -0.0069706 -0.45609335] [ 0.02090816 0.00782334 0.99975079 -0.92209805] [ 0. 0. 0. 1. ]] SLAMing on 60.926296757 meters Centerline goodness [0,1] 0.8082577416327807 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99895841 0.04033127 -0.02134216 2.79194167] [-0.04049149 0.99915445 -0.00712891 -0.45583253] [ 0.0210366 0.00798566 0.99974681 -0.92261548] [ 0. 0. 0. 1. ]] SLAMing on 60.956296757000004 meters Centerline goodness [0,1] 0.8076010033145212 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.45, Z:-0.92 [[ 0.99895191 0.04048998 -0.02134599 2.79230817] [-0.04065194 0.99914737 -0.00720822 -0.45477895] [ 0.02103593 0.00806842 0.99974616 -0.92313309] [ 0. 0. 0. 1. ]] SLAMing on 60.986296757000005 meters Centerline goodness [0,1] 0.79929711458823 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.45, Z:-0.92 [[ 0.99880578 0.04395317 -0.02133365 2.79380931] [-0.04404319 0.99902252 -0.00376798 -0.45355785] [ 0.02114718 0.00470308 0.99976531 -0.92451396] [ 0. 0. 0. 1. ]] SLAMing on 61.016296757 meters Centerline goodness [0,1] 0.7936447594981999 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99878874 0.044406 -0.02119352 2.79314114] [-0.04448381 0.99900494 -0.00321381 -0.45504896] [ 0.02102972 0.00415268 0.99977023 -0.92384106] [ 0. 0. 0. 1. ]] SLAMing on 61.046296757 meters Centerline goodness [0,1] 0.8051933478465785 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.998913 0.04155023 -0.02112807 2.79184998] [-0.04169354 0.99911003 -0.00638801 -0.45539586] [ 0.02084385 0.00726197 0.99975637 -0.92304348] [ 0. 0. 0. 1. ]] SLAMing on 61.076296757 meters Centerline goodness [0,1] 0.7870957585570998 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99892271 0.04118874 -0.02137518 2.7927152 ] [-0.04133172 0.99912567 -0.00629095 -0.45723652] [ 0.02109737 0.00716765 0.99975173 -0.92340173] [ 0. 0. 0. 1. ]] SLAMing on 61.106296757 meters Centerline goodness [0,1] 0.8126773249268183 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.46, Z:-0.92 [[ 0.99896946 0.03993483 -0.021569 2.79438437] [-0.04008581 0.99917435 -0.00661342 -0.45888027] [ 0.02128708 0.00747121 0.99974549 -0.92452057] [ 0. 0. 0. 1. ]] SLAMing on 61.136296757000004 meters Centerline goodness [0,1] 0.8117750202319935 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.46, Z:-0.92 [[ 0.99898118 0.03948535 -0.02185206 2.79531548] [-0.0396403 0.99919153 -0.00670362 -0.45898516] [ 0.0215697 0.00756302 0.99973874 -0.92479947] [ 0. 0. 0. 1. ]] SLAMing on 61.166296757000005 meters Centerline goodness [0,1] 0.8191841980653454 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.46, Z:-0.93 [[ 0.9990153 0.03846722 -0.02210646 2.79682796] [-0.03862452 0.99923111 -0.00673319 -0.46041389] [ 0.02183045 0.00758042 0.99973295 -0.92549626] [ 0. 0. 0. 1. ]] SLAMing on 61.196296757 meters Centerline goodness [0,1] 0.8193732064984071 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.46, Z:-0.93 [[ 0.99903577 0.03764965 -0.02258392 2.7984071 ] [-0.03781174 0.99926179 -0.0067933 -0.46210162] [ 0.02231148 0.00764069 0.99972187 -0.92599083] [ 0. 0. 0. 1. ]] SLAMing on 61.226296757 meters Centerline goodness [0,1] 0.8233021183743977 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.92 [[ 0.99919077 0.03317951 -0.02273599 2.79803202] [-0.03341151 0.99939263 -0.00990116 -0.46608817] [ 0.02239367 0.01065279 0.99969247 -0.92476474] [ 0. 0. 0. 1. ]] SLAMing on 61.256296757 meters Centerline goodness [0,1] 0.8249084748845987 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.92 [[ 0.99920061 0.03269617 -0.02300199 2.79852699] [-0.03291443 0.99941606 -0.00917477 -0.46909058] [ 0.02268858 0.00992453 0.99969332 -0.92405403] [ 0. 0. 0. 1. ]] SLAMing on 61.286296757 meters Centerline goodness [0,1] 0.8270032580711307 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.92 [[ 0.99921984 0.0319398 -0.02322843 2.79939408] [-0.03215985 0.99944074 -0.00916227 -0.47054454] [ 0.0229228 0.00990214 0.9996882 -0.924177 ] [ 0. 0. 0. 1. ]] SLAMing on 61.316296757 meters Centerline goodness [0,1] 0.8291745763099513 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.93 [[ 0.99926919 0.03010051 -0.02355947 2.80131807] [-0.03034022 0.99949076 -0.00988426 -0.47183844] [ 0.02324995 0.01059183 0.99967357 -0.92508758] [ 0. 0. 0. 1. ]] SLAMing on 61.346296757000005 meters Centerline goodness [0,1] 0.8303951646137644 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.93 [[ 0.9992922 0.029137 -0.02379367 2.80243334] [-0.02938002 0.999519 -0.00992886 -0.47344174] [ 0.02349293 0.01062089 0.99966758 -0.92528677] [ 0. 0. 0. 1. ]] SLAMing on 61.376296757 meters Centerline goodness [0,1] 0.8292229264260127 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.93 [[ 0.99929121 0.02895551 -0.02405507 2.80326952] [-0.02919928 0.99952513 -0.00984507 -0.47458256] [ 0.02375858 0.01054048 0.99966216 -0.92564748] [ 0. 0. 0. 1. ]] SLAMing on 61.406296757 meters Centerline goodness [0,1] 0.8286497443221081 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.93 [[ 0.99928586 0.02885999 -0.02439017 2.80399541] [-0.02910102 0.99953051 -0.00958546 -0.47619292] [ 0.02410208 0.0102884 0.99965656 -0.92564013] [ 0. 0. 0. 1. ]] SLAMing on 61.436296757 meters Centerline goodness [0,1] 0.8265209673329184 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.93 [[ 0.99928195 0.0289262 -0.02447174 2.80450533] [-0.02915669 0.99953329 -0.0091149 -0.47870301] [ 0.02419666 0.00982187 0.99965897 -0.9260297 ] [ 0. 0. 0. 1. ]] SLAMing on 61.466296757 meters Centerline goodness [0,1] 0.8246457489878543 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99927669 0.02900863 -0.0245885 2.80500707] [-0.02924099 0.99953057 -0.00914367 -0.47838286] [ 0.02431171 0.00985605 0.99965584 -0.92642524] [ 0. 0. 0. 1. ]] SLAMing on 61.496296757 meters Centerline goodness [0,1] 0.8213461360908503 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99914269 0.03326147 -0.02464871 2.80536743] [-0.03338657 0.99943155 -0.00468126 -0.47936546] [ 0.02447899 0.00550018 0.99968521 -0.92615829] [ 0. 0. 0. 1. ]] SLAMing on 61.526296757000004 meters Centerline goodness [0,1] 0.8162845995798416 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99909943 0.03438589 -0.02485842 2.80539664] [-0.03450178 0.99939561 -0.00424794 -0.47951026] [ 0.02469732 0.00510177 0.99968196 -0.92623629] [ 0. 0. 0. 1. ]] SLAMing on 61.556296757000005 meters Centerline goodness [0,1] 0.8143005900728914 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99908814 0.03455019 -0.02508333 2.80621111] [-0.03467054 0.9993892 -0.00437885 -0.47907938] [ 0.02491672 0.0052445 0.99967577 -0.92687577] [ 0. 0. 0. 1. ]] SLAMing on 61.586296757 meters Centerline goodness [0,1] 0.8115151795203549 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99907463 0.03471657 -0.02538987 2.80737971] [-0.03484456 0.99938208 -0.00461595 -0.47868165] [ 0.02521393 0.00549638 0.99966697 -0.92787434] [ 0. 0. 0. 1. ]] SLAMing on 61.616296757 meters Centerline goodness [0,1] 0.8074599116895189 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99904648 0.03538449 -0.02557464 2.80829863] [-0.03550645 0.99936006 -0.00433043 -0.48018071] [ 0.02540505 0.00523437 0.99966354 -0.92908661] [ 0. 0. 0. 1. ]] SLAMing on 61.646296757 meters Centerline goodness [0,1] 0.8053321556412998 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99903901 0.03533809 -0.0259283 2.80951238] [-0.0354621 0.99936161 -0.0043384 -0.48117114] [ 0.02575844 0.0052537 0.99965439 -0.92984718] [ 0. 0. 0. 1. ]] SLAMing on 61.676296757 meters Centerline goodness [0,1] 0.8024304744099089 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99901801 0.0360102 -0.02581255 2.80908448] [-0.03610904 0.99934216 -0.0033731 -0.48350918] [ 0.0256741 0.00430186 0.99966111 -0.9295602 ] [ 0. 0. 0. 1. ]] SLAMing on 61.706296757000004 meters Centerline goodness [0,1] 0.8016849988298619 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99900967 0.03610913 -0.02599629 2.80940045] [-0.03620073 0.99933985 -0.00306156 -0.48456435] [ 0.02586858 0.00399961 0.99965735 -0.92942028] [ 0. 0. 0. 1. ]] SLAMing on 61.736296757000005 meters Centerline goodness [0,1] 0.8016849988298619 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.93 [[ 0.99900967 0.03610913 -0.02599629 2.80940045] [-0.03620073 0.99933985 -0.00306156 -0.48456435] [ 0.02586858 0.00399961 0.99965735 -0.92942028] [ 0. 0. 0. 1. ]] SLAMing on 61.766296757 meters Centerline goodness [0,1] 0.8026253881622283 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99928689 0.03610485 -0.01105253 2.80773981] [-0.03614812 0.99933944 -0.00374013 -0.48700569] [ 0.01091019 0.00413699 0.99993192 -0.9334544 ] [ 0. 0. 0. 1. ]] SLAMing on 61.796296757 meters Centerline goodness [0,1] 0.8010954910903192 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99927905 0.03630048 -0.01112028 2.80735898] [-0.03633835 0.99933435 -0.0032229 -0.48846215] [ 0.01099589 0.00362467 0.99993297 -0.93258886] [ 0. 0. 0. 1. ]] SLAMing on 61.826296757 meters Centerline goodness [0,1] 0.7982627988764841 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 9.99276110e-01 3.62943115e-02 -1.14008467e-02 2.80781400e+00] [-3.63284099e-02 9.99335988e-01 -2.79807898e-03 -4.90668534e-01] [ 1.12917221e-02 3.21022811e-03 9.99931093e-01 -9.32233556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.856296757 meters Centerline goodness [0,1] 0.8003791020021325 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 9.99275161e-01 3.62336124e-02 -1.16738043e-02 2.80843990e+00] [-3.62673264e-02 9.99338506e-01 -2.68930559e-03 -4.91368793e-01] [ 1.15686389e-02 3.11073395e-03 9.99928242e-01 -9.32319916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.886296757000004 meters Centerline goodness [0,1] 0.7973505531551208 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 9.99278684e-01 3.60412509e-02 -1.19641455e-02 2.80931283e+00] [-3.60770045e-02 9.99345129e-01 -2.78608043e-03 -4.91715378e-01] [ 1.18558967e-02 3.21570131e-03 9.99924546e-01 -9.32689533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.916296757000005 meters Centerline goodness [0,1] 0.8021107553658248 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.9992834 0.03577839 -0.01235315 2.8106322 ] [-0.03581904 0.99935353 -0.00308519 -0.49135529] [ 0.01223478 0.00352546 0.99991894 -0.93344841] [ 0. 0. 0. 1. ]] SLAMing on 61.946296757 meters Centerline goodness [0,1] 0.8011402779427486 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99928254 0.03577263 -0.01243876 2.8110953 ] [-0.03581552 0.99935316 -0.00324293 -0.4909869 ] [ 0.0123147 0.0036861 0.99991738 -0.93390241] [ 0. 0. 0. 1. ]] SLAMing on 61.976296757 meters Centerline goodness [0,1] 0.7986819879618395 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99927647 0.03591756 -0.01250874 2.81099845] [-0.03596086 0.9993479 -0.00325355 -0.49119565] [ 0.01238372 0.00370102 0.99991647 -0.933599 ] [ 0. 0. 0. 1. ]] SLAMing on 62.006296757 meters Centerline goodness [0,1] 0.7988651741411648 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99928059 0.03571774 -0.01274899 2.81152893] [-0.03576367 0.99935452 -0.00339266 -0.49174796] [ 0.01261958 0.00384617 0.99991297 -0.93359864] [ 0. 0. 0. 1. ]] SLAMing on 62.036296757 meters Centerline goodness [0,1] 0.7987952954621209 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99927857 0.03570613 -0.01293885 2.81156552] [-0.03575305 0.99935483 -0.00341321 -0.49251084] [ 0.01280863 0.00387335 0.99991046 -0.93310942] [ 0. 0. 0. 1. ]] SLAMing on 62.066296757 meters Centerline goodness [0,1] 0.7959479704182817 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99928233 0.03552555 -0.01314356 2.81242191] [-0.03557894 0.99935945 -0.00385027 -0.49155934] [ 0.01299836 0.00431514 0.99990621 -0.93381358] [ 0. 0. 0. 1. ]] SLAMing on 62.096296757000005 meters Centerline goodness [0,1] 0.7939036568548196 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.93 [[ 0.99927455 0.03571555 -0.01321998 2.81293778] [-0.0357725 0.99935156 -0.00409667 -0.49055116] [ 0.01306509 0.00456661 0.99990422 -0.93451869] [ 0. 0. 0. 1. ]] SLAMing on 62.126296757 meters Centerline goodness [0,1] 0.793598443505908 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.94 [[ 0.99927476 0.03562057 -0.01345819 2.81381015] [-0.03568294 0.99935337 -0.00442277 -0.48991564] [ 0.01329195 0.00489979 0.99989965 -0.93516728] [ 0. 0. 0. 1. ]] SLAMing on 62.156296757 meters Centerline goodness [0,1] 0.7940770037167636 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.94 [[ 0.99926088 0.03591397 -0.01370665 2.81467239] [-0.03597819 0.99934259 -0.00446815 -0.48959991] [ 0.01353717 0.00495799 0.99989608 -0.93596059] [ 0. 0. 0. 1. ]] SLAMing on 62.186296757 meters Centerline goodness [0,1] 0.7892820598243819 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.94 [[ 0.99926095 0.03581539 -0.0139578 2.81563594] [-0.03588419 0.99934486 -0.00470979 -0.48946557] [ 0.01377998 0.00520717 0.99989149 -0.93665316] [ 0. 0. 0. 1. ]] SLAMing on 62.216296757 meters Centerline goodness [0,1] 0.7815902971382277 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.94 [[ 0.99924652 0.0361084 -0.0142332 2.81643805] [-0.03617643 0.99933505 -0.00455204 -0.49038438] [ 0.01405937 0.00506352 0.99988834 -0.93716604] [ 0. 0. 0. 1. ]] SLAMing on 62.246296757 meters Centerline goodness [0,1] 0.7780136937280817 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.94 [[ 0.99923866 0.03625962 -0.01439908 2.81692254] [-0.03632602 0.99933041 -0.00437649 -0.49105787] [ 0.01423075 0.00489622 0.99988675 -0.93745512] [ 0. 0. 0. 1. ]] SLAMing on 62.276296757000004 meters Centerline goodness [0,1] 0.7891577743902439 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.94 [[ 0.99923832 0.03628606 -0.01435593 2.81721199] [-0.03634685 0.99933124 -0.00399689 -0.49231887] [ 0.0142013 0.00451564 0.99988896 -0.93775976] [ 0. 0. 0. 1. ]] SLAMing on 62.306296757000005 meters Centerline goodness [0,1] 0.7874383473516167 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.49, Z:-0.94 [[ 0.99923832 0.03625292 -0.01443939 2.81738714] [-0.03631122 0.99933332 -0.00379625 -0.49298331] [ 0.01429214 0.00431767 0.99988854 -0.93767072] [ 0. 0. 0. 1. ]] SLAMing on 62.336296757 meters Centerline goodness [0,1] 0.7880737675508886 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.99924827 0.03592239 -0.01457678 2.81700859] [-0.03597112 0.99934804 -0.00309476 -0.4974472 ] [ 0.0144561 0.00361677 0.99988896 -0.93613302] [ 0. 0. 0. 1. ]] SLAMing on 62.366296757 meters Centerline goodness [0,1] 0.784326440425583 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.99935786 0.03277791 -0.01447358 2.81559688] [-0.03287404 0.99943866 -0.00645402 -0.49836337] [ 0.0142539 0.00692568 0.99987442 -0.93521134] [ 0. 0. 0. 1. ]] SLAMing on 62.396296757 meters Centerline goodness [0,1] 0.7916093369058826 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.999387 0.03166389 -0.01493408 2.81694632] [-0.03176755 0.99947245 -0.00675589 -0.50255782] [ 0.01471228 0.00722617 0.99986566 -0.93545777] [ 0. 0. 0. 1. ]] SLAMing on 62.426296757 meters Centerline goodness [0,1] 0.7894087478227211 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.9993875 0.03158614 -0.01506435 2.81767089] [-0.03168847 0.99947598 -0.00660279 -0.5031825 ] [ 0.0148479 0.00707611 0.99986473 -0.93599681] [ 0. 0. 0. 1. ]] SLAMing on 62.456296757000004 meters Centerline goodness [0,1] 0.7922868741542626 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.9993028 0.03395452 -0.01552406 2.82162581] [-0.03401239 0.99941536 -0.0034788 -0.50272621] [ 0.01539686 0.00400439 0.99987344 -0.93904179] [ 0. 0. 0. 1. ]] SLAMing on 62.486296757000005 meters Centerline goodness [0,1] 0.7917926148042463 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.9993091 0.03367005 -0.01573679 2.82289711] [-0.03373454 0.99942341 -0.00385048 -0.50180698] [ 0.01559807 0.00437869 0.99986876 -0.94020664] [ 0. 0. 0. 1. ]] SLAMing on 62.516296757 meters Centerline goodness [0,1] 0.7916969081143852 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.50, Z:-0.94 [[ 0.99930934 0.03352739 -0.01602361 2.82368433] [-0.03359156 0.9994286 -0.00375213 -0.50296041] [ 0.01588866 0.0042878 0.99986457 -0.94042222] [ 0. 0. 0. 1. ]] SLAMing on 62.546296757 meters Centerline goodness [0,1] 0.785726464498843 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99940874 0.0306679 -0.0155449 2.82089549] [-0.0307663 0.9995078 -0.00613119 -0.50774663] [ 0.01534922 0.00660582 0.99986037 -0.93834942] [ 0. 0. 0. 1. ]] SLAMing on 62.576296757 meters Centerline goodness [0,1] 0.7886843067918546 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99941414 0.03041425 -0.01569555 2.82106513] [-0.03050726 0.99951817 -0.00572065 -0.5104152 ] [ 0.015514 0.00619612 0.99986045 -0.93779081] [ 0. 0. 0. 1. ]] SLAMing on 62.606296757 meters Centerline goodness [0,1] 0.793934965290464 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.9994192 0.03027123 -0.0156498 2.82099045] [-0.03035745 0.99952505 -0.00530171 -0.51156718] [ 0.01548188 0.00577372 0.99986348 -0.93736842] [ 0. 0. 0. 1. ]] SLAMing on 62.636296757000004 meters Centerline goodness [0,1] 0.7916747572815535 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 9.99309914e-01 3.36270793e-02 -1.57770683e-02 2.82228305e+00] [-3.36569106e-02 9.99432118e-01 -1.62902575e-03 -5.10106966e-01] [ 1.57133295e-02 2.15890896e-03 9.99874207e-01 -9.37838846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666296757000005 meters Centerline goodness [0,1] 0.7886031631051551 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 9.99311288e-01 3.34702307e-02 -1.60216253e-02 2.82303496e+00] [-3.35067019e-02 9.99436465e-01 -2.01330493e-03 -5.09063920e-01] [ 1.59452108e-02 2.54875016e-03 9.99869619e-01 -9.38268818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.696296757 meters Centerline goodness [0,1] 0.7935979388960455 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99936392 0.03188161 -0.01597878 2.82132361] [-0.0319505 0.99948115 -0.00407461 -0.50876303] [ 0.01584059 0.00458255 0.99986403 -0.93695991] [ 0. 0. 0. 1. ]] SLAMing on 62.726296757 meters Centerline goodness [0,1] 0.776260837709122 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99944998 0.02907128 -0.015956 2.82009992] [-0.02919077 0.99954714 -0.00730791 -0.51115033] [ 0.01573632 0.00776966 0.99984599 -0.9363851 ] [ 0. 0. 0. 1. ]] SLAMing on 62.756296757 meters Centerline goodness [0,1] 0.7798503837559506 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99934628 0.03219987 -0.01643719 2.82265801] [-0.03226652 0.99947205 -0.00380608 -0.51164841] [ 0.01630596 0.00433396 0.99985766 -0.93785694] [ 0. 0. 0. 1. ]] SLAMing on 62.786296757 meters Centerline goodness [0,1] 0.7641911818469863 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99933531 0.03252909 -0.01645591 2.82284157] [-0.03259738 0.99946096 -0.00389889 -0.50939892] [ 0.01632021 0.00443272 0.99985699 -0.93820132] [ 0. 0. 0. 1. ]] SLAMing on 62.816296757 meters Centerline goodness [0,1] 0.7807109316075035 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99932586 0.03276642 -0.01655838 2.82318604] [-0.03284037 0.99945172 -0.00421448 -0.50758677] [ 0.0164112 0.00475543 0.99985402 -0.93868465] [ 0. 0. 0. 1. ]] SLAMing on 62.846296757000005 meters Centerline goodness [0,1] 0.7708724603039099 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99929813 0.03368784 -0.01638249 2.82228251] [-0.03375322 0.99942323 -0.00373073 -0.50790919] [ 0.01624736 0.00428108 0.99985884 -0.9383101 ] [ 0. 0. 0. 1. ]] SLAMing on 62.876296757 meters Centerline goodness [0,1] 0.7645269612614366 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99929752 0.03356621 -0.01666679 2.82323209] [-0.03363451 0.99942684 -0.00383466 -0.50857933] [ 0.01652852 0.00439255 0.99985375 -0.93890764] [ 0. 0. 0. 1. ]] SLAMing on 62.906296757 meters Centerline goodness [0,1] 0.7650472599049905 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99930072 0.03344841 -0.01671161 2.82371641] [-0.03351613 0.99943099 -0.00378897 -0.50936452] [ 0.01657537 0.00434643 0.99985317 -0.93938034] [ 0. 0. 0. 1. ]] SLAMing on 62.936296757 meters Centerline goodness [0,1] 0.7809304264658998 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.51, Z:-0.94 [[ 0.99930458 0.03315225 -0.0170669 2.8247926 ] [-0.03322177 0.99944076 -0.00380594 -0.51007486] [ 0.01693118 0.00437029 0.99984711 -0.93971965] [ 0. 0. 0. 1. ]] SLAMing on 62.966296757 meters Centerline goodness [0,1] 0.7783020027030347 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99933617 0.0319738 -0.01746108 2.82682292] [-0.03204988 0.99947788 -0.00409448 -0.51278302] [ 0.01732105 0.00465139 0.99983916 -0.94085529] [ 0. 0. 0. 1. ]] SLAMing on 62.996296757 meters Centerline goodness [0,1] 0.783441694890114 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99933776 0.03181664 -0.01765629 2.8272563 ] [-0.03188666 0.99948465 -0.00369827 -0.51429872] [ 0.01752952 0.00425882 0.99983728 -0.94059038] [ 0. 0. 0. 1. ]] SLAMing on 63.026296757000004 meters Centerline goodness [0,1] 0.787336817855285 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99935056 0.0313424 -0.01777981 2.82742371] [-0.03140242 0.99950199 -0.00310658 -0.5157542 ] [ 0.01767359 0.00366289 0.9998371 -0.93958225] [ 0. 0. 0. 1. ]] SLAMing on 63.056296757000005 meters Centerline goodness [0,1] 0.788516865079365 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 9.99352878e-01 3.11829211e-02 -1.79290645e-02 2.82766663e+00] [-3.12384702e-02 9.99507963e-01 -2.82653006e-03 -5.16800336e-01] [ 1.78321033e-02 3.38477750e-03 9.99835266e-01 -9.39218371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.086296757 meters Centerline goodness [0,1] 0.7893180236604036 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 9.99356854e-01 3.09112978e-02 -1.81760751e-02 2.82819993e+00] [-3.09640600e-02 9.99517042e-01 -2.62854335e-03 -5.18022546e-01] [ 1.80860451e-02 3.18965789e-03 9.99831346e-01 -9.39006739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.116296757 meters Centerline goodness [0,1] 0.7951401869158878 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99945833 0.02752214 -0.01804369 2.82662023] [-0.02763021 0.99960157 -0.00576763 -0.51899124] [ 0.01787776 0.00626306 0.99982056 -0.93750813] [ 0. 0. 0. 1. ]] SLAMing on 63.146296757 meters Centerline goodness [0,1] 0.7972170964041694 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.9994738 0.02700991 -0.01796054 2.82650203] [-0.02710376 0.99962011 -0.00500248 -0.52221127] [ 0.0178186 0.00548665 0.99982618 -0.93652501] [ 0. 0. 0. 1. ]] SLAMing on 63.176296757 meters Centerline goodness [0,1] 0.7973526709215983 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99947607 0.02673554 -0.01824259 2.82729754] [-0.02682786 0.99962838 -0.00483479 -0.52256097] [ 0.01810655 0.00532166 0.9998219 -0.93649442] [ 0. 0. 0. 1. ]] SLAMing on 63.206296757000004 meters Centerline goodness [0,1] 0.7987087161658804 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99947993 0.0265761 -0.01826439 2.82768569] [-0.02667127 0.99963182 -0.0049871 -0.5217634 ] [ 0.01812513 0.00547164 0.99982075 -0.93687562] [ 0. 0. 0. 1. ]] SLAMing on 63.236296757000005 meters Centerline goodness [0,1] 0.7947297834293662 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99948643 0.02611315 -0.0185736 2.82916623] [-0.02622339 0.99963976 -0.00571685 -0.51939272] [ 0.01841763 0.00620098 0.99981115 -0.938096 ] [ 0. 0. 0. 1. ]] SLAMing on 63.266296757 meters Centerline goodness [0,1] 0.8013983230076385 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99948455 0.02588312 -0.01899227 2.83048741] [-0.02600161 0.99964378 -0.00601874 -0.51937351] [ 0.01882972 0.00650947 0.99980151 -0.93881215] [ 0. 0. 0. 1. ]] SLAMing on 63.296296757 meters Centerline goodness [0,1] 0.8000248138957816 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99948168 0.02587884 -0.01914828 2.83125045] [-0.02600314 0.99964219 -0.00627085 -0.52018919] [ 0.01897915 0.00676552 0.99979699 -0.93965925] [ 0. 0. 0. 1. ]] SLAMing on 63.326296757 meters Centerline goodness [0,1] 0.7987460195996149 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99946895 0.02665341 -0.01874617 2.82968882] [-0.02677303 0.99962256 -0.00615918 -0.51795605] [ 0.01857493 0.00665781 0.9998053 -0.93887992] [ 0. 0. 0. 1. ]] SLAMing on 63.356296757 meters Centerline goodness [0,1] 0.7986549073709105 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99945944 0.02710773 -0.01860106 2.82909518] [-0.02722816 0.9996097 -0.00625155 -0.51565313] [ 0.01842433 0.00675464 0.99980744 -0.9386933 ] [ 0. 0. 0. 1. ]] SLAMing on 63.386296757000004 meters Centerline goodness [0,1] 0.7981441932395611 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99945135 0.02739319 -0.0186175 2.82900271] [-0.02751839 0.99960015 -0.00650201 -0.51380699] [ 0.01843195 0.00701077 0.99980554 -0.93875806] [ 0. 0. 0. 1. ]] SLAMing on 63.416296757000005 meters Centerline goodness [0,1] 0.7956184681811491 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99942931 0.02833066 -0.01839629 2.82789573] [-0.02844853 0.99957617 -0.00617754 -0.51374869] [ 0.01821348 0.00669736 0.99981169 -0.93822615] [ 0. 0. 0. 1. ]] SLAMing on 63.446296757 meters Centerline goodness [0,1] 0.7871007371007371 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99940846 0.02918025 -0.01819983 2.82670089] [-0.02928589 0.99955559 -0.00556499 -0.51459891] [ 0.01802936 0.0060947 0.99981888 -0.93736475] [ 0. 0. 0. 1. ]] SLAMing on 63.476296757 meters Centerline goodness [0,1] 0.7828389311105663 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99940335 0.02928786 -0.01830739 2.82703085] [-0.02939396 0.99955248 -0.00555314 -0.51430716] [ 0.01813656 0.00608795 0.99981698 -0.93757759] [ 0. 0. 0. 1. ]] SLAMing on 63.506296757 meters Centerline goodness [0,1] 0.7848869952741252 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99940392 0.02903466 -0.01867589 2.82832119] [-0.02914941 0.99955764 -0.00590177 -0.51319596] [ 0.01849627 0.00644264 0.99980817 -0.93832822] [ 0. 0. 0. 1. ]] SLAMing on 63.536296757 meters Centerline goodness [0,1] 0.785272019774357 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99941485 0.02831076 -0.01919548 2.831163 ] [-0.02844312 0.99957324 -0.00665781 -0.51159594] [ 0.0189988 0.00719989 0.99979358 -0.94073766] [ 0. 0. 0. 1. ]] SLAMing on 63.566296757 meters Centerline goodness [0,1] 0.7927405340578114 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.51, Z:-0.94 [[ 0.99941484 0.02810074 -0.01950181 2.83211759] [-0.02823369 0.99957972 -0.00657572 -0.51249262] [ 0.01930883 0.00712248 0.9997882 -0.94106839] [ 0. 0. 0. 1. ]] SLAMing on 63.596296757000005 meters Centerline goodness [0,1] 0.7996606501745931 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99943389 0.02762238 -0.01920661 2.83123033] [-0.02772859 0.99960152 -0.0052852 -0.51698175] [ 0.01905296 0.00581478 0.99980157 -0.93901733] [ 0. 0. 0. 1. ]] SLAMing on 63.626296757000006 meters Centerline goodness [0,1] 0.7989393191909225 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99951348 0.02472342 -0.01901456 2.82910841] [-0.0248859 0.99965537 -0.00835606 -0.51706421] [ 0.01880142 0.00882519 0.99978429 -0.9372704 ] [ 0. 0. 0. 1. ]] SLAMing on 63.656296757 meters Centerline goodness [0,1] 0.7989393191909225 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99951348 0.02472342 -0.01901456 2.82910841] [-0.0248859 0.99965537 -0.00835606 -0.51706421] [ 0.01880142 0.00882519 0.99978429 -0.9372704 ] [ 0. 0. 0. 1. ]] SLAMing on 63.686296757 meters Centerline goodness [0,1] 0.8046019715658592 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.94 [[ 0.99959363 0.0215193 -0.01869456 2.82697546] [-0.02173056 0.99970144 -0.01117197 -0.51789463] [ 0.01844856 0.01157367 0.99976282 -0.93521082] [ 0. 0. 0. 1. ]] SLAMing on 63.716296757 meters Centerline goodness [0,1] 0.8048581191502006 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99958858 0.021471 -0.01901762 2.82737557] [-0.02167891 0.99970671 -0.01079446 -0.51861846] [ 0.01878027 0.0112023 0.99976088 -0.93460585] [ 0. 0. 0. 1. ]] SLAMing on 63.746296757 meters Centerline goodness [0,1] 0.8079966371593887 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99958217 0.02169274 -0.01910283 2.82714971] [-0.0218918 0.99970756 -0.01027335 -0.51901405] [ 0.01887439 0.01068725 0.99976474 -0.93379472] [ 0. 0. 0. 1. ]] SLAMing on 63.776296757000004 meters Centerline goodness [0,1] 0.8054420758127213 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99957642 0.02176807 -0.01931669 2.82761895] [-0.02196925 0.99970595 -0.01026471 -0.51843452] [ 0.01908756 0.01068474 0.99976072 -0.93387054] [ 0. 0. 0. 1. ]] SLAMing on 63.806296757000005 meters Centerline goodness [0,1] 0.8060373623654584 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99957162 0.02175253 -0.01958071 2.82840005] [-0.02195858 0.99970509 -0.01037044 -0.51768626] [ 0.01934935 0.01079596 0.99975449 -0.93424213] [ 0. 0. 0. 1. ]] SLAMing on 63.836296757 meters Centerline goodness [0,1] 0.8052381658999852 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99957225 0.02153651 -0.01978618 2.82938288] [-0.02174881 0.9997075 -0.01057803 -0.51801137] [ 0.01955258 0.01100383 0.99974827 -0.93499053] [ 0. 0. 0. 1. ]] SLAMing on 63.866296757 meters Centerline goodness [0,1] 0.8035993934723706 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99956432 0.02187516 -0.0198151 2.82888539] [-0.0220733 0.99970796 -0.00983662 -0.52089249] [ 0.01959414 0.01026972 0.99975527 -0.9340408 ] [ 0. 0. 0. 1. ]] SLAMing on 63.896296757 meters Centerline goodness [0,1] 0.8071922133888104 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99956022 0.02181578 -0.02008589 2.82944061] [-0.02201404 0.99971057 -0.00970336 -0.52164699] [ 0.01986839 0.01014127 0.99975117 -0.93395865] [ 0. 0. 0. 1. ]] SLAMing on 63.926296757 meters Centerline goodness [0,1] 0.8078667558926315 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99956752 0.02147337 -0.02009133 2.83001914] [-0.02167834 0.99971458 -0.01004035 -0.52019775] [ 0.01986999 0.01047156 0.99974773 -0.9345321 ] [ 0. 0. 0. 1. ]] SLAMing on 63.956296757000004 meters Centerline goodness [0,1] 0.8035355664096397 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99956739 0.0212384 -0.02034614 2.83080127] [-0.02145138 0.99971676 -0.01030736 -0.51873349] [ 0.02012147 0.01073935 0.99973986 -0.93481936] [ 0. 0. 0. 1. ]] SLAMing on 63.986296757000005 meters Centerline goodness [0,1] 0.8071037031525163 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99956662 0.02098601 -0.02064368 2.83158322] [-0.02119986 0.99972327 -0.01019553 -0.51912936] [ 0.020424 0.01062875 0.99973491 -0.93474549] [ 0. 0. 0. 1. ]] SLAMing on 64.016296757 meters Centerline goodness [0,1] 0.8109127919966239 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99956065 0.02096049 -0.02095639 2.83226799] [-0.02116816 0.99972851 -0.00973719 -0.52136535] [ 0.02074661 0.01017652 0.99973297 -0.9346493 ] [ 0. 0. 0. 1. ]] SLAMing on 64.04629675700001 meters Centerline goodness [0,1] 0.8113724708462076 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.52, Z:-0.93 [[ 0.99955736 0.02076877 -0.02130137 2.833223 ] [-0.0209748 0.99973492 -0.00949465 -0.52292572] [ 0.02109853 0.00993724 0.99972801 -0.93481938] [ 0. 0. 0. 1. ]] SLAMing on 64.07629675700001 meters Centerline goodness [0,1] 0.8129740716870755 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.52, Z:-0.94 [[ 0.99948427 0.02331069 -0.02208615 2.83631278] [-0.02344717 0.99970743 -0.00594051 -0.52452979] [ 0.02194121 0.0064553 0.99973842 -0.9357121 ] [ 0. 0. 0. 1. ]] SLAMing on 64.106296757 meters Centerline goodness [0,1] 0.8138798114101828 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.52, Z:-0.94 [[ 0.9994836 0.02319356 -0.02223927 2.83687401] [-0.0233327 0.99970964 -0.00601756 -0.52415427] [ 0.02209325 0.00653336 0.99973457 -0.93596885] [ 0. 0. 0. 1. ]] SLAMing on 64.136296757 meters Centerline goodness [0,1] 0.8186632031171945 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.53, Z:-0.94 [[ 0.99947536 0.02320072 -0.02259953 2.83773709] [-0.02333533 0.99971138 -0.00571077 -0.52560759] [ 0.02246051 0.00623514 0.99972829 -0.9360712 ] [ 0. 0. 0. 1. ]] SLAMing on 64.166296757 meters Centerline goodness [0,1] 0.8158901643033987 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.53, Z:-0.94 [[ 0.99946921 0.02329319 -0.02277564 2.83829606] [-0.02342221 0.999711 -0.00541458 -0.52703828] [ 0.02264294 0.00594516 0.99972594 -0.93630111] [ 0. 0. 0. 1. ]] SLAMing on 64.196296757 meters Centerline goodness [0,1] 0.8178168130489335 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.53, Z:-0.94 [[ 0.99946433 0.02347993 -0.0227979 2.83889228] [-0.02360128 0.9997086 -0.00506859 -0.52859598] [ 0.02267224 0.00560393 0.99972725 -0.93703832] [ 0. 0. 0. 1. ]] SLAMing on 64.226296757 meters Centerline goodness [0,1] 0.8129436849366612 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.53, Z:-0.94 [[ 0.99946133 0.02371386 -0.02268699 2.83882307] [-0.02382824 0.99970462 -0.00478482 -0.52920754] [ 0.02256683 0.00532283 0.99973117 -0.93722668] [ 0. 0. 0. 1. ]] SLAMing on 64.256296757 meters Centerline goodness [0,1] 0.8131147540983606 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.53, Z:-0.94 [[ 9.99372131e-01 2.72047617e-02 -2.26990220e-02 2.83906020e+00] [-2.71988332e-02 9.99629881e-01 5.69925740e-04 -5.33853104e-01] [ 2.27061254e-02 4.78190145e-05 9.99742182e-01 -9.35469624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.286296757 meters Centerline goodness [0,1] 0.8126333760136577 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.53, Z:-0.94 [[ 9.99365279e-01 2.75244116e-02 -2.26151781e-02 2.83861858e+00] [-2.75087705e-02 9.99621059e-01 1.00248667e-03 -5.34846605e-01] [ 2.26342012e-02 -3.79734631e-04 9.99743742e-01 -9.35083299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.316296757 meters Centerline goodness [0,1] 0.8129521704180065 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99356488e-01 2.77520974e-02 -2.27251225e-02 2.83913238e+00] [-2.77312077e-02 9.99614655e-01 1.23391574e-03 -5.36190492e-01] [ 2.27506092e-02 -6.02926610e-04 9.99740990e-01 -9.35622549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.346296757 meters Centerline goodness [0,1] 0.8128584364624207 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99350543e-01 2.78768995e-02 -2.28335402e-02 2.83942368e+00] [-2.78556111e-02 9.99611176e-01 1.24992161e-03 -5.36569807e-01] [ 2.28595059e-02 -6.13067620e-04 9.99738499e-01 -9.35837328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.376296757 meters Centerline goodness [0,1] 0.8101556390787781 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99336046e-01 2.87159390e-02 -2.24245756e-02 2.83788738e+00] [-2.86819789e-02 9.99586904e-01 1.83464220e-03 -5.37368401e-01] [ 2.24679956e-02 -1.19024288e-03 9.99746854e-01 -9.35069284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.406296757 meters Centerline goodness [0,1] 0.8091468334005647 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99331027e-01 2.86838222e-02 -2.26878098e-02 2.83843357e+00] [-2.86518493e-02 9.99587949e-01 1.73313221e-03 -5.37548562e-01] [ 2.27281741e-02 -1.08192508e-03 9.99741096e-01 -9.35148467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43629675700001 meters Centerline goodness [0,1] 0.8086945500633713 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.93 [[ 9.99316525e-01 2.93146679e-02 -2.25196273e-02 2.83747300e+00] [-2.92699640e-02 9.99568868e-01 2.31223799e-03 -5.39537335e-01] [ 2.25777009e-02 -1.65150895e-03 9.99743727e-01 -9.34511193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46629675700001 meters Centerline goodness [0,1] 0.8025670827227247 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.93 [[ 9.99313021e-01 2.91863832e-02 -2.28394710e-02 2.83841633e+00] [-2.91444724e-02 9.99572863e-01 2.16580570e-03 -5.39897537e-01] [ 2.28929275e-02 -1.49867350e-03 9.99736799e-01 -9.34956704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.496296757 meters Centerline goodness [0,1] 0.801074861857543 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99309103e-01 2.92327902e-02 -2.29512515e-02 2.83907919e+00] [-2.91938553e-02 9.99571708e-01 2.02971960e-03 -5.40117254e-01] [ 2.30007560e-02 -1.35828176e-03 9.99734525e-01 -9.35727492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526296757 meters Centerline goodness [0,1] 0.7805500783659437 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99302596e-01 2.95949101e-02 -2.27697710e-02 2.83940822e+00] [-2.95585584e-02 9.99561184e-01 1.93147383e-03 -5.39831190e-01] [ 2.28169410e-02 -1.25708521e-03 9.99738869e-01 -9.37129459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.556296757 meters Centerline goodness [0,1] 0.7986210054956239 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99300370e-01 2.96563654e-02 -2.27875260e-02 2.83997026e+00] [-2.96165929e-02 9.99559166e-01 2.08095039e-03 -5.40503416e-01] [ 2.28391939e-02 -1.40460562e-03 9.99738165e-01 -9.37872518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.586296757 meters Centerline goodness [0,1] 0.8005853906846526 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99302532e-01 2.91927923e-02 -2.32858314e-02 2.84142922e+00] [-2.91521053e-02 9.99572813e-01 2.08490931e-03 -5.41991521e-01] [ 2.33367483e-02 -1.40462415e-03 9.99726674e-01 -9.38234194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.616296757 meters Centerline goodness [0,1] 0.8065785774529097 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99399806e-01 2.59272921e-02 -2.29739511e-02 2.84024726e+00] [-2.59738206e-02 9.99661128e-01 -1.72913887e-03 -5.41773866e-01] [ 2.29213340e-02 2.32482234e-03 9.99734569e-01 -9.38372013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.646296757 meters Centerline goodness [0,1] 0.8074511911158875 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99401818e-01 2.58990670e-02 -2.29182210e-02 2.84039932e+00] [-2.59363193e-02 9.99662713e-01 -1.32964640e-03 -5.43668530e-01] [ 2.28760544e-02 1.92326533e-03 9.99736459e-01 -9.38499096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.676296757 meters Centerline goodness [0,1] 0.8045468494271686 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.54, Z:-0.94 [[ 9.99400666e-01 2.58858853e-02 -2.29832647e-02 2.84080966e+00] [-2.59238021e-02 9.99663006e-01 -1.35329506e-03 -5.43592048e-01] [ 2.29404882e-02 1.94829759e-03 9.99734934e-01 -9.38886495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.706296757 meters Centerline goodness [0,1] 0.8027111521115211 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99395149e-01 2.59669516e-02 -2.31312048e-02 2.84127464e+00] [-2.59973270e-02 9.99661499e-01 -1.01338485e-03 -5.45375397e-01] [ 2.30970603e-02 1.61412140e-03 9.99731924e-01 -9.39022957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.736296757 meters Centerline goodness [0,1] 0.8025175614008101 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99387993e-01 2.62099901e-02 -2.31662866e-02 2.84128519e+00] [-2.62344907e-02 9.99655532e-01 -7.54261209e-04 -5.46322298e-01] [ 2.31385373e-02 1.36155533e-03 9.99731341e-01 -9.39030355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.766296757 meters Centerline goodness [0,1] 0.803155869146889 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99382899e-01 2.64924033e-02 -2.30645614e-02 2.84106992e+00] [-2.65110246e-02 9.99648395e-01 -5.01902459e-04 -5.46638047e-01] [ 2.30431552e-02 1.11305789e-03 9.99733852e-01 -9.39155472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79629675700001 meters Centerline goodness [0,1] 0.7996460267788437 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99384232e-01 2.62887444e-02 -2.32391521e-02 2.84178372e+00] [-2.63096267e-02 9.99653666e-01 -5.93239849e-04 -5.46811177e-01] [ 2.32155080e-02 1.20428797e-03 9.99729758e-01 -9.39569337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82629675700001 meters Centerline goodness [0,1] 0.8067907263661132 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99381537e-01 2.64109400e-02 -2.32164810e-02 2.84156945e+00] [-2.64190224e-02 9.99650956e-01 -4.14278523e-05 -5.48337384e-01] [ 2.32072833e-02 6.54758963e-04 9.99730460e-01 -9.39053486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.856296757 meters Centerline goodness [0,1] 0.808541859746679 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99376306e-01 2.63962252e-02 -2.34571597e-02 2.84187698e+00] [-2.63994335e-02 9.99651459e-01 1.72940275e-04 -5.49102125e-01] [ 2.34535489e-02 4.46423315e-04 9.99724828e-01 -9.38692952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.886296757 meters Centerline goodness [0,1] 0.8111974476406113 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99377413e-01 2.61123855e-02 -2.37261284e-02 2.84288378e+00] [-2.61204072e-02 9.99658804e-01 -2.81906767e-05 -5.49575836e-01] [ 2.37172970e-02 6.47909258e-04 9.99718495e-01 -9.39256822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.916296757 meters Centerline goodness [0,1] 0.8095066896073547 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99376002e-01 2.61861212e-02 -2.37042824e-02 2.84310502e+00] [-2.61977672e-02 9.99656763e-01 -1.80842672e-04 -5.49335970e-01] [ 2.36914107e-02 8.01729099e-04 9.99718998e-01 -9.39766546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.946296757 meters Centerline goodness [0,1] 0.8000565174947336 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.55, Z:-0.94 [[ 9.99374489e-01 2.61147365e-02 -2.38464113e-02 2.84388221e+00] [-2.61386333e-02 9.99658089e-01 -6.90909847e-04 -5.47956534e-01] [ 2.38202150e-02 1.31379028e-03 9.99715395e-01 -9.40707566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.976296757 meters Centerline goodness [0,1] 0.792436415741262 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.55, Z:-0.94 [[ 9.99375269e-01 2.55124239e-02 -2.44578993e-02 2.84610534e+00] [-2.55537241e-02 9.99672501e-01 -1.37752362e-03 -5.47349104e-01] [ 2.44147454e-02 2.00165344e-03 9.99699912e-01 -9.42067381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.006296757 meters Centerline goodness [0,1] 0.8037586295065201 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.55, Z:-0.94 [[ 9.99378459e-01 2.51306604e-02 -2.47213526e-02 2.84762317e+00] [-2.51846993e-02 9.99681053e-01 -1.87695827e-03 -5.46973731e-01] [ 2.46662986e-02 2.49839149e-03 9.99692619e-01 -9.43462997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.036296757 meters Centerline goodness [0,1] 0.7967829516930485 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.55, Z:-0.94 [[ 9.99374395e-01 2.56626700e-02 -2.43361122e-02 2.84680086e+00] [-2.57139318e-02 9.99667729e-01 -1.79576940e-03 -5.46810683e-01] [ 2.42819418e-02 2.42042308e-03 9.99702220e-01 -9.43754065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.066296757 meters Centerline goodness [0,1] 0.7823153590595451 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99937733 0.03039907 -0.01791221 2.85662108] [-0.03053459 0.99950675 -0.0073414 -0.544549 ] [ 0.0176802 0.00788377 0.99981261 -0.94596756] [ 0. 0. 0. 1. ]] SLAMing on 65.096296757 meters Centerline goodness [0,1] 0.7811878157048829 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99936811 0.03078025 -0.01777541 2.85612737] [-0.03091684 0.99949411 -0.00746084 -0.54296455] [ 0.01753677 0.00800569 0.99981417 -0.9459132 ] [ 0. 0. 0. 1. ]] SLAMing on 65.126296757 meters Centerline goodness [0,1] 0.7678111697382173 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935776 0.03109331 -0.01781217 2.85602773] [-0.03123423 0.99948252 -0.00768848 -0.54133518] [ 0.01756389 0.00823989 0.99981179 -0.94596774] [ 0. 0. 0. 1. ]] SLAMing on 65.156296757 meters Centerline goodness [0,1] 0.7628548132293738 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935667 0.03096841 -0.0180888 2.85689987] [-0.03111272 0.99948582 -0.00775166 -0.54184466] [ 0.01783944 0.00830947 0.99980633 -0.94634663] [ 0. 0. 0. 1. ]] SLAMing on 65.18629675700001 meters Centerline goodness [0,1] 0.7607116458083756 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.9993566 0.03078975 -0.01839513 2.85784735] [-0.03093635 0.9994914 -0.00773903 -0.54256074] [ 0.01814749 0.00830313 0.99980084 -0.94669089] [ 0. 0. 0. 1. ]] SLAMing on 65.21629675700001 meters Centerline goodness [0,1] 0.760517303072126 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935601 0.03078538 -0.01843421 2.85812548] [-0.03092783 0.99949353 -0.00749326 -0.54345433] [ 0.01819419 0.00805856 0.999802 -0.94678164] [ 0. 0. 0. 1. ]] SLAMing on 65.246296757 meters Centerline goodness [0,1] 0.7947469080708912 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935548 0.03074273 -0.01853376 2.85839493] [-0.03088815 0.99949387 -0.00761143 -0.54198395] [ 0.01829038 0.008179 0.99979926 -0.94680541] [ 0. 0. 0. 1. ]] SLAMing on 65.276296757 meters Centerline goodness [0,1] 0.8019236166033115 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935718 0.03061032 -0.01866098 2.85903486] [-0.0307616 0.99949573 -0.00787403 -0.54082728] [ 0.01841054 0.00844301 0.99979486 -0.9472629 ] [ 0. 0. 0. 1. ]] SLAMing on 65.306296757 meters Centerline goodness [0,1] 0.7913526680368426 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.9993571 0.03045296 -0.01892089 2.85976273] [-0.03061149 0.99949816 -0.00814598 -0.53979591] [ 0.01866333 0.00871994 0.9997878 -0.94751697] [ 0. 0. 0. 1. ]] SLAMing on 65.336296757 meters Centerline goodness [0,1] 0.7890001524932648 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935625 0.03040367 -0.01904492 2.85974146] [-0.03056054 0.9995009 -0.00800066 -0.54012096] [ 0.01879217 0.00857754 0.99978662 -0.94682869] [ 0. 0. 0. 1. ]] SLAMing on 65.366296757 meters Centerline goodness [0,1] 0.8019726083401472 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935319 0.030388 -0.01922949 2.85986405] [-0.03054249 0.9995031 -0.00779199 -0.54077049] [ 0.01898315 0.00837427 0.99978473 -0.94632391] [ 0. 0. 0. 1. ]] SLAMing on 65.396296757 meters Centerline goodness [0,1] 0.7974273244684924 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935865 0.02981686 -0.01983012 2.86130068] [-0.02998152 0.99951797 -0.0080586 -0.54023756] [ 0.01958028 0.00864797 0.99977089 -0.94620792] [ 0. 0. 0. 1. ]] SLAMing on 65.426296757 meters Centerline goodness [0,1] 0.8005374968006143 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99936119 0.02963244 -0.01997821 2.86184463] [-0.02980251 0.9995216 -0.00826953 -0.53944363] [ 0.0197236 0.00885965 0.99976622 -0.94643967] [ 0. 0. 0. 1. ]] SLAMing on 65.456296757 meters Centerline goodness [0,1] 0.8061483284232099 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935987 0.02968065 -0.01997264 2.86192294] [-0.02985205 0.99951954 -0.00833875 -0.53869622] [ 0.01971554 0.00892964 0.99976575 -0.94655509] [ 0. 0. 0. 1. ]] SLAMing on 65.486296757 meters Centerline goodness [0,1] 0.8020024519820188 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935677 0.02970757 -0.02008741 2.86216084] [-0.02988134 0.9995181 -0.00840653 -0.5375423 ] [ 0.01982799 0.00900136 0.99976288 -0.94652646] [ 0. 0. 0. 1. ]] SLAMing on 65.516296757 meters Centerline goodness [0,1] 0.8014668432311297 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99936125 0.02938933 -0.02033117 2.86320354] [-0.02957364 0.99952365 -0.00882493 -0.53609762] [ 0.02006212 0.00942056 0.99975435 -0.94719324] [ 0. 0. 0. 1. ]] SLAMing on 65.54629675700001 meters Centerline goodness [0,1] 0.8014668432311297 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99936125 0.02938933 -0.02033117 2.86320354] [-0.02957364 0.99952365 -0.00882493 -0.53609762] [ 0.02006212 0.00942056 0.99975435 -0.94719324] [ 0. 0. 0. 1. ]] SLAMing on 65.57629675700001 meters Centerline goodness [0,1] 0.8048736922684359 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99936163 0.02919271 -0.02059422 2.86411993] [-0.02938035 0.99952896 -0.00886827 -0.53665766] [ 0.02032563 0.00946768 0.99974858 -0.94762111] [ 0. 0. 0. 1. ]] SLAMing on 65.606296757 meters Centerline goodness [0,1] 0.7991208341852382 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99936287 0.02892549 -0.0209086 2.86489566] [-0.02911292 0.99953813 -0.00871599 -0.53797439] [ 0.02064683 0.00931915 0.9997434 -0.94748964] [ 0. 0. 0. 1. ]] SLAMing on 65.636296757 meters Centerline goodness [0,1] 0.8072488904759476 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99935937 0.02901627 -0.02094987 2.86490105] [-0.02920131 0.99953672 -0.00858089 -0.53803243] [ 0.02069118 0.00918715 0.9997437 -0.94727602] [ 0. 0. 0. 1. ]] SLAMing on 65.666296757 meters Centerline goodness [0,1] 0.7979501822910027 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99934867 0.02954395 -0.02072192 2.86389228] [-0.02971836 0.99952501 -0.00815964 -0.53766575] [ 0.02047101 0.00877014 0.99975198 -0.94653035] [ 0. 0. 0. 1. ]] SLAMing on 65.696296757 meters Centerline goodness [0,1] 0.8048228321420395 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99934166 0.02966232 -0.02088995 2.86416541] [-0.0298357 0.9995225 -0.00803709 -0.5376315 ] [ 0.02064157 0.00865506 0.99974948 -0.94636452] [ 0. 0. 0. 1. ]] SLAMing on 65.726296757 meters Centerline goodness [0,1] 0.790965930840883 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.9993248 0.0303602 -0.0206931 2.86344179] [-0.03052703 0.99950355 -0.00779469 -0.53702277] [ 0.02044617 0.00842112 0.99975549 -0.94627846] [ 0. 0. 0. 1. ]] SLAMing on 65.756296757 meters Centerline goodness [0,1] 0.7819834037570635 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.54, Z:-0.95 [[ 0.99931681 0.03050446 -0.02086591 2.86401717] [-0.03067772 0.99949703 -0.00803465 -0.53552491] [ 0.02061032 0.00866928 0.99975 -0.94677199] [ 0. 0. 0. 1. ]] SLAMing on 65.786296757 meters Centerline goodness [0,1] 0.7835483543275091 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.53, Z:-0.95 [[ 0.9991861 0.0344917 -0.02091572 2.86493207] [-0.03458641 0.99939295 -0.00418366 -0.53483797] [ 0.02075872 0.00490366 0.99977249 -0.9474243 ] [ 0. 0. 0. 1. ]] SLAMing on 65.816296757 meters Centerline goodness [0,1] 0.7715414619320197 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99918728 0.03420813 -0.02132088 2.86624729] [-0.03431612 0.99939989 -0.00471941 -0.53354349] [ 0.02114664 0.00544723 0.99976155 -0.94819054] [ 0. 0. 0. 1. ]] SLAMing on 65.846296757 meters Centerline goodness [0,1] 0.7774392566075101 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99918189 0.03420518 -0.02157668 2.86683425] [-0.03431472 0.9993999 -0.00472712 -0.53387396] [ 0.02140204 0.00546365 0.99975602 -0.94832631] [ 0. 0. 0. 1. ]] SLAMing on 65.876296757 meters Centerline goodness [0,1] 0.7723794950267788 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99928759 0.03080104 -0.02180851 2.86674402] [-0.03099359 0.99948304 -0.00854675 -0.53466534] [ 0.02153399 0.00921659 0.99972563 -0.94856992] [ 0. 0. 0. 1. ]] SLAMing on 65.906296757 meters Centerline goodness [0,1] 0.7683907753398157 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.54, Z:-0.95 [[ 0.99928127 0.03082248 -0.02206632 2.86715584] [-0.03101091 0.99948501 -0.00824853 -0.53585457] [ 0.02180072 0.0089269 0.99972248 -0.94829617] [ 0. 0. 0. 1. ]] SLAMing on 65.93629675700001 meters Centerline goodness [0,1] 0.7948110805581017 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.9992838 0.03080093 -0.0219818 2.86739472] [-0.03099521 0.99948294 -0.00855287 -0.53357097] [ 0.021707 0.00922807 0.99972179 -0.94885624] [ 0. 0. 0. 1. ]] SLAMing on 65.96629675700001 meters Centerline goodness [0,1] 0.7724769710965057 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99928014 0.03092576 -0.02197267 2.86742712] [-0.03112344 0.99947758 -0.00871212 -0.53200597] [ 0.02169176 0.00938972 0.99972061 -0.94897872] [ 0. 0. 0. 1. ]] SLAMing on 65.996296757 meters Centerline goodness [0,1] 0.7810207901259547 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99927334 0.031295 -0.0217583 2.86674239] [-0.03148788 0.99946731 -0.0085793 -0.53105161] [ 0.02147822 0.00925819 0.99972645 -0.9486735 ] [ 0. 0. 0. 1. ]] SLAMing on 66.026296757 meters Centerline goodness [0,1] 0.7789218655360388 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99927086 0.0313223 -0.02183272 2.86682566] [-0.03151549 0.9994666 -0.00856101 -0.53074779] [ 0.02155292 0.00924283 0.99972498 -0.94850563] [ 0. 0. 0. 1. ]] SLAMing on 66.056296757 meters Centerline goodness [0,1] 0.7812428979066185 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99926516 0.0315262 -0.02180018 2.86622415] [-0.03171175 0.99946326 -0.00821901 -0.53144839] [ 0.02152937 0.00890429 0.99972856 -0.94763415] [ 0. 0. 0. 1. ]] SLAMing on 66.086296757 meters Centerline goodness [0,1] 0.75928400352956 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99926174 0.03134167 -0.02221875 2.86708126] [-0.0315287 0.99946988 -0.00811816 -0.5321429 ] [ 0.02195253 0.0088127 0.99972017 -0.94742437] [ 0. 0. 0. 1. ]] SLAMing on 66.116296757 meters Centerline goodness [0,1] 0.7778086411959294 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99926202 0.03116704 -0.02245078 2.86780242] [-0.03135551 0.99947554 -0.00809216 -0.53277534] [ 0.02218679 0.00879015 0.9997152 -0.94763509] [ 0. 0. 0. 1. ]] SLAMing on 66.146296757 meters Centerline goodness [0,1] 0.7804878048780488 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.9992687 0.03085661 -0.02258195 2.86877479] [-0.03105547 0.99948144 -0.00850895 -0.53126875] [ 0.02230769 0.00920402 0.99970878 -0.94847678] [ 0. 0. 0. 1. ]] SLAMing on 66.176296757 meters Centerline goodness [0,1] 0.772615100830072 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99915066 0.03434591 -0.0227664 2.87005662] [-0.03446737 0.9993935 -0.00496404 -0.52979276] [ 0.02258209 0.00574453 0.99972849 -0.9489351 ] [ 0. 0. 0. 1. ]] SLAMing on 66.206296757 meters Centerline goodness [0,1] 0.7708297073522464 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.9991455 0.03453248 -0.02271078 2.86983127] [-0.03465986 0.99938543 -0.00523896 -0.52803571] [ 0.02251591 0.00602164 0.99972835 -0.94897346] [ 0. 0. 0. 1. ]] SLAMing on 66.236296757 meters Centerline goodness [0,1] 0.7675170321746482 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99914348 0.03465246 -0.0226168 2.86954834] [-0.03478072 0.9993809 -0.00530235 -0.52724942] [ 0.02241905 0.00608444 0.99973015 -0.94886795] [ 0. 0. 0. 1. ]] SLAMing on 66.266296757 meters Centerline goodness [0,1] 0.7787059990084284 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99913474 0.0349359 -0.02256676 2.8687855 ] [-0.03505969 0.99937214 -0.00511324 -0.52722477] [ 0.02237396 0.0059 0.99973226 -0.94791919] [ 0. 0. 0. 1. ]] SLAMing on 66.29629675700001 meters Centerline goodness [0,1] 0.7847982406286294 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.9991432 0.03457067 -0.02275369 2.86929379] [-0.034705 0.99938227 -0.00553521 -0.52655164] [ 0.02254828 0.00632014 0.99972578 -0.94793474] [ 0. 0. 0. 1. ]] SLAMing on 66.32629675700001 meters Centerline goodness [0,1] 0.7879170691833246 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99914583 0.03429668 -0.02305078 2.87028533] [-0.03443767 0.99939032 -0.00574755 -0.52608795] [ 0.02283961 0.00653646 0.99971777 -0.94835471] [ 0. 0. 0. 1. ]] SLAMing on 66.356296757 meters Centerline goodness [0,1] 0.7823536691003589 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99916545 0.03311941 -0.02390641 2.87337749] [-0.03328293 0.999425 -0.00647475 -0.52609275] [ 0.02367822 0.00726502 0.99969323 -0.94986314] [ 0. 0. 0. 1. ]] SLAMing on 66.386296757 meters Centerline goodness [0,1] 0.798405410742496 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.53, Z:-0.95 [[ 0.99916941 0.03269265 -0.02432437 2.87467217] [-0.03286271 0.99943792 -0.00662493 -0.52643581] [ 0.02409411 0.00741879 0.99968217 -0.95027231] [ 0. 0. 0. 1. ]] SLAMing on 66.416296757 meters Centerline goodness [0,1] 0.8156124820730923 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99917003 0.03245981 -0.02460918 2.87557595] [-0.03263399 0.99944485 -0.00670929 -0.52649771] [ 0.02437774 0.00750682 0.99967463 -0.95058007] [ 0. 0. 0. 1. ]] SLAMing on 66.446296757 meters Centerline goodness [0,1] 0.8112801484230056 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.9991767 0.03224252 -0.02462413 2.87583749] [-0.03241647 0.99945201 -0.0066976 -0.52631658] [ 0.02439469 0.00749031 0.99967434 -0.95065679] [ 0. 0. 0. 1. ]] SLAMing on 66.476296757 meters Centerline goodness [0,1] 0.8243570123907785 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99917202 0.0322485 -0.02480522 2.87549939] [-0.03241052 0.99945567 -0.00615758 -0.52643476] [ 0.02459315 0.00695644 0.99967334 -0.94920244] [ 0. 0. 0. 1. ]] SLAMing on 66.506296757 meters Centerline goodness [0,1] 0.8258400612300323 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99916884 0.03216184 -0.025045 2.87585117] [-0.032321 0.99945967 -0.00597612 -0.52688035] [ 0.02483927 0.00678064 0.99966846 -0.94876442] [ 0. 0. 0. 1. ]] SLAMing on 66.536296757 meters Centerline goodness [0,1] 0.8245927248382058 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.9991689 0.03177197 -0.02553518 2.8770846 ] [-0.03193671 0.99947146 -0.00606973 -0.52759537] [ 0.02532883 0.0068802 0.9996555 -0.94894609] [ 0. 0. 0. 1. ]] SLAMing on 66.566296757 meters Centerline goodness [0,1] 0.8258276170593498 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99918551 0.0307449 -0.02613552 2.87905128] [-0.03091861 0.99950225 -0.00626823 -0.52917146] [ 0.02592979 0.0070712 0.99963876 -0.94930558] [ 0. 0. 0. 1. ]] SLAMing on 66.596296757 meters Centerline goodness [0,1] 0.8285081277538523 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99918753 0.03053413 -0.02630486 2.87943457] [-0.03071013 0.9995084 -0.00631282 -0.52902557] [ 0.02609917 0.00711551 0.99963403 -0.94917828] [ 0. 0. 0. 1. ]] SLAMing on 66.626296757 meters Centerline goodness [0,1] 0.8259836085869215 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99919398 0.03037841 -0.02623992 2.87929201] [-0.03056074 0.99951128 -0.00657584 -0.52685273] [ 0.02602733 0.00737245 0.99963405 -0.94893512] [ 0. 0. 0. 1. ]] SLAMing on 66.656296757 meters Centerline goodness [0,1] 0.8191413105272265 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.9991919 0.03041795 -0.02627332 2.87934613] [-0.03060326 0.99950929 -0.00668025 -0.5261127 ] [ 0.02605723 0.0074789 0.99963248 -0.9488772 ] [ 0. 0. 0. 1. ]] SLAMing on 66.68629675700001 meters Centerline goodness [0,1] 0.8273149980213692 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.53, Z:-0.95 [[ 0.99918578 0.03073744 -0.02613417 2.87855166] [-0.03092196 0.99949944 -0.00668554 -0.52515843] [ 0.02591559 0.00748822 0.99963609 -0.94824321] [ 0. 0. 0. 1. ]] SLAMing on 66.71629675700001 meters Centerline goodness [0,1] 0.8244636251541307 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.52, Z:-0.95 [[ 0.99918752 0.03074201 -0.02606213 2.87881726] [-0.03093746 0.9994959 -0.00712942 -0.52350504] [ 0.02582982 0.00792992 0.9996349 -0.9489106 ] [ 0. 0. 0. 1. ]] SLAMing on 66.746296757 meters Centerline goodness [0,1] 0.8234818012361425 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.52, Z:-0.95 [[ 0.99907554 0.03410454 -0.02617144 2.88014529] [-0.03422371 0.99940571 -0.00411874 -0.52057014] [ 0.02601542 0.00501062 0.99964898 -0.94977475] [ 0. 0. 0. 1. ]] SLAMing on 66.776296757 meters Centerline goodness [0,1] 0.8212816997943797 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.52, Z:-0.95 [[ 0.9990753 0.03413929 -0.02613543 2.87987353] [-0.03426664 0.99940286 -0.00444038 -0.51841473] [ 0.02596823 0.00533184 0.99964855 -0.94952859] [ 0. 0. 0. 1. ]] SLAMing on 66.806296757 meters Centerline goodness [0,1] 0.8201708230341891 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.52, Z:-0.95 [[ 0.99907461 0.03413515 -0.02616699 2.87964189] [-0.03427324 0.99940075 -0.00484698 -0.51678969] [ 0.02598585 0.00573932 0.99964584 -0.94917602] [ 0. 0. 0. 1. ]] SLAMing on 66.836296757 meters Centerline goodness [0,1] 0.8217353113410111 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.52, Z:-0.95 [[ 0.99907401 0.03395972 -0.0264169 2.88030175] [-0.03410678 0.999405 -0.00513634 -0.51647788] [ 0.02622675 0.00603258 0.99963782 -0.94940038] [ 0. 0. 0. 1. ]] SLAMing on 66.866296757 meters Centerline goodness [0,1] 0.8194420840515672 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.51, Z:-0.95 [[ 0.99908666 0.03359884 -0.02640015 2.88101763] [-0.03376426 0.99941273 -0.00584517 -0.51443675] [ 0.02618825 0.00673121 0.99963437 -0.95037628] [ 0. 0. 0. 1. ]] SLAMing on 66.896296757 meters Centerline goodness [0,1] 0.8220446350258259 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.51, Z:-0.95 [[ 0.99909069 0.03341668 -0.0264785 2.88143554] [-0.0335914 0.99941653 -0.00618154 -0.51296183] [ 0.02625648 0.00706537 0.99963027 -0.95068263] [ 0. 0. 0. 1. ]] SLAMing on 66.926296757 meters Centerline goodness [0,1] 0.8251772099481158 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.51, Z:-0.95 [[ 0.99909234 0.03325324 -0.0266217 2.88189929] [-0.03343434 0.99942051 -0.00638677 -0.51176722] [ 0.02639389 0.00727105 0.99962518 -0.95083764] [ 0. 0. 0. 1. ]] SLAMing on 66.956296757 meters Centerline goodness [0,1] 0.8251370113262696 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.51, Z:-0.95 [[ 0.99910763 0.03252012 -0.02695136 2.88324224] [-0.03271591 0.99944118 -0.00685532 -0.51076575] [ 0.02671336 0.00773094 0.99961324 -0.95144656] [ 0. 0. 0. 1. ]] SLAMing on 66.986296757 meters Centerline goodness [0,1] 0.828104447800458 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.51, Z:-0.95 [[ 0.99912792 0.03149242 -0.02741576 2.88515025] [-0.03169749 0.99947245 -0.0070779 -0.51239339] [ 0.02717839 0.00794073 0.99959906 -0.95219957] [ 0. 0. 0. 1. ]] SLAMing on 67.016296757 meters Centerline goodness [0,1] 0.8289720765760273 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.51, Z:-0.95 [[ 0.99912729 0.03133513 -0.0276182 2.88561425] [-0.03153723 0.99947867 -0.00691265 -0.51335671] [ 0.0273872 0.00777762 0.99959464 -0.95210758] [ 0. 0. 0. 1. ]] SLAMing on 67.04629675700001 meters Centerline goodness [0,1] 0.8272787076968058 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.51, Z:-0.95 [[ 0.99912458 0.03136191 -0.02768582 2.88561598] [-0.03155769 0.99947972 -0.00666304 -0.51385958] [ 0.02746245 0.00753091 0.99959447 -0.95173772] [ 0. 0. 0. 1. ]] SLAMing on 67.07629675700001 meters Centerline goodness [0,1] 0.831805850868832 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.51, Z:-0.95 [[ 0.99912499 0.03111106 -0.02795278 2.88622618] [-0.0313046 0.99948867 -0.00651327 -0.514174 ] [ 0.02773586 0.00738263 0.99958802 -0.95147612] [ 0. 0. 0. 1. ]] SLAMing on 67.106296757 meters Centerline goodness [0,1] 0.8312053615106154 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.51, Z:-0.95 [[ 0.99912402 0.03085035 -0.02827465 2.8872587 ] [-0.03104962 0.99949582 -0.00663587 -0.51391689] [ 0.02805567 0.00750797 0.99957817 -0.9518794 ] [ 0. 0. 0. 1. ]] SLAMing on 67.136296757 meters Centerline goodness [0,1] 0.8324481754325852 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.51, Z:-0.95 [[ 0.99913233 0.03029632 -0.02857841 2.8883486 ] [-0.03050029 0.99951211 -0.0067285 -0.51432586] [ 0.02836062 0.00759431 0.99956891 -0.95219313] [ 0. 0. 0. 1. ]] SLAMing on 67.166296757 meters Centerline goodness [0,1] 0.840843201808265 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99912709 0.03026224 -0.02879672 2.88837069] [-0.03045169 0.99951724 -0.00616324 -0.51629939] [ 0.02859631 0.00703477 0.99956629 -0.95131403] [ 0. 0. 0. 1. ]] SLAMing on 67.196296757 meters Centerline goodness [0,1] 0.844167671745391 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99912533 0.02995867 -0.0291727 2.88866801] [-0.03011462 0.99953434 -0.00492123 -0.52084261] [ 0.02901168 0.00579545 0.99956227 -0.94952814] [ 0. 0. 0. 1. ]] SLAMing on 67.226296757 meters Centerline goodness [0,1] 0.8493640307631631 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99912081 0.02986254 -0.02942513 2.88942777] [-0.03001476 0.99953819 -0.00474493 -0.52158307] [ 0.02926985 0.00562395 0.99955572 -0.94974787] [ 0. 0. 0. 1. ]] SLAMing on 67.256296757 meters Centerline goodness [0,1] 0.8471445809835743 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99912105 0.02977693 -0.02950376 2.89005008] [-0.02993282 0.99954012 -0.00485607 -0.520942 ] [ 0.02934559 0.00573493 0.99955287 -0.95033474] [ 0. 0. 0. 1. ]] SLAMing on 67.286296757 meters Centerline goodness [0,1] 0.8504502731164805 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99910983 0.03029147 -0.02935951 2.88941435] [-0.03043627 0.99952659 -0.00449759 -0.51960719] [ 0.02920937 0.00538718 0.9995588 -0.94988313] [ 0. 0. 0. 1. ]] SLAMing on 67.316296757 meters Centerline goodness [0,1] 0.8593289587718212 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99909511 0.03076442 -0.02936851 2.88859609] [-0.03088325 0.99951651 -0.00360109 -0.52229807] [ 0.02924353 0.00450482 0.99956217 -0.94862769] [ 0. 0. 0. 1. ]] SLAMing on 67.346296757 meters Centerline goodness [0,1] 0.8601322404100938 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.9990909 0.03046319 -0.02982239 2.88975925] [-0.03058461 0.99952561 -0.00362363 -0.52363592] [ 0.02969786 0.00453244 0.99954865 -0.94881479] [ 0. 0. 0. 1. ]] SLAMing on 67.376296757 meters Centerline goodness [0,1] 0.8613169438179971 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99908374 0.03042042 -0.03010438 2.89042066] [-0.03053855 0.99952756 -0.00347195 -0.52447351] [ 0.02998454 0.00438811 0.99954073 -0.94888711] [ 0. 0. 0. 1. ]] SLAMing on 67.406296757 meters Centerline goodness [0,1] 0.8570864099967895 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99908545 0.03026814 -0.03020109 2.89155077] [-0.03039668 0.99953067 -0.00380615 -0.52379188] [ 0.03007172 0.00472068 0.9995366 -0.95018869] [ 0. 0. 0. 1. ]] SLAMing on 67.43629675700001 meters Centerline goodness [0,1] 0.8573193939843307 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.999082 0.03034494 -0.03023807 2.89205859] [-0.03048069 0.9995272 -0.0040385 -0.52264997] [ 0.03010122 0.00495647 0.99953457 -0.9509399 ] [ 0. 0. 0. 1. ]] SLAMing on 67.46629675700001 meters Centerline goodness [0,1] 0.8573193939843307 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.999082 0.03034494 -0.03023807 2.89205859] [-0.03048069 0.9995272 -0.0040385 -0.52264997] [ 0.03010122 0.00495647 0.99953457 -0.9509399 ] [ 0. 0. 0. 1. ]] SLAMing on 67.496296757 meters Centerline goodness [0,1] 0.8624996920347877 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99906946 0.0307387 -0.03025483 2.89194153] [-0.03087003 0.99951586 -0.00388346 -0.52238479] [ 0.03012081 0.00481381 0.99953467 -0.95081938] [ 0. 0. 0. 1. ]] SLAMing on 67.526296757 meters Centerline goodness [0,1] 0.8550153632669244 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 0.99905241 0.03129907 -0.03024331 2.89105873] [-0.03140741 0.99950182 -0.00311362 -0.52409788] [ 0.03013079 0.00406054 0.99953772 -0.94963502] [ 0. 0. 0. 1. ]] SLAMing on 67.556296757 meters Centerline goodness [0,1] 0.8583655849955344 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.99035635e-01 3.17258766e-02 -3.03523944e-02 2.89089483e+00] [-3.18236575e-02 9.99489733e-01 -2.74376825e-03 -5.25071632e-01] [ 3.02498581e-02 3.70704646e-03 9.99535494e-01 -9.49192441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586296757 meters Centerline goodness [0,1] 0.8560780526459153 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 9.99029847e-01 3.19262995e-02 -3.03327716e-02 2.89108713e+00] [-3.20283685e-02 9.99482797e-01 -2.88496543e-03 -5.24111532e-01] [ 3.02249771e-02 3.85367576e-03 9.99535692e-01 -9.49692909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.616296757 meters Centerline goodness [0,1] 0.8535696579077838 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 9.99010223e-01 3.26056810e-02 -3.02562978e-02 2.89131011e+00] [-3.27067650e-02 9.99460922e-01 -2.85192307e-03 -5.22874545e-01] [ 3.01469984e-02 3.83868592e-03 9.99538105e-01 -9.50630179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.646296757 meters Centerline goodness [0,1] 0.8537631742095474 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 9.99002601e-01 3.29280380e-02 -3.01586921e-02 2.89128970e+00] [-3.30260822e-02 9.99450683e-01 -2.75847358e-03 -5.22872726e-01] [ 3.00512943e-02 3.75174573e-03 9.99541317e-01 -9.51008628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.676296757 meters Centerline goodness [0,1] 0.8494840735755944 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 9.98990279e-01 3.35177276e-02 -2.99162796e-02 2.89100075e+00] [-3.36048344e-02 9.99432284e-01 -2.41352965e-03 -5.23730079e-01] [ 2.98183996e-02 3.41642428e-03 9.99549494e-01 -9.51483559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.706296757 meters Centerline goodness [0,1] 0.8446711167779195 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.52, Z:-0.95 [[ 9.98977385e-01 3.38352238e-02 -2.99893612e-02 2.89111187e+00] [-3.39128360e-02 9.99422624e-01 -2.08300677e-03 -5.24911181e-01] [ 2.99015670e-02 3.09790094e-03 9.99548048e-01 -9.51484174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.736296757 meters Centerline goodness [0,1] 0.8471975367361755 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98974154e-01 3.37970002e-02 -3.01397213e-02 2.89171580e+00] [-3.38735308e-02 9.99424061e-01 -2.03208781e-03 -5.25230309e-01] [ 3.00536842e-02 3.05094198e-03 9.99543630e-01 -9.51813362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.766296757 meters Centerline goodness [0,1] 0.8530345051595333 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98975269e-01 3.35221826e-02 -3.04084812e-02 2.89272766e+00] [-3.36047336e-02 9.99432763e-01 -2.20761254e-03 -5.25162066e-01] [ 3.03172284e-02 3.22721924e-03 9.99535117e-01 -9.52344017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79629675700001 meters Centerline goodness [0,1] 0.8485000501655463 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98969500e-01 3.34811058e-02 -3.06423652e-02 2.89317590e+00] [-3.35497204e-02 9.99435556e-01 -1.72766649e-03 -5.26839876e-01] [ 3.05672252e-02 2.75392891e-03 9.99528919e-01 -9.52026900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82629675700001 meters Centerline goodness [0,1] 0.8496804388304564 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98964692e-01 3.35658806e-02 -3.07062947e-02 2.89312000e+00] [-3.36221374e-02 9.99433748e-01 -1.31745795e-03 -5.28369544e-01] [ 3.06446855e-02 2.34850524e-03 9.99527582e-01 -9.51649453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.856296757 meters Centerline goodness [0,1] 0.8503482335063948 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98953705e-01 3.38465807e-02 -3.07555456e-02 2.89244349e+00] [-3.38588559e-02 9.99426617e-01 1.21734517e-04 -5.32376545e-01] [ 3.07420311e-02 9.19740440e-04 9.99526929e-01 -9.49746484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.886296757 meters Centerline goodness [0,1] 0.8527746891741635 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98947245e-01 3.37072972e-02 -3.11162280e-02 2.89328901e+00] [-3.37145840e-02 9.99431460e-01 2.90601045e-04 -5.33436704e-01] [ 3.11083325e-02 7.58775570e-04 9.99515731e-01 -9.49763275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.916296757 meters Centerline goodness [0,1] 0.8502397077847956 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98946892e-01 3.35928541e-02 -3.12510190e-02 2.89419735e+00] [-3.36035536e-02 9.99435224e-01 1.82912821e-04 -5.32703468e-01] [ 3.12395138e-02 8.67425100e-04 9.99511551e-01 -9.50573810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.946296757 meters Centerline goodness [0,1] 0.8492984144673522 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.53, Z:-0.95 [[ 9.98946767e-01 3.34865952e-02 -3.13688479e-02 2.89487477e+00] [-3.35045211e-02 9.99438565e-01 -4.58548475e-05 -5.31755254e-01] [ 3.13497008e-02 1.09680478e-03 9.99507876e-01 -9.51173052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.976296757 meters Centerline goodness [0,1] 0.8493811568577924 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98942957e-01 3.31815118e-02 -3.18112554e-02 2.89578181e+00] [-3.32021422e-02 9.99448650e-01 -1.20364387e-04 -5.32295578e-01] [ 3.17897223e-02 1.17643898e-03 9.99493887e-01 -9.50992318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.006296757 meters Centerline goodness [0,1] 0.8480294005829426 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98933373e-01 3.32320550e-02 -3.20584973e-02 2.89577447e+00] [-3.32393595e-02 9.99447373e-01 3.05210552e-04 -5.33693200e-01] [ 3.20509237e-02 7.60718911e-04 9.99485948e-01 -9.50096172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.036296757 meters Centerline goodness [0,1] 0.8472760428538865 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98936788e-01 3.29822701e-02 -3.22096883e-02 2.89584876e+00] [-3.29830274e-02 9.99455783e-01 5.07956472e-04 -5.34950976e-01] [ 3.22089128e-02 5.54956626e-04 9.99481004e-01 -9.49318174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.066296757 meters Centerline goodness [0,1] 0.8476871576384662 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98939433e-01 3.26900318e-02 -3.24248458e-02 2.89636189e+00] [-3.26979777e-02 9.99465237e-01 2.85308463e-04 -5.34411021e-01] [ 3.24168329e-02 7.75221010e-04 9.99474136e-01 -9.49280473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.096296757 meters Centerline goodness [0,1] 0.8433024644501796 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98951426e-01 3.19932780e-02 -3.27487296e-02 2.89781607e+00] [-3.20252030e-02 9.99486960e-01 -4.50644037e-04 -5.32647000e-01] [ 3.27175106e-02 1.49895622e-03 9.99463515e-01 -9.50181463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.126296757 meters Centerline goodness [0,1] 0.8447612582032133 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98955567e-01 3.14564670e-02 -3.31400909e-02 2.89934811e+00] [-3.15071670e-02 9.99503017e-01 -1.00863205e-03 -5.31709089e-01] [ 3.30918928e-02 2.05172898e-03 9.99450207e-01 -9.51080431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.156296757 meters Centerline goodness [0,1] 0.843717667247079 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98958152e-01 3.10821394e-02 -3.34142460e-02 2.90057006e+00] [-3.11471851e-02 9.99513789e-01 -1.42776243e-03 -5.31080757e-01] [ 3.33536217e-02 2.46703463e-03 9.99440568e-01 -9.51926482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18629675700001 meters Centerline goodness [0,1] 0.8433268369232327 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98967392e-01 3.03378795e-02 -3.38195571e-02 2.90252687e+00] [-3.04269321e-02 9.99534742e-01 -2.12150645e-03 -5.30056078e-01] [ 3.37394603e-02 3.14834113e-03 9.99425703e-01 -9.53303171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21629675700001 meters Centerline goodness [0,1] 0.8431510994553157 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98966435e-01 3.01039833e-02 -3.40560169e-02 2.90317041e+00] [-3.01986167e-02 9.99541345e-01 -2.26769163e-03 -5.30011788e-01] [ 3.39721304e-02 3.29379242e-03 9.99417353e-01 -9.53414167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.246296757 meters Centerline goodness [0,1] 0.8426640439804307 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98972084e-01 2.98263435e-02 -3.41345090e-02 2.90341750e+00] [-2.99275854e-02 9.99549045e-01 -2.45878038e-03 -5.29681037e-01] [ 3.40457795e-02 3.47781639e-03 9.99414223e-01 -9.53346021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.276296757 meters Centerline goodness [0,1] 0.8394937473265732 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98971724e-01 2.97157815e-02 -3.42413180e-02 2.90364176e+00] [-2.98225913e-02 9.99551793e-01 -2.61271251e-03 -5.28856027e-01] [ 3.41483320e-02 3.63119075e-03 9.99410179e-01 -9.53289980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.306296757 meters Centerline goodness [0,1] 0.8386602341826223 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98970913e-01 2.98691106e-02 -3.41313876e-02 2.90298962e+00] [-2.99745824e-02 9.99547325e-01 -2.58255869e-03 -5.27165837e-01] [ 3.40387984e-02 3.60297510e-03 9.99414018e-01 -9.52606663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.336296757 meters Centerline goodness [0,1] 0.8362796303736441 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98968341e-01 2.98601009e-02 -3.42144377e-02 2.90301242e+00] [-2.99699882e-02 9.99547144e-01 -2.70326791e-03 -5.26238693e-01] [ 3.41182237e-02 3.72588535e-03 9.99410859e-01 -9.52422106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366296757 meters Centerline goodness [0,1] 0.8362019434937923 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98964055e-01 2.97626128e-02 -3.44238855e-02 2.90319810e+00] [-2.98672423e-02 9.99550675e-01 -2.52911048e-03 -5.26775544e-01] [ 3.43331451e-02 3.55463699e-03 9.99404122e-01 -9.51819780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.396296757 meters Centerline goodness [0,1] 0.8342758482634371 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98964726e-01 2.96464631e-02 -3.45045456e-02 2.90334842e+00] [-2.97498254e-02 9.99554285e-01 -2.48596232e-03 -5.27241295e-01] [ 3.44154664e-02 3.50989288e-03 9.99401449e-01 -9.51631385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.426296757 meters Centerline goodness [0,1] 0.8383805627619237 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98963827e-01 2.97098565e-02 -3.44760291e-02 2.90326134e+00] [-2.98126656e-02 9.99552448e-01 -2.47171166e-03 -5.26668660e-01] [ 3.43871650e-02 3.49697286e-03 9.99402469e-01 -9.51555043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.456296757 meters Centerline goodness [0,1] 0.8368371117547189 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98963673e-01 2.97847747e-02 -3.44157911e-02 2.90309276e+00] [-2.98896692e-02 9.99549984e-01 -2.53728587e-03 -5.25578155e-01] [ 3.43247310e-02 3.56333302e-03 9.99404380e-01 -9.51490658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.486296757 meters Centerline goodness [0,1] 0.8376233695382631 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.53, Z:-0.95 [[ 9.98853557e-01 3.31529915e-02 -3.45318883e-02 2.90405685e+00] [-3.31279605e-02 9.99450277e-01 1.29692900e-03 -5.25237624e-01] [ 3.45559024e-02 -1.51471112e-04 9.99402755e-01 -9.51363426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.516296757 meters Centerline goodness [0,1] 0.8376973716774736 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.52, Z:-0.95 [[ 9.98850955e-01 3.30238802e-02 -3.47302830e-02 2.90469467e+00] [-3.30130843e-02 9.99454528e-01 8.84410641e-04 -5.24112924e-01] [ 3.47405453e-02 2.63159345e-04 9.99396330e-01 -9.51753840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54629675700001 meters Centerline goodness [0,1] 0.8390428773129226 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.52, Z:-0.95 [[ 9.98852438e-01 3.28547341e-02 -3.48478560e-02 2.90489500e+00] [-3.28522651e-02 9.99460011e-01 6.43592567e-04 -5.24383973e-01] [ 3.48501836e-02 5.01976998e-04 9.99392422e-01 -9.51690156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57629675700001 meters Centerline goodness [0,1] 0.8381833888683203 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.52, Z:-0.95 [[ 9.98848206e-01 3.27384527e-02 -3.50778487e-02 2.90535895e+00] [-3.27416614e-02 9.99463731e-01 4.83105412e-04 -5.24569484e-01] [ 3.50748537e-02 6.65958073e-04 9.99384466e-01 -9.51703617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.606296757 meters Centerline goodness [0,1] 0.8361776422564304 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.52, Z:-0.95 [[ 9.98843277e-01 3.32408479e-02 -3.47441281e-02 2.90430242e+00] [-3.32514881e-02 9.99446979e-01 2.71690479e-04 -5.22221037e-01] [ 3.47339451e-02 8.83917754e-04 9.99396204e-01 -9.51484444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.636296757 meters Centerline goodness [0,1] 0.8351780204711299 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.52, Z:-0.95 [[ 9.98841444e-01 3.32895320e-02 -3.47502169e-02 2.90444292e+00] [-3.33213669e-02 9.99444632e-01 -3.37210959e-04 -5.19263237e-01] [ 3.47196921e-02 1.49474501e-03 9.99395972e-01 -9.51903451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.666296757 meters Centerline goodness [0,1] 0.833947439057124 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.52, Z:-0.95 [[ 9.98839713e-01 3.34350396e-02 -3.46601558e-02 2.90427113e+00] [-3.34798975e-02 9.99439136e-01 -7.14482042e-04 -5.16807737e-01] [ 3.46168274e-02 1.87407150e-03 9.99398901e-01 -9.52026761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.696296757 meters Centerline goodness [0,1] 0.8334630350194553 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.51, Z:-0.95 [[ 9.98824331e-01 3.40165119e-02 -3.45374217e-02 2.90328267e+00] [-3.40666648e-02 9.99419189e-01 -8.64539326e-04 -5.13659772e-01] [ 3.44879533e-02 2.04009768e-03 9.99403031e-01 -9.51265712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.726296757 meters Centerline goodness [0,1] 0.831718040273021 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.51, Z:-0.95 [[ 9.98822417e-01 3.40352883e-02 -3.45742385e-02 2.90306707e+00] [-3.41051315e-02 9.99417225e-01 -1.43217718e-03 -5.11735086e-01] [ 3.45053450e-02 2.60964962e-03 9.99401106e-01 -9.51041083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.756296757 meters Centerline goodness [0,1] 0.8326212555226489 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.51, Z:-0.95 [[ 9.98818977e-01 3.40952486e-02 -3.46145276e-02 2.90302801e+00] [-3.41718005e-02 9.99414657e-01 -1.62219984e-03 -5.10935290e-01] [ 3.45389569e-02 2.80312471e-03 9.99399421e-01 -9.50896020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.786296757 meters Centerline goodness [0,1] 0.8365503378460197 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.51, Z:-0.95 [[ 9.98822911e-01 3.36998667e-02 -3.48871354e-02 2.90408010e+00] [-3.37987467e-02 9.99426130e-01 -2.24825478e-03 -5.09538300e-01] [ 3.47913489e-02 3.42474984e-03 9.99388730e-01 -9.51555817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.816296757 meters Centerline goodness [0,1] 0.833240257375258 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.51, Z:-0.95 [[ 0.99883241 0.0333362 -0.03496446 2.90492668] [-0.0334612 0.99943553 -0.00299581 -0.50739971] [ 0.03484485 0.00416227 0.99938407 -0.95257531] [ 0. 0. 0. 1. ]] SLAMing on 68.846296757 meters Centerline goodness [0,1] 0.8328740633309162 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 0.99884236 0.03295658 -0.03504005 2.90564736] [-0.03310918 0.99944458 -0.00378345 -0.50429617] [ 0.0348959 0.00493921 0.99937875 -0.95333139] [ 0. 0. 0. 1. ]] SLAMing on 68.876296757 meters Centerline goodness [0,1] 0.8340942580380221 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 0.99884207 0.03282395 -0.03517257 2.90574499] [-0.03298639 0.9994476 -0.00404783 -0.5030204 ] [ 0.03502027 0.00520336 0.99937306 -0.95305743] [ 0. 0. 0. 1. ]] SLAMing on 68.906296757 meters Centerline goodness [0,1] 0.8346874321946045 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 0.99884134 0.03262159 -0.03538084 2.90608309] [-0.03279316 0.999453 -0.00427976 -0.50240773] [ 0.03522188 0.00543505 0.99936474 -0.95287269] [ 0. 0. 0. 1. ]] SLAMing on 68.93629675700001 meters Centerline goodness [0,1] 0.833425914744596 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 0.99883498 0.03269906 -0.03548882 2.90585421] [-0.0328769 0.99944955 -0.00443929 -0.50161837] [ 0.03532412 0.00560088 0.99936021 -0.95228524] [ 0. 0. 0. 1. ]] SLAMing on 68.96629675700001 meters Centerline goodness [0,1] 0.8339476283394762 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 0.99882994 0.0326774 -0.03565016 2.90619851] [-0.03286471 0.99944885 -0.00468075 -0.50057075] [ 0.03547756 0.00584691 0.99935337 -0.95237364] [ 0. 0. 0. 1. ]] SLAMing on 68.996296757 meters Centerline goodness [0,1] 0.8308131720430108 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 9.98705216e-01 3.60193536e-02 -3.59235039e-02 2.90767581e+00] [-3.60901417e-02 9.99347662e-01 -1.32381113e-03 -4.99227842e-01] [ 3.58523868e-02 2.61858142e-03 9.99353666e-01 -9.52831329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026296757 meters Centerline goodness [0,1] 0.8294445640988825 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.50, Z:-0.95 [[ 9.98699538e-01 3.58995807e-02 -3.62001762e-02 2.90874212e+00] [-3.59976483e-02 9.99349750e-01 -2.06069931e-03 -4.96736957e-01] [ 3.61026588e-02 3.36114066e-03 9.99342434e-01 -9.53772490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.056296757 meters Centerline goodness [0,1] 0.8263244914096758 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98681582e-01 3.61612142e-02 -3.64343731e-02 2.90941021e+00] [-3.62780848e-02 9.99338476e-01 -2.55150457e-03 -4.93650767e-01] [ 3.63180054e-02 3.86990990e-03 9.99332791e-01 -9.54398527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.086296757 meters Centerline goodness [0,1] 0.8246034408396032 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98677406e-01 3.60229670e-02 -3.66849485e-02 2.90995767e+00] [-3.61493391e-02 9.99342512e-01 -2.78713090e-03 -4.93243745e-01] [ 3.65604279e-02 4.10958129e-03 9.99322994e-01 -9.54474412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.116296757 meters Centerline goodness [0,1] 0.8268172533942089 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98658360e-01 3.65580506e-02 -3.66741002e-02 2.90873164e+00] [-3.66678960e-02 9.99324798e-01 -2.32683139e-03 -4.93611129e-01] [ 3.65642733e-02 3.66847171e-03 9.99324570e-01 -9.52807870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.146296757 meters Centerline goodness [0,1] 0.8270118257859821 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98651507e-01 3.65110797e-02 -3.69067504e-02 2.90904598e+00] [-3.66275999e-02 9.99325893e-01 -2.48573815e-03 -4.92841409e-01] [ 3.67911143e-02 3.83419183e-03 9.99315622e-01 -9.52508161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.176296757 meters Centerline goodness [0,1] 0.827836093990755 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98640520e-01 3.66981123e-02 -3.70183801e-02 2.90904762e+00] [-3.68185254e-02 9.99318648e-01 -2.57611097e-03 -4.91723774e-01] [ 3.68986192e-02 3.93557097e-03 9.99311264e-01 -9.52276939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.206296757 meters Centerline goodness [0,1] 0.8280716928547402 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98631516e-01 3.64678854e-02 -3.74858516e-02 2.91026913e+00] [-3.66011870e-02 9.99325814e-01 -2.87573789e-03 -4.90962082e-01] [ 3.73557071e-02 4.24382915e-03 9.99293021e-01 -9.52636814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.236296757 meters Centerline goodness [0,1] 0.8251040188556723 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98612762e-01 3.69307594e-02 -3.75322702e-02 2.90998489e+00] [-3.70521041e-02 9.99310101e-01 -2.54242862e-03 -4.90874845e-01] [ 3.74124829e-02 3.92955125e-03 9.99292182e-01 -9.52141946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.266296757 meters Centerline goodness [0,1] 0.8248878869996883 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98602465e-01 3.68345452e-02 -3.78989832e-02 2.91077999e+00] [-3.69553468e-02 9.99313812e-01 -2.49163975e-03 -4.90961005e-01] [ 3.77811990e-02 3.88872766e-03 9.99278469e-01 -9.52032049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29629675700001 meters Centerline goodness [0,1] 0.8257140798039734 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98598442e-01 3.71405747e-02 -3.77058336e-02 2.90993864e+00] [-3.72519163e-02 9.99303364e-01 -2.25440846e-03 -4.90614073e-01] [ 3.75958363e-02 3.65586333e-03 9.99286339e-01 -9.51230691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32629675700001 meters Centerline goodness [0,1] 0.8265864070219195 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98596484e-01 3.70592073e-02 -3.78375195e-02 2.91036232e+00] [-3.71778612e-02 9.99305693e-01 -2.43685573e-03 -4.89861345e-01] [ 3.77209407e-02 3.84015361e-03 9.99280933e-01 -9.51374385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35629675700001 meters Centerline goodness [0,1] 0.8265864070219195 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 9.98596484e-01 3.70592073e-02 -3.78375195e-02 2.91036232e+00] [-3.71778612e-02 9.99305693e-01 -2.43685573e-03 -4.89861345e-01] [ 3.77209407e-02 3.84015361e-03 9.99280933e-01 -9.51374385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.386296757 meters Centerline goodness [0,1] 0.824035260018684 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 0.99859765 0.03659105 -0.03826013 2.91191004] [-0.03673261 0.99932062 -0.00300324 -0.48879357] [ 0.03812425 0.00440442 0.9992633 -0.95223315] [ 0. 0. 0. 1. ]] SLAMing on 69.416296757 meters Centerline goodness [0,1] 0.8233756266039862 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 0.99860381 0.03600667 -0.03865157 2.913703 ] [-0.03617567 0.99933866 -0.0036816 -0.48861777] [ 0.03849344 0.0050747 0.99924597 -0.95354553] [ 0. 0. 0. 1. ]] SLAMing on 69.446296757 meters Centerline goodness [0,1] 0.8244316954319595 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 0.99861296 0.0355525 -0.03883532 2.91453475] [-0.03573313 0.99935349 -0.00396702 -0.4894366 ] [ 0.03866918 0.00534922 0.99923775 -0.95394522] [ 0. 0. 0. 1. ]] SLAMing on 69.476296757 meters Centerline goodness [0,1] 0.8257021562372581 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 0.99861672 0.03544255 -0.03883917 2.91470825] [-0.03562664 0.99935693 -0.00405775 -0.48941704] [ 0.03867038 0.00543584 0.99923724 -0.95408389] [ 0. 0. 0. 1. ]] SLAMing on 69.506296757 meters Centerline goodness [0,1] 0.8260610111233112 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.95 [[ 0.99861761 0.03532909 -0.03891958 2.91500013] [-0.035515 0.99936075 -0.00409545 -0.48912072] [ 0.03875001 0.00547202 0.99923395 -0.95406306] [ 0. 0. 0. 1. ]] SLAMing on 69.536296757 meters Centerline goodness [0,1] 0.8230892061297934 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.49, Z:-0.95 [[ 0.99862549 0.03531699 -0.03872777 2.91479437] [-0.0354993 0.99936158 -0.00402976 -0.48873927] [ 0.03856072 0.00539903 0.99924167 -0.9540355 ] [ 0. 0. 0. 1. ]] SLAMing on 69.566296757 meters Centerline goodness [0,1] 0.8247523105799615 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.95 [[ 0.99862161 0.03514817 -0.03898061 2.91565655] [-0.03533328 0.9993673 -0.0040697 -0.48872564] [ 0.03881291 0.00544141 0.99923168 -0.95438075] [ 0. 0. 0. 1. ]] SLAMing on 69.596296757 meters Centerline goodness [0,1] 0.8263657164648679 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.95 [[ 0.99861789 0.03505 -0.03916393 2.91630823] [-0.03523458 0.99937093 -0.00403276 -0.48915501] [ 0.03899795 0.00540711 0.99922466 -0.95462744] [ 0. 0. 0. 1. ]] SLAMing on 69.626296757 meters Centerline goodness [0,1] 0.828142884395269 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.95 [[ 0.99861023 0.03512894 -0.03928836 2.91691707] [-0.03529599 0.99937054 -0.00356602 -0.49110184] [ 0.03913836 0.00494779 0.99922155 -0.95489293] [ 0. 0. 0. 1. ]] SLAMing on 69.656296757 meters Centerline goodness [0,1] 0.8251124294325902 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.96 [[ 0.99860504 0.03518546 -0.03936948 2.91756 ] [-0.03534292 0.99936976 -0.00331035 -0.49226026] [ 0.0392282 0.00469717 0.99921924 -0.95538579] [ 0. 0. 0. 1. ]] SLAMing on 69.68629675700001 meters Centerline goodness [0,1] 0.8243446318250125 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.96 [[ 0.99859807 0.03512921 -0.03959592 2.91862172] [-0.0352914 0.99937127 -0.00340425 -0.49229582] [ 0.03945144 0.00479688 0.99920997 -0.95621671] [ 0. 0. 0. 1. ]] SLAMing on 69.71629675700001 meters Centerline goodness [0,1] 0.8255036761195456 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.96 [[ 0.99859489 0.03514491 -0.03966215 2.91940274] [-0.03531202 0.99937014 -0.00352031 -0.49221974] [ 0.03951345 0.00491592 0.99920695 -0.95710914] [ 0. 0. 0. 1. ]] SLAMing on 69.746296757 meters Centerline goodness [0,1] 0.8195163869858926 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.49, Z:-0.96 [[ 0.99857728 0.03575425 -0.03956078 2.91971184] [-0.03591302 0.99934944 -0.00330986 -0.49207785] [ 0.03941671 0.0047259 0.99921168 -0.95801642] [ 0. 0. 0. 1. ]] SLAMing on 69.776296757 meters Centerline goodness [0,1] 0.8180518830843994 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.49, Z:-0.96 [[ 0.99869491 0.04045234 -0.03117812 2.92753323] [-0.04073269 0.99913469 -0.00840955 -0.49194202] [ 0.03081096 0.00966855 0.99947847 -0.96208329] [ 0. 0. 0. 1. ]] SLAMing on 69.806296757 meters Centerline goodness [0,1] 0.8145020454056123 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.49, Z:-0.96 [[ 0.99866975 0.04117735 -0.0310347 2.9263911 ] [-0.04142935 0.99911313 -0.00752093 -0.49369206] [ 0.03069748 0.00879667 0.99949001 -0.96094 ] [ 0. 0. 0. 1. ]] SLAMing on 69.836296757 meters Centerline goodness [0,1] 0.8163964266040764 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 0.998642 0.04183128 -0.03105326 2.92569471] [-0.04205607 0.99909331 -0.00662123 -0.49582835] [ 0.03074813 0.00791822 0.9994958 -0.95993547] [ 0. 0. 0. 1. ]] SLAMing on 69.866296757 meters Centerline goodness [0,1] 0.8108957443746102 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.50, Z:-0.96 [[ 0.9985996 0.04318676 -0.03055717 2.92370685] [-0.04337223 0.99904421 -0.00543263 -0.49690689] [ 0.03029335 0.00675035 0.99951826 -0.95871439] [ 0. 0. 0. 1. ]] SLAMing on 69.896296757 meters Centerline goodness [0,1] 0.8103415378744514 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 9.98437147e-01 4.65267442e-02 -3.09600740e-02 2.92567797e+00] [-4.65998122e-02 9.98912289e-01 -1.64234127e-03 -4.98026178e-01] [ 3.08499856e-02 3.08250817e-03 9.99519273e-01 -9.59374162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.926296757 meters Centerline goodness [0,1] 0.8057619481328795 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 9.98399835e-01 4.74494801e-02 -3.07622453e-02 2.92504530e+00] [-4.75029461e-02 9.98870588e-01 -1.00914184e-03 -4.98206436e-01] [ 3.06796188e-02 2.46882432e-03 9.99526221e-01 -9.59293538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.956296757 meters Centerline goodness [0,1] 0.800446332157512 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 9.98385890e-01 4.76628495e-02 -3.08847508e-02 2.92523555e+00] [-4.77078370e-02 9.98861073e-01 -7.20950421e-04 -4.99202259e-01] [ 3.08152128e-02 2.19323139e-03 9.99522692e-01 -9.59261921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.986296757 meters Centerline goodness [0,1] 0.7934091347080362 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 9.98371976e-01 4.78618722e-02 -3.10264238e-02 2.92516965e+00] [-4.78862834e-02 9.98852793e-01 -4.37920340e-05 -5.02253566e-01] [ 3.09887341e-02 1.52946086e-03 9.99518564e-01 -9.58662738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.016296757 meters Centerline goodness [0,1] 0.8129918890948037 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 9.98366818e-01 4.77727818e-02 -3.13282161e-02 2.92570255e+00] [-4.77935829e-02 9.98857230e-01 8.49444919e-05 -5.03226985e-01] [ 3.12964732e-02 1.41248193e-03 9.99509147e-01 -9.58512828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04629675700001 meters Centerline goodness [0,1] 0.8111529003327065 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.50, Z:-0.96 [[ 9.98367636e-01 4.76308771e-02 -3.15176502e-02 2.92615033e+00] [-4.76484814e-02 9.98864147e-01 1.92705830e-04 -5.03934497e-01] [ 3.14910295e-02 1.30937691e-03 9.99503177e-01 -9.58510465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07629675700001 meters Centerline goodness [0,1] 0.8105400381430606 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98384639e-01 4.71017673e-02 -3.17732054e-02 2.92716471e+00] [-4.71199497e-02 9.98889223e-01 1.76683303e-04 -5.05195983e-01] [ 3.17462346e-02 1.32075395e-03 9.99495089e-01 -9.58858673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10629675700001 meters Centerline goodness [0,1] 0.8131931719548655 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98387323e-01 4.69523365e-02 -3.19097419e-02 2.92758993e+00] [-4.69622050e-02 9.98896570e-01 4.40545885e-04 -5.06695395e-01] [ 3.18952164e-02 1.05871641e-03 9.99490657e-01 -9.58817039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.136296757 meters Centerline goodness [0,1] 0.8118122938386343 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98383055e-01 4.68607910e-02 -3.21767322e-02 2.92814558e+00] [-4.68699658e-02 9.98900889e-01 4.69474492e-04 -5.06967215e-01] [ 3.21633663e-02 1.03940696e-03 9.99482085e-01 -9.58778485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.166296757 meters Centerline goodness [0,1] 0.8126281262812628 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98381531e-01 4.68024327e-02 -3.23086804e-02 2.92851956e+00] [-4.68088939e-02 9.98903708e-01 5.56765879e-04 -5.07303592e-01] [ 3.22993186e-02 9.56468821e-04 9.99477783e-01 -9.58851026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.196296757 meters Centerline goodness [0,1] 0.8100253042535245 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98398574e-01 4.62412881e-02 -3.25888047e-02 2.92991910e+00] [-4.62553350e-02 9.98929597e-01 3.23138019e-04 -5.07759834e-01] [ 3.25688639e-02 1.18478554e-03 9.99468792e-01 -9.59726849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.226296757 meters Centerline goodness [0,1] 0.8133571998742168 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98425735e-01 4.51915266e-02 -3.32231509e-02 2.93246483e+00] [-4.52190725e-02 9.98977092e-01 -7.78336003e-05 -5.09674046e-01] [ 3.31856493e-02 1.58003114e-03 9.99447956e-01 -9.61121842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.256296757 meters Centerline goodness [0,1] 0.8110062358964405 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98426721e-01 4.47834958e-02 -3.37419853e-02 2.93371973e+00] [-4.48105686e-02 9.98995501e-01 -4.61801453e-05 -5.11202648e-01] [ 3.37060234e-02 1.55810504e-03 9.99430576e-01 -9.61271441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.286296757 meters Centerline goodness [0,1] 0.8128947624137596 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98429821e-01 4.45670436e-02 -3.39362901e-02 2.93435656e+00] [-4.45889382e-02 9.99005412e-01 1.11746616e-04 -5.12511082e-01] [ 3.39075177e-02 1.40161199e-03 9.99423992e-01 -9.61461997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.316296757 meters Centerline goodness [0,1] 0.811206938320655 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.51, Z:-0.96 [[ 9.98433229e-01 4.45176373e-02 -3.39008397e-02 2.93447837e+00] [-4.45398761e-02 9.99007602e-01 9.92823199e-05 -5.12042729e-01] [ 3.38716164e-02 1.41081244e-03 9.99425196e-01 -9.61589493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.346296757 meters Centerline goodness [0,1] 0.8109930626303788 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98436877e-01 4.43579237e-02 -3.40026028e-02 2.93501954e+00] [-4.43896342e-02 9.99014279e-01 -1.77884743e-04 -5.11359257e-01] [ 3.39611951e-02 1.68696979e-03 9.99421728e-01 -9.62058980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.376296757 meters Centerline goodness [0,1] 0.8089887640449438 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98430925e-01 4.42341377e-02 -3.43370045e-02 2.93579581e+00] [-4.42652186e-02 9.99019804e-01 -1.45137415e-04 -5.11916192e-01] [ 3.42969274e-02 1.66484469e-03 9.99410301e-01 -9.62129639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.406296757 meters Centerline goodness [0,1] 0.811285801340646 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98429581e-01 4.41549618e-02 -3.44776913e-02 2.93616862e+00] [-4.41838730e-02 9.99023413e-01 -7.67211893e-05 -5.12685650e-01] [ 3.44406332e-02 1.59995864e-03 9.99405465e-01 -9.62190637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43629675700001 meters Centerline goodness [0,1] 0.8121243219469286 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98427090e-01 4.39695650e-02 -3.47854029e-02 2.93694519e+00] [-4.39914537e-02 9.99031898e-01 1.36233005e-04 -5.13795213e-01] [ 3.47577172e-02 1.39424172e-03 9.99394795e-01 -9.62176134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46629675700001 meters Centerline goodness [0,1] 0.8142253899289706 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98427911e-01 4.36930530e-02 -3.51087391e-02 2.93824118e+00] [-4.37236075e-02 9.99043661e-01 -1.02609441e-04 -5.13714120e-01] [ 3.50706799e-02 1.63752886e-03 9.99383493e-01 -9.63050810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.496296757 meters Centerline goodness [0,1] 0.8123407175063713 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98431207e-01 4.34257181e-02 -3.53458924e-02 2.93931521e+00] [-4.34650355e-02 9.99054889e-01 -3.44362985e-04 -5.13502004e-01] [ 3.52975324e-02 1.88013322e-03 9.99375079e-01 -9.63824167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.526296757 meters Centerline goodness [0,1] 0.8112282422162295 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.51, Z:-0.96 [[ 9.98430830e-01 4.31334938e-02 -3.57124488e-02 2.94049458e+00] [-4.31685634e-02 9.99067781e-01 -2.11149952e-04 -5.14766047e-01] [ 3.56700493e-02 1.75247373e-03 9.99362085e-01 -9.64223685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.556296757 meters Centerline goodness [0,1] 0.8122196897286964 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98422348e-01 4.31570204e-02 -3.59205469e-02 2.94074590e+00] [-4.31795282e-02 9.99067318e-01 1.49294188e-04 -5.16221610e-01] [ 3.58934875e-02 1.40197361e-03 9.99354638e-01 -9.63862976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.586296757 meters Centerline goodness [0,1] 0.8110158878275177 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98418175e-01 4.32066104e-02 -3.59768971e-02 2.94061838e+00] [-4.31997520e-02 9.99065986e-01 9.68323529e-04 -5.19448775e-01] [ 3.59851321e-02 5.87401220e-04 9.99352153e-01 -9.63105236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.616296757 meters Centerline goodness [0,1] 0.8117137300278194 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98412491e-01 4.32353983e-02 -3.60998267e-02 2.94084141e+00] [-4.32184691e-02 9.99064864e-01 1.24953213e-03 -5.20190063e-01] [ 3.61200925e-02 3.12630762e-04 9.99347408e-01 -9.62954265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.646296757 meters Centerline goodness [0,1] 0.8128659286592865 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98412861e-01 4.29949676e-02 -3.63756916e-02 2.94152447e+00] [-4.29693740e-02 9.99075286e-01 1.48543887e-03 -5.20983238e-01] [ 3.64059209e-02 7.99594264e-05 9.99337082e-01 -9.62772872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.676296757 meters Centerline goodness [0,1] 0.8105530989847088 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98409508e-01 4.29739193e-02 -3.64924125e-02 2.94184302e+00] [-4.29408109e-02 9.99076187e-01 1.69091540e-03 -5.21908982e-01] [ 3.65313656e-02 -1.21212224e-04 9.99332500e-01 -9.62785351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.706296757 meters Centerline goodness [0,1] 0.8113371587549991 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98408525e-01 4.26530550e-02 -3.68935588e-02 2.94318814e+00] [-4.26179930e-02 9.99089931e-01 1.73662472e-03 -5.24091858e-01] [ 3.69340555e-02 -1.61531488e-04 9.99317692e-01 -9.63444206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.736296757 meters Centerline goodness [0,1] 0.8102639223378106 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98404748e-01 4.25655412e-02 -3.70962797e-02 2.94382568e+00] [-4.25301263e-02 9.99093663e-01 1.74363632e-03 -5.24722106e-01] [ 3.71368768e-02 -1.63145318e-04 9.99310175e-01 -9.63744213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.766296757 meters Centerline goodness [0,1] 0.8096477529064723 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98409816e-01 4.26406985e-02 -3.68728837e-02 2.94345289e+00] [-4.26055057e-02 9.99090458e-01 1.74002694e-03 -5.24782517e-01] [ 3.69135422e-02 -1.66272120e-04 9.99318449e-01 -9.63848174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79629675700001 meters Centerline goodness [0,1] 0.8074395536267824 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98413314e-01 4.25440260e-02 -3.68898329e-02 2.94380376e+00] [-4.25172907e-02 9.99094591e-01 1.50927983e-03 -5.24248602e-01] [ 3.69206434e-02 6.15706754e-05 9.99318199e-01 -9.64313566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82629675700001 meters Centerline goodness [0,1] 0.8087918615875844 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98411373e-01 4.23016604e-02 -3.72196045e-02 2.94477110e+00] [-4.22866091e-02 9.99104810e-01 1.19187008e-03 -5.23824297e-01] [ 3.72367040e-02 3.83914227e-04 9.99306400e-01 -9.64732972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85629675700001 meters Centerline goodness [0,1] 0.8064918228958915 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98393598e-01 4.28153734e-02 -3.71088481e-02 2.94418913e+00] [-4.27887796e-02 9.99082998e-01 1.51090626e-03 -5.24988009e-01] [ 3.71395092e-02 7.93631844e-05 9.99310087e-01 -9.64465923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886296757 meters Centerline goodness [0,1] 0.8045444353090665 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.52, Z:-0.96 [[ 9.98375425e-01 4.32299855e-02 -3.71171012e-02 2.94395810e+00] [-4.32007832e-02 9.99065147e-01 1.58879878e-03 -5.24725673e-01] [ 3.71510859e-02 1.72701842e-05 9.99309660e-01 -9.64364046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.916296757 meters Centerline goodness [0,1] 0.8022921214526691 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98374921e-01 4.29651078e-02 -3.74368401e-02 2.94526194e+00] [-4.29572357e-02 9.99076396e-01 1.01499614e-03 -5.23427334e-01] [ 3.74458727e-02 5.94836475e-04 9.99298480e-01 -9.65399518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946296757 meters Centerline goodness [0,1] 0.801999651801925 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98370226e-01 4.30454468e-02 -3.74697492e-02 2.94574357e+00] [-4.30476880e-02 9.99072739e-01 7.47333145e-04 -5.22191964e-01] [ 3.74671742e-02 8.66870913e-04 9.99297483e-01 -9.66098315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.976296757 meters Centerline goodness [0,1] 0.7996382288078896 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98204656e-01 4.62408129e-02 -3.80690490e-02 2.94852894e+00] [-4.61234428e-02 9.98927914e-01 3.95605990e-03 -5.21605755e-01] [ 3.82111672e-02 -2.19308180e-03 9.99267280e-01 -9.67535949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.006296757 meters Centerline goodness [0,1] 0.8013386217154189 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98193806e-01 4.63514791e-02 -3.82186725e-02 2.94878442e+00] [-4.62367894e-02 9.98922973e-01 3.87979193e-03 -5.21530498e-01] [ 3.83573441e-02 -2.10567555e-03 9.99261868e-01 -9.67631888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.036296757 meters Centerline goodness [0,1] 0.7987995436281562 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98178331e-01 4.65509590e-02 -3.83800536e-02 2.94909235e+00] [-4.64420677e-02 9.98914042e-01 3.72435433e-03 -5.21742297e-01] [ 3.85117467e-02 -1.93512074e-03 9.99256274e-01 -9.67878595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.066296757 meters Centerline goodness [0,1] 0.7997031172686788 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98175926e-01 4.64705329e-02 -3.85397278e-02 2.94980366e+00] [-4.63810882e-02 9.98918654e-01 3.21217870e-03 -5.20441013e-01] [ 3.86473247e-02 -1.41880493e-03 9.99251906e-01 -9.68629877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.096296757 meters Centerline goodness [0,1] 0.7963900343218351 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98152530e-01 4.70385198e-02 -3.84565335e-02 2.94977131e+00] [-4.69600894e-02 9.98892438e-01 2.94071509e-03 -5.17492498e-01] [ 3.85522674e-02 -1.12935995e-03 9.99255947e-01 -9.69215293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.126296757 meters Centerline goodness [0,1] 0.7944079352186861 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98151759e-01 4.68385990e-02 -3.87196517e-02 2.95066333e+00] [-4.67773021e-02 9.98902244e-01 2.48802052e-03 -5.16335663e-01] [ 3.87936824e-02 -6.72221211e-04 9.99247016e-01 -9.69783996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.156296757 meters Centerline goodness [0,1] 0.7996152613016992 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98151506e-01 4.68488654e-02 -3.87137555e-02 2.95068561e+00] [-4.67929884e-02 9.98901847e-01 2.34868173e-03 -5.15699157e-01] [ 3.87812749e-02 -5.32807897e-04 9.99247581e-01 -9.69863143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18629675700001 meters Centerline goodness [0,1] 0.7950272294916341 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98153533e-01 4.65905697e-02 -3.89723488e-02 2.95138462e+00] [-4.65431530e-02 9.98914023e-01 2.12357735e-03 -5.15779771e-01] [ 3.90289644e-02 -3.05760245e-04 9.99238033e-01 -9.70053227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21629675700001 meters Centerline goodness [0,1] 0.796473725800079 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98155429e-01 4.63556750e-02 -3.92031943e-02 2.95191111e+00] [-4.63100405e-02 9.98924966e-01 2.07183853e-03 -5.16239446e-01] [ 3.92570910e-02 -2.52515362e-04 9.99229111e-01 -9.70014966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246296757 meters Centerline goodness [0,1] 0.796473725800079 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98155429e-01 4.63556750e-02 -3.92031943e-02 2.95191111e+00] [-4.63100405e-02 9.98924966e-01 2.07183853e-03 -5.16239446e-01] [ 3.92570910e-02 -2.52515362e-04 9.99229111e-01 -9.70014966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.276296757 meters Centerline goodness [0,1] 0.7991451935667169 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98165328e-01 4.59041769e-02 -3.94814419e-02 2.95267105e+00] [-4.58598967e-02 9.98945825e-01 2.02695282e-03 -5.17026236e-01] [ 3.95328672e-02 -2.12619181e-04 9.99218248e-01 -9.70015010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.306296757 meters Centerline goodness [0,1] 0.7968947017084085 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.52, Z:-0.97 [[ 9.98175362e-01 4.52629321e-02 -3.99651551e-02 2.95410412e+00] [-4.52293127e-02 9.98975106e-01 1.74544095e-03 -5.17050201e-01] [ 4.00031988e-02 6.53403394e-05 9.99199550e-01 -9.70310839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.336296757 meters Centerline goodness [0,1] 0.7992662989954697 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98182110e-01 4.48389331e-02 -4.02733832e-02 2.95523142e+00] [-4.48161910e-02 9.98994171e-01 1.46778723e-03 -5.16928136e-01] [ 4.02986891e-02 3.39780674e-04 9.99187620e-01 -9.70846244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.366296757 meters Centerline goodness [0,1] 0.7997828822382868 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98186974e-01 4.45406822e-02 -4.04832457e-02 2.95599021e+00] [-4.45209783e-02 9.99007485e-01 1.38858142e-03 -5.17097235e-01] [ 4.05049138e-02 4.16289821e-04 9.99179253e-01 -9.71104010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.396296757 meters Centerline goodness [0,1] 0.7977353079338394 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98193462e-01 4.42011852e-02 -4.06948053e-02 2.95637709e+00] [-4.41751905e-02 9.99022616e-01 1.53821393e-03 -5.17603625e-01] [ 4.07230217e-02 2.62265687e-04 9.99170439e-01 -9.70680269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.426296757 meters Centerline goodness [0,1] 0.7986248516026909 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98188602e-01 4.41291182e-02 -4.08917559e-02 2.95647207e+00] [-4.41008420e-02 9.99025813e-01 1.59372754e-03 -5.17684409e-01] [ 4.09222495e-02 2.12520202e-04 9.99162311e-01 -9.70200746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.456296757 meters Centerline goodness [0,1] 0.800369412633912 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98191837e-01 4.36924268e-02 -4.12798898e-02 2.95769217e+00] [-4.36885569e-02 9.99044702e-01 9.96289998e-04 -5.17059044e-01] [ 4.12839856e-02 8.08970270e-04 9.99147125e-01 -9.70813358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.486296757 meters Centerline goodness [0,1] 0.8013532869067023 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98185475e-01 4.37206376e-02 -4.14036622e-02 2.95772116e+00] [-4.37260361e-02 9.99043258e-01 7.75633829e-04 -5.16268006e-01] [ 4.13979608e-02 1.03619161e-03 9.99142200e-01 -9.70591308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.516296757 meters Centerline goodness [0,1] 0.8033454222485382 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.52, Z:-0.97 [[ 9.98185901e-01 4.35907016e-02 -4.15301958e-02 2.95812974e+00] [-4.36086837e-02 9.99048577e-01 4.73274690e-04 -5.15494382e-01] [ 4.15113134e-02 1.33866105e-03 9.99137137e-01 -9.70809824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54629675700001 meters Centerline goodness [0,1] 0.8029596346853557 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98179183e-01 4.34278539e-02 -4.18609687e-02 2.95930663e+00] [-4.34636947e-02 9.99055006e-01 5.39786865e-05 -5.14616279e-01] [ 4.18237545e-02 1.76555196e-03 9.99123444e-01 -9.71595671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57629675700001 meters Centerline goodness [0,1] 0.801424711373127 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98176920e-01 4.34995208e-02 -4.18405121e-02 2.95980372e+00] [-4.35611041e-02 9.99050607e-01 -5.60843940e-04 -5.11698498e-01] [ 4.17763926e-02 2.38244038e-03 9.99124145e-01 -9.72546927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60629675700001 meters Centerline goodness [0,1] 0.7996917582014336 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98168522e-01 4.41029709e-02 -4.14068903e-02 2.95836492e+00] [-4.41631091e-02 9.99024189e-01 -5.38330295e-04 -5.09485132e-01] [ 4.13427430e-02 2.36600137e-03 9.99142222e-01 -9.71930152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.636296757 meters Centerline goodness [0,1] 0.7968187054238867 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98161902e-01 4.43551357e-02 -4.12969684e-02 2.95779144e+00] [-4.44126297e-02 9.99013159e-01 -4.75354226e-04 -5.09174894e-01] [ 4.12351304e-02 2.30858744e-03 9.99146803e-01 -9.71521367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666296757 meters Centerline goodness [0,1] 0.7995006486671725 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98156160e-01 4.43246654e-02 -4.14681127e-02 2.95818334e+00] [-4.43910521e-02 9.99013999e-01 -6.81024178e-04 -5.08698353e-01] [ 4.13970389e-02 2.52058163e-03 9.99139596e-01 -9.71664482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.696296757 meters Centerline goodness [0,1] 0.7964653758597899 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98164400e-01 4.40604849e-02 -4.15512324e-02 2.95890279e+00] [-4.41496890e-02 9.99024168e-01 -1.23121723e-03 -5.07271567e-01] [ 4.14564374e-02 3.06343120e-03 9.99135616e-01 -9.72430326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.726296757 meters Centerline goodness [0,1] 0.7977329604004122 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98160319e-01 4.40170075e-02 -4.16950845e-02 2.95912941e+00] [-4.41119960e-02 9.99025666e-01 -1.36044277e-03 -5.06856734e-01] [ 4.15945769e-02 3.19719339e-03 9.99129456e-01 -9.72355711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.756296757 meters Centerline goodness [0,1] 0.7990301198947266 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98167717e-01 4.37006827e-02 -4.18504423e-02 2.95944365e+00] [-4.38043853e-02 9.99038904e-01 -1.56368890e-03 -5.06145453e-01] [ 4.17418857e-02 3.39405668e-03 9.99122663e-01 -9.72178577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.786296757 meters Centerline goodness [0,1] 0.8018575851393188 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98169309e-01 4.35992836e-02 -4.19181593e-02 2.95948652e+00] [-4.37057765e-02 9.99043121e-01 -1.62698889e-03 -5.05593062e-01] [ 4.18071132e-02 3.45607608e-03 9.99119723e-01 -9.71972962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.816296757 meters Centerline goodness [0,1] 0.8002090270519894 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98179713e-01 4.28325429e-02 -4.24574426e-02 2.96065464e+00] [-4.29524167e-02 9.99075284e-01 -1.91476408e-03 -5.05410832e-01] [ 4.23361674e-02 3.73492843e-03 9.99096441e-01 -9.71654916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.846296757 meters Centerline goodness [0,1] 0.8001413117629861 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98179045e-01 4.25404670e-02 -4.27656688e-02 2.96146138e+00] [-4.26602428e-02 9.99087847e-01 -1.89163026e-03 -5.06180751e-01] [ 4.26461891e-02 3.71257951e-03 9.99083340e-01 -9.71751837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.876296757 meters Centerline goodness [0,1] 0.8023340804989767 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98200774e-01 4.14507138e-02 -4.33249709e-02 2.96333659e+00] [-4.15901226e-02 9.99132061e-01 -2.32095739e-03 -5.06990735e-01] [ 4.31911621e-02 4.11867232e-03 9.99058337e-01 -9.72298261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.906296757 meters Centerline goodness [0,1] 0.8025239827177972 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.51, Z:-0.97 [[ 9.98202186e-01 4.10645141e-02 -4.36589322e-02 2.96435473e+00] [-4.12050810e-02 9.99148007e-01 -2.32425456e-03 -5.07698768e-01] [ 4.35262907e-02 4.11904582e-03 9.99043791e-01 -9.72563019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93629675700001 meters Centerline goodness [0,1] 0.8063106796116505 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99823469 0.03978774 -0.04409589 2.966636 ] [-0.03996045 0.99919663 -0.00304193 -0.50729019] [ 0.04393943 0.00479866 0.99902267 -0.97396886] [ 0. 0. 0. 1. ]] SLAMing on 71.96629675700001 meters Centerline goodness [0,1] 0.8080360386543631 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99824579 0.03926582 -0.04431173 2.96773935] [-0.03945894 0.99921509 -0.00349171 -0.50641393] [ 0.04413985 0.00523408 0.99901165 -0.97473207] [ 0. 0. 0. 1. ]] SLAMing on 71.996296757 meters Centerline goodness [0,1] 0.8064867218110578 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99825736 0.03868104 -0.04456487 2.96814831] [-0.03887895 0.99923751 -0.00358265 -0.50627957] [ 0.04439231 0.00530904 0.99900007 -0.97417184] [ 0. 0. 0. 1. ]] SLAMing on 72.026296757 meters Centerline goodness [0,1] 0.8072335792911576 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99825386 0.03859166 -0.04472044 2.96808827] [-0.03877825 0.99924235 -0.00331199 -0.50742706] [ 0.04455874 0.00504038 0.99899405 -0.97342902] [ 0. 0. 0. 1. ]] SLAMing on 72.056296757 meters Centerline goodness [0,1] 0.8111844172164624 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99826074 0.03804298 -0.04503587 2.9687687 ] [-0.0382332 0.99926316 -0.00336955 -0.5084238 ] [ 0.0448745 0.00508556 0.99897969 -0.97308372] [ 0. 0. 0. 1. ]] SLAMing on 72.086296757 meters Centerline goodness [0,1] 0.8081232492997199 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.998264 0.03779411 -0.04517282 2.9695458 ] [-0.03800495 0.99927026 -0.00381742 -0.5072118 ] [ 0.04499558 0.00552758 0.99897189 -0.97377046] [ 0. 0. 0. 1. ]] SLAMing on 72.116296757 meters Centerline goodness [0,1] 0.8124638658701099 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 9.98119747e-01 4.10047427e-02 -4.55585608e-02 2.97148970e+00] [-4.10705393e-02 9.99156120e-01 -5.08722433e-04 -5.06289213e-01] [ 4.54992548e-02 2.37888057e-03 9.98961540e-01 -9.74461581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.146296757 meters Centerline goodness [0,1] 0.8112371456782987 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 9.98115478e-01 4.11195731e-02 -4.55485769e-02 2.97149086e+00] [-4.11966522e-02 9.99150773e-01 -7.54425300e-04 -5.05087970e-01] [ 4.54788742e-02 2.62945245e-03 9.98961840e-01 -9.74620793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.176296757 meters Centerline goodness [0,1] 0.8117953165654813 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.97 [[ 9.98098349e-01 4.15531688e-02 -4.55304233e-02 2.97122964e+00] [-4.16392514e-02 9.99132265e-01 -9.43468101e-04 -5.04002322e-01] [ 4.54517108e-02 2.83752670e-03 9.98962507e-01 -9.74653535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.206296757 meters Centerline goodness [0,1] 0.8112511750102437 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.97 [[ 9.98092095e-01 4.17295979e-02 -4.55061492e-02 2.97111660e+00] [-4.18198015e-02 9.99124637e-01 -1.03159550e-03 -5.03467906e-01] [ 4.54232667e-02 2.93268544e-03 9.98963526e-01 -9.74655249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.236296757 meters Centerline goodness [0,1] 0.8140506785156719 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.97 [[ 9.98066191e-01 4.23504793e-02 -4.55007227e-02 2.97085578e+00] [-4.24462960e-02 9.99098098e-01 -1.14129323e-03 -5.02404197e-01] [ 4.54113511e-02 3.07042333e-03 9.98963654e-01 -9.74746485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.266296757 meters Centerline goodness [0,1] 0.8184074805996048 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.98 [[ 9.98055333e-01 4.27146347e-02 -4.53983763e-02 2.97075118e+00] [-4.28098230e-02 9.99082605e-01 -1.12611259e-03 -5.01842055e-01] [ 4.53086265e-02 3.06741913e-03 9.98968327e-01 -9.75074668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29629675700001 meters Centerline goodness [0,1] 0.8169292763554762 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.98 [[ 9.98041341e-01 4.31761587e-02 -4.52692153e-02 2.97049474e+00] [-4.32699311e-02 9.99062820e-01 -1.09313208e-03 -5.01086144e-01] [ 4.51795926e-02 3.04978683e-03 9.98974225e-01 -9.75299788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32629675700001 meters Centerline goodness [0,1] 0.8184910850001206 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.98 [[ 9.98010125e-01 4.39424034e-02 -4.52200691e-02 2.97039232e+00] [-4.40315963e-02 9.99029660e-01 -9.77766156e-04 -5.00033304e-01] [ 4.51332249e-02 2.96693235e-03 9.98976571e-01 -9.75748557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35629675700001 meters Centerline goodness [0,1] 0.8198885162037596 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.98 [[ 9.97995240e-01 4.41386917e-02 -4.53572232e-02 2.97036493e+00] [-4.42095662e-02 9.99022122e-01 -5.60156909e-04 -5.01383117e-01] [ 4.52881448e-02 2.56425709e-03 9.98970675e-01 -9.75221490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386296757 meters Centerline goodness [0,1] 0.8248734039202384 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.97 [[ 9.97987596e-01 4.42900030e-02 -4.53779085e-02 2.97015387e+00] [-4.43344973e-02 9.99016742e-01 2.59191799e-05 -5.03031474e-01] [ 4.53344383e-02 1.98593974e-03 9.98969892e-01 -9.74691372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.416296757 meters Centerline goodness [0,1] 0.8228552002136907 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.97 [[ 9.97987991e-01 4.41760550e-02 -4.54801612e-02 2.97045729e+00] [-4.42070344e-02 9.99022338e-01 3.24896789e-04 -5.04239976e-01] [ 4.54500497e-02 1.68629996e-03 9.98965189e-01 -9.74609100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.446296757 meters Centerline goodness [0,1] 0.826454923514677 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.50, Z:-0.98 [[ 0.9981628 0.0399221 -0.04557697 2.97073642] [-0.04012848 0.99918796 -0.00362203 -0.5045036 ] [ 0.04539536 0.00544431 0.99895426 -0.97520746] [ 0. 0. 0. 1. ]] SLAMing on 72.476296757 meters Centerline goodness [0,1] 0.8273161926135533 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99816857 0.03953402 -0.0457883 2.97131287] [-0.03972001 0.99920586 -0.00315881 -0.5070914 ] [ 0.04562705 0.00497174 0.99894617 -0.97494032] [ 0. 0. 0. 1. ]] SLAMing on 72.506296757 meters Centerline goodness [0,1] 0.8280201753097302 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99832048 0.03550876 -0.045775 2.97048661] [-0.03582134 0.99934004 -0.00602643 -0.51026534] [ 0.0455308 0.00765603 0.9989336 -0.97380041] [ 0. 0. 0. 1. ]] SLAMing on 72.536296757 meters Centerline goodness [0,1] 0.8278244312078898 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99830937 0.03508886 -0.04633764 2.9717458 ] [-0.03537825 0.99935919 -0.00543982 -0.51224137] [ 0.04611707 0.00706997 0.99891102 -0.97338775] [ 0. 0. 0. 1. ]] SLAMing on 72.566296757 meters Centerline goodness [0,1] 0.8303619532742322 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.51, Z:-0.97 [[ 0.99834168 0.03370679 -0.04666618 2.97413661] [-0.03400431 0.99940602 -0.00559619 -0.51449561] [ 0.04644983 0.00717376 0.99889486 -0.97479791] [ 0. 0. 0. 1. ]] SLAMing on 72.596296757 meters Centerline goodness [0,1] 0.8319761863760486 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.97 [[ 0.99833278 0.03355556 -0.0469648 2.97502258] [-0.03383485 0.99941409 -0.0051644 -0.51637549] [ 0.04676399 0.00674483 0.99888319 -0.97492079] [ 0. 0. 0. 1. ]] SLAMing on 72.626296757 meters Centerline goodness [0,1] 0.8362273671712674 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.98 [[ 0.99835436 0.03254792 -0.04721441 2.97628192] [-0.03282056 0.9994487 -0.00501055 -0.5203531 ] [ 0.0470253 0.00655191 0.99887221 -0.97521559] [ 0. 0. 0. 1. ]] SLAMing on 72.656296757 meters Centerline goodness [0,1] 0.8372484467437313 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.98 [[ 0.99834482 0.03251488 -0.04743838 2.97673388] [-0.03276945 0.99945236 -0.00459837 -0.52214617] [ 0.04726288 0.00614529 0.99886358 -0.97501581] [ 0. 0. 0. 1. ]] SLAMing on 72.68629675700001 meters Centerline goodness [0,1] 0.837120645836448 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.97 [[ 0.99833882 0.03270648 -0.0474329 2.97666726] [-0.03292681 0.99945027 -0.00387108 -0.52434244] [ 0.04728021 0.00542646 0.99886693 -0.97469699] [ 0. 0. 0. 1. ]] SLAMing on 72.71629675700001 meters Centerline goodness [0,1] 0.8322727159292256 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.97 [[ 0.99832937 0.03273542 -0.04761164 2.97711117] [-0.03295089 0.99944995 -0.0037476 -0.52472268] [ 0.04746277 0.00531018 0.99885889 -0.97478038] [ 0. 0. 0. 1. ]] SLAMing on 72.746296757 meters Centerline goodness [0,1] 0.8346333075830447 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.97 [[ 0.99832047 0.03315585 -0.04750718 2.97687691] [-0.03336113 0.99943711 -0.00353459 -0.52447363] [ 0.04736324 0.00511355 0.99886464 -0.97486114] [ 0. 0. 0. 1. ]] SLAMing on 72.776296757 meters Centerline goodness [0,1] 0.8350420084016803 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.97 [[ 0.99830527 0.03344387 -0.04762461 2.97691354] [-0.03364489 0.99942798 -0.00342541 -0.52439998] [ 0.04748281 0.00502193 0.99885943 -0.97472883] [ 0. 0. 0. 1. ]] SLAMing on 72.806296757 meters Centerline goodness [0,1] 0.8347762986688019 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.98 [[ 0.99828663 0.03388202 -0.04770546 2.97748536] [-0.03409016 0.99941244 -0.00355586 -0.52465 ] [ 0.04755695 0.00517605 0.99885512 -0.97580404] [ 0. 0. 0. 1. ]] SLAMing on 72.836296757 meters Centerline goodness [0,1] 0.8327630560203801 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.98 [[ 0.998272 0.03393461 -0.04797352 2.97827348] [-0.03415286 0.99940963 -0.00373686 -0.5243774 ] [ 0.04781839 0.00536884 0.99884162 -0.97629467] [ 0. 0. 0. 1. ]] SLAMing on 72.866296757 meters Centerline goodness [0,1] 0.8301443772793126 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.98 [[ 0.99826432 0.03418668 -0.04795427 2.97827052] [-0.03440589 0.9994009 -0.00375303 -0.52412213] [ 0.04779723 0.00539643 0.99884248 -0.9765207 ] [ 0. 0. 0. 1. ]] SLAMing on 72.896296757 meters Centerline goodness [0,1] 0.8323538973217635 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.52, Z:-0.98 [[ 0.99824236 0.03482585 -0.04795154 2.97809307] [-0.03503374 0.99938 -0.00350169 -0.52438777] [ 0.04779986 0.00517546 0.99884353 -0.97661442] [ 0. 0. 0. 1. ]] SLAMing on 72.926296757 meters Centerline goodness [0,1] 0.8316811805154717 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.53, Z:-0.98 [[ 9.98226213e-01 3.57109287e-02 -4.76356624e-02 2.97721458e+00] [-3.58919073e-02 9.99351327e-01 -2.94902294e-03 -5.25285914e-01] [ 4.74994501e-02 4.65352678e-03 9.98860424e-01 -9.76668057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.956296757 meters Centerline goodness [0,1] 0.8327311957448944 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.53, Z:-0.98 [[ 9.98210630e-01 3.61829580e-02 -4.76059979e-02 2.97677973e+00] [-3.63446670e-02 9.99336098e-01 -2.53532990e-03 -5.25875296e-01] [ 4.74826564e-02 4.26101739e-03 9.98862974e-01 -9.76291647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.986296757 meters Centerline goodness [0,1] 0.8350593393302592 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.53, Z:-0.98 [[ 9.98196590e-01 3.68402076e-02 -4.73958479e-02 2.97557360e+00] [-3.69637069e-02 9.99315108e-01 -1.73158860e-03 -5.27053649e-01] [ 4.72995948e-02 3.48039207e-03 9.98874684e-01 -9.75226076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.016296757 meters Centerline goodness [0,1] 0.8362328749778419 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.53, Z:-0.98 [[ 9.98775691e-01 3.64051883e-02 -3.34930038e-02 2.97636985e+00] [-3.64985093e-02 9.99331332e-01 -2.17891919e-03 -5.29330843e-01] [ 3.33912841e-02 3.39869623e-03 9.99436577e-01 -9.79050018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04629675700001 meters Centerline goodness [0,1] 0.839766081871345 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.53, Z:-0.98 [[ 9.98766754e-01 3.64938024e-02 -3.36626469e-02 2.97700061e+00] [-3.65632577e-02 9.99330289e-01 -1.44980222e-03 -5.31875055e-01] [ 3.35871939e-02 2.67883030e-03 9.99432201e-01 -9.79181980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07629675700001 meters Centerline goodness [0,1] 0.8389727175735406 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.53, Z:-0.98 [[ 9.98767740e-01 3.62293084e-02 -3.39181262e-02 2.97798924e+00] [-3.62965437e-02 9.99340126e-01 -1.36844844e-03 -5.32781253e-01] [ 3.38461665e-02 2.59787290e-03 9.99423678e-01 -9.79609779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10629675700001 meters Centerline goodness [0,1] 0.8340407146669377 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98781717e-01 3.52559627e-02 -3.45267948e-02 2.98029281e+00] [-3.53228658e-02 9.99375069e-01 -1.32947314e-03 -5.35124815e-01] [ 3.44583461e-02 2.54743881e-03 9.99402888e-01 -9.80366005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.136296757 meters Centerline goodness [0,1] 0.8340407146669377 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98781717e-01 3.52559627e-02 -3.45267948e-02 2.98029281e+00] [-3.53228658e-02 9.99375069e-01 -1.32947314e-03 -5.35124815e-01] [ 3.44583461e-02 2.54743881e-03 9.99402888e-01 -9.80366005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.166296757 meters Centerline goodness [0,1] 0.8378219841877073 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98782032e-01 3.49218514e-02 -3.48556572e-02 2.98126868e+00] [-3.49813559e-02 9.99387361e-01 -1.09861100e-03 -5.36906889e-01] [ 3.47959378e-02 2.31657107e-03 9.99391753e-01 -9.80486358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.196296757 meters Centerline goodness [0,1] 0.837083524669626 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98782001e-01 3.45834789e-02 -3.51922960e-02 2.98207636e+00] [-3.46346498e-02 9.99399683e-01 -8.45267928e-04 -5.38581911e-01] [ 3.51419371e-02 2.06311124e-03 9.99380202e-01 -9.80262847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.226296757 meters Centerline goodness [0,1] 0.8366510388645505 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 0.99891432 0.03058994 -0.03513457 2.98154992] [-0.03077346 0.99951536 -0.00469443 -0.53862073] [ 0.03497394 0.00577055 0.99937156 -0.98008652] [ 0. 0. 0. 1. ]] SLAMing on 73.256296757 meters Centerline goodness [0,1] 0.8343042567325872 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 0.99893841 0.02937543 -0.0354843 2.98338282] [-0.0295638 0.99955139 -0.00479557 -0.54027655] [ 0.03532751 0.00583953 0.99935873 -0.98056112] [ 0. 0. 0. 1. ]] SLAMing on 73.286296757 meters Centerline goodness [0,1] 0.8334612825630789 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 0.99893734 0.02910957 -0.0357328 2.9840474 ] [-0.02929167 0.9995604 -0.00458309 -0.54112518] [ 0.03558368 0.0056249 0.99935087 -0.98042982] [ 0. 0. 0. 1. ]] SLAMing on 73.316296757 meters Centerline goodness [0,1] 0.8374542007225396 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 0.99893412 0.02904911 -0.03587168 2.98408783] [-0.02921903 0.99956412 -0.00422168 -0.54193749] [ 0.03573341 0.00526531 0.99934749 -0.9798096 ] [ 0. 0. 0. 1. ]] SLAMing on 73.346296757 meters Centerline goodness [0,1] 0.8395426515930113 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.55, Z:-0.98 [[ 9.98932691e-01 2.87149281e-02 -3.61791645e-02 2.98406917e+00] [-2.88354214e-02 9.99580215e-01 -2.81297648e-03 -5.45189006e-01] [ 3.60832027e-02 3.85321562e-03 9.99341361e-01 -9.77296564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.376296757 meters Centerline goodness [0,1] 0.8436885015462469 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98926035e-01 2.83445475e-02 -3.66519072e-02 2.98501115e+00] [-2.84571444e-02 9.99591751e-01 -2.55393609e-03 -5.46375628e-01] [ 3.65645540e-02 3.59420187e-03 9.99324830e-01 -9.76809103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.406296757 meters Centerline goodness [0,1] 0.8435864545920986 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98926193e-01 2.78653528e-02 -3.70132768e-02 2.98660132e+00] [-2.79867035e-02 9.99604473e-01 -2.76441116e-03 -5.46360162e-01] [ 3.69216058e-02 3.79732233e-03 9.99310950e-01 -9.77730850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43629675700001 meters Centerline goodness [0,1] 0.8472321886212199 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 0.99892205 0.02772651 -0.03722862 2.98748946] [-0.02785759 0.99960738 -0.0030069 -0.5457372 ] [ 0.03713063 0.00404076 0.99930225 -0.97835236] [ 0. 0. 0. 1. ]] SLAMing on 73.46629675700001 meters Centerline goodness [0,1] 0.8433580094591816 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 0.99891579 0.02802142 -0.0371758 2.98746691] [-0.02815293 0.99959907 -0.00301875 -0.5457753 ] [ 0.03707631 0.00406208 0.99930418 -0.978674 ] [ 0. 0. 0. 1. ]] SLAMing on 73.496296757 meters Centerline goodness [0,1] 0.8446841294298921 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 0.99890493 0.02810127 -0.03740659 2.98780898] [-0.02823342 0.99959683 -0.00300907 -0.54604899] [ 0.03730695 0.0040619 0.9992956 -0.97856749] [ 0. 0. 0. 1. ]] SLAMing on 73.526296757 meters Centerline goodness [0,1] 0.8439301894563427 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98897875e-01 2.85112548e-02 -3.72846335e-02 2.98719863e+00] [-2.86359962e-02 9.99585940e-01 -2.81580467e-03 -5.46133973e-01] [ 3.71889133e-02 3.88038393e-03 9.99300719e-01 -9.78218423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.556296757 meters Centerline goodness [0,1] 0.8445626630168117 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98878324e-01 2.99639344e-02 -3.66640923e-02 2.98506097e+00] [-3.00751220e-02 9.99544553e-01 -2.48472041e-03 -5.45422524e-01] [ 3.65729417e-02 3.58461041e-03 9.99324557e-01 -9.77969658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.586296757 meters Centerline goodness [0,1] 0.8449338525414549 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98734951e-01 3.44618733e-02 -3.66179830e-02 2.98519970e+00] [-3.44218384e-02 9.99405907e-01 1.72337662e-03 -5.45699562e-01] [ 3.66556193e-02 -4.60738167e-04 9.99327851e-01 -9.77962694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.616296757 meters Centerline goodness [0,1] 0.841896111268805 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98724587e-01 3.49742638e-02 -3.64142984e-02 2.98457495e+00] [-3.49393144e-02 9.99388162e-01 1.59588109e-03 -5.44396834e-01] [ 3.64478335e-02 -3.21555061e-04 9.99335505e-01 -9.78043645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.646296757 meters Centerline goodness [0,1] 0.8450489943269727 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98684252e-01 3.64833461e-02 -3.60378995e-02 2.98317252e+00] [-3.64458477e-02 9.99334188e-01 1.69712852e-03 -5.42882805e-01] [ 3.60758220e-02 -3.81463733e-04 9.99348983e-01 -9.78399061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.676296757 meters Centerline goodness [0,1] 0.8416270906462936 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98675187e-01 3.67089589e-02 -3.60599878e-02 2.98337585e+00] [-3.66796259e-02 9.99325988e-01 1.47488537e-03 -5.42262715e-01] [ 3.60898244e-02 -1.50264561e-04 9.99348539e-01 -9.78937845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.706296757 meters Centerline goodness [0,1] 0.8412718879748304 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98668387e-01 3.67950077e-02 -3.61604736e-02 2.98391582e+00] [-3.67729989e-02 9.99322833e-01 1.27376159e-03 -5.42224193e-01] [ 3.61828550e-02 5.76636212e-05 9.99345184e-01 -9.79593643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.736296757 meters Centerline goodness [0,1] 0.843250375122885 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98656770e-01 3.74036856e-02 -3.58555546e-02 2.98317981e+00] [-3.73731781e-02 9.99300221e-01 1.52093389e-03 -5.43212895e-01] [ 3.58873522e-02 -1.78854896e-04 9.99355826e-01 -9.79806060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.766296757 meters Centerline goodness [0,1] 0.839153959665519 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.98 [[ 9.98652661e-01 3.75297761e-02 -3.58382247e-02 2.98304971e+00] [-3.74959055e-02 9.99295473e-01 1.61697705e-03 -5.43454005e-01] [ 3.58736604e-02 -2.71011745e-04 9.99356296e-01 -9.79658434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79629675700001 meters Centerline goodness [0,1] 0.8392579944116734 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.55, Z:-0.98 [[ 0.99851905 0.04067423 -0.03612915 2.98414751] [-0.04047645 0.99916132 0.00618906 -0.54663899] [ 0.03635058 -0.00471751 0.99932796 -0.97838266] [ 0. 0. 0. 1. ]] SLAMing on 73.82629675700001 meters Centerline goodness [0,1] 0.8384169983973531 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98982871e-01 3.93220904e-02 -2.20680080e-02 2.98557436e+00] [-3.92593418e-02 9.99223705e-01 3.26966045e-03 -5.45000899e-01] [ 2.21794466e-02 -2.39995931e-03 9.99751125e-01 -9.84836653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85629675700001 meters Centerline goodness [0,1] 0.8389704926556609 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.98978771e-01 3.92708099e-02 -2.23432021e-02 2.98600985e+00] [-3.92028961e-02 9.99225247e-01 3.46968260e-03 -5.45727079e-01] [ 2.24621489e-02 -2.59022103e-03 9.99744339e-01 -9.84512163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.886296757 meters Centerline goodness [0,1] 0.8383045117670004 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.98983276e-01 3.88064551e-02 -2.29450089e-02 2.98769458e+00] [-3.87404787e-02 9.99243813e-01 3.31313111e-03 -5.46651288e-01] [ 2.30562290e-02 -2.42086194e-03 9.99731239e-01 -9.85048741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.916296757 meters Centerline goodness [0,1] 0.843287871662225 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.99118750e-01 3.50784886e-02 -2.30482630e-02 2.98801604e+00] [-3.51111531e-02 9.99382899e-01 -1.01394738e-03 -5.45564122e-01] [ 2.29984722e-02 1.82230493e-03 9.99733839e-01 -9.86298056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.946296757 meters Centerline goodness [0,1] 0.8434334179733515 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.99123312e-01 3.48611924e-02 -2.31798231e-02 2.98861956e+00] [-3.48953846e-02 9.99390396e-01 -1.07211291e-03 -5.45577517e-01] [ 2.31283175e-02 1.88004185e-03 9.99730737e-01 -9.86593123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.976296757 meters Centerline goodness [0,1] 0.8367379006913891 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.99137771e-01 3.43683359e-02 -2.32923133e-02 2.98952506e+00] [-3.44050316e-02 9.99407279e-01 -1.17641761e-03 -5.45820916e-01] [ 2.32380760e-02 1.97677605e-03 9.99728005e-01 -9.87156904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.006296757 meters Centerline goodness [0,1] 0.8393105074267152 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.99136180e-01 3.43749609e-02 -2.33507289e-02 2.98919229e+00] [-3.43975503e-02 9.99408069e-01 -5.66306723e-04 -5.47808364e-01] [ 2.33174401e-02 1.36902541e-03 9.99727174e-01 -9.85959831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.036296757 meters Centerline goodness [0,1] 0.8355708217525828 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.99131207e-01 3.46451672e-02 -2.31634155e-02 2.98836485e+00] [-3.46601966e-02 9.99399124e-01 -2.47557984e-04 -5.48383541e-01] [ 2.31409205e-02 1.05019144e-03 9.99731661e-01 -9.85262391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.066296757 meters Centerline goodness [0,1] 0.8391313459422644 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.98 [[ 9.99125673e-01 3.49181065e-02 -2.29916157e-02 2.98770792e+00] [-3.49316578e-02 9.99389686e-01 -1.87922090e-04 -5.48037282e-01] [ 2.29710217e-02 9.90893038e-04 9.99735640e-01 -9.84958032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.096296757 meters Centerline goodness [0,1] 0.8351974970668752 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.55, Z:-0.99 [[ 9.99116589e-01 3.53976042e-02 -2.26506298e-02 2.98677295e+00] [-3.54189486e-02 9.99372405e-01 -5.41719203e-04 -5.45418066e-01] [ 2.26172388e-02 1.34350214e-03 9.99743295e-01 -9.85018058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.126296757 meters Centerline goodness [0,1] 0.8323941101617888 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.98 [[ 9.99079580e-01 3.66201726e-02 -2.23373215e-02 2.98552533e+00] [-3.66411454e-02 9.99328347e-01 -5.30219275e-04 -5.42602445e-01] [ 2.23029019e-02 1.34819630e-03 9.99750350e-01 -9.84999693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.156296757 meters Centerline goodness [0,1] 0.8321090201168073 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99073036e-01 3.68350608e-02 -2.22766130e-02 2.98546778e+00] [-3.68666820e-02 9.99319682e-01 -1.01032722e-03 -5.41074179e-01] [ 2.22242423e-02 1.83065549e-03 9.99751335e-01 -9.85511567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18629675700001 meters Centerline goodness [0,1] 0.8291427388897512 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99064862e-01 3.70438757e-02 -2.22969366e-02 2.98558826e+00] [-3.70822608e-02 9.99311357e-01 -1.31040553e-03 -5.40100283e-01] [ 2.22330395e-02 2.13600094e-03 9.99750534e-01 -9.85973065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21629675700001 meters Centerline goodness [0,1] 0.8218480004138858 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.99 [[ 9.99041640e-01 3.77920194e-02 -2.20808746e-02 2.98490359e+00] [-3.78347716e-02 9.99282850e-01 -1.52147053e-03 -5.38762535e-01] [ 2.20075399e-02 2.35543726e-03 9.99755030e-01 -9.86397942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.246296757 meters Centerline goodness [0,1] 0.8175191915014604 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.99 [[ 9.99038382e-01 3.79239682e-02 -2.20019085e-02 2.98497397e+00] [-3.79750764e-02 9.99276862e-01 -1.90960617e-03 -5.37554661e-01] [ 2.19135783e-02 2.74329401e-03 9.99756105e-01 -9.86994266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.276296757 meters Centerline goodness [0,1] 0.8035056063925764 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.99 [[ 9.99019920e-01 3.84849091e-02 -2.18657450e-02 2.98489002e+00] [-3.85451211e-02 9.99254124e-01 -2.33880531e-03 -5.35381910e-01] [ 2.17594272e-02 3.17933089e-03 9.99758180e-01 -9.87951462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306296757 meters Centerline goodness [0,1] 0.7952966603200741 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.54, Z:-0.99 [[ 9.99014020e-01 3.86330824e-02 -2.18740167e-02 2.98491382e+00] [-3.86945028e-02 9.99248226e-01 -2.39150205e-03 -5.35050287e-01] [ 2.17651813e-02 3.23554828e-03 9.99757875e-01 -9.88089932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.336296757 meters Centerline goodness [0,1] 0.796864928971047 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99011097e-01 3.86110636e-02 -2.20457413e-02 2.98556844e+00] [-3.86742632e-02 9.99248874e-01 -2.44747084e-03 -5.35560186e-01] [ 2.19346827e-02 3.29765333e-03 9.99753967e-01 -9.88533451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.366296757 meters Centerline goodness [0,1] 0.7949767106719164 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99015014e-01 3.83269828e-02 -2.23616785e-02 2.98668509e+00] [-3.83950230e-02 9.99259201e-01 -2.62119016e-03 -5.35879417e-01] [ 2.22446507e-02 3.47718549e-03 9.99746510e-01 -9.89091848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.396296757 meters Centerline goodness [0,1] 0.803532748839608 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99020537e-01 3.81178542e-02 -2.24721279e-02 2.98741444e+00] [-3.81873090e-02 9.99267033e-01 -2.66956899e-03 -5.36333018e-01] [ 2.23538983e-02 3.52510433e-03 9.99743906e-01 -9.89641009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.426296757 meters Centerline goodness [0,1] 0.8137660190161223 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99022046e-01 3.79419376e-02 -2.27015449e-02 2.98804614e+00] [-3.80115877e-02 9.99273800e-01 -2.64431138e-03 -5.36506751e-01] [ 2.25847287e-02 3.50464713e-03 9.99738790e-01 -9.89690515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.456296757 meters Centerline goodness [0,1] 0.8108017270353421 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99026157e-01 3.76440121e-02 -2.30144901e-02 2.98894551e+00] [-3.77088410e-02 9.99285912e-01 -2.38925604e-03 -5.37572509e-01] [ 2.29081145e-02 3.25477903e-03 9.99732277e-01 -9.89659612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.486296757 meters Centerline goodness [0,1] 0.823740728297108 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99025423e-01 3.75148152e-02 -2.32560324e-02 2.98925031e+00] [-3.75753941e-02 9.99291432e-01 -2.17322487e-03 -5.38048784e-01] [ 2.31580258e-02 3.04496147e-03 9.99727180e-01 -9.89111582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.516296757 meters Centerline goodness [0,1] 0.8260229005660524 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99035143e-01 3.71860807e-02 -2.33661996e-02 2.98914990e+00] [-3.72337302e-02 9.99305292e-01 -1.60735648e-03 -5.39450443e-01] [ 2.32901957e-02 2.47581638e-03 9.99725681e-01 -9.87782544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54629675700001 meters Centerline goodness [0,1] 0.8289694745276435 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99041995e-01 3.68083437e-02 -2.36693669e-02 2.98987559e+00] [-3.68550238e-02 9.99319438e-01 -1.53882946e-03 -5.40148088e-01] [ 2.35966167e-02 2.40969034e-03 9.99718657e-01 -9.87513503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57629675700001 meters Centerline goodness [0,1] 0.836550403643138 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 0.99919225 0.0324649 -0.02368293 2.98994399] [-0.03261361 0.9994505 -0.00592028 -0.53895848] [ 0.02347771 0.00668789 0.99970199 -0.98794058] [ 0. 0. 0. 1. ]] SLAMing on 74.60629675700001 meters Centerline goodness [0,1] 0.8375035652241554 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 0.99920112 0.0318627 -0.0241224 2.9913811 ] [-0.03201929 0.99946843 -0.00613321 -0.53938079] [ 0.02391416 0.00690069 0.9996902 -0.98834465] [ 0. 0. 0. 1. ]] SLAMing on 74.636296757 meters Centerline goodness [0,1] 0.8334498381877022 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 0.99920842 0.031389 -0.02443915 2.99259886] [-0.03155075 0.99948254 -0.00626142 -0.53980586] [ 0.02422996 0.00702754 0.99968171 -0.98884711] [ 0. 0. 0. 1. ]] SLAMing on 74.666296757 meters Centerline goodness [0,1] 0.8327690041096952 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 0.99922426 0.03093692 -0.02436791 2.99303941] [-0.0311074 0.99949394 -0.00664821 -0.53908963] [ 0.0241499 0.00740107 0.99968095 -0.98941069] [ 0. 0. 0. 1. ]] SLAMing on 74.696296757 meters Centerline goodness [0,1] 0.831611224200572 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 0.99921411 0.03173549 -0.02374914 2.99092661] [-0.03189463 0.99947105 -0.00635245 -0.53761742] [ 0.02353498 0.00710493 0.99969777 -0.98838399] [ 0. 0. 0. 1. ]] SLAMing on 74.726296757 meters Centerline goodness [0,1] 0.8329985578903997 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 0.99920317 0.03220158 -0.02358138 2.99007035] [-0.03235863 0.99945641 -0.00630858 -0.5366985 ] [ 0.02336542 0.00706662 0.99970202 -0.98788039] [ 0. 0. 0. 1. ]] SLAMing on 74.756296757 meters Centerline goodness [0,1] 0.8254621698330308 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.54, Z:-0.99 [[ 9.99066895e-01 3.60862084e-02 -2.37302481e-02 2.99095195e+00] [-3.61627895e-02 9.99341973e-01 -2.80583166e-03 -5.35430865e-01] [ 2.36133811e-02 3.66136549e-03 9.99714461e-01 -9.88262858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.786296757 meters Centerline goodness [0,1] 0.8256969573416237 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.53, Z:-0.99 [[ 0.99906291 0.03619249 -0.02373611 2.99142507] [-0.036286 0.99933524 -0.00352061 -0.53298203] [ 0.02359291 0.0043786 0.99971206 -0.98931054] [ 0. 0. 0. 1. ]] SLAMing on 74.816296757 meters Centerline goodness [0,1] 0.8226981055204726 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.53, Z:-0.99 [[ 0.99905724 0.03637812 -0.02369084 2.99177966] [-0.03648465 0.99932588 -0.00407999 -0.53064136] [ 0.02352644 0.00494049 0.99971101 -0.99025191] [ 0. 0. 0. 1. ]] SLAMing on 74.846296757 meters Centerline goodness [0,1] 0.8077010650947454 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.53, Z:-0.99 [[ 9.98910259e-01 3.99490851e-02 -2.41322378e-02 2.99404257e+00] [-3.99899544e-02 9.99199345e-01 -1.21315119e-03 -5.28806683e-01] [ 2.40644519e-02 2.17687625e-03 9.99708039e-01 -9.91972596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.876296757 meters Centerline goodness [0,1] 0.8008110505639336 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.53, Z:-0.99 [[ 9.98886879e-01 4.08894655e-02 -2.35171097e-02 2.99255657e+00] [-4.09335020e-02 9.99160901e-01 -1.39399917e-03 -5.26954820e-01] [ 2.34403766e-02 2.35508514e-03 9.99722463e-01 -9.92400363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.906296757 meters Centerline goodness [0,1] 0.777483477120226 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.53, Z:-0.99 [[ 9.98885140e-01 4.09249178e-02 -2.35292936e-02 2.99266242e+00] [-4.09760619e-02 9.99158690e-01 -1.69542114e-03 -5.25633360e-01] [ 2.34401132e-02 2.65766878e-03 9.99721710e-01 -9.92611175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93629675700001 meters Centerline goodness [0,1] 0.7593532903877731 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98854514e-01 4.19836242e-02 -2.29572576e-02 2.99015085e+00] [-4.20187988e-02 9.99116267e-01 -1.05173753e-03 -5.24752694e-01] [ 2.28928138e-02 2.01516917e-03 9.99735894e-01 -9.90890658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96629675700001 meters Centerline goodness [0,1] 0.7536060117006254 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98850978e-01 4.20473856e-02 -2.29943675e-02 2.99002377e+00] [-4.20839845e-02 9.99113460e-01 -1.10984066e-03 -5.24288962e-01] [ 2.29273161e-02 2.07626003e-03 9.99734979e-01 -9.90588098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.996296757 meters Centerline goodness [0,1] 0.7484283055876879 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98849563e-01 4.20571225e-02 -2.30380020e-02 2.99018689e+00] [-4.20975835e-02 9.99112692e-01 -1.27389533e-03 -5.23413933e-01] [ 2.29639838e-02 2.24227400e-03 9.99733778e-01 -9.90677549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026296757 meters Centerline goodness [0,1] 0.7923919889154806 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98842423e-01 4.22766348e-02 -2.29455786e-02 2.99001763e+00] [-4.23220741e-02 9.99102896e-01 -1.49810177e-03 -5.21805028e-01] [ 2.28616593e-02 2.46747208e-03 9.99735593e-01 -9.90822721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.056296757 meters Centerline goodness [0,1] 0.7923919889154806 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98842423e-01 4.22766348e-02 -2.29455786e-02 2.99001763e+00] [-4.23220741e-02 9.99102896e-01 -1.49810177e-03 -5.21805028e-01] [ 2.28616593e-02 2.46747208e-03 9.99735593e-01 -9.90822721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086296757 meters Centerline goodness [0,1] 0.7874562706062971 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98831307e-01 4.27088231e-02 -2.26269017e-02 2.98877382e+00] [-4.27475416e-02 9.99085149e-01 -1.23003845e-03 -5.21632531e-01] [ 2.25536679e-02 2.19584534e-03 9.99743222e-01 -9.89953287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.116296757 meters Centerline goodness [0,1] 0.7857430527587596 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98824027e-01 4.28458531e-02 -2.26891131e-02 2.98848843e+00] [-4.28824564e-02 9.99079487e-01 -1.12895216e-03 -5.21077325e-01] [ 2.26198566e-02 2.10058945e-03 9.99741932e-01 -9.89301658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.146296757 meters Centerline goodness [0,1] 0.7992683234514949 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98824766e-01 4.28308249e-02 -2.26849396e-02 2.98838903e+00] [-4.28750949e-02 9.99079361e-01 -1.46852778e-03 -5.18993844e-01] [ 2.26011567e-02 2.43942086e-03 9.99741585e-01 -9.89091614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.176296757 meters Centerline goodness [0,1] 0.7894050038896836 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.52, Z:-0.99 [[ 9.98835574e-01 4.24244905e-02 -2.29708356e-02 2.98958295e+00] [-4.24835906e-02 9.99094977e-01 -2.09074595e-03 -5.17538493e-01] [ 2.28613477e-02 3.06419501e-03 9.99733949e-01 -9.89926573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.206296757 meters Centerline goodness [0,1] 0.7832060685220537 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.51, Z:-0.99 [[ 9.98840051e-01 4.23714670e-02 -2.28738185e-02 2.98989609e+00] [-4.24435360e-02 9.99095288e-01 -2.67426401e-03 -5.14534972e-01] [ 2.27398118e-02 3.64200774e-03 9.99734783e-01 -9.90671185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.236296757 meters Centerline goodness [0,1] 0.7916499599037691 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.51, Z:-0.99 [[ 9.98841701e-01 4.23939046e-02 -2.27598824e-02 2.98964285e+00] [-4.24725564e-02 9.99093180e-01 -2.98330238e-03 -5.13026671e-01] [ 2.26127695e-02 3.94651722e-03 9.99736509e-01 -9.90674933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.266296757 meters Centerline goodness [0,1] 0.7845132964127126 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.51, Z:-0.99 [[ 0.99884831 0.04214174 -0.02293762 2.98996344] [-0.04223054 0.99910211 -0.00340061 -0.51151932] [ 0.02277371 0.00436536 0.99973111 -0.99053541] [ 0. 0. 0. 1. ]] SLAMing on 75.29629675700001 meters Centerline goodness [0,1] 0.8025401270063504 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.51, Z:-0.99 [[ 0.99885894 0.04174278 -0.02320235 2.99086319] [-0.04184323 0.99911673 -0.00386077 -0.51048704] [ 0.0230207 0.00482723 0.99972333 -0.99095577] [ 0. 0. 0. 1. ]] SLAMing on 75.32629675700001 meters Centerline goodness [0,1] 0.7992779783393502 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.51, Z:-0.99 [[ 0.99888131 0.04117608 -0.02325192 2.99137449] [-0.04129361 0.99913648 -0.00459745 -0.50750815] [ 0.02304253 0.00555246 0.99971907 -0.99123181] [ 0. 0. 0. 1. ]] SLAMing on 75.35629675700001 meters Centerline goodness [0,1] 0.8018678125232855 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.51, Z:-0.99 [[ 0.9988899 0.04092319 -0.02332917 2.99168293] [-0.0410499 0.9991447 -0.00497812 -0.50602844] [ 0.02310549 0.00593026 0.99971544 -0.99133411] [ 0. 0. 0. 1. ]] SLAMing on 75.386296757 meters Centerline goodness [0,1] 0.7924224402814947 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99889898 0.04061038 -0.02348669 2.9923132 ] [-0.04074942 0.99915441 -0.00547185 -0.50495465] [ 0.02324462 0.00642289 0.99970917 -0.99174578] [ 0. 0. 0. 1. ]] SLAMing on 75.416296757 meters Centerline goodness [0,1] 0.7985013725053787 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99890932 0.04019532 -0.0237594 2.99295176] [-0.04034483 0.99916871 -0.00584716 -0.50448979] [ 0.02350462 0.00679936 0.99970061 -0.99162624] [ 0. 0. 0. 1. ]] SLAMing on 75.446296757 meters Centerline goodness [0,1] 0.8030474875486957 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99890861 0.040118 -0.02391941 2.99305324] [-0.04027002 0.99917137 -0.00590815 -0.50391541] [ 0.02366257 0.00686493 0.99969643 -0.99115749] [ 0. 0. 0. 1. ]] SLAMing on 75.476296757 meters Centerline goodness [0,1] 0.8017054949375799 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99890019 0.04041927 -0.02376331 2.99212202] [-0.04057382 0.99915818 -0.00605781 -0.50066375] [ 0.02349845 0.00701531 0.99969926 -0.99024549] [ 0. 0. 0. 1. ]] SLAMing on 75.506296757 meters Centerline goodness [0,1] 0.8031017218219563 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99887231 0.0414912 -0.0230778 2.99205395] [-0.04161552 0.99912152 -0.0049327 -0.49727701] [ 0.02285286 0.00588753 0.9997215 -0.99084659] [ 0. 0. 0. 1. ]] SLAMing on 75.536296757 meters Centerline goodness [0,1] 0.801589809660403 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99887643 0.0412644 -0.02330486 2.99300014] [-0.04140121 0.99912791 -0.00541824 -0.49595289] [ 0.02306096 0.006377 0.99971372 -0.99151921] [ 0. 0. 0. 1. ]] SLAMing on 75.566296757 meters Centerline goodness [0,1] 0.8079454058006337 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.50, Z:-0.99 [[ 0.99887349 0.04130705 -0.02335538 2.99324064] [-0.04145017 0.99912444 -0.0056773 -0.49508178] [ 0.02310042 0.00663899 0.99971111 -0.99181593] [ 0. 0. 0. 1. ]] SLAMing on 75.596296757 meters Centerline goodness [0,1] 0.7953899589516893 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.49, Z:-0.99 [[ 0.99887238 0.04135025 -0.0233264 2.99398117] [-0.04151324 0.99911651 -0.00654664 -0.4923327 ] [ 0.02303509 0.00750762 0.99970647 -0.99327624] [ 0. 0. 0. 1. ]] SLAMing on 75.626296757 meters Centerline goodness [0,1] 0.7994058258055167 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.49, Z:-0.99 [[ 0.99884964 0.04200499 -0.02312939 2.99320481] [-0.04216691 0.99908906 -0.00655753 -0.49010828] [ 0.02283287 0.00752529 0.99971097 -0.99296337] [ 0. 0. 0. 1. ]] SLAMing on 75.656296757 meters Centerline goodness [0,1] 0.8060995880609959 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.49, Z:-0.99 [[ 0.99884212 0.04214407 -0.02320124 2.99322454] [-0.04231037 0.99908189 -0.00672398 -0.48870425] [ 0.02289656 0.00769785 0.9997082 -0.99282293] [ 0. 0. 0. 1. ]] SLAMing on 75.68629675700001 meters Centerline goodness [0,1] 0.7951899951899952 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.49, Z:-0.99 [[ 0.99883657 0.04229478 -0.02316575 2.99319373] [-0.04246831 0.99907294 -0.00705039 -0.4868709 ] [ 0.02284608 0.00802599 0.99970678 -0.99299018] [ 0. 0. 0. 1. ]] SLAMing on 75.71629675700001 meters Centerline goodness [0,1] 0.7866851065859125 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99868671 0.04551427 -0.02352262 2.99500475] [-0.04561417 0.99895218 -0.00372761 -0.48566123] [ 0.02332832 0.00479568 0.99971636 -0.99346489] [ 0. 0. 0. 1. ]] SLAMing on 75.746296757 meters Centerline goodness [0,1] 0.7812185417765207 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99868275 0.04552918 -0.02366115 2.99523058] [-0.04562971 0.99895147 -0.00372596 -0.48541303] [ 0.0234667 0.0048007 0.99971309 -0.99329524] [ 0. 0. 0. 1. ]] SLAMing on 75.776296757 meters Centerline goodness [0,1] 0.7977166978462129 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99869041 0.04523478 -0.02390129 2.99575673] [-0.04533082 0.99896593 -0.00349156 -0.48704611] [ 0.02371864 0.00457045 0.99970823 -0.99281456] [ 0. 0. 0. 1. ]] SLAMing on 75.806296757 meters Centerline goodness [0,1] 0.8011321388309227 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99869221 0.04514647 -0.02399316 2.99584106] [-0.04523737 0.99897095 -0.00325907 -0.48803343] [ 0.02382134 0.0043402 0.99970681 -0.99243715] [ 0. 0. 0. 1. ]] SLAMing on 75.836296757 meters Centerline goodness [0,1] 0.8027268136677327 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99871269 0.04464372 -0.02408096 2.99621254] [-0.04473107 0.99899425 -0.00310064 -0.48818613] [ 0.02391832 0.00417382 0.9997052 -0.99197358] [ 0. 0. 0. 1. ]] SLAMing on 75.866296757 meters Centerline goodness [0,1] 0.8089005235602094 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99872345 0.04431806 -0.02423583 2.99664864] [-0.04440921 0.99900819 -0.00323525 -0.48740611] [ 0.02406842 0.00430742 0.99970103 -0.99186272] [ 0. 0. 0. 1. ]] SLAMing on 75.896296757 meters Centerline goodness [0,1] 0.8109940845476843 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99875529 0.04331406 -0.02473397 2.99808368] [-0.04340966 0.99905177 -0.00334133 -0.48775881] [ 0.02456579 0.00441086 0.99968848 -0.99162455] [ 0. 0. 0. 1. ]] SLAMing on 75.926296757 meters Centerline goodness [0,1] 0.8138439729944018 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99877549 0.04247393 -0.02536699 2.9999394 ] [-0.04257863 0.99908663 -0.00360113 -0.48914504] [ 0.02519087 0.00467681 0.99967172 -0.99207128] [ 0. 0. 0. 1. ]] SLAMing on 75.956296757 meters Centerline goodness [0,1] 0.818863361547763 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.9989409 0.03825435 -0.02556705 3.00006359] [-0.03845667 0.99923236 -0.00746887 -0.48992836] [ 0.02526171 0.00844418 0.99964521 -0.99194331] [ 0. 0. 0. 1. ]] SLAMing on 75.986296757 meters Centerline goodness [0,1] 0.8231032984015068 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99897571 0.03717826 -0.02579367 3.00143571] [-0.0373935 0.99926929 -0.00791296 -0.48968768] [ 0.02548063 0.00886937 0.99963597 -0.99245578] [ 0. 0. 0. 1. ]] SLAMing on 76.016296757 meters Centerline goodness [0,1] 0.8230673136981694 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99898775 0.03664656 -0.02608668 3.00264705] [-0.03687442 0.99928537 -0.00830772 -0.48885773] [ 0.02576358 0.00926124 0.99962516 -0.99306244] [ 0. 0. 0. 1. ]] SLAMing on 76.04629675700001 meters Centerline goodness [0,1] 0.8226077358671657 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.49, Z:-0.99 [[ 0.99902372 0.03543587 -0.02637999 3.00469681] [-0.03569137 0.99931979 -0.00927824 -0.4875086 ] [ 0.02603327 0.01021072 0.99960893 -0.99465293] [ 0. 0. 0. 1. ]] SLAMing on 76.07629675700001 meters Centerline goodness [0,1] 0.8241900647948164 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 0.99902959 0.03499298 -0.02674653 3.00595855] [-0.03525779 0.99933315 -0.00949403 -0.48783085] [ 0.02639647 0.01042784 0.99959716 -0.9951763 ] [ 0. 0. 0. 1. ]] SLAMing on 76.10629675700001 meters Centerline goodness [0,1] 0.823699421965318 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 0.9990293 0.03476465 -0.02705341 3.00664501] [-0.03502818 0.99934278 -0.00932901 -0.48936761] [ 0.02671131 0.01026759 0.99959046 -0.9950739 ] [ 0. 0. 0. 1. ]] SLAMing on 76.136296757 meters Centerline goodness [0,1] 0.8293143064457613 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-0.99 [[ 0.99903578 0.03466414 -0.02694277 3.00565572] [-0.03490787 0.99935328 -0.00862903 -0.4926422 ] [ 0.02662622 0.00956122 0.99959973 -0.99334682] [ 0. 0. 0. 1. ]] SLAMing on 76.166296757 meters Centerline goodness [0,1] 0.8228153582546999 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-0.99 [[ 0.99903548 0.03465556 -0.02696499 3.00574264] [-0.0349004 0.99935325 -0.00866286 -0.49173363] [ 0.02664733 0.00959559 0.99959884 -0.99328567] [ 0. 0. 0. 1. ]] SLAMing on 76.196296757 meters Centerline goodness [0,1] 0.8253183987719761 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-0.99 [[ 0.99890336 0.03804868 -0.02728334 3.00771281] [-0.03821412 0.99925406 -0.00556804 -0.48733289] [ 0.02705114 0.00660455 0.99961223 -0.99432542] [ 0. 0. 0. 1. ]] SLAMing on 76.226296757 meters Centerline goodness [0,1] 0.8229356042483973 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 9.98753199e-01 4.14732481e-02 -2.77851870e-02 3.00988531e+00] [-4.15528307e-02 9.99133678e-01 -2.29272254e-03 -4.86807894e-01] [ 2.76660295e-02 3.44441715e-03 9.99611288e-01 -9.95336757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.256296757 meters Centerline goodness [0,1] 0.825947087914726 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 9.98741237e-01 4.16506054e-02 -2.79493932e-02 3.01012685e+00] [-4.17287542e-02 9.99126513e-01 -2.21841697e-03 -4.87847471e-01] [ 2.78325813e-02 3.38191787e-03 9.99606878e-01 -9.95321571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.286296757 meters Centerline goodness [0,1] 0.8251623767139764 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 9.98729384e-01 4.18252520e-02 -2.81116539e-02 3.01034343e+00] [-4.19016295e-02 9.99119464e-01 -2.13310929e-03 -4.88816171e-01] [ 2.79976827e-02 3.30832303e-03 9.99602513e-01 -9.95312372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.316296757 meters Centerline goodness [0,1] 0.8227066259703429 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 9.98697044e-01 4.26267128e-02 -2.80567043e-02 3.01064242e+00] [-4.27031839e-02 9.99085529e-01 -2.13181320e-03 -4.87078723e-01] [ 2.79401750e-02 3.32714614e-03 9.99604060e-01 -9.96324944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.346296757 meters Centerline goodness [0,1] 0.8216231717809005 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.49, Z:-1.00 [[ 9.98544118e-01 4.57471740e-02 -2.85804223e-02 3.01329834e+00] [-4.57366238e-02 9.98953009e-01 1.02309455e-03 -4.86210708e-01] [ 2.85973025e-02 2.85566975e-04 9.99590973e-01 -9.97751346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.376296757 meters Centerline goodness [0,1] 0.8244816340133787 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.48, Z:-1.00 [[ 0.99833723 0.05014819 -0.028424 3.01329108] [-0.05003295 0.99873626 0.00475172 -0.48378229] [ 0.02862637 -0.00332168 0.99958466 -0.9976962 ] [ 0. 0. 0. 1. ]] SLAMing on 76.406296757 meters Centerline goodness [0,1] 0.8202420503084955 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98276305e-01 5.44720474e-02 -2.18452598e-02 3.02212562e+00] [-5.45289704e-02 9.98510149e-01 -2.01814623e-03 -4.82312947e-01] [ 2.17027811e-02 3.20586708e-03 9.99759327e-01 -1.00051624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43629675700001 meters Centerline goodness [0,1] 0.8199928681801973 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98255921e-01 5.48285316e-02 -2.18849065e-02 3.02153124e+00] [-5.48786830e-02 9.98491587e-01 -1.69718324e-03 -4.82916796e-01] [ 2.17588409e-02 2.89523806e-03 9.99759056e-01 -9.99631163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46629675700001 meters Centerline goodness [0,1] 0.8226189910132662 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98249801e-01 5.49222559e-02 -2.19290127e-02 3.02122896e+00] [-5.49708613e-02 9.98486646e-01 -1.61942252e-03 -4.83191144e-01] [ 2.18068840e-02 2.82204492e-03 9.99758219e-01 -9.99037904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49629675700001 meters Centerline goodness [0,1] 0.8236395969176052 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98248105e-01 5.49145499e-02 -2.20253011e-02 3.02107409e+00] [-5.49645806e-02 9.98486905e-01 -1.67214181e-03 -4.82691741e-01] [ 2.19001498e-02 2.87982383e-03 9.99756015e-01 -9.98435218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.526296757 meters Centerline goodness [0,1] 0.8287426284252659 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98261191e-01 5.45750683e-02 -2.22745511e-02 3.02234743e+00] [-5.46374758e-02 9.98503829e-01 -2.20238295e-03 -4.81553473e-01] [ 2.21210293e-02 3.41557868e-03 9.99749466e-01 -9.99551381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.556296757 meters Centerline goodness [0,1] 0.8295508274231679 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98274085e-01 5.42963367e-02 -2.23776330e-02 3.02302265e+00] [-5.43660940e-02 9.98517890e-01 -2.52033886e-03 -4.80995511e-01] [ 2.22076217e-02 3.73257347e-03 9.99746413e-01 -1.00008642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586296757 meters Centerline goodness [0,1] 0.8306707000047265 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98273079e-01 5.43060037e-02 -2.23990658e-02 3.02287555e+00] [-5.43742759e-02 9.98517619e-01 -2.44984576e-03 -4.80909856e-01] [ 2.22328205e-02 3.66354805e-03 9.99746108e-01 -9.99714437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.616296757 meters Centerline goodness [0,1] 0.827725023088399 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98275717e-01 5.43896040e-02 -2.20763181e-02 3.02128562e+00] [-5.44388912e-02 9.98515762e-01 -1.63733391e-03 -4.82504234e-01] [ 2.19544977e-02 2.83632096e-03 9.99754948e-01 -9.97693505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.646296757 meters Centerline goodness [0,1] 0.8323752749982258 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 9.98279695e-01 5.42045580e-02 -2.23498504e-02 3.02160927e+00] [-5.42489643e-02 9.98526480e-01 -1.38493624e-03 -4.83742538e-01] [ 2.22418476e-02 2.59500997e-03 9.99749252e-01 -9.97120709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.676296757 meters Centerline goodness [0,1] 0.8333451864495176 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 0.99848383 0.05018093 -0.02262533 3.02191647] [-0.05031789 0.99871797 -0.00552509 -0.48273184] [ 0.02231907 0.00665517 0.99972875 -0.99750352] [ 0. 0. 0. 1. ]] SLAMing on 76.706296757 meters Centerline goodness [0,1] 0.8324541691306919 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 0.99850177 0.04972631 -0.02283651 3.02316756] [-0.04987611 0.99873716 -0.00603752 -0.48189571] [ 0.02250745 0.00716748 0.99972098 -0.99858702] [ 0. 0. 0. 1. ]] SLAMing on 76.736296757 meters Centerline goodness [0,1] 0.8296214071467372 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.48, Z:-1.00 [[ 0.99851971 0.04923384 -0.02311728 3.02432519] [-0.0493972 0.99875774 -0.00654915 -0.48077113] [ 0.02276612 0.00768139 0.99971131 -0.99926899] [ 0. 0. 0. 1. ]] SLAMing on 76.766296757 meters Centerline goodness [0,1] 0.830104216011369 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99853086 0.04883169 -0.02348612 3.02514514] [-0.04899983 0.99877673 -0.00663741 -0.48177444] [ 0.02313328 0.00777848 0.99970213 -0.9991993 ] [ 0. 0. 0. 1. ]] SLAMing on 76.79629675700001 meters Centerline goodness [0,1] 0.827311812632129 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99853291 0.04866643 -0.02374026 3.0259232 ] [-0.04883851 0.99878406 -0.006723 -0.48218339] [ 0.02338421 0.00787258 0.99969555 -0.99956042] [ 0. 0. 0. 1. ]] SLAMing on 76.82629675700001 meters Centerline goodness [0,1] 0.8295586321145427 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99853586 0.04854072 -0.02387338 3.02664419] [-0.04871871 0.99878849 -0.00693114 -0.48184596] [ 0.02350802 0.00808407 0.99969096 -1.00013782] [ 0. 0. 0. 1. ]] SLAMing on 76.85629675700001 meters Centerline goodness [0,1] 0.8269289813655795 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99836326 0.05189027 -0.02404601 3.02839422] [-0.05198828 0.99864167 -0.00346867 -0.48147417] [ 0.02383335 0.0047131 0.99970484 -1.00123071] [ 0. 0. 0. 1. ]] SLAMing on 76.886296757 meters Centerline goodness [0,1] 0.8247410518368213 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99834711 0.05220919 -0.02402583 3.02826472] [-0.05230835 0.99862479 -0.00351687 -0.48048818] [ 0.02380918 0.00476781 0.99970515 -1.00125037] [ 0. 0. 0. 1. ]] SLAMing on 76.916296757 meters Centerline goodness [0,1] 0.8259109311740891 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99829787 0.05315439 -0.0239994 3.02768794] [-0.05324909 0.99857573 -0.003324 -0.47960573] [ 0.02378854 0.00459629 0.99970645 -1.0009791 ] [ 0. 0. 0. 1. ]] SLAMing on 76.946296757 meters Centerline goodness [0,1] 0.8259109311740891 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99829787 0.05315439 -0.0239994 3.02768794] [-0.05324909 0.99857573 -0.003324 -0.47960573] [ 0.02378854 0.00459629 0.99970645 -1.0009791 ] [ 0. 0. 0. 1. ]] SLAMing on 76.976296757 meters Centerline goodness [0,1] 0.8267757250975415 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99828495 0.05340812 -0.02397371 3.02767645] [-0.0535046 0.99856181 -0.00340069 -0.47909975] [ 0.02375761 0.00467756 0.99970681 -1.00115267] [ 0. 0. 0. 1. ]] SLAMing on 77.006296757 meters Centerline goodness [0,1] 0.8228336272780717 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99825478 0.05400193 -0.02389956 3.02762727] [-0.05409466 0.99853052 -0.00325047 -0.47823599] [ 0.0236889 0.00453763 0.99970908 -1.00151584] [ 0. 0. 0. 1. ]] SLAMing on 77.036296757 meters Centerline goodness [0,1] 0.822399095747186 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99824458 0.0541926 -0.02389412 3.02783355] [-0.0542872 0.99851982 -0.00332799 -0.47801902] [ 0.0236784 0.00461929 0.99970896 -1.00195494] [ 0. 0. 0. 1. ]] SLAMing on 77.066296757 meters Centerline goodness [0,1] 0.813566883467562 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 0.99819967 0.05512584 -0.02363409 3.02717492] [-0.05521439 0.99846968 -0.00311038 -0.47773609] [ 0.02342646 0.00440972 0.99971584 -1.00220755] [ 0. 0. 0. 1. ]] SLAMing on 77.096296757 meters Centerline goodness [0,1] 0.8203952011291461 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98180144e-01 5.54585609e-02 -2.36801398e-02 3.02694403e+00] [-5.55441988e-02 9.98451801e-01 -2.97364637e-03 -4.77341577e-01] [ 2.34785641e-02 4.28352915e-03 9.99715164e-01 -1.00188647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.126296757 meters Centerline goodness [0,1] 0.8127462938637643 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98158805e-01 5.58841995e-02 -2.35787033e-02 3.02611990e+00] [-5.59582372e-02 9.98430002e-01 -2.49147874e-03 -4.77870590e-01] [ 2.34024505e-02 3.80631411e-03 9.99718879e-01 -1.00094593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.156296757 meters Centerline goodness [0,1] 0.8135394155783144 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98157535e-01 5.58101851e-02 -2.38066860e-02 3.02666541e+00] [-5.58836066e-02 9.98434334e-01 -2.42948574e-03 -4.78485719e-01] [ 2.36338226e-02 3.75541297e-03 9.99713629e-01 -1.00106439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18629675700001 meters Centerline goodness [0,1] 0.8166368093531963 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98179172e-01 5.53307415e-02 -2.40176956e-02 3.02759582e+00] [-5.54068734e-02 9.98460691e-01 -2.51550657e-03 -4.79188686e-01] [ 2.38415401e-02 3.84167168e-03 9.99708369e-01 -1.00154546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21629675700001 meters Centerline goodness [0,1] 0.8171561815483901 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98174372e-01 5.52675673e-02 -2.43601905e-02 3.02822562e+00] [-5.53417674e-02 9.98464629e-01 -2.38187260e-03 -4.79822455e-01] [ 2.41911482e-02 3.72566018e-03 9.99700409e-01 -1.00139520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24629675700001 meters Centerline goodness [0,1] 0.8141013564431048 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98215864e-01 5.42504069e-02 -2.49395653e-02 3.03053329e+00] [-5.43355771e-02 9.98518945e-01 -2.74968671e-03 -4.82505111e-01] [ 2.47534568e-02 4.09988657e-03 9.99685179e-01 -1.00273986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.276296757 meters Centerline goodness [0,1] 0.8151895734597157 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98223018e-01 5.39150566e-02 -2.53766407e-02 3.03167840e+00] [-5.39986116e-02 9.98537578e-01 -2.61842971e-03 -4.83640705e-01] [ 2.51983566e-02 3.98408018e-03 9.99674532e-01 -1.00291556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306296757 meters Centerline goodness [0,1] 0.8140181584826733 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.48, Z:-1.00 [[ 9.98245391e-01 5.35071427e-02 -2.53599166e-02 3.03171331e+00] [-5.35828570e-02 9.98560723e-01 -2.31502807e-03 -4.84361230e-01] [ 2.51995461e-02 3.66982288e-03 9.99675705e-01 -1.00247559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.336296757 meters Centerline goodness [0,1] 0.8155256578164067 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 9.98259759e-01 5.31074047e-02 -2.56331394e-02 3.03198761e+00] [-5.31608827e-02 9.98584967e-01 -1.40888076e-03 -4.87586470e-01] [ 2.55220456e-02 2.76910928e-03 9.99670424e-01 -1.00124880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366296757 meters Centerline goodness [0,1] 0.8164466130884042 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 0.99843585 0.04963677 -0.02573013 3.03137479] [-0.04978486 0.9987467 -0.00514673 -0.48753452] [ 0.02544242 0.00641965 0.99965568 -1.00106653] [ 0. 0. 0. 1. ]] SLAMing on 77.396296757 meters Centerline goodness [0,1] 0.8169824898057088 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 0.99843527 0.04935766 -0.02628369 3.03289453] [-0.04950559 0.9987613 -0.00500683 -0.48943167] [ 0.02600401 0.00630019 0.99964199 -1.00159613] [ 0. 0. 0. 1. ]] SLAMing on 77.426296757 meters Centerline goodness [0,1] 0.8157238136365818 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 0.99844651 0.04901757 -0.02649226 3.03472134] [-0.04917892 0.99877499 -0.00547297 -0.48913781] [ 0.02619154 0.00676733 0.99963404 -1.00364145] [ 0. 0. 0. 1. ]] SLAMing on 77.456296757 meters Centerline goodness [0,1] 0.8128910088928306 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.49, Z:-1.00 [[ 0.99844329 0.04907746 -0.02650273 3.03523601] [-0.04924599 0.99877016 -0.00574378 -0.48781818] [ 0.02618824 0.00704 0.99963224 -1.00443671] [ 0. 0. 0. 1. ]] SLAMing on 77.486296757 meters Centerline goodness [0,1] 0.8133936911690738 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.49, Z:-1.00 [[ 0.99841744 0.04961444 -0.02647672 3.03510507] [-0.04978105 0.99874406 -0.00567069 -0.48635633] [ 0.02616212 0.00697975 0.99963335 -1.00459171] [ 0. 0. 0. 1. ]] SLAMing on 77.516296757 meters Centerline goodness [0,1] 0.8109515732135605 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 0.99840103 0.04994446 -0.0264753 3.03478278] [-0.05010489 0.9987292 -0.00543087 -0.48702024] [ 0.02617042 0.00674872 0.99963472 -1.00425193] [ 0. 0. 0. 1. ]] SLAMing on 77.54629675700001 meters Centerline goodness [0,1] 0.8100834692506955 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 0.99836332 0.05082216 -0.02622557 3.03319965] [-0.05095391 0.9986914 -0.00437974 -0.48996303] [ 0.02596867 0.00570887 0.99964646 -1.00283772] [ 0. 0. 0. 1. ]] SLAMing on 77.57629675700001 meters Centerline goodness [0,1] 0.805629480447865 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.49, Z:-1.00 [[ 0.99834657 0.05110846 -0.02630681 3.03323466] [-0.05123473 0.99867802 -0.00414791 -0.49030149] [ 0.02606004 0.00548888 0.99964531 -1.00270206] [ 0. 0. 0. 1. ]] SLAMing on 77.60629675700001 meters Centerline goodness [0,1] 0.80040733197556 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.49, Z:-1.00 [[ 9.98154500e-01 5.45171144e-02 -2.67484362e-02 3.03593365e+00] [-5.45561277e-02 9.98510438e-01 -7.30381521e-04 -4.90403127e-01] [ 2.66687745e-02 2.18832471e-03 9.99641930e-01 -1.00452528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.636296757 meters Centerline goodness [0,1] 0.7955208881657654 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.49, Z:-1.01 [[ 9.98164467e-01 5.41681585e-02 -2.70833508e-02 3.03759234e+00] [-5.42262387e-02 9.98527674e-01 -1.41412995e-03 -4.89192254e-01] [ 2.69668744e-02 2.88016251e-03 9.99632179e-01 -1.00603229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666296757 meters Centerline goodness [0,1] 0.7961966961198617 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.49, Z:-1.01 [[ 9.98161260e-01 5.40746799e-02 -2.73866558e-02 3.03863352e+00] [-5.41348905e-02 9.98532562e-01 -1.46135959e-03 -4.89402677e-01] [ 2.72674451e-02 2.94124614e-03 9.99623847e-01 -1.00665748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.696296757 meters Centerline goodness [0,1] 0.8055963943987853 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.49, Z:-1.01 [[ 9.98192178e-01 5.32320494e-02 -2.79056261e-02 3.04027698e+00] [-5.32913343e-02 9.98578047e-01 -1.38456092e-03 -4.92180631e-01] [ 2.77922426e-02 2.86918592e-03 9.99609603e-01 -1.00709732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.726296757 meters Centerline goodness [0,1] 0.8101434203207004 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.50, Z:-1.01 [[ 0.99840443 0.04898076 -0.02809756 3.0403375 ] [-0.0491244 0.99878278 -0.00444454 -0.49574166] [ 0.02784566 0.00581773 0.9995953 -1.00674486] [ 0. 0. 0. 1. ]] SLAMing on 77.756296757 meters Centerline goodness [0,1] 0.8102967222262658 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.50, Z:-1.01 [[ 0.99858822 0.04502508 -0.02818346 3.03998506] [-0.04527224 0.99894109 -0.0081934 -0.49604252] [ 0.0277847 0.00945776 0.99956919 -1.00660964] [ 0. 0. 0. 1. ]] SLAMing on 77.786296757 meters Centerline goodness [0,1] 0.8106201171875 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.50, Z:-1.01 [[ 0.99878202 0.04034865 -0.02839822 3.03995357] [-0.04068492 0.99910739 -0.01136447 -0.49872538] [ 0.02791433 0.012506 0.99953209 -1.00561038] [ 0. 0. 0. 1. ]] SLAMing on 77.816296757 meters Centerline goodness [0,1] 0.8110413806628751 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.50, Z:-1.01 [[ 0.9987988 0.03951366 -0.02897619 3.04143432] [-0.03984716 0.99914498 -0.01102359 -0.50145179] [ 0.02851584 0.01216497 0.99951931 -1.00541086] [ 0. 0. 0. 1. ]] SLAMing on 77.846296757 meters Centerline goodness [0,1] 0.8133415384615384 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.50, Z:-1.01 [[ 0.99895625 0.03473875 -0.0296587 3.04301078] [-0.03517987 0.99927604 -0.01448326 -0.50468738] [ 0.0291341 0.01551153 0.99945515 -1.00562012] [ 0. 0. 0. 1. ]] SLAMing on 77.876296757 meters Centerline goodness [0,1] 0.814913317572892 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.51, Z:-1.01 [[ 0.99895346 0.03442269 -0.03011752 3.04421621] [-0.0348541 0.99929549 -0.0139185 -0.50715448] [ 0.02961719 0.01495365 0.99944945 -1.00562154] [ 0. 0. 0. 1. ]] SLAMing on 77.906296757 meters Centerline goodness [0,1] 0.8184594920806956 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.99897255 0.03344354 -0.03058385 3.04607674] [-0.0338737 0.99933281 -0.01365685 -0.50991486] [ 0.03010671 0.0146788 0.9994389 -1.00611057] [ 0. 0. 0. 1. ]] SLAMing on 77.93629675700001 meters Centerline goodness [0,1] 0.8169858821206437 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.99897235 0.03330332 -0.0307431 3.04658811] [-0.03373071 0.99933992 -0.01348951 -0.51057574] [ 0.03027356 0.01451263 0.99943629 -1.00621147] [ 0. 0. 0. 1. ]] SLAMing on 77.96629675700001 meters Centerline goodness [0,1] 0.817640812899721 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.9989788 0.03288998 -0.03097743 3.04752577] [-0.03331872 0.99935458 -0.01342731 -0.51127775] [ 0.03051581 0.01444572 0.99942989 -1.00651941] [ 0. 0. 0. 1. ]] SLAMing on 77.99629675700001 meters Centerline goodness [0,1] 0.8180761909470717 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.99896952 0.03304397 -0.03111253 3.04751219] [-0.03345885 0.99935671 -0.01290993 -0.51276181] [ 0.03066592 0.01393761 0.99943251 -1.00598266] [ 0. 0. 0. 1. ]] SLAMing on 78.026296757 meters Centerline goodness [0,1] 0.8174296472453428 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.52, Z:-1.00 [[ 0.99896025 0.0332772 -0.0311617 3.04707491] [-0.03366345 0.99936174 -0.01195331 -0.51580653] [ 0.03074404 0.01298989 0.99944288 -1.0048805 ] [ 0. 0. 0. 1. ]] SLAMing on 78.056296757 meters Centerline goodness [0,1] 0.8185104486481133 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.52, Z:-1.01 [[ 0.99895338 0.03343431 -0.03121375 3.04726522] [-0.03381731 0.99935809 -0.0118239 -0.51596788] [ 0.03079839 0.01286709 0.99944279 -1.00503879] [ 0. 0. 0. 1. ]] SLAMing on 78.086296757 meters Centerline goodness [0,1] 0.8176285052486324 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.52, Z:-1.01 [[ 0.99882508 0.03703059 -0.03126021 3.04866529] [-0.03730328 0.99927047 -0.00818527 -0.5153587 ] [ 0.0309343 0.00934176 0.99947776 -1.00607827] [ 0. 0. 0. 1. ]] SLAMing on 78.116296757 meters Centerline goodness [0,1] 0.8145930361499224 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.99881065 0.03747625 -0.03118991 3.04848811] [-0.03775443 0.99925193 -0.00837792 -0.51310819] [ 0.0308526 0.00954551 0.99947836 -1.00632641] [ 0. 0. 0. 1. ]] SLAMing on 78.146296757 meters Centerline goodness [0,1] 0.8151468391015749 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.9986481 0.04168139 -0.03105866 3.04866875] [-0.04185077 0.99911223 -0.00482332 -0.51156917] [ 0.03083005 0.00611662 0.99950593 -1.00657454] [ 0. 0. 0. 1. ]] SLAMing on 78.176296757 meters Centerline goodness [0,1] 0.8140121461455578 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.99863265 0.04215617 -0.03091422 3.0480148 ] [-0.04233161 0.99909089 -0.00504232 -0.51052232] [ 0.03067356 0.00634407 0.99950932 -1.00646965] [ 0. 0. 0. 1. ]] SLAMing on 78.206296757 meters Centerline goodness [0,1] 0.8146512597826354 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 0.9986095 0.04286878 -0.03068125 3.04678734] [-0.04304059 0.99906101 -0.0049613 -0.50954735] [ 0.03043976 0.00627494 0.99951691 -1.00577896] [ 0. 0. 0. 1. ]] SLAMing on 78.236296757 meters Centerline goodness [0,1] 0.8116794709715064 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.51, Z:-1.01 [[ 9.98425422e-01 4.68724766e-02 -3.08163462e-02 3.04735584e+00] [-4.69471185e-02 9.98895925e-01 -1.70269198e-03 -5.07475782e-01] [ 3.07025133e-02 3.14674961e-03 9.99523613e-01 -1.00579220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.266296757 meters Centerline goodness [0,1] 0.8087903558347684 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98215977e-01 5.12763490e-02 -3.05875758e-02 3.04689799e+00] [-5.12407988e-02 9.98684432e-01 1.94547927e-03 -5.04743732e-01] [ 3.06470928e-02 -3.74676678e-04 9.99530197e-01 -1.00531167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29629675700001 meters Centerline goodness [0,1] 0.8072550342036805 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98205178e-01 5.13745122e-02 -3.07747089e-02 3.04738614e+00] [-5.13542692e-02 9.98679449e-01 1.44833712e-03 -5.02487197e-01] [ 3.08084769e-02 1.34675070e-04 9.99525297e-01 -1.00571020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32629675700001 meters Centerline goodness [0,1] 0.8063806114551084 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98198073e-01 5.15255879e-02 -3.07525880e-02 3.04748735e+00] [-5.15146192e-02 9.98671579e-01 1.14938809e-03 -5.01221417e-01] [ 3.07709586e-02 4.36890886e-04 9.99526366e-01 -1.00608671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35629675700001 meters Centerline goodness [0,1] 0.808951123108069 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98191924e-01 5.15426128e-02 -3.09231534e-02 3.04807782e+00] [-5.15408620e-02 9.98670521e-01 8.54238314e-04 -5.00918251e-01] [ 3.09260714e-02 7.41112199e-04 9.99521400e-01 -1.00662261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.386296757 meters Centerline goodness [0,1] 0.8011714230620902 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98184230e-01 5.17154168e-02 -3.08829836e-02 3.04788984e+00] [-5.17138084e-02 9.98661583e-01 8.51339773e-04 -5.00593654e-01] [ 3.08856767e-02 7.47282763e-04 9.99522644e-01 -1.00656148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.416296757 meters Centerline goodness [0,1] 0.805686175215221 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98178813e-01 5.20153302e-02 -3.05526250e-02 3.04709798e+00] [-5.20176693e-02 9.98645906e-01 7.18797825e-04 -4.97997207e-01] [ 3.05486423e-02 8.71787581e-04 9.99532901e-01 -1.00639349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.446296757 meters Centerline goodness [0,1] 0.8089205722267714 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98189484e-01 5.17938237e-02 -3.05802876e-02 3.04745813e+00] [-5.18068785e-02 9.98657055e-01 3.65794532e-04 -4.96976753e-01] [ 3.05581658e-02 1.21913699e-03 9.99532247e-01 -1.00675223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.476296757 meters Centerline goodness [0,1] 0.8109117186559075 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 0.99837267 0.04813533 -0.0305777 3.04647201] [-0.04826624 0.99882817 -0.00355695 -0.49519592] [ 0.03037066 0.00502703 0.99952606 -1.0061013 ] [ 0. 0. 0. 1. ]] SLAMing on 78.506296757 meters Centerline goodness [0,1] 0.8124924606142488 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 0.99837956 0.0477801 -0.03090835 3.04716995] [-0.04790841 0.99884586 -0.00342378 -0.49658215] [ 0.03070909 0.00489901 0.99951636 -1.00592083] [ 0. 0. 0. 1. ]] SLAMing on 78.536296757 meters Centerline goodness [0,1] 0.8164117504248605 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 0.99857466 0.04336682 -0.0311123 3.04686091] [-0.04361684 0.99902091 -0.00740252 -0.49700611] [ 0.03076081 0.00874899 0.99948848 -1.00528629] [ 0. 0. 0. 1. ]] SLAMing on 78.566296757 meters Centerline goodness [0,1] 0.8180072437346557 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.00 [[ 0.99858272 0.04302482 -0.03132741 3.0471861 ] [-0.04326489 0.99903893 -0.00702589 -0.4985911 ] [ 0.03099501 0.0083713 0.99948448 -1.00467425] [ 0. 0. 0. 1. ]] SLAMing on 78.596296757 meters Centerline goodness [0,1] 0.8245639676507843 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.00 [[ 0.99874589 0.03927288 -0.03105312 3.04518441] [-0.03961174 0.9991613 -0.01037299 -0.4984432 ] [ 0.0306197 0.01159005 0.99946391 -1.00289776] [ 0. 0. 0. 1. ]] SLAMing on 78.626296757 meters Centerline goodness [0,1] 0.8245980981102707 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.00 [[ 0.99875135 0.03905153 -0.03115634 3.04529047] [-0.03938514 0.99917238 -0.01016643 -0.49894399] [ 0.03073354 0.01138083 0.99946282 -1.00246709] [ 0. 0. 0. 1. ]] SLAMing on 78.656296757 meters Centerline goodness [0,1] 0.8240172660474816 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.00 [[ 0.99877881 0.03832949 -0.03117265 3.04584348] [-0.03867101 0.99919759 -0.01042755 -0.49807754] [ 0.03074795 0.01162029 0.99945962 -1.00262552] [ 0. 0. 0. 1. ]] SLAMing on 78.68629675700001 meters Centerline goodness [0,1] 0.825356761479468 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.00 [[ 0.9987902 0.03781549 -0.03143444 3.04700356] [-0.03817062 0.99921314 -0.01077518 -0.49759983] [ 0.03100224 0.01196201 0.99944773 -1.00328212] [ 0. 0. 0. 1. ]] SLAMing on 78.71629675700001 meters Centerline goodness [0,1] 0.8211303165663235 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.00 [[ 0.9988195 0.03659286 -0.03194619 3.049574 ] [-0.03697668 0.99924987 -0.01150728 -0.49799856] [ 0.03150114 0.01267496 0.99942335 -1.00496729] [ 0. 0. 0. 1. ]] SLAMing on 78.74629675700001 meters Centerline goodness [0,1] 0.821908161530803 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 0.99882416 0.03635466 -0.03207249 3.05024715] [-0.03674818 0.99925528 -0.01176637 -0.49786164] [ 0.03162085 0.01293114 0.99941628 -1.00550221] [ 0. 0. 0. 1. ]] SLAMing on 78.776296757 meters Centerline goodness [0,1] 0.819790984699692 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 0.9988268 0.03641947 -0.0319162 3.04999648] [-0.03682615 0.99924663 -0.01224805 -0.49594746] [ 0.03144609 0.01340903 0.9994155 -1.00569049] [ 0. 0. 0. 1. ]] SLAMing on 78.806296757 meters Centerline goodness [0,1] 0.8234485751482714 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 0.99868963 0.03980161 -0.03216913 3.05112256] [-0.0400922 0.99916035 -0.00843888 -0.4965788 ] [ 0.03180624 0.00971756 0.99944681 -1.00557923] [ 0. 0. 0. 1. ]] SLAMing on 78.836296757 meters Centerline goodness [0,1] 0.8198432164670802 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 0.99851796 0.04388621 -0.03218514 3.05121419] [-0.0440607 0.99901765 -0.00473196 -0.49492704] [ 0.03194585 0.00614304 0.99947072 -1.00500926] [ 0. 0. 0. 1. ]] SLAMing on 78.866296757 meters Centerline goodness [0,1] 0.8198432164670802 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 0.99851796 0.04388621 -0.03218514 3.05121419] [-0.0440607 0.99901765 -0.00473196 -0.49492704] [ 0.03194585 0.00614304 0.99947072 -1.00500926] [ 0. 0. 0. 1. ]] SLAMing on 78.896296757 meters Centerline goodness [0,1] 0.8175807265995048 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 0.99850284 0.04428191 -0.03211205 3.05100714] [-0.04446496 0.99899839 -0.00500847 -0.49273104] [ 0.0318581 0.00642883 0.99947173 -1.0051789 ] [ 0. 0. 0. 1. ]] SLAMing on 78.926296757 meters Centerline goodness [0,1] 0.8135313136151359 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98316712e-01 4.83606765e-02 -3.20154175e-02 3.05225273e+00] [-4.84442289e-02 9.98824197e-01 -1.83878760e-03 -4.90725835e-01] [ 3.18888486e-02 3.38665460e-03 9.99485684e-01 -1.00693736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.956296757 meters Centerline goodness [0,1] 0.8115574887077887 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98295676e-01 4.88160487e-02 -3.19802662e-02 3.05234571e+00] [-4.89113335e-02 9.98800694e-01 -2.20352918e-03 -4.88751604e-01] [ 3.18343444e-02 3.76397112e-03 9.99486071e-01 -1.00752896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.986296757 meters Centerline goodness [0,1] 0.8075663007867614 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98232411e-01 5.04097220e-02 -3.14787693e-02 3.05060805e+00] [-5.04888618e-02 9.98723137e-01 -1.72378621e-03 -4.88503932e-01] [ 3.13516796e-02 3.31006650e-03 9.99502934e-01 -1.00735866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.016296757 meters Centerline goodness [0,1] 0.8076131687242798 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98217425e-01 5.07879766e-02 -3.13457167e-02 3.05027332e+00] [-5.08627178e-02 9.98704387e-01 -1.59116475e-03 -4.88696680e-01] [ 3.12242928e-02 3.18265672e-03 9.99507336e-01 -1.00740776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04629675700001 meters Centerline goodness [0,1] 0.8076546570207482 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98015108e-01 5.43688802e-02 -3.17784324e-02 3.05237633e+00] [-5.43225963e-02 9.98520746e-01 2.31864798e-03 -4.89693272e-01] [ 3.18574863e-02 -5.87758755e-04 9.99492249e-01 -1.00821827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07629675700001 meters Centerline goodness [0,1] 0.8074286396751463 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98010289e-01 5.44299132e-02 -3.18252580e-02 3.05253575e+00] [-5.43827292e-02 9.98517406e-01 2.34695501e-03 -4.89201322e-01] [ 3.19058186e-02 -6.11540859e-04 9.99490693e-01 -1.00824937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10629675700001 meters Centerline goodness [0,1] 0.8054615698413841 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98014422e-01 5.41965128e-02 -3.20928716e-02 3.05296353e+00] [-5.41334909e-02 9.98529697e-01 2.83000232e-03 -4.91558234e-01] [ 3.21990616e-02 -1.08708396e-03 9.99480885e-01 -1.00771577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.136296757 meters Centerline goodness [0,1] 0.8081252706018185 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.49, Z:-1.01 [[ 9.98025726e-01 5.36912450e-02 -3.25868080e-02 3.05412960e+00] [-5.36214236e-02 9.98556790e-01 3.01339557e-03 -4.93822081e-01] [ 3.27015713e-02 -1.26009527e-03 9.99464366e-01 -1.00758998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.166296757 meters Centerline goodness [0,1] 0.8128242074927954 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.50, Z:-1.01 [[ 9.98234558e-01 4.94672136e-02 -3.28749530e-02 3.05453809e+00] [-4.95143282e-02 9.98773221e-01 -6.20086860e-04 -4.95911005e-01] [ 3.28039487e-02 2.24677334e-03 9.99459280e-01 -1.00778342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.196296757 meters Centerline goodness [0,1] 0.8123735183579069 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98257429e-01 4.86562460e-02 -3.33867383e-02 3.05635048e+00] [-4.87075153e-02 9.98812823e-01 -7.23540832e-04 -4.97562697e-01] [ 3.33118976e-02 2.34846508e-03 9.99442246e-01 -1.00846323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.226296757 meters Centerline goodness [0,1] 0.814347616754935 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98322553e-01 4.70672500e-02 -3.37157941e-02 3.05847961e+00] [-4.71304368e-02 9.98888158e-01 -1.08137007e-03 -4.99672865e-01] [ 3.36274103e-02 2.66859622e-03 9.99430876e-01 -1.00948135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.256296757 meters Centerline goodness [0,1] 0.8163516250361655 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98325018e-01 4.68880654e-02 -3.38920009e-02 3.05888336e+00] [-4.69391936e-02 9.98897493e-01 -7.14043060e-04 -5.01153027e-01] [ 3.38211546e-02 2.30371024e-03 9.99425246e-01 -1.00923766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.286296757 meters Centerline goodness [0,1] 0.8174755862942308 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99848594 0.04344759 -0.03373631 3.0575948 ] [-0.04360666 0.9990408 -0.0039932 -0.50223578] [ 0.03353045 0.00545828 0.99942279 -1.00855187] [ 0. 0. 0. 1. ]] SLAMing on 79.316296757 meters Centerline goodness [0,1] 0.817616656102199 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99848295 0.04334032 -0.03396205 3.05801209] [-0.04349297 0.99904663 -0.00376853 -0.50335779] [ 0.03376635 0.00523993 0.99941602 -1.00832965] [ 0. 0. 0. 1. ]] SLAMing on 79.346296757 meters Centerline goodness [0,1] 0.8184056557776694 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99847561 0.04366205 -0.03376519 3.05727343] [-0.04380293 0.99903426 -0.00344348 -0.50308237] [ 0.03358223 0.00491724 0.99942386 -1.00771206] [ 0. 0. 0. 1. ]] SLAMing on 79.376296757 meters Centerline goodness [0,1] 0.8154120986687549 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99846952 0.04381034 -0.03375312 3.05719538] [-0.04395579 0.99902707 -0.00357905 -0.50203389] [ 0.03356348 0.00505722 0.99942379 -1.0077145 ] [ 0. 0. 0. 1. ]] SLAMing on 79.406296757 meters Centerline goodness [0,1] 0.816988511366414 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99845176 0.04413572 -0.03385455 3.05774765] [-0.0442909 0.99901127 -0.00384713 -0.50103059] [ 0.03365128 0.00534062 0.99941937 -1.00856755] [ 0. 0. 0. 1. ]] SLAMing on 79.43629675700001 meters Centerline goodness [0,1] 0.8167791471048513 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99844412 0.04411969 -0.03409983 3.05858366] [-0.04428023 0.99901127 -0.00396683 -0.50136877] [ 0.0338911 0.00547061 0.99941056 -1.00914417] [ 0. 0. 0. 1. ]] SLAMing on 79.46629675700001 meters Centerline goodness [0,1] 0.8142057810247514 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99843974 0.04397502 -0.03441354 3.06002014] [-0.04414478 0.99901636 -0.00418822 -0.50234827] [ 0.03419551 0.00570086 0.9993989 -1.01038629] [ 0. 0. 0. 1. ]] SLAMing on 79.49629675700001 meters Centerline goodness [0,1] 0.8135555935766138 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 0.99843505 0.04400624 -0.0345094 3.06055957] [-0.04417838 0.99901466 -0.00424135 -0.502253 ] [ 0.03428875 0.00575929 0.99939537 -1.01088339] [ 0. 0. 0. 1. ]] SLAMing on 79.526296757 meters Centerline goodness [0,1] 0.8136849573109572 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98260908e-01 4.75578096e-02 -3.48340993e-02 3.06260466e+00] [-4.76029472e-02 9.98866228e-01 -4.67111143e-04 -5.02515499e-01] [ 3.47723906e-02 2.12450458e-03 9.99392999e-01 -1.01192369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.556296757 meters Centerline goodness [0,1] 0.8107196126855271 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98251525e-01 4.76752138e-02 -3.49423285e-02 3.06326371e+00] [-4.77279825e-02 9.98860141e-01 -6.77130698e-04 -5.01766287e-01] [ 3.48702168e-02 2.34367360e-03 9.99389101e-01 -1.01267728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.586296757 meters Centerline goodness [0,1] 0.8098246645117053 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98242231e-01 4.78301083e-02 -3.49961200e-02 3.06377256e+00] [-4.78884728e-02 9.98852343e-01 -8.30957204e-04 -5.01562617e-01] [ 3.49162117e-02 2.50540732e-03 9.99387103e-01 -1.01338629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.616296757 meters Centerline goodness [0,1] 0.8026406035665294 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98197978e-01 4.87743313e-02 -3.49551256e-02 3.06333367e+00] [-4.88213748e-02 9.98807404e-01 -4.93044884e-04 -5.01933875e-01] [ 3.48893904e-02 2.19871370e-03 9.99388761e-01 -1.01347072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.646296757 meters Centerline goodness [0,1] 0.794646570918255 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98176390e-01 4.91689062e-02 -3.50187528e-02 3.06328155e+00] [-4.92129857e-02 9.98788228e-01 -3.97379202e-04 -5.01898679e-01] [ 3.49567793e-02 2.12003192e-03 9.99386576e-01 -1.01349393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.676296757 meters Centerline goodness [0,1] 0.8000737372496006 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98134267e-01 5.02783473e-02 -3.46420627e-02 3.06150841e+00] [-5.02867322e-02 9.98734623e-01 6.29744220e-04 -5.03830945e-01] [ 3.46298899e-02 1.11346684e-03 9.99399585e-01 -1.01231550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.706296757 meters Centerline goodness [0,1] 0.7845849319420346 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.50, Z:-1.01 [[ 9.98118919e-01 5.03393342e-02 -3.49939284e-02 3.06219062e+00] [-5.03404469e-02 9.98731754e-01 8.49836146e-04 -5.04978025e-01] [ 3.49923277e-02 9.13372458e-04 9.99387164e-01 -1.01228586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.736296757 meters Centerline goodness [0,1] 0.7979937737806987 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.51, Z:-1.01 [[ 9.98086441e-01 5.10348680e-02 -3.49127387e-02 3.06160355e+00] [-5.09995085e-02 9.98696865e-01 1.90316801e-03 -5.07426244e-01] [ 3.49643706e-02 -1.18993668e-04 9.99388552e-01 -1.01165205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.766296757 meters Centerline goodness [0,1] 0.7953397385103012 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.51, Z:-1.01 [[ 9.98081482e-01 5.10895875e-02 -3.49744236e-02 3.06188388e+00] [-5.10468733e-02 9.98694022e-01 2.11373469e-03 -5.07974023e-01] [ 3.50367376e-02 -3.24344478e-04 9.99385972e-01 -1.01178346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79629675700001 meters Centerline goodness [0,1] 0.7933049420619986 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.51, Z:-1.01 [[ 9.98078105e-01 5.10798488e-02 -3.50848232e-02 3.06262108e+00] [-5.10249098e-02 9.98694351e-01 2.46007033e-03 -5.09258943e-01] [ 3.51646748e-02 -6.65142392e-04 9.99381310e-01 -1.01230059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82629675700001 meters Centerline goodness [0,1] 0.7928202083178704 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.51, Z:-1.01 [[ 9.98073120e-01 5.10436992e-02 -3.52787147e-02 3.06312520e+00] [-5.09856841e-02 9.98696147e-01 2.54274891e-03 -5.10079616e-01] [ 3.53625077e-02 -7.39139934e-04 9.99374278e-01 -1.01240782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85629675700001 meters Centerline goodness [0,1] 0.7947057656048427 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.51, Z:-1.01 [[ 9.98075739e-01 5.07544096e-02 -3.56203553e-02 3.06400967e+00] [-5.06936356e-02 9.98710846e-01 2.60782218e-03 -5.11483305e-01] [ 3.57067937e-02 -7.97078737e-04 9.99361991e-01 -1.01249239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.886296757 meters Centerline goodness [0,1] 0.7961948401235183 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 9.98098426e-01 4.99589637e-02 -3.61058818e-02 3.06526026e+00] [-4.98754472e-02 9.98750285e-01 3.21066514e-03 -5.15733800e-01] [ 3.62211613e-02 -1.40376282e-03 9.99342813e-01 -1.01176197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.916296757 meters Centerline goodness [0,1] 0.8007456194855226 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 9.98137043e-01 4.89646358e-02 -3.63992795e-02 3.06659719e+00] [-4.88772600e-02 9.98799384e-01 3.28699382e-03 -5.16857193e-01] [ 3.65165244e-02 -1.50177324e-03 9.99331921e-01 -1.01174714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946296757 meters Centerline goodness [0,1] 0.801397903145282 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 9.98148985e-01 4.84041103e-02 -3.68190934e-02 3.06777647e+00] [-4.83138760e-02 9.98826628e-01 3.33707285e-03 -5.17412397e-01] [ 3.69374190e-02 -1.55202277e-03 9.99316375e-01 -1.01173813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.976296757 meters Centerline goodness [0,1] 0.8034127979924718 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 9.98342712e-01 4.41346369e-02 -3.69318601e-02 3.06766496e+00] [-4.41774185e-02 9.99023642e-01 -3.42742068e-04 -5.18793420e-01] [ 3.68806746e-02 1.97372829e-03 9.99317727e-01 -1.01150938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006296757 meters Centerline goodness [0,1] 0.8035327864727493 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 9.98345865e-01 4.38106059e-02 -3.72312408e-02 3.06832875e+00] [-4.38393650e-02 9.99038592e-01 4.39756328e-05 -5.21116877e-01] [ 3.71973729e-02 1.58829106e-03 9.99306676e-01 -1.01121663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.036296757 meters Centerline goodness [0,1] 0.8030176451229083 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99851271 0.03981049 -0.03724906 3.06812257] [-0.03997943 0.99919327 -0.00380134 -0.52171121] [ 0.03706767 0.00528488 0.99929878 -1.01143748] [ 0. 0. 0. 1. ]] SLAMing on 80.066296757 meters Centerline goodness [0,1] 0.8032036613272311 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99851009 0.03936757 -0.03778622 3.06970183] [-0.03954102 0.99921052 -0.0038538 -0.52205827] [ 0.03760467 0.00534217 0.99927841 -1.01180917] [ 0. 0. 0. 1. ]] SLAMing on 80.096296757 meters Centerline goodness [0,1] 0.8022879943431487 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99851821 0.03897999 -0.03797286 3.07093754] [-0.03916823 0.99922369 -0.00422582 -0.52092374] [ 0.03777866 0.00570689 0.99926984 -1.01281041] [ 0. 0. 0. 1. ]] SLAMing on 80.126296757 meters Centerline goodness [0,1] 0.8021800565199839 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99851224 0.0388814 -0.03823024 3.07174849] [-0.03907537 0.99922684 -0.00433952 -0.52037228] [ 0.03803196 0.00582692 0.99925953 -1.01312141] [ 0. 0. 0. 1. ]] SLAMing on 80.156296757 meters Centerline goodness [0,1] 0.8022657314427007 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99850368 0.03899021 -0.0383428 3.07209333] [-0.03918203 0.99922299 -0.00426391 -0.52064618] [ 0.03814676 0.00575987 0.99925555 -1.01333414] [ 0. 0. 0. 1. ]] SLAMing on 80.18629675700001 meters Centerline goodness [0,1] 0.7965232331909948 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99849315 0.03939666 -0.03820131 3.07187765] [-0.03958206 0.99920788 -0.00410885 -0.52123609] [ 0.03800918 0.00561475 0.99926162 -1.01359276] [ 0. 0. 0. 1. ]] SLAMing on 80.21629675700001 meters Centerline goodness [0,1] 0.7986100581248421 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99848462 0.03970498 -0.03810476 3.07193114] [-0.03989397 0.99919504 -0.00421202 -0.52044297] [ 0.03790685 0.00572579 0.99926487 -1.01414525] [ 0. 0. 0. 1. ]] SLAMing on 80.24629675700001 meters Centerline goodness [0,1] 0.7954929293438532 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99848483 0.03958683 -0.03822197 3.0726671 ] [-0.0397897 0.99919766 -0.00456149 -0.51947586] [ 0.03801073 0.00607542 0.99925886 -1.01491948] [ 0. 0. 0. 1. ]] SLAMing on 80.276296757 meters Centerline goodness [0,1] 0.7997483643683946 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99847352 0.03982738 -0.03826758 3.07266023] [-0.04002992 0.99918816 -0.00454085 -0.51863845] [ 0.03805566 0.00606576 0.99925721 -1.0148498 ] [ 0. 0. 0. 1. ]] SLAMing on 80.306296757 meters Centerline goodness [0,1] 0.7982708207299859 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.9984541 0.04040041 -0.03817357 3.0720624 ] [-0.04059261 0.99916664 -0.00427299 -0.51858415] [ 0.03796912 0.00581595 0.99926199 -1.01440562] [ 0. 0. 0. 1. ]] SLAMing on 80.336296757 meters Centerline goodness [0,1] 0.801215299664658 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99844767 0.04057537 -0.03815623 3.07209708] [-0.04076085 0.99916054 -0.00409528 -0.51912921] [ 0.03795803 0.0056442 0.99926339 -1.01446885] [ 0. 0. 0. 1. ]] SLAMing on 80.366296757 meters Centerline goodness [0,1] 0.8012234725473907 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.02 [[ 0.99844401 0.04035952 -0.03847937 3.07352247] [-0.04055518 0.99916797 -0.00431749 -0.51860289] [ 0.0382731 0.00587131 0.99925007 -1.01537965] [ 0. 0. 0. 1. ]] SLAMing on 80.396296757 meters Centerline goodness [0,1] 0.7990657726211106 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.02 [[ 0.99843576 0.04042377 -0.03862572 3.07398093] [-0.04062441 0.9991647 -0.00442348 -0.51693162] [ 0.03841465 0.00598571 0.99924396 -1.01554428] [ 0. 0. 0. 1. ]] SLAMing on 80.426296757 meters Centerline goodness [0,1] 0.7993232234615867 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.02 [[ 0.99843251 0.04027685 -0.03886246 3.07450607] [-0.0404798 0.99917045 -0.00444928 -0.51667046] [ 0.03865102 0.00601545 0.99923466 -1.01542097] [ 0. 0. 0. 1. ]] SLAMing on 80.456296757 meters Centerline goodness [0,1] 0.8025612052730697 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99842417 0.04029787 -0.03905444 3.07460428] [-0.04048909 0.9991715 -0.00411746 -0.51753021] [ 0.03885616 0.00569225 0.9992286 -1.01483121] [ 0. 0. 0. 1. ]] SLAMing on 80.486296757 meters Centerline goodness [0,1] 0.8016822382835126 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.52, Z:-1.01 [[ 0.99842888 0.03991344 -0.03932785 3.07496412] [-0.04008328 0.99919008 -0.00353902 -0.51972275] [ 0.03915475 0.00510985 0.99922009 -1.01365954] [ 0. 0. 0. 1. ]] SLAMing on 80.516296757 meters Centerline goodness [0,1] 0.8041296893908834 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 0.99843437 0.03957501 -0.03953016 3.07538448] [-0.03973985 0.9992043 -0.00339258 -0.52055233] [ 0.03936444 0.00495819 0.99921262 -1.01325475] [ 0. 0. 0. 1. ]] SLAMing on 80.54629675700001 meters Centerline goodness [0,1] 0.809415337889142 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 9.98452394e-01 3.84056157e-02 -4.02221930e-02 3.07712177e+00] [-3.85567010e-02 9.99251950e-01 -2.98700789e-03 -5.22168065e-01] [ 4.00773869e-02 4.53322025e-03 9.99186295e-01 -1.01220102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57629675700001 meters Centerline goodness [0,1] 0.8115277425893084 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 9.98452165e-01 3.79004543e-02 -4.07041813e-02 3.07835549e+00] [-3.80481250e-02 9.99271818e-01 -2.85909106e-03 -5.23175129e-01] [ 4.05661804e-02 4.40338344e-03 9.99167151e-01 -1.01205394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60629675700001 meters Centerline goodness [0,1] 0.8150671004473363 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 9.98464486e-01 3.70190933e-02 -4.12099047e-02 3.07981457e+00] [-3.71644007e-02 9.99305339e-01 -2.76527382e-03 -5.24220560e-01] [ 4.10789098e-02 4.29256911e-03 9.99146684e-01 -1.01169443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.636296757 meters Centerline goodness [0,1] 0.8157258782529063 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 9.98459872e-01 3.66925825e-02 -4.16117697e-02 3.08080837e+00] [-3.68412083e-02 9.99317181e-01 -2.81026083e-03 -5.24223614e-01] [ 4.14802407e-02 4.33896055e-03 9.99129903e-01 -1.01164811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666296757 meters Centerline goodness [0,1] 0.8173957144668442 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 0.99846564 0.03600625 -0.0420703 3.08247883] [-0.03617 0.99934073 -0.0031375 -0.52399426] [ 0.0419296 0.00465437 0.99910973 -1.01211396] [ 0. 0. 0. 1. ]] SLAMing on 80.696296757 meters Centerline goodness [0,1] 0.814063213434123 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 0.99845604 0.03585642 -0.04242473 3.08322059] [-0.03602483 0.99934573 -0.00321154 -0.52390366] [ 0.04228182 0.00473492 0.9990945 -1.01203209] [ 0. 0. 0. 1. ]] SLAMing on 80.726296757 meters Centerline goodness [0,1] 0.8187527012940787 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 0.99845427 0.03544692 -0.04280875 3.08481018] [-0.03563857 0.99935781 -0.00372169 -0.5233394 ] [ 0.04264934 0.00524158 0.99907635 -1.0130686 ] [ 0. 0. 0. 1. ]] SLAMing on 80.756296757 meters Centerline goodness [0,1] 0.8187527012940787 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.52, Z:-1.01 [[ 0.99845427 0.03544692 -0.04280875 3.08481018] [-0.03563857 0.99935781 -0.00372169 -0.5233394 ] [ 0.04264934 0.00524158 0.99907635 -1.0130686 ] [ 0. 0. 0. 1. ]] SLAMing on 80.786296757 meters Centerline goodness [0,1] 0.8166032953105197 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 0.99845679 0.03514963 -0.04299463 3.08588068] [-0.03535907 0.99936618 -0.00412052 -0.52261482] [ 0.04282255 0.00563441 0.99906681 -1.01392575] [ 0. 0. 0. 1. ]] SLAMing on 80.816296757 meters Centerline goodness [0,1] 0.8161219933015326 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 0.99845525 0.03500948 -0.04314445 3.0864419 ] [-0.03522672 0.99937016 -0.00428506 -0.52187503] [ 0.04296726 0.00579828 0.99905966 -1.01412726] [ 0. 0. 0. 1. ]] SLAMing on 80.846296757 meters Centerline goodness [0,1] 0.8169243287225386 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 0.99845144 0.03522321 -0.04305872 3.08571061] [-0.03543011 0.99936395 -0.004051 -0.52198531] [ 0.04288864 0.0055703 0.99906433 -1.01321929] [ 0. 0. 0. 1. ]] SLAMing on 80.876296757 meters Centerline goodness [0,1] 0.8156610583032583 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 0.99844212 0.035283 -0.04322548 3.0857487 ] [-0.0354854 0.99936249 -0.00392397 -0.52243728] [ 0.04305948 0.00545173 0.99905764 -1.01275906] [ 0. 0. 0. 1. ]] SLAMing on 80.906296757 meters Centerline goodness [0,1] 0.8132833039793756 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 0.9984395 0.03560751 -0.04301933 3.08518065] [-0.03580177 0.99935186 -0.0037534 -0.52262034] [ 0.0428578 0.00528771 0.99906719 -1.01261221] [ 0. 0. 0. 1. ]] SLAMing on 80.93629675700001 meters Centerline goodness [0,1] 0.8140929535232384 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 9.98384917e-01 3.69761591e-02 -4.31314396e-02 3.08734064e+00] [-3.70940651e-02 9.99309903e-01 -1.93624783e-03 -5.22962498e-01] [ 4.30300797e-02 3.53304105e-03 9.99067530e-01 -1.01390322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96629675700001 meters Centerline goodness [0,1] 0.8144679558570416 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.01 [[ 9.98230313e-01 4.07608580e-02 -4.32989010e-02 3.08895047e+00] [-4.07217648e-02 9.99168931e-01 1.78486998e-03 -5.22251413e-01] [ 4.33356695e-02 -1.85036564e-05 9.99060568e-01 -1.01488021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99629675700001 meters Centerline goodness [0,1] 0.8091192655897345 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98223216e-01 4.08631232e-02 -4.33660811e-02 3.08945518e+00] [-4.08402280e-02 9.99164689e-01 1.41415013e-03 -5.20966023e-01] [ 4.33876435e-02 3.59443149e-04 9.99058248e-01 -1.01565134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.026296757 meters Centerline goodness [0,1] 0.80928123885691 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98200739e-01 4.14721455e-02 -4.33052578e-02 3.08947901e+00] [-4.14505575e-02 9.99139580e-01 1.39671078e-03 -5.20989352e-01] [ 4.33259217e-02 4.00829343e-04 9.99060911e-01 -1.01641979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.056296757 meters Centerline goodness [0,1] 0.8078001529441754 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98193359e-01 4.14707637e-02 -4.34763628e-02 3.09029574e+00] [-4.14584327e-02 9.99139526e-01 1.18563174e-03 -5.21327764e-01] [ 4.34881216e-02 6.18972133e-04 9.99053752e-01 -1.01721795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.086296757 meters Centerline goodness [0,1] 0.808443043765567 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98190228e-01 4.15015155e-02 -4.35188904e-02 3.09081135e+00] [-4.14944469e-02 9.99138166e-01 1.06612820e-03 -5.21540442e-01] [ 4.35256302e-02 7.41593530e-04 9.99052035e-01 -1.01787823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.116296757 meters Centerline goodness [0,1] 0.8054225262891169 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98177517e-01 4.18729503e-02 -4.34545896e-02 3.09080535e+00] [-4.18634785e-02 9.99122703e-01 1.12835677e-03 -5.20845744e-01] [ 4.34637147e-02 6.92859921e-04 9.99054766e-01 -1.01814861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.146296757 meters Centerline goodness [0,1] 0.8038000406421459 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98158003e-01 4.26599507e-02 -4.31361677e-02 3.08981208e+00] [-4.26401142e-02 9.99089543e-01 1.38026610e-03 -5.18924820e-01] [ 4.31557762e-02 4.61607468e-04 9.99068249e-01 -1.01793591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.176296757 meters Centerline goodness [0,1] 0.8025438974332987 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98158279e-01 4.25815955e-02 -4.32071541e-02 3.09038637e+00] [-4.25711640e-02 9.99092761e-01 1.16193631e-03 -5.18583858e-01] [ 4.32174320e-02 6.79582492e-04 9.99065459e-01 -1.01854747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.206296757 meters Centerline goodness [0,1] 0.8008586525759578 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.52, Z:-1.02 [[ 9.98156152e-01 4.26087250e-02 -4.32295424e-02 3.09058599e+00] [-4.25931340e-02 9.99091678e-01 1.28208067e-03 -5.19515844e-01] [ 4.32449039e-02 5.61564986e-04 9.99064344e-01 -1.01872485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.236296757 meters Centerline goodness [0,1] 0.8036347967149955 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.52, Z:-1.02 [[ 0.99839976 0.04245097 -0.03736099 3.1017054 ] [-0.04279265 0.99904872 -0.00839344 -0.51961935] [ 0.03696914 0.00997878 0.99926658 -1.02123583] [ 0. 0. 0. 1. ]] SLAMing on 81.266296757 meters Centerline goodness [0,1] 0.8038415427390762 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.52, Z:-1.02 [[ 0.99840078 0.04247798 -0.03730294 3.1013606 ] [-0.04280509 0.9990513 -0.00801433 -0.52045847] [ 0.03692711 0.00959826 0.99927187 -1.02066084] [ 0. 0. 0. 1. ]] SLAMing on 81.29629675700001 meters Centerline goodness [0,1] 0.8109575769936773 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.52, Z:-1.02 [[ 0.99842851 0.04163244 -0.03751328 3.10217976] [-0.0419529 0.99908918 -0.00779579 -0.52088777] [ 0.03715456 0.00935733 0.99926572 -1.02008048] [ 0. 0. 0. 1. ]] SLAMing on 81.32629675700001 meters Centerline goodness [0,1] 0.8108818873512741 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.52, Z:-1.02 [[ 0.99846573 0.04033942 -0.03793305 3.10344711] [-0.04062556 0.99915128 -0.0068028 -0.52423324] [ 0.03762643 0.00833342 0.99925713 -1.01840149] [ 0. 0. 0. 1. ]] SLAMing on 81.35629675700001 meters Centerline goodness [0,1] 0.8107450920166884 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.53, Z:-1.02 [[ 0.99847234 0.03977312 -0.03835464 3.10451579] [-0.04004951 0.99917678 -0.00646468 -0.52632897] [ 0.03806595 0.00799089 0.99924328 -1.01807674] [ 0. 0. 0. 1. ]] SLAMing on 81.386296757 meters Centerline goodness [0,1] 0.8182305903993051 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.9984694 0.03917067 -0.03904509 3.10625055] [-0.03943785 0.99920343 -0.00609609 -0.52807898] [ 0.0387752 0.00762662 0.99921885 -1.0178223 ] [ 0. 0. 0. 1. ]] SLAMing on 81.416296757 meters Centerline goodness [0,1] 0.8127465546390696 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99850059 0.03802831 -0.03937546 3.10787576] [-0.03829382 0.99924845 -0.00601061 -0.52998987] [ 0.03911729 0.00750943 0.99920641 -1.0179707 ] [ 0. 0. 0. 1. ]] SLAMing on 81.446296757 meters Centerline goodness [0,1] 0.8141735918744228 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99850363 0.03746627 -0.03983441 3.10942285] [-0.03772992 0.99927063 -0.00588725 -0.5309339 ] [ 0.03958478 0.00738139 0.99918895 -1.01822352] [ 0. 0. 0. 1. ]] SLAMing on 81.476296757 meters Centerline goodness [0,1] 0.8127782209299333 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99850361 0.03728493 -0.04000479 3.1103182 ] [-0.03755683 0.99927608 -0.00606646 -0.53052064] [ 0.03974964 0.00755983 0.99918107 -1.01889711] [ 0. 0. 0. 1. ]] SLAMing on 81.506296757 meters Centerline goodness [0,1] 0.8142233632862644 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99850122 0.03709704 -0.04023823 3.11128757] [-0.03738252 0.99928076 -0.00636552 -0.52950397] [ 0.03997315 0.00786019 0.99916984 -1.01953475] [ 0. 0. 0. 1. ]] SLAMing on 81.536296757 meters Centerline goodness [0,1] 0.8143418719971224 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99849437 0.03714112 -0.04036745 3.11194402] [-0.03744604 0.99927535 -0.00682355 -0.52785921] [ 0.04008476 0.00832488 0.9991616 -1.02029751] [ 0. 0. 0. 1. ]] SLAMing on 81.566296757 meters Centerline goodness [0,1] 0.8126346015793252 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.9984862 0.03725214 -0.04046716 3.11220215] [-0.03755735 0.99927128 -0.00680802 -0.52790794] [ 0.04018406 0.00831756 0.99915768 -1.0203759 ] [ 0. 0. 0. 1. ]] SLAMing on 81.596296757 meters Centerline goodness [0,1] 0.8123334016813615 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99846956 0.03755479 -0.04059772 3.11222402] [-0.03787126 0.99925773 -0.00705412 -0.52688235] [ 0.04030267 0.00858081 0.99915067 -1.02034209] [ 0. 0. 0. 1. ]] SLAMing on 81.626296757 meters Centerline goodness [0,1] 0.8164459894688411 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.53, Z:-1.02 [[ 0.99846049 0.03780741 -0.04058628 3.11206051] [-0.03813165 0.99924646 -0.00724459 -0.52550857] [ 0.0402818 0.00878106 0.99914977 -1.02034685] [ 0. 0. 0. 1. ]] SLAMing on 81.656296757 meters Centerline goodness [0,1] 0.8107689573760504 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 0.99830622 0.04175332 -0.04051362 3.11287136] [-0.04194142 0.99911283 -0.00380375 -0.52363931] [ 0.04031886 0.00549651 0.99917175 -1.021116 ] [ 0. 0. 0. 1. ]] SLAMing on 81.68629675700001 meters Centerline goodness [0,1] 0.8077925363693865 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 0.99828902 0.04239905 -0.0402661 3.11193289] [-0.04258754 0.99908538 -0.00383454 -0.52189543] [ 0.04006669 0.00554281 0.99918163 -1.02088495] [ 0. 0. 0. 1. ]] SLAMing on 81.71629675700001 meters Centerline goodness [0,1] 0.8114946592257771 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 0.99826991 0.04276971 -0.0403478 3.11184338] [-0.04296089 0.99906921 -0.00388261 -0.52088251] [ 0.04014419 0.00560927 0.99917815 -1.02076141] [ 0. 0. 0. 1. ]] SLAMing on 81.74629675700001 meters Centerline goodness [0,1] 0.8139676113360323 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 0.99823651 0.04352901 -0.04036207 3.11085265] [-0.04370899 0.99903787 -0.00358699 -0.52099582] [ 0.0401671 0.00534485 0.99917868 -1.01971223] [ 0. 0. 0. 1. ]] SLAMing on 81.776296757 meters Centerline goodness [0,1] 0.8123200484921957 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 9.98045776e-01 4.74557652e-02 -4.06519237e-02 3.11198977e+00] [-4.74742596e-02 9.98872331e-01 5.10835436e-04 -5.21834305e-01] [ 4.06303239e-02 1.42008283e-03 9.99173238e-01 -1.01960299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.806296757 meters Centerline goodness [0,1] 0.813349441256418 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 9.98039533e-01 4.74680170e-02 -4.07906651e-02 3.11267231e+00] [-4.75042856e-02 9.98871031e-01 8.02163680e-05 -5.19962395e-01] [ 4.07484214e-02 1.85767230e-03 9.99167711e-01 -1.02028777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.836296757 meters Centerline goodness [0,1] 0.8138376801388295 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 9.98032954e-01 4.75981514e-02 -4.07999956e-02 3.11291287e+00] [-4.76442758e-02 9.98864354e-01 -1.58345584e-04 -5.18280273e-01] [ 4.07461243e-02 2.10192035e-03 9.99167321e-01 -1.02066249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.866296757 meters Centerline goodness [0,1] 0.8117225120385233 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 9.98013881e-01 4.77001578e-02 -4.11459461e-02 3.11355489e+00] [-4.77589907e-02 9.98858788e-01 -4.47527205e-04 -5.16734859e-01] [ 4.10776427e-02 2.41172722e-03 9.99153047e-01 -1.02074638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.896296757 meters Centerline goodness [0,1] 0.8122484113521862 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 0.99817321 0.0442427 -0.04114392 3.11238552] [-0.04445037 0.99900299 -0.00414603 -0.51712447] [ 0.04091947 0.00596732 0.99914463 -1.02008179] [ 0. 0. 0. 1. ]] SLAMing on 81.926296757 meters Centerline goodness [0,1] 0.8132249404852353 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.52, Z:-1.02 [[ 0.99818358 0.04350488 -0.04167574 3.11412451] [-0.04372538 0.99903393 -0.00439378 -0.51804332] [ 0.04144433 0.00620809 0.99912153 -1.02059583] [ 0. 0. 0. 1. ]] SLAMing on 81.956296757 meters Centerline goodness [0,1] 0.8130454522524341 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99819407 0.04285491 -0.04209572 3.11576984] [-0.04308948 0.99906025 -0.00468028 -0.51822239] [ 0.04185559 0.00648572 0.99910262 -1.02133379] [ 0. 0. 0. 1. ]] SLAMing on 81.986296757 meters Centerline goodness [0,1] 0.8138439328318516 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.9982287 0.04156505 -0.04256534 3.11774802] [-0.04182801 0.99911074 -0.00530559 -0.51716064] [ 0.04230696 0.00707662 0.9990796 -1.02192363] [ 0. 0. 0. 1. ]] SLAMing on 82.016296757 meters Centerline goodness [0,1] 0.8127214741318214 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99823504 0.04136868 -0.04260802 3.11767902] [-0.04162578 0.99911993 -0.00516422 -0.51708781] [ 0.04235689 0.0069287 0.99907852 -1.02132032] [ 0. 0. 0. 1. ]] SLAMing on 82.04629675700001 meters Centerline goodness [0,1] 0.8112197216539112 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99825144 0.04099549 -0.04258446 3.11712961] [-0.04121901 0.99914052 -0.00438374 -0.51815261] [ 0.04236814 0.00613136 0.99908325 -1.01928681] [ 0. 0. 0. 1. ]] SLAMing on 82.07629675700001 meters Centerline goodness [0,1] 0.8109600141811644 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99825419 0.04083369 -0.04267529 3.11694569] [-0.04104558 0.99914886 -0.00410056 -0.51887234] [ 0.04247153 0.00584504 0.99908058 -1.01843506] [ 0. 0. 0. 1. ]] SLAMing on 82.10629675700001 meters Centerline goodness [0,1] 0.8108627005178729 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99825581 0.04055419 -0.04290325 3.11675853] [-0.04074795 0.99916279 -0.00365111 -0.5194169 ] [ 0.04271926 0.00539297 0.99907256 -1.01672559] [ 0. 0. 0. 1. ]] SLAMing on 82.136296757 meters Centerline goodness [0,1] 0.8094770006301197 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99826034 0.0402066 -0.04312452 3.11744424] [-0.04041023 0.99917572 -0.00386023 -0.51888075] [ 0.04293377 0.00559619 0.99906225 -1.01680635] [ 0. 0. 0. 1. ]] SLAMing on 82.166296757 meters Centerline goodness [0,1] 0.8093495216699902 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99825503 0.03986596 -0.04356149 3.11874911] [-0.04008373 0.99918776 -0.00413682 -0.51834835] [ 0.04336119 0.0058757 0.99904218 -1.0172583 ] [ 0. 0. 0. 1. ]] SLAMing on 82.196296757 meters Centerline goodness [0,1] 0.8083369036518058 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.52, Z:-1.02 [[ 0.99825582 0.03926232 -0.04408841 3.1210356 ] [-0.03952957 0.99920484 -0.00520603 -0.51596543] [ 0.04384895 0.00693974 0.99901407 -1.01909296] [ 0. 0. 0. 1. ]] SLAMing on 82.226296757 meters Centerline goodness [0,1] 0.8109880685114648 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 0.99825666 0.0390948 -0.04421813 3.12197301] [-0.03938601 0.99920762 -0.00573336 -0.51447019] [ 0.04395894 0.00746494 0.99900545 -1.02012535] [ 0. 0. 0. 1. ]] SLAMing on 82.256296757 meters Centerline goodness [0,1] 0.8080594383578894 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 0.99823629 0.03976103 -0.04408368 3.12142074] [-0.04005976 0.99917979 -0.00591358 -0.51207719] [ 0.04381239 0.00766913 0.99901034 -1.02022273] [ 0. 0. 0. 1. ]] SLAMing on 82.286296757 meters Centerline goodness [0,1] 0.8077155215773061 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 0.99822415 0.04010033 -0.04405126 3.12099339] [-0.04040121 0.99916576 -0.00596095 -0.5108857 ] [ 0.04377548 0.00773008 0.99901149 -1.01989386] [ 0. 0. 0. 1. ]] SLAMing on 82.316296757 meters Centerline goodness [0,1] 0.8070655585406885 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 0.99819152 0.04112185 -0.0438483 3.11980906] [-0.04141649 0.99912495 -0.005832 -0.50883255] [ 0.04357011 0.0076375 0.99902118 -1.01936309] [ 0. 0. 0. 1. ]] SLAMing on 82.346296757 meters Centerline goodness [0,1] 0.8067030983655871 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 0.99817345 0.04156801 -0.04383917 3.11955877] [-0.0418656 0.99910588 -0.00589185 -0.50737644] [ 0.04355506 0.00771644 0.99902123 -1.01927088] [ 0. 0. 0. 1. ]] SLAMing on 82.376296757 meters Centerline goodness [0,1] 0.8063457878393269 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 0.99815457 0.04204252 -0.04381654 3.11932873] [-0.04234245 0.9990855 -0.0059394 -0.50583569] [ 0.04352676 0.00778374 0.99902194 -1.01928656] [ 0. 0. 0. 1. ]] SLAMing on 82.406296757 meters Centerline goodness [0,1] 0.8089465511195713 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97966939e-01 4.60498910e-02 -4.40612880e-02 3.12037919e+00] [-4.61743839e-02 9.98931752e-01 -1.81134681e-03 -5.06767891e-01] [ 4.39308073e-02 3.84216706e-03 9.99027188e-01 -1.01921531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43629675700001 meters Centerline goodness [0,1] 0.81106325436971 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97935184e-01 4.70209663e-02 -4.37538348e-02 3.11890584e+00] [-4.71070562e-02 9.98889406e-01 -9.38057978e-04 -5.07594839e-01] [ 4.36611337e-02 2.99723541e-03 9.99041902e-01 -1.01811478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46629675700001 meters Centerline goodness [0,1] 0.8086142322097378 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97936505e-01 4.71569103e-02 -4.35770388e-02 3.11867575e+00] [-4.72417451e-02 9.98883063e-01 -9.18440903e-04 -5.07253481e-01] [ 4.34850552e-02 2.97520106e-03 9.99049647e-01 -1.01827937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49629675700001 meters Centerline goodness [0,1] 0.8093047673808155 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97927084e-01 4.72457777e-02 -4.36963593e-02 3.11894792e+00] [-4.73266552e-02 9.98879131e-01 -8.17679705e-04 -5.06959212e-01] [ 4.36087495e-02 2.88398725e-03 9.99044523e-01 -1.01827563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.526296757 meters Centerline goodness [0,1] 0.8099715668179778 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97927452e-01 4.72057584e-02 -4.37311919e-02 3.11918591e+00] [-4.72840354e-02 9.98881198e-01 -7.56723448e-04 -5.06869474e-01] [ 4.36465436e-02 2.82294233e-03 9.99043047e-01 -1.01834849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.556296757 meters Centerline goodness [0,1] 0.8073488325683497 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97921776e-01 4.72105393e-02 -4.38553713e-02 3.11918566e+00] [-4.72798211e-02 9.98881536e-01 -5.43310661e-04 -5.07563035e-01] [ 4.37806707e-02 2.61565565e-03 9.99037743e-01 -1.01789200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.586296757 meters Centerline goodness [0,1] 0.813329998749531 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97937363e-01 4.66638145e-02 -4.40852296e-02 3.11945957e+00] [-4.67145132e-02 9.98908274e-01 -1.19943945e-04 -5.09773777e-01] [ 4.40315036e-02 2.17911659e-03 9.99027766e-01 -1.01683237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.616296757 meters Centerline goodness [0,1] 0.8074605595419657 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97937154e-01 4.64451257e-02 -4.43202808e-02 3.11984348e+00] [-4.64898357e-02 9.98918763e-01 2.19566906e-05 -5.10575675e-01] [ 4.42733798e-02 2.03853118e-03 9.99017373e-01 -1.01647255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.646296757 meters Centerline goodness [0,1] 0.8114743861927717 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97957982e-01 4.57539584e-02 -4.45695207e-02 3.12069551e+00] [-4.58079718e-02 9.98950246e-01 -1.90780990e-04 -5.10232011e-01] [ 4.45140047e-02 2.23203076e-03 9.99006267e-01 -1.01637193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.676296757 meters Centerline goodness [0,1] 0.8114743861927717 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97957982e-01 4.57539584e-02 -4.45695207e-02 3.12069551e+00] [-4.58079718e-02 9.98950246e-01 -1.90780990e-04 -5.10232011e-01] [ 4.45140047e-02 2.23203076e-03 9.99006267e-01 -1.01637193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.706296757 meters Centerline goodness [0,1] 0.8117179741807349 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97965483e-01 4.54149116e-02 -4.47479612e-02 3.12146789e+00] [-4.54838182e-02 9.98964939e-01 -5.22397399e-04 -5.09280832e-01] [ 4.46779197e-02 2.55664270e-03 9.98998172e-01 -1.01676821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.736296757 meters Centerline goodness [0,1] 0.8122658595281217 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97972897e-01 4.51077719e-02 -4.48930530e-02 3.12177201e+00] [-4.51842836e-02 9.98978430e-01 -6.90512470e-04 -5.08435989e-01] [ 4.48160441e-02 2.71757317e-03 9.98991560e-01 -1.01647690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.766296757 meters Centerline goodness [0,1] 0.8137082164925429 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97967819e-01 4.49048638e-02 -4.52082551e-02 3.12228793e+00] [-4.49860731e-02 9.98987310e-01 -7.80036473e-04 -5.08505892e-01] [ 4.51274457e-02 2.81219317e-03 9.98977280e-01 -1.01618691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79629675700001 meters Centerline goodness [0,1] 0.8138652649326821 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97958701e-01 4.49618911e-02 -4.53526037e-02 3.12227903e+00] [-4.50367844e-02 9.98985130e-01 -6.30400700e-04 -5.08880640e-01] [ 4.52782327e-02 2.67164930e-03 9.98970842e-01 -1.01567578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82629675700001 meters Centerline goodness [0,1] 0.8168198506763916 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97949159e-01 4.48698352e-02 -4.56527558e-02 3.12299961e+00] [-4.49541526e-02 9.98988713e-01 -8.21414225e-04 -5.08339976e-01] [ 4.55697311e-02 2.87201059e-03 9.98957032e-01 -1.01573924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85629675700001 meters Centerline goodness [0,1] 0.8174882338370076 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97942916e-01 4.49000123e-02 -4.57594392e-02 3.12336696e+00] [-4.49936878e-02 9.98986752e-01 -1.01868639e-03 -5.07310037e-01] [ 4.56673345e-02 3.07547679e-03 9.98951969e-01 -1.01597158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.886296757 meters Centerline goodness [0,1] 0.8180852115460656 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.51, Z:-1.02 [[ 9.97761283e-01 4.85586959e-02 -4.59834263e-02 3.12480517e+00] [-4.84896097e-02 9.98820258e-01 2.61733419e-03 -5.06734272e-01] [ 4.60562721e-02 -3.81756326e-04 9.98938774e-01 -1.01650162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.916296757 meters Centerline goodness [0,1] 0.8160221267348249 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.50, Z:-1.02 [[ 9.97753771e-01 4.88286563e-02 -4.58603727e-02 3.12458726e+00] [-4.87766449e-02 9.98807170e-01 2.25315714e-03 -5.04745320e-01] [ 4.59156877e-02 -1.11809258e-05 9.98945319e-01 -1.01676634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.946296757 meters Centerline goodness [0,1] 0.8173756681528191 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99754311 0.05265554 -0.04620766 3.12597441] [-0.05243549 0.99860651 0.00596227 -0.50447172] [ 0.04645721 -0.0035247 0.99891406 -1.01686313] [ 0. 0. 0. 1. ]] SLAMing on 82.976296757 meters Centerline goodness [0,1] 0.8188473673831591 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99753171 0.05275942 -0.04633505 3.12639058] [-0.0525556 0.99860226 0.00560699 -0.50372997] [ 0.04656611 -0.00315799 0.99891022 -1.01731827] [ 0. 0. 0. 1. ]] SLAMing on 83.006296757 meters Centerline goodness [0,1] 0.8229917169043768 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.97518023e-01 5.26151754e-02 -4.67914292e-02 3.12830975e+00] [-5.24785231e-02 9.98613451e-01 4.14497338e-03 -5.00810234e-01] [ 4.69446391e-02 -1.67914055e-03 9.98896081e-01 -1.01959450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.036296757 meters Centerline goodness [0,1] 0.820058053724294 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.97523237e-01 5.25143633e-02 -4.67935094e-02 3.12908367e+00] [-5.24132281e-02 9.98619740e-01 3.38651344e-03 -4.98481836e-01] [ 4.69067628e-02 -9.25526968e-04 9.98898843e-01 -1.02084827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.066296757 meters Centerline goodness [0,1] 0.8192132017091498 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.97496820e-01 5.32351815e-02 -4.65414813e-02 3.12848046e+00] [-5.31506556e-02 9.98581839e-01 3.05266389e-03 -4.95511776e-01] [ 4.66379871e-02 -5.71312278e-04 9.98911694e-01 -1.02125552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.096296757 meters Centerline goodness [0,1] 0.8168965602026014 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.97489701e-01 5.34099412e-02 -4.64938029e-02 3.12792229e+00] [-5.33198086e-02 9.98572432e-01 3.17751705e-03 -4.95424111e-01] [ 4.65971409e-02 -6.90499857e-04 9.98913525e-01 -1.02059804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.126296757 meters Centerline goodness [0,1] 0.8194770857814336 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.03 [[ 9.98116887e-01 5.20973680e-02 -3.23812184e-02 3.12843368e+00] [-5.21776906e-02 9.98636470e-01 -1.63991603e-03 -4.93412890e-01] [ 3.22516303e-02 3.32640508e-03 9.99474245e-01 -1.02619376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.156296757 meters Centerline goodness [0,1] 0.8217872715692519 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.03 [[ 9.98112314e-01 5.21745786e-02 -3.23978580e-02 3.12816150e+00] [-5.22474193e-02 9.98633182e-01 -1.40525105e-03 -4.93767998e-01] [ 3.22802576e-02 3.09530285e-03 9.99474064e-01 -1.02565007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18629675700001 meters Centerline goodness [0,1] 0.8159023505478076 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.03 [[ 9.98132078e-01 5.16559902e-02 -3.26192218e-02 3.12888016e+00] [-5.17286908e-02 9.98660210e-01 -1.38824816e-03 -4.94281139e-01] [ 3.25038076e-02 3.07300466e-03 9.99466887e-01 -1.02557407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21629675700001 meters Centerline goodness [0,1] 0.810143394741373 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.03 [[ 9.98139845e-01 5.13392462e-02 -3.28805615e-02 3.12977647e+00] [-5.14105154e-02 9.98676726e-01 -1.32520613e-03 -4.95240196e-01] [ 3.27690164e-02 3.01314765e-03 9.99458410e-01 -1.02585281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24629675700001 meters Centerline goodness [0,1] 0.8126837463250736 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.03 [[ 9.98151555e-01 5.09125453e-02 -3.31871396e-02 3.13087416e+00] [-5.09834501e-02 9.98698661e-01 -1.29324872e-03 -4.96396214e-01] [ 3.30781093e-02 2.98285310e-03 9.99448318e-01 -1.02627892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.276296757 meters Centerline goodness [0,1] 0.8173234200743494 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.03 [[ 0.99834888 0.04678193 -0.03333106 3.13090553] [-0.04697941 0.9988825 -0.00516597 -0.49604434] [ 0.03305213 0.00672331 0.99943101 -1.02639427] [ 0. 0. 0. 1. ]] SLAMing on 83.306296757 meters Centerline goodness [0,1] 0.8198531236044262 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.03 [[ 0.9983754 0.04606399 -0.03353603 3.13176402] [-0.04625941 0.99891657 -0.00507456 -0.49683168] [ 0.03326594 0.00661767 0.99942463 -1.02631502] [ 0. 0. 0. 1. ]] SLAMing on 83.336296757 meters Centerline goodness [0,1] 0.8183892650742863 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.03 [[ 0.99837484 0.0460195 -0.03361381 3.13183843] [-0.04620726 0.9989202 -0.00483026 -0.49752137] [ 0.03335523 0.00637561 0.99942322 -1.02599737] [ 0. 0. 0. 1. ]] SLAMing on 83.366296757 meters Centerline goodness [0,1] 0.8196395770242764 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.03 [[ 0.99836955 0.04606996 -0.03370152 3.13176625] [-0.04624739 0.99891986 -0.00450388 -0.49858764] [ 0.03345762 0.00605515 0.99942179 -1.02551343] [ 0. 0. 0. 1. ]] SLAMing on 83.396296757 meters Centerline goodness [0,1] 0.8203725901508341 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99850424 0.04341337 -0.03323484 3.12876903] [-0.04368259 0.99901793 -0.00741725 -0.49942743] [ 0.03288019 0.00885793 0.99942005 -1.02359125] [ 0. 0. 0. 1. ]] SLAMing on 83.426296757 meters Centerline goodness [0,1] 0.819211011919605 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99847838 0.04419393 -0.03298216 3.12750206] [-0.04444005 0.99898914 -0.00676628 -0.49944823] [ 0.03264979 0.00822171 0.99943304 -1.02258679] [ 0. 0. 0. 1. ]] SLAMing on 83.456296757 meters Centerline goodness [0,1] 0.8182542052353936 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.9984667 0.04450861 -0.03291245 3.12715048] [-0.04475304 0.99897543 -0.00672715 -0.49836813] [ 0.03257931 0.00818977 0.9994356 -1.02240777] [ 0. 0. 0. 1. ]] SLAMing on 83.486296757 meters Centerline goodness [0,1] 0.8189899895413119 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99845037 0.04492313 -0.03284458 3.12676598] [-0.04516427 0.99895753 -0.00663703 -0.49752037] [ 0.03251218 0.00811014 0.99943843 -1.0222313 ] [ 0. 0. 0. 1. ]] SLAMing on 83.516296757 meters Centerline goodness [0,1] 0.819622303054462 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99840057 0.04608285 -0.03275165 3.12596516] [-0.04630893 0.99890806 -0.00617771 -0.49693584] [ 0.0324312 0.00768452 0.99944443 -1.02192209] [ 0. 0. 0. 1. ]] SLAMing on 83.54629675700001 meters Centerline goodness [0,1] 0.8189893259685004 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 0.99838294 0.04657039 -0.03259899 3.12558457] [-0.04679455 0.99888562 -0.00614677 -0.49624582] [ 0.03227641 0.00766229 0.99944961 -1.02202708] [ 0. 0. 0. 1. ]] SLAMing on 83.57629675700001 meters Centerline goodness [0,1] 0.823210870159227 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98174360e-01 5.07019882e-02 -3.28215746e-02 3.12675570e+00] [-5.07987218e-02 9.98706662e-01 -2.11958872e-03 -4.97568510e-01] [ 3.26716578e-02 3.78301315e-03 9.99458979e-01 -1.02246733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60629675700001 meters Centerline goodness [0,1] 0.8187437934458789 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98151646e-01 5.11621081e-02 -3.27983294e-02 3.12655206e+00] [-5.12606757e-02 9.98682948e-01 -2.17093072e-03 -4.96328305e-01] [ 3.26440629e-02 3.84818260e-03 9.99459632e-01 -1.02250745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63629675700001 meters Centerline goodness [0,1] 0.821939743305496 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97939162e-01 5.50191067e-02 -3.30201117e-02 3.12798881e+00] [-5.50102428e-02 9.98485096e-01 1.17754052e-03 -4.94709515e-01] [ 3.30348766e-02 6.41330563e-04 9.99453994e-01 -1.02329440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.666296757 meters Centerline goodness [0,1] 0.8172353391064071 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97923285e-01 5.52494307e-02 -3.31152300e-02 3.12817931e+00] [-5.52485795e-02 9.98472187e-01 9.41440207e-04 -4.93406084e-01] [ 3.31166502e-02 8.90084315e-04 9.99451097e-01 -1.02350547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.696296757 meters Centerline goodness [0,1] 0.8105564043171849 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97903142e-01 5.56012946e-02 -3.31332894e-02 3.12826919e+00] [-5.56076913e-02 9.98452429e-01 7.29108966e-04 -4.92672403e-01] [ 3.31225527e-02 1.11488560e-03 9.99450676e-01 -1.02395359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.726296757 meters Centerline goodness [0,1] 0.7951664611590629 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97898233e-01 5.55736774e-02 -3.33269181e-02 3.12883056e+00] [-5.55828721e-02 9.98453865e-01 6.51221435e-04 -4.92718064e-01] [ 3.33115810e-02 1.20255311e-03 9.99444292e-01 -1.02419356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.756296757 meters Centerline goodness [0,1] 0.8186007540846251 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97896263e-01 5.54775444e-02 -3.35453607e-02 3.12937564e+00] [-5.54912366e-02 9.98459037e-01 5.23408607e-04 -4.92687779e-01] [ 3.35227060e-02 1.33916606e-03 9.99437059e-01 -1.02434827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.786296757 meters Centerline goodness [0,1] 0.8135497356449035 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97906696e-01 5.50885278e-02 -3.38744811e-02 3.13021025e+00] [-5.51041803e-02 9.98480499e-01 4.72041112e-04 -4.92860604e-01] [ 3.38490129e-02 1.39557253e-03 9.99425984e-01 -1.02429391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.816296757 meters Centerline goodness [0,1] 0.8178753352855772 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97945215e-01 5.41355423e-02 -3.42737583e-02 3.13151416e+00] [-5.41563983e-02 9.98532414e-01 3.20219385e-04 -4.93628017e-01] [ 3.42407938e-02 1.53658190e-03 9.99412431e-01 -1.02427817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.846296757 meters Centerline goodness [0,1] 0.8186878140084721 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.97956177e-01 5.37628515e-02 -3.45401759e-02 3.13198926e+00] [-5.37748338e-02 9.98552917e-01 5.82643496e-04 -4.94832458e-01] [ 3.45215180e-02 1.27593954e-03 9.99403140e-01 -1.02376386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.876296757 meters Centerline goodness [0,1] 0.8172547470307909 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98167253e-01 4.96472760e-02 -3.46017824e-02 3.13119644e+00] [-4.97751200e-02 9.98756405e-01 -2.84262501e-03 -4.96510304e-01] [ 3.44176232e-02 4.55972307e-03 9.99397136e-01 -1.02278067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.906296757 meters Centerline goodness [0,1] 0.819081952640806 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98173571e-01 4.92789129e-02 -3.49443901e-02 3.13181228e+00] [-4.93920865e-02 9.98776625e-01 -2.38233067e-03 -4.98421863e-01] [ 3.47842413e-02 4.10395585e-03 9.99386419e-01 -1.02214821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93629675700001 meters Centerline goodness [0,1] 0.8214100121254114 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98180664e-01 4.89241047e-02 -3.52390947e-02 3.13244603e+00] [-4.90291540e-02 9.98795092e-01 -2.12257924e-03 -4.99604044e-01] [ 3.50927896e-02 3.84646056e-03 9.99376656e-01 -1.02180237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96629675700001 meters Centerline goodness [0,1] 0.819835695316572 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98195423e-01 4.84520023e-02 -3.54725322e-02 3.13324024e+00] [-4.85525679e-02 9.98818669e-01 -1.97861868e-03 -5.00017571e-01] [ 3.53347594e-02 3.69733064e-03 9.99368693e-01 -1.02170258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99629675700001 meters Centerline goodness [0,1] 0.817684481520905 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.50, Z:-1.02 [[ 9.98204738e-01 4.79282161e-02 -3.59191834e-02 3.13476732e+00] [-4.80383263e-02 9.98843052e-01 -2.20827228e-03 -4.99695754e-01] [ 3.57717883e-02 3.92980531e-03 9.99352258e-01 -1.02222369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.026296757 meters Centerline goodness [0,1] 0.817643121017529 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.50, Z:-1.02 [[ 9.98207401e-01 4.78066607e-02 -3.60070492e-02 3.13523122e+00] [-4.79206280e-02 9.98848480e-01 -2.30830332e-03 -4.99524717e-01] [ 3.58552341e-02 4.02964587e-03 9.99348870e-01 -1.02253971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.056296757 meters Centerline goodness [0,1] 0.8168713028781628 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.50, Z:-1.02 [[ 9.98211095e-01 4.77564755e-02 -3.59712154e-02 3.13535688e+00] [-4.78714707e-02 9.98850758e-01 -2.34191218e-03 -4.99809152e-01] [ 3.58180343e-02 4.05971771e-03 9.99350082e-01 -1.02267668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.086296757 meters Centerline goodness [0,1] 0.8163776015857285 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.50, Z:-1.02 [[ 9.98211275e-01 4.75700975e-02 -3.62123866e-02 3.13608606e+00] [-4.76960066e-02 9.98858460e-01 -2.62057334e-03 -4.99526199e-01] [ 3.60463878e-02 4.34307209e-03 9.99340680e-01 -1.02297581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.116296757 meters Centerline goodness [0,1] 0.8131275474699274 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.50, Z:-1.02 [[ 9.98209768e-01 4.76280581e-02 -3.61777288e-02 3.13617183e+00] [-4.77606764e-02 9.98854855e-01 -2.80992414e-03 -4.98640502e-01] [ 3.60024688e-02 4.53276652e-03 9.99341421e-01 -1.02320789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.146296757 meters Centerline goodness [0,1] 0.8125372245384157 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.50, Z:-1.02 [[ 9.98180023e-01 4.84349723e-02 -3.59262499e-02 3.13528282e+00] [-4.85674911e-02 9.98815909e-01 -2.82463272e-03 -4.95454675e-01] [ 3.57468990e-02 4.56433977e-03 9.99350452e-01 -1.02295646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.176296757 meters Centerline goodness [0,1] 0.8141842567617728 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98132236e-01 4.94962387e-02 -3.58072815e-02 3.13423046e+00] [-4.96234724e-02 9.98764420e-01 -2.67278863e-03 -4.93038765e-01] [ 3.56307458e-02 4.44467814e-03 9.99355139e-01 -1.02228972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.206296757 meters Centerline goodness [0,1] 0.8173751853682649 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98114807e-01 4.97019088e-02 -3.60076604e-02 3.13454690e+00] [-4.98315555e-02 9.98753956e-01 -2.71151948e-03 -4.92724712e-01] [ 3.58280255e-02 4.50072547e-03 9.99347835e-01 -1.02230922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.236296757 meters Centerline goodness [0,1] 0.8179902313242258 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98082284e-01 5.05269732e-02 -3.57600265e-02 3.13401451e+00] [-5.06570390e-02 9.98712349e-01 -2.73996171e-03 -4.91683445e-01] [ 3.55755381e-02 4.54620429e-03 9.99356650e-01 -1.02277182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.266296757 meters Centerline goodness [0,1] 0.8191307789348703 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98069899e-01 5.08702209e-02 -3.56187853e-02 3.13402859e+00] [-5.10059193e-02 9.98694109e-01 -2.91090156e-03 -4.90297324e-01] [ 3.54241928e-02 4.72205212e-03 9.99361210e-01 -1.02336267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29629675700001 meters Centerline goodness [0,1] 0.8187211113033591 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98051559e-01 5.13422130e-02 -3.54550908e-02 3.13364397e+00] [-5.14749636e-02 9.98670244e-01 -2.84098075e-03 -4.88940315e-01] [ 3.52620819e-02 4.66049477e-03 9.99367232e-01 -1.02339623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32629675700001 meters Centerline goodness [0,1] 0.8177418562374097 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98017794e-01 5.20673173e-02 -3.53479461e-02 3.13298393e+00] [-5.21870832e-02 9.98634263e-01 -2.47342889e-03 -4.87818405e-01] [ 3.51708853e-02 4.31323225e-03 9.99372005e-01 -1.02288714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35629675700001 meters Centerline goodness [0,1] 0.812127456030613 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98021577e-01 5.19035056e-02 -3.54818105e-02 3.13313283e+00] [-5.20072848e-02 9.98644688e-01 -2.00757255e-03 -4.89435250e-01] [ 3.53295215e-02 3.84891335e-03 9.99368306e-01 -1.02214315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38629675700001 meters Centerline goodness [0,1] 0.8187896366943611 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98022163e-01 5.17377487e-02 -3.57066817e-02 3.13341297e+00] [-5.18311923e-02 9.98654421e-01 -1.69568327e-03 -4.90632406e-01] [ 3.55709047e-02 3.54304937e-03 9.99360875e-01 -1.02157037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.416296757 meters Centerline goodness [0,1] 0.8139030580813681 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98041337e-01 5.12785097e-02 -3.58330081e-02 3.13349380e+00] [-5.13589267e-02 9.98679378e-01 -1.32675635e-03 -4.91639704e-01] [ 3.57176521e-02 3.16450252e-03 9.99356911e-01 -1.02050877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.446296757 meters Centerline goodness [0,1] 0.8176987231530002 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98051781e-01 5.10481067e-02 -3.58710544e-02 3.13363086e+00] [-5.11306295e-02 9.98691012e-01 -1.38636995e-03 -4.91242903e-01] [ 3.57533280e-02 3.21777859e-03 9.99355465e-01 -1.02030787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.476296757 meters Centerline goodness [0,1] 0.8179130220524824 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98060051e-01 5.07656075e-02 -3.60414715e-02 3.13401983e+00] [-5.08491775e-02 9.98705355e-01 -1.40528481e-03 -4.91087739e-01] [ 3.59234705e-02 3.23523781e-03 9.99349307e-01 -1.02004437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.506296757 meters Centerline goodness [0,1] 0.8149003612059857 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.49, Z:-1.02 [[ 9.98077145e-01 5.01519135e-02 -3.64252314e-02 3.13499331e+00] [-5.02351417e-02 9.98736475e-01 -1.37271725e-03 -4.92473414e-01] [ 3.63103628e-02 3.19990437e-03 9.99335438e-01 -1.01971025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.536296757 meters Centerline goodness [0,1] 0.8138971315529179 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.98070779e-01 5.01615516e-02 -3.65860549e-02 3.13522064e+00] [-5.02363119e-02 9.98736724e-01 -1.12642019e-03 -4.93547720e-01] [ 3.64833337e-02 2.96219554e-03 9.99329871e-01 -1.01949704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.566296757 meters Centerline goodness [0,1] 0.8105574012550757 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97978375e-01 5.17999651e-02 -3.68229082e-02 3.13779468e+00] [-5.18046963e-02 9.98656893e-01 8.26268255e-04 -4.94216220e-01] [ 3.68162518e-02 1.08300173e-03 9.99321465e-01 -1.02117813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.596296757 meters Centerline goodness [0,1] 0.8105574012550757 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97978375e-01 5.17999651e-02 -3.68229082e-02 3.13779468e+00] [-5.18046963e-02 9.98656893e-01 8.26268255e-04 -4.94216220e-01] [ 3.68162518e-02 1.08300173e-03 9.99321465e-01 -1.02117813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.626296757 meters Centerline goodness [0,1] 0.8086009825462266 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97967656e-01 5.20646254e-02 -3.67400560e-02 3.13748930e+00] [-5.20699819e-02 9.98643108e-01 8.11688349e-04 -4.92842444e-01] [ 3.67324640e-02 1.10301533e-03 9.99324527e-01 -1.02099970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.656296757 meters Centerline goodness [0,1] 0.8063793655090941 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97768341e-01 5.56089096e-02 -3.69592571e-02 3.13928547e+00] [-5.54839458e-02 9.98449889e-01 4.39903321e-03 -4.92242846e-01] [ 3.71465916e-02 -2.33857065e-03 9.99307091e-01 -1.02192534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68629675700001 meters Centerline goodness [0,1] 0.8032174874125015 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97760168e-01 5.56664233e-02 -3.70930797e-02 3.13982165e+00] [-5.55515079e-02 9.98447313e-01 4.12230383e-03 -4.91380976e-01] [ 3.72649597e-02 -2.05249405e-03 9.99303312e-01 -1.02242532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71629675700001 meters Centerline goodness [0,1] 0.8032602034563059 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97753581e-01 5.56615278e-02 -3.72771576e-02 3.14042130e+00] [-5.55570009e-02 9.98448153e-01 3.83486893e-03 -4.91215198e-01] [ 3.74327638e-02 -1.75524713e-03 9.99297607e-01 -1.02291320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74629675700001 meters Centerline goodness [0,1] 0.801027809879761 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97725242e-01 5.63627410e-02 -3.69808369e-02 3.13938911e+00] [-5.62508310e-02 9.98408412e-01 4.06050097e-03 -4.92006702e-01] [ 3.71508395e-02 -1.97106151e-03 9.99307725e-01 -1.02263097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.776296757 meters Centerline goodness [0,1] 0.8012082218020187 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97701694e-01 5.68613756e-02 -3.68525926e-02 3.13905341e+00] [-5.67611962e-02 9.98380704e-01 3.75980621e-03 -4.89866999e-01] [ 3.70067051e-02 -1.65936778e-03 9.99313640e-01 -1.02286575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.806296757 meters Centerline goodness [0,1] 0.7971981648224932 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97696470e-01 5.69277763e-02 -3.68915016e-02 3.13960018e+00] [-5.68471247e-02 9.98377662e-01 3.23230561e-03 -4.87949654e-01] [ 3.70156591e-02 -1.12768410e-03 9.99314049e-01 -1.02371664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.836296757 meters Centerline goodness [0,1] 0.7966329472706837 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.49, Z:-1.02 [[ 9.97690248e-01 5.69912251e-02 -3.69617257e-02 3.14028283e+00] [-5.69300464e-02 9.98374501e-01 2.70641706e-03 -4.85891656e-01] [ 3.70558865e-02 -5.95933146e-04 9.99313017e-01 -1.02465738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.866296757 meters Centerline goodness [0,1] 0.7821987232591004 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.48, Z:-1.03 [[ 0.99745842 0.06104704 -0.03674171 3.14102908] [-0.06085896 0.99812701 0.00621685 -0.48467165] [ 0.03705241 -0.00396499 0.99930546 -1.02566819] [ 0. 0. 0. 1. ]] SLAMing on 84.896296757 meters Centerline goodness [0,1] 0.7842822774659182 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97390952e-01 6.52202008e-02 -3.09453455e-02 3.15144850e+00] [-6.52913635e-02 9.97865404e-01 -1.29367287e-03 -4.82398616e-01] [ 3.07949160e-02 3.31076142e-03 9.99520241e-01 -1.02981976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.926296757 meters Centerline goodness [0,1] 0.7839700956357105 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97363507e-01 6.57169265e-02 -3.07785838e-02 3.15059526e+00] [-6.57778385e-02 9.97833822e-01 -9.69627629e-04 -4.82498751e-01] [ 3.06481910e-02 2.99161993e-03 9.99525757e-01 -1.02918285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.956296757 meters Centerline goodness [0,1] 0.7770541809906552 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97350812e-01 6.60985556e-02 -3.03700322e-02 3.14963742e+00] [-6.61628328e-02 9.97808216e-01 -1.11535151e-03 -4.80787329e-01] [ 3.02297445e-02 3.12176410e-03 9.99538102e-01 -1.02908701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.986296757 meters Centerline goodness [0,1] 0.7776889534883721 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97357708e-01 6.59842808e-02 -3.03920587e-02 3.15004162e+00] [-6.60591830e-02 9.97814630e-01 -1.46599791e-03 -4.79388472e-01] [ 3.02289080e-02 3.46979889e-03 9.99536980e-01 -1.02955809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.016296757 meters Centerline goodness [0,1] 0.7784321297547789 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97365071e-01 6.58435390e-02 -3.04555988e-02 3.15035609e+00] [-6.59266579e-02 9.97822968e-01 -1.73203742e-03 -4.78242882e-01] [ 3.02752525e-02 3.73530947e-03 9.99534620e-01 -1.02973867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04629675700001 meters Centerline goodness [0,1] 0.7682087208600072 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97384367e-01 6.55770165e-02 -3.03986846e-02 3.15033550e+00] [-6.56659451e-02 9.97839786e-01 -1.93531318e-03 -4.77869011e-01] [ 3.02061049e-02 3.92640947e-03 9.99535980e-01 -1.02955559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07629675700001 meters Centerline goodness [0,1] 0.7885874423211654 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97404255e-01 6.51132605e-02 -3.07411059e-02 3.15121518e+00] [-6.52071956e-02 9.97869615e-01 -2.06206492e-03 -4.78668763e-01] [ 3.05413477e-02 4.06125363e-03 9.99525253e-01 -1.02953552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10629675700001 meters Centerline goodness [0,1] 0.7877723120168658 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97415402e-01 6.47957439e-02 -3.10487967e-02 3.15220787e+00] [-6.48949467e-02 9.97889683e-01 -2.19702749e-03 -4.78990752e-01] [ 3.08409159e-02 4.20625907e-03 9.99515455e-01 -1.02994056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13629675700001 meters Centerline goodness [0,1] 0.7904849482141129 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97429358e-01 6.45073658e-02 -3.12005665e-02 3.15290835e+00] [-6.46130340e-02 9.97907534e-01 -2.38940393e-03 -4.78982251e-01] [ 3.09811462e-02 4.39922490e-03 9.99510288e-01 -1.03035300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.166296757 meters Centerline goodness [0,1] 0.7911704559124263 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97453430e-01 6.40285858e-02 -3.14164864e-02 3.15398706e+00] [-6.41465450e-02 9.97936672e-01 -2.76025258e-03 -4.77419149e-01] [ 3.11749288e-02 4.76848246e-03 9.99502569e-01 -1.03091540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.196296757 meters Centerline goodness [0,1] 0.7917078700465497 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 9.97460221e-01 6.38509360e-02 -3.15621020e-02 3.15444973e+00] [-6.39741834e-02 9.97947312e-01 -2.90959986e-03 -4.76566837e-01] [ 3.13115341e-02 4.92136982e-03 9.99497558e-01 -1.03101673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.226296757 meters Centerline goodness [0,1] 0.7527492359891234 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.9974951 0.06311552 -0.03193677 3.15575813] [-0.06325107 0.99799235 -0.00325107 -0.47639584] [ 0.03166746 0.00526296 0.9994846 -1.03128886] [ 0. 0. 0. 1. ]] SLAMing on 85.256296757 meters Centerline goodness [0,1] 0.7953110256224142 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.48, Z:-1.03 [[ 0.99769636 0.05981524 -0.03200162 3.15465719] [-0.06006508 0.9981706 -0.00690252 -0.47547125] [ 0.0315302 0.0088088 0.99946398 -1.03057326] [ 0. 0. 0. 1. ]] SLAMing on 85.286296757 meters Centerline goodness [0,1] 0.7933351054831927 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99775102 0.05856777 -0.03259942 3.15681742] [-0.05883844 0.99824005 -0.00740576 -0.47774502] [ 0.03210831 0.00930721 0.99944106 -1.03133805] [ 0. 0. 0. 1. ]] SLAMing on 85.316296757 meters Centerline goodness [0,1] 0.7963780173141383 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99777245 0.05786665 -0.0331902 3.15955016] [-0.05816534 0.99827406 -0.00810467 -0.47762032] [ 0.03266393 0.01001713 0.99941619 -1.03338054] [ 0. 0. 0. 1. ]] SLAMing on 85.346296757 meters Centerline goodness [0,1] 0.7921155611382192 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99777948 0.05763162 -0.03338715 3.16084813] [-0.05795061 0.99828184 -0.00866567 -0.47599066] [ 0.03283037 0.01058123 0.99940493 -1.03463679] [ 0. 0. 0. 1. ]] SLAMing on 85.376296757 meters Centerline goodness [0,1] 0.7912321873563497 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.47, Z:-1.04 [[ 0.99777206 0.05774547 -0.03341225 3.16127159] [-0.05807211 0.99827282 -0.00888899 -0.47429974] [ 0.03284125 0.01080951 0.99940212 -1.03519117] [ 0. 0. 0. 1. ]] SLAMing on 85.406296757 meters Centerline goodness [0,1] 0.7911516412278368 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99753732 0.06168782 -0.03337524 3.16169257] [-0.06187504 0.99807328 -0.00460498 -0.47546672] [ 0.03302686 0.00665873 0.99943228 -1.03470483] [ 0. 0. 0. 1. ]] SLAMing on 85.43629675700001 meters Centerline goodness [0,1] 0.7791117902447307 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99750775 0.06225965 -0.03319687 3.16075501] [-0.06242704 0.9980414 -0.00402912 -0.47654076] [ 0.032881 0.00609146 0.99944071 -1.03401528] [ 0. 0. 0. 1. ]] SLAMing on 85.46629675700001 meters Centerline goodness [0,1] 0.7841212769058841 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.997471 0.06290777 -0.033079 3.1600595 ] [-0.06306038 0.99800326 -0.00358947 -0.47734009] [ 0.03278715 0.00566636 0.99944629 -1.03350653] [ 0. 0. 0. 1. ]] SLAMing on 85.49629675700001 meters Centerline goodness [0,1] 0.7782146497742828 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99745087 0.06330135 -0.03293478 3.15975472] [-0.06345252 0.99797849 -0.00356441 -0.47662016] [ 0.03264257 0.00564512 0.99945115 -1.03355836] [ 0. 0. 0. 1. ]] SLAMing on 85.526296757 meters Centerline goodness [0,1] 0.7424150411737557 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99744155 0.06340656 -0.03301473 3.15988472] [-0.06355669 0.99797203 -0.00351688 -0.4763723 ] [ 0.03272479 0.00560619 0.99944868 -1.03347647] [ 0. 0. 0. 1. ]] SLAMing on 85.556296757 meters Centerline goodness [0,1] 0.7676073440839324 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99743314 0.06347056 -0.03314555 3.16011493] [-0.06361221 0.99796945 -0.00323569 -0.47714877] [ 0.03287288 0.00533584 0.9994453 -1.03325045] [ 0. 0. 0. 1. ]] SLAMing on 85.586296757 meters Centerline goodness [0,1] 0.7696537628652765 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99744454 0.06312121 -0.03346785 3.16107805] [-0.0632628 0.99799181 -0.00318753 -0.47812366] [ 0.03319944 0.00529665 0.99943471 -1.0334671 ] [ 0. 0. 0. 1. ]] SLAMing on 85.616296757 meters Centerline goodness [0,1] 0.7760728725217985 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 9.97458827e-01 6.26779687e-02 -3.38726996e-02 3.16212537e+00] [-6.28161395e-02 9.98020518e-01 -3.02940316e-03 -4.79510578e-01] [ 3.36157723e-02 5.14945714e-03 9.99421564e-01 -1.03341726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.646296757 meters Centerline goodness [0,1] 0.7857230167461191 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99770803 0.0583214 -0.03431172 3.16271117] [-0.05858533 0.99825967 -0.00673698 -0.4808087 ] [ 0.0338591 0.0087317 0.99938847 -1.03342336] [ 0. 0. 0. 1. ]] SLAMing on 85.676296757 meters Centerline goodness [0,1] 0.7921105601649565 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.48, Z:-1.03 [[ 0.99795063 0.0534995 -0.03510487 3.16477753] [-0.05389972 0.99849057 -0.01055429 -0.48305993] [ 0.03448723 0.0124248 0.9993279 -1.03426973] [ 0. 0. 0. 1. ]] SLAMing on 85.706296757 meters Centerline goodness [0,1] 0.7985030529840457 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.49, Z:-1.04 [[ 0.99797873 0.0526667 -0.03556225 3.16675599] [-0.05306847 0.9985362 -0.01044926 -0.48570752] [ 0.03495987 0.01231538 0.99931283 -1.03523115] [ 0. 0. 0. 1. ]] SLAMing on 85.736296757 meters Centerline goodness [0,1] 0.8037588599935788 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.49, Z:-1.04 [[ 0.99801045 0.05173289 -0.03603962 3.16883544] [-0.05213829 0.99858571 -0.01040075 -0.48807354] [ 0.03545059 0.0122591 0.99929624 -1.03620038] [ 0. 0. 0. 1. ]] SLAMing on 85.766296757 meters Centerline goodness [0,1] 0.7996030761597619 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.49, Z:-1.04 [[ 0.99822854 0.04698344 -0.03650112 3.17029744] [-0.04752449 0.99877057 -0.01409889 -0.48954375] [ 0.03579383 0.01580861 0.99923415 -1.0369476 ] [ 0. 0. 0. 1. ]] SLAMing on 85.79629675700001 meters Centerline goodness [0,1] 0.8047561005945125 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.49, Z:-1.04 [[ 0.99824181 0.04654548 -0.03669899 3.17111866] [-0.04706857 0.99880015 -0.01352043 -0.4919711 ] [ 0.03602564 0.01522403 0.9992349 -1.03689146] [ 0. 0. 0. 1. ]] SLAMing on 85.82629675700001 meters Centerline goodness [0,1] 0.8077493278387818 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.50, Z:-1.04 [[ 0.99840921 0.04249137 -0.0370612 3.17133402] [-0.0431058 0.99894334 -0.01594011 -0.49705482] [ 0.03634472 0.01751231 0.99918586 -1.03595215] [ 0. 0. 0. 1. ]] SLAMing on 85.85629675700001 meters Centerline goodness [0,1] 0.8120351929815716 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.50, Z:-1.04 [[ 0.99855583 0.0384378 -0.03753382 3.17215006] [-0.03916658 0.99905435 -0.01887797 -0.50140765] [ 0.0367727 0.02032078 0.99911703 -1.03590842] [ 0. 0. 0. 1. ]] SLAMing on 85.88629675700001 meters Centerline goodness [0,1] 0.8106218538668837 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.50, Z:-1.04 [[ 0.99854582 0.03843562 -0.03780147 3.17294973] [-0.03914545 0.99906739 -0.01822023 -0.504107 ] [ 0.03706591 0.01967349 0.99911915 -1.03606208] [ 0. 0. 0. 1. ]] SLAMing on 85.916296757 meters Centerline goodness [0,1] 0.8036823876948151 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.51, Z:-1.04 [[ 0.99853489 0.03841579 -0.03810905 3.17398054] [-0.03910823 0.99908008 -0.01759366 -0.50620343] [ 0.03739812 0.01905826 0.99911869 -1.03633162] [ 0. 0. 0. 1. ]] SLAMing on 85.946296757 meters Centerline goodness [0,1] 0.8049811668844646 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.51, Z:-1.04 [[ 0.99852627 0.03837914 -0.03837102 3.17549517] [-0.03904608 0.99909641 -0.01678563 -0.50961732] [ 0.03769213 0.01825913 0.99912257 -1.03736409] [ 0. 0. 0. 1. ]] SLAMing on 85.976296757 meters Centerline goodness [0,1] 0.8000514933058702 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.51, Z:-1.04 [[ 0.99850555 0.03889795 -0.03838765 3.17525021] [-0.03952961 0.99909292 -0.01583502 -0.51192844] [ 0.03773688 0.01732881 0.99913745 -1.03693299] [ 0. 0. 0. 1. ]] SLAMing on 86.006296757 meters Centerline goodness [0,1] 0.8004558050397534 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 0.99845376 0.04041051 -0.03817166 3.17373795] [-0.04096236 0.99906557 -0.01378688 -0.51720221] [ 0.03757886 0.01532916 0.99917608 -1.03558219] [ 0. 0. 0. 1. ]] SLAMing on 86.036296757 meters Centerline goodness [0,1] 0.8037349146899708 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.03 [[ 0.99842271 0.04149811 -0.03781538 3.17229922] [-0.04200834 0.99903527 -0.01279919 -0.5189112 ] [ 0.03724775 0.01436756 0.99920277 -1.03487454] [ 0. 0. 0. 1. ]] SLAMing on 86.066296757 meters Centerline goodness [0,1] 0.8049630631567994 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 0.99821248 0.04662615 -0.03738783 3.17179926] [-0.04695803 0.99886444 -0.00804768 -0.52049363] [ 0.03697014 0.00978895 0.99926842 -1.03518798] [ 0. 0. 0. 1. ]] SLAMing on 86.096296757 meters Centerline goodness [0,1] 0.8014460079297209 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 0.99800424 0.050771 -0.03754795 3.17278817] [-0.05094707 0.99869433 -0.00374678 -0.52177694] [ 0.03730869 0.00565227 0.9992878 -1.03532341] [ 0. 0. 0. 1. ]] SLAMing on 86.126296757 meters Centerline goodness [0,1] 0.8020911709000338 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.03 [[ 9.97900492e-01 5.31413631e-02 -3.70216717e-02 3.17028371e+00] [-5.32772304e-02 9.98576130e-01 -2.69241460e-03 -5.22092185e-01] [ 3.68258790e-02 4.65917398e-03 9.99310836e-01 -1.03474703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.156296757 meters Centerline goodness [0,1] 0.8057202288091524 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.03 [[ 9.97862084e-01 5.40099163e-02 -3.67993273e-02 3.16922197e+00] [-5.41235020e-02 9.98532048e-01 -2.09672935e-03 -5.22884783e-01] [ 3.66320634e-02 4.08395518e-03 9.99320476e-01 -1.03421931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18629675700001 meters Centerline goodness [0,1] 0.8042211002966742 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 9.97819202e-01 5.49773217e-02 -3.65285452e-02 3.16871001e+00] [-5.50893367e-02 9.98479291e-01 -2.06634936e-03 -5.22344554e-01] [ 3.63593936e-02 4.07417640e-03 9.99330474e-01 -1.03510982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21629675700001 meters Centerline goodness [0,1] 0.795885050918608 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 9.97798905e-01 5.54344675e-02 -3.63918155e-02 3.16914053e+00] [-5.55572818e-02 9.98452685e-01 -2.37146858e-03 -5.21170088e-01] [ 3.62040448e-02 4.38807911e-03 9.99334785e-01 -1.03664169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24629675700001 meters Centerline goodness [0,1] 0.7829533678756477 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 9.97787855e-01 5.56270064e-02 -3.64009994e-02 3.16925442e+00] [-5.57463240e-02 9.98442383e-01 -2.27038473e-03 -5.21528754e-01] [ 3.62180059e-02 4.29458422e-03 9.99334685e-01 -1.03685921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.276296757 meters Centerline goodness [0,1] 0.7861255186721992 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.52, Z:-1.04 [[ 9.97775320e-01 5.58102170e-02 -3.64640852e-02 3.16920108e+00] [-5.59179569e-02 9.98433481e-01 -1.94076306e-03 -5.22416582e-01] [ 3.62986491e-02 3.97544262e-03 9.99333080e-01 -1.03656750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.306296757 meters Centerline goodness [0,1] 0.7891050178371481 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.53, Z:-1.03 [[ 9.97758087e-01 5.58570553e-02 -3.68617538e-02 3.16936850e+00] [-5.59223104e-02 9.98434848e-01 -7.40794445e-04 -5.25442527e-01] [ 3.67626810e-02 2.80052809e-03 9.99320100e-01 -1.03475931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.336296757 meters Centerline goodness [0,1] 0.785805476668143 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.53, Z:-1.03 [[ 9.97755092e-01 5.57726935e-02 -3.70699621e-02 3.16984974e+00] [-5.58300671e-02 9.98440153e-01 -5.13547038e-04 -5.26334738e-01] [ 3.69834967e-02 2.58201264e-03 9.99312541e-01 -1.03462873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.366296757 meters Centerline goodness [0,1] 0.7961600667814472 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.53, Z:-1.03 [[ 9.97767919e-01 5.50019372e-02 -3.78677651e-02 3.17212332e+00] [-5.50605500e-02 9.98482889e-01 -5.05898233e-04 -5.28138957e-01] [ 3.77824901e-02 2.58978900e-03 9.99282631e-01 -1.03498506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.396296757 meters Centerline goodness [0,1] 0.7952850676365159 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.53, Z:-1.04 [[ 9.97772886e-01 5.44473844e-02 -3.85324569e-02 3.17406925e+00] [-5.44977616e-02 9.98513860e-01 -2.57468433e-04 -5.30666218e-01] [ 3.84611738e-02 2.35682767e-03 9.99257316e-01 -1.03529236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.426296757 meters Centerline goodness [0,1] 0.7984067503472131 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.53, Z:-1.04 [[ 9.97761653e-01 5.42998376e-02 -3.90283501e-02 3.17519486e+00] [-5.43425961e-02 9.98522349e-01 -3.47727671e-05 -5.31607467e-01] [ 3.89687916e-02 2.15559680e-03 9.99238103e-01 -1.03525219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.456296757 meters Centerline goodness [0,1] 0.7988294577712456 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.53, Z:-1.04 [[ 9.97757776e-01 5.39444847e-02 -3.96158110e-02 3.17693696e+00] [-5.39794594e-02 9.98542029e-01 1.87039886e-04 -5.33445452e-01] [ 3.95681420e-02 1.95181956e-03 9.99214968e-01 -1.03566858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.486296757 meters Centerline goodness [0,1] 0.7944979150822166 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.53, Z:-1.04 [[ 9.97757925e-01 5.36826782e-02 -3.99661552e-02 3.17796282e+00] [-5.37192262e-02 9.98556067e-01 1.59644718e-04 -5.34044361e-01] [ 3.99170169e-02 1.98766415e-03 9.99201021e-01 -1.03593269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.516296757 meters Centerline goodness [0,1] 0.7944979150822166 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.53, Z:-1.04 [[ 9.97757925e-01 5.36826782e-02 -3.99661552e-02 3.17796282e+00] [-5.37192262e-02 9.98556067e-01 1.59644718e-04 -5.34044361e-01] [ 3.99170169e-02 1.98766415e-03 9.99201021e-01 -1.03593269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54629675700001 meters Centerline goodness [0,1] 0.7936228379159875 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.54, Z:-1.04 [[ 9.97748434e-01 5.37749363e-02 -4.00789073e-02 3.17856540e+00] [-5.38073163e-02 9.98551300e-01 2.71141931e-04 -5.35101583e-01] [ 4.00354256e-02 1.88600700e-03 9.99196481e-01 -1.03650794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57629675700001 meters Centerline goodness [0,1] 0.7838824951389984 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.53, Z:-1.04 [[ 9.97749928e-01 5.36295864e-02 -4.02361517e-02 3.17930462e+00] [-5.36726087e-02 9.98558587e-01 1.09965333e-05 -5.34574454e-01] [ 4.01787445e-02 2.14860744e-03 9.99190198e-01 -1.03707497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60629675700001 meters Centerline goodness [0,1] 0.7782372029728881 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.53, Z:-1.04 [[ 9.97748190e-01 5.37123490e-02 -4.01688107e-02 3.17947346e+00] [-5.37649834e-02 9.98553591e-01 -2.30425592e-04 -5.33719578e-01] [ 4.00983335e-02 2.38958216e-03 9.99192881e-01 -1.03759713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63629675700001 meters Centerline goodness [0,1] 0.7676741267517255 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99780076 0.05680888 -0.03415259 3.19075302] [-0.05711069 0.99833639 -0.0079265 -0.53120821] [ 0.03364548 0.00985955 0.9993852 -1.04133825] [ 0. 0. 0. 1. ]] SLAMing on 86.666296757 meters Centerline goodness [0,1] 0.7390918116737211 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99777371 0.05720147 -0.03428739 3.19069412] [-0.05749946 0.99831531 -0.00776819 -0.53158153] [ 0.03378527 0.0097224 0.99938182 -1.0410322 ] [ 0. 0. 0. 1. ]] SLAMing on 86.696296757 meters Centerline goodness [0,1] 0.7629590903149915 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99776196 0.05743186 -0.03424405 3.19063557] [-0.05773227 0.99830125 -0.00784858 -0.53061632] [ 0.03373512 0.009808 0.99938268 -1.04118164] [ 0. 0. 0. 1. ]] SLAMing on 86.726296757 meters Centerline goodness [0,1] 0.751523516849836 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99774705 0.05770548 -0.03421838 3.19045641] [-0.05801065 0.99828397 -0.00799293 -0.52902141] [ 0.03369843 0.00995996 0.99938242 -1.04115508] [ 0. 0. 0. 1. ]] SLAMing on 86.756296757 meters Centerline goodness [0,1] 0.7512527403695584 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99769588 0.05881597 -0.03381743 3.18867227] [-0.05909565 0.99822541 -0.00733046 -0.5285963 ] [ 0.03332627 0.00931203 0.99940114 -1.04015198] [ 0. 0. 0. 1. ]] SLAMing on 86.786296757 meters Centerline goodness [0,1] 0.735852006253257 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99767745 0.05922896 -0.03363979 3.18817794] [-0.05949489 0.99820435 -0.00695914 -0.52903989] [ 0.0331672 0.00894437 0.99940979 -1.04001726] [ 0. 0. 0. 1. ]] SLAMing on 86.816296757 meters Centerline goodness [0,1] 0.7381728987814107 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99767363 0.05921181 -0.0337831 3.18938633] [-0.05948472 0.99820375 -0.00713032 -0.52837654] [ 0.03330022 0.00912331 0.99940375 -1.04126496] [ 0. 0. 0. 1. ]] SLAMing on 86.846296757 meters Centerline goodness [0,1] 0.7230644358913937 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99767639 0.05907656 -0.03393776 3.18996109] [-0.05933921 0.99821482 -0.00678393 -0.52991513] [ 0.0334764 0.00878201 0.99940092 -1.04127377] [ 0. 0. 0. 1. ]] SLAMing on 86.876296757 meters Centerline goodness [0,1] 0.7368199626620389 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.53, Z:-1.04 [[ 0.99767126 0.05901129 -0.03420115 3.19020789] [-0.05925534 0.99822382 -0.00616591 -0.53198006] [ 0.03377655 0.00817815 0.99939595 -1.0404113 ] [ 0. 0. 0. 1. ]] SLAMing on 86.906296757 meters Centerline goodness [0,1] 0.7532282717545986 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.54, Z:-1.04 [[ 0.99772738 0.05788065 -0.03449489 3.1915138 ] [-0.05810342 0.99829547 -0.00549015 -0.53579342] [ 0.03411832 0.00748194 0.99938979 -1.03966122] [ 0. 0. 0. 1. ]] SLAMing on 86.93629675700001 meters Centerline goodness [0,1] 0.7617407888114852 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.54, Z:-1.04 [[ 0.99773877 0.05738191 -0.03499505 3.19289141] [-0.05759999 0.99832591 -0.00525484 -0.53737767] [ 0.03463493 0.00725868 0.99937367 -1.03960306] [ 0. 0. 0. 1. ]] SLAMing on 86.96629675700001 meters Centerline goodness [0,1] 0.7774442082890543 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.54, Z:-1.04 [[ 0.9977581 0.05673762 -0.03549113 3.19449865] [-0.05695586 0.99836332 -0.00516793 -0.5384509 ] [ 0.03513983 0.00717777 0.99935663 -1.03978414] [ 0. 0. 0. 1. ]] SLAMing on 86.99629675700001 meters Centerline goodness [0,1] 0.7813022145604032 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.54, Z:-1.04 [[ 0.99782013 0.05530807 -0.03600003 3.19687881] [-0.055533 0.9984429 -0.0052776 -0.54027417] [ 0.03565208 0.00726529 0.99933785 -1.04025093] [ 0. 0. 0. 1. ]] SLAMing on 87.026296757 meters Centerline goodness [0,1] 0.7934027315566679 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.54, Z:-1.04 [[ 0.99786182 0.05423261 -0.03647743 3.19915673] [-0.05446284 0.99850148 -0.00534708 -0.54235013] [ 0.03613278 0.00732231 0.99932017 -1.04115388] [ 0. 0. 0. 1. ]] SLAMing on 87.056296757 meters Centerline goodness [0,1] 0.7956251168505115 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.54, Z:-1.04 [[ 0.99786865 0.05380855 -0.03691603 3.20060958] [-0.05404335 0.99852404 -0.00539144 -0.54297263] [ 0.03657143 0.00737501 0.99930383 -1.0416246 ] [ 0. 0. 0. 1. ]] SLAMing on 87.086296757 meters Centerline goodness [0,1] 0.8007801020544468 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.54, Z:-1.04 [[ 0.99789248 0.05314156 -0.03723671 3.20206856] [-0.05337005 0.99856143 -0.00516861 -0.54460424] [ 0.03690847 0.00714505 0.99929311 -1.04191079] [ 0. 0. 0. 1. ]] SLAMing on 87.116296757 meters Centerline goodness [0,1] 0.8036317794109757 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.55, Z:-1.04 [[ 0.99788594 0.05306496 -0.03752022 3.20255583] [-0.05327875 0.99856852 -0.00472063 -0.54631295] [ 0.03721601 0.00670968 0.99928472 -1.04151538] [ 0. 0. 0. 1. ]] SLAMing on 87.146296757 meters Centerline goodness [0,1] 0.8088543064126643 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.55, Z:-1.04 [[ 0.99788329 0.05271026 -0.03808638 3.20367202] [-0.05287881 0.99859504 -0.00343115 -0.5504791 ] [ 0.03785201 0.00543785 0.99926856 -1.0401141 ] [ 0. 0. 0. 1. ]] SLAMing on 87.176296757 meters Centerline goodness [0,1] 0.8104222096804536 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.55, Z:-1.04 [[ 9.97871949e-01 5.27896002e-02 -3.82731117e-02 3.20382964e+00] [-5.29404410e-02 9.98593350e-01 -2.93776360e-03 -5.51866779e-01] [ 3.80641915e-02 4.95770730e-03 9.99262998e-01 -1.03958067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.206296757 meters Centerline goodness [0,1] 0.8073938348782065 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.55, Z:-1.04 [[ 9.97855682e-01 5.31393669e-02 -3.82131639e-02 3.20364681e+00] [-5.32813348e-02 9.98575875e-01 -2.70568532e-03 -5.51964538e-01] [ 3.80149652e-02 4.73593185e-03 9.99265947e-01 -1.03959118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.236296757 meters Centerline goodness [0,1] 0.8024931196373644 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.55, Z:-1.04 [[ 9.97849373e-01 5.32384828e-02 -3.82399313e-02 3.20398100e+00] [-5.33904180e-02 9.98569320e-01 -2.96233583e-03 -5.50880207e-01] [ 3.80275119e-02 4.99761087e-03 9.99264195e-01 -1.04013499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.266296757 meters Centerline goodness [0,1] 0.7899011015518211 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.55, Z:-1.04 [[ 9.97641891e-01 5.64123796e-02 -3.90934863e-02 3.20771232e+00] [-5.64489321e-02 9.98405473e-01 1.69061194e-04 -5.50604937e-01] [ 3.90406879e-02 2.03812303e-03 9.99235543e-01 -1.04196806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29629675700001 meters Centerline goodness [0,1] 0.7730778533229421 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.55, Z:-1.04 [[ 9.97621398e-01 5.68152860e-02 -3.90329362e-02 3.20745201e+00] [-5.68537658e-02 9.98382509e-01 1.24368230e-04 -5.49965325e-01] [ 3.89768668e-02 2.09509701e-03 9.99237917e-01 -1.04208135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32629675700001 meters Centerline goodness [0,1] 0.763376420950794 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.55, Z:-1.04 [[ 9.97606669e-01 5.70726818e-02 -3.90338706e-02 3.20736301e+00] [-5.71174718e-02 9.98367464e-01 -3.23378919e-05 -5.49558683e-01] [ 3.89683008e-02 2.26177650e-03 9.99237888e-01 -1.04227101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35629675700001 meters Centerline goodness [0,1] 0.7479144872723371 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.55, Z:-1.05 [[ 0.99760831 0.06047314 -0.03347617 3.21956337] [-0.06076366 0.99812226 -0.00772917 -0.54691437] [ 0.0329459 0.00974482 0.99940963 -1.04661638] [ 0. 0. 0. 1. ]] SLAMing on 87.38629675700001 meters Centerline goodness [0,1] 0.7392958576710786 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.55, Z:-1.05 [[ 0.99758705 0.06091657 -0.0333053 3.21888742] [-0.06120558 0.99809527 -0.00772698 -0.5456535 ] [ 0.03277117 0.00974681 0.99941535 -1.04635501] [ 0. 0. 0. 1. ]] SLAMing on 87.416296757 meters Centerline goodness [0,1] 0.7232000000000001 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.54, Z:-1.05 [[ 0.99780266 0.06327904 -0.01963683 3.22191207] [-0.06347714 0.9979368 -0.00963339 -0.54153958] [ 0.01898672 0.01085872 0.99976077 -1.05297864] [ 0. 0. 0. 1. ]] SLAMing on 87.446296757 meters Centerline goodness [0,1] 0.7081464872944694 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.54, Z:-1.05 [[ 0.99771708 0.06472311 -0.01927579 3.2194437 ] [-0.06490209 0.99785276 -0.00880833 -0.54104316] [ 0.0186643 0.01003926 0.9997754 -1.05100626] [ 0. 0. 0. 1. ]] SLAMing on 87.476296757 meters Centerline goodness [0,1] 0.7274323102292675 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.54, Z:-1.05 [[ 0.99769739 0.06496327 -0.01948587 3.2196483 ] [-0.0651413 0.9978386 -0.00864472 -0.54128338] [ 0.01888216 0.00989415 0.99977276 -1.0507917 ] [ 0. 0. 0. 1. ]] SLAMing on 87.506296757 meters Centerline goodness [0,1] 0.733384915023612 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.54, Z:-1.05 [[ 0.99769914 0.06482758 -0.01984462 3.22098067] [-0.06501505 0.99784413 -0.00895163 -0.54046834] [ 0.01922153 0.01022124 0.999763 -1.05169969] [ 0. 0. 0. 1. ]] SLAMing on 87.536296757 meters Centerline goodness [0,1] 0.7295493378897907 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.54, Z:-1.05 [[ 0.99771369 0.06454508 -0.02003318 3.22215182] [-0.06474313 0.99785769 -0.00939952 -0.53933475] [ 0.01938357 0.01067504 0.99975513 -1.05274169] [ 0. 0. 0. 1. ]] SLAMing on 87.566296757 meters Centerline goodness [0,1] 0.733667941363926 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.54, Z:-1.05 [[ 0.9977434 0.06393859 -0.02049329 3.22407893] [-0.06415252 0.99789043 -0.00995709 -0.53820511] [ 0.01981341 0.01124932 0.99974041 -1.05384792] [ 0. 0. 0. 1. ]] SLAMing on 87.596296757 meters Centerline goodness [0,1] 0.7386843370918612 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 0.99775686 0.06359699 -0.02089665 3.22504159] [-0.06381383 0.99791293 -0.0098785 -0.53897673] [ 0.02022479 0.01118984 0.99973284 -1.05375308] [ 0. 0. 0. 1. ]] SLAMing on 87.626296757 meters Centerline goodness [0,1] 0.7549971903347515 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 0.9978409 0.06204312 -0.02154493 3.22729095] [-0.06227115 0.99800838 -0.01007892 -0.54074331] [ 0.0208767 0.01139879 0.99971708 -1.05374635] [ 0. 0. 0. 1. ]] SLAMing on 87.656296757 meters Centerline goodness [0,1] 0.767723404826457 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 0.99786586 0.06144143 -0.02210607 3.22875297] [-0.06167318 0.99804672 -0.00995828 -0.5419572 ] [ 0.02145104 0.01130038 0.99970603 -1.05366473] [ 0. 0. 0. 1. ]] SLAMing on 87.68629675700001 meters Centerline goodness [0,1] 0.7751506348181623 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 0.99795406 0.05981264 -0.02258632 3.23050268] [-0.06005023 0.99814535 -0.00999114 -0.54460735] [ 0.02194684 0.01132701 0.99969497 -1.05325662] [ 0. 0. 0. 1. ]] SLAMing on 87.71629675700001 meters Centerline goodness [0,1] 0.7805862876524268 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99796 0.05963946 -0.02278084 3.23073863] [-0.0598677 0.99816138 -0.00947159 -0.545927 ] [ 0.02217407 0.0108161 0.99969561 -1.05245202] [ 0. 0. 0. 1. ]] SLAMing on 87.74629675700001 meters Centerline goodness [0,1] 0.8017967131983108 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99796141 0.05954905 -0.02295513 3.23040952] [-0.05975536 0.99817764 -0.00840844 -0.54736513] [ 0.02241258 0.00976299 0.99970114 -1.05032944] [ 0. 0. 0. 1. ]] SLAMing on 87.776296757 meters Centerline goodness [0,1] 0.8200500983112021 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99795494 0.05960322 -0.02309525 3.23043921] [-0.05979966 0.99817906 -0.00790955 -0.54831963] [ 0.02258177 0.00927446 0.99970198 -1.04965921] [ 0. 0. 0. 1. ]] SLAMing on 87.806296757 meters Centerline goodness [0,1] 0.8134191671604805 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99797356 0.05909781 -0.02358419 3.2318979 ] [-0.05929246 0.99821141 -0.00764101 -0.54972404] [ 0.02309044 0.00902389 0.99969265 -1.04966082] [ 0. 0. 0. 1. ]] SLAMing on 87.836296757 meters Centerline goodness [0,1] 0.8275061421744647 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99797401 0.05895044 -0.02393164 3.23284645] [-0.05914524 0.9982211 -0.00751477 -0.55035459] [ 0.02344607 0.00891499 0.99968535 -1.04981159] [ 0. 0. 0. 1. ]] SLAMing on 87.866296757 meters Centerline goodness [0,1] 0.8300752693994693 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99799264 0.05844822 -0.02438225 3.23477453] [-0.05865229 0.99824847 -0.00773946 -0.55136684] [ 0.02388719 0.009154 0.99967275 -1.05106332] [ 0. 0. 0. 1. ]] SLAMing on 87.896296757 meters Centerline goodness [0,1] 0.8310710124901786 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.55, Z:-1.05 [[ 0.99799521 0.05832262 -0.02457724 3.23553375] [-0.05853118 0.99825469 -0.00785327 -0.55144399] [ 0.02407632 0.00927606 0.99966709 -1.05155723] [ 0. 0. 0. 1. ]] SLAMing on 87.926296757 meters Centerline goodness [0,1] 0.8290780524668034 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.55, Z:-1.05 [[ 0.99798564 0.05850727 -0.02452684 3.2357256 ] [-0.05871939 0.99824232 -0.00801878 -0.55046523] [ 0.02401457 0.00944283 0.99966701 -1.05208524] [ 0. 0. 0. 1. ]] SLAMing on 87.956296757 meters Centerline goodness [0,1] 0.8267023925516943 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.55, Z:-1.05 [[ 0.99797112 0.05878599 -0.0244508 3.23528334] [-0.0589944 0.99822713 -0.00789075 -0.55008078] [ 0.02394359 0.0093172 0.99966989 -1.05174318] [ 0. 0. 0. 1. ]] SLAMing on 87.986296757 meters Centerline goodness [0,1] 0.8130101075617534 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99793352 0.05950059 -0.02425641 3.23412441] [-0.05969943 0.99818779 -0.00755707 -0.55007867] [ 0.0237628 0.00898955 0.99967721 -1.05095288] [ 0. 0. 0. 1. ]] SLAMing on 88.016296757 meters Centerline goodness [0,1] 0.8152094545257863 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99790467 0.06007547 -0.02402508 3.23299419] [-0.06026463 0.99815627 -0.00722768 -0.54993638] [ 0.02354658 0.0086604 0.99968523 -1.05019471] [ 0. 0. 0. 1. ]] SLAMing on 88.04629675700001 meters Centerline goodness [0,1] 0.7945526549745413 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.997858 0.06092704 -0.02381806 3.23213675] [-0.06111596 0.99810408 -0.00728565 -0.54794022] [ 0.02332901 0.00872571 0.99968976 -1.05022421] [ 0. 0. 0. 1. ]] SLAMing on 88.07629675700001 meters Centerline goodness [0,1] 0.7895119586296057 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99784417 0.06119811 -0.02370229 3.23206617] [-0.06139099 0.99808564 -0.00749665 -0.54670453] [ 0.02319814 0.0089356 0.99969095 -1.05069955] [ 0. 0. 0. 1. ]] SLAMing on 88.10629675700001 meters Centerline goodness [0,1] 0.7652417659425368 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99781994 0.06169533 -0.023432 3.23185592] [-0.06189221 0.99805258 -0.00777136 -0.54540101] [ 0.02290691 0.00920468 0.99969523 -1.05173694] [ 0. 0. 0. 1. ]] SLAMing on 88.13629675700001 meters Centerline goodness [0,1] 0.7564171845447176 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99782248 0.06161936 -0.02352345 3.23242781] [-0.06182063 0.9980558 -0.0079264 -0.54518019] [ 0.02298929 0.00936337 0.99969186 -1.05228476] [ 0. 0. 0. 1. ]] SLAMing on 88.166296757 meters Centerline goodness [0,1] 0.770843464635003 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99782579 0.06156084 -0.02353606 3.23289988] [-0.06175656 0.99806169 -0.00768083 -0.5460244 ] [ 0.0230176 0.00911763 0.99969348 -1.05262167] [ 0. 0. 0. 1. ]] SLAMing on 88.196296757 meters Centerline goodness [0,1] 0.7672612120063875 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99782232 0.06160275 -0.02357358 3.23295302] [-0.0617917 0.99806184 -0.00737159 -0.54687986] [ 0.02307378 0.00881218 0.99969493 -1.05242664] [ 0. 0. 0. 1. ]] SLAMing on 88.226296757 meters Centerline goodness [0,1] 0.7674494278431585 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99782127 0.06159535 -0.02363717 3.23302018] [-0.061768 0.99806842 -0.00664387 -0.54965436] [ 0.02318228 0.00808942 0.99969853 -1.05185179] [ 0. 0. 0. 1. ]] SLAMing on 88.256296757 meters Centerline goodness [0,1] 0.7709360940972411 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99781591 0.06163508 -0.02375968 3.23299984] [-0.06179702 0.99806984 -0.00614218 -0.55125584] [ 0.02333525 0.00759704 0.99969883 -1.0512064 ] [ 0. 0. 0. 1. ]] SLAMing on 88.286296757 meters Centerline goodness [0,1] 0.7887320119467826 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.9978123 0.06169487 -0.02375607 3.23236278] [-0.06183683 0.99807227 -0.00528736 -0.5528974 ] [ 0.02338407 0.00674479 0.9997038 -1.04961763] [ 0. 0. 0. 1. ]] SLAMing on 88.316296757 meters Centerline goodness [0,1] 0.7985566618736265 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.55, Z:-1.05 [[ 0.99781114 0.06168697 -0.02382518 3.23236895] [-0.06182503 0.99807397 -0.0051014 -0.55333517] [ 0.0234646 0.00656322 0.99970312 -1.04930716] [ 0. 0. 0. 1. ]] SLAMing on 88.346296757 meters Centerline goodness [0,1] 0.8082348145128414 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.56, Z:-1.05 [[ 0.997841 0.06097966 -0.02438895 3.23372098] [-0.06110998 0.99812028 -0.00463354 -0.55538984] [ 0.02406056 0.00611394 0.99969181 -1.04855089] [ 0. 0. 0. 1. ]] SLAMing on 88.376296757 meters Centerline goodness [0,1] 0.8186763865843375 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.56, Z:-1.05 [[ 0.99784989 0.06074418 -0.024612 3.23441651] [-0.06087016 0.99813599 -0.00440143 -0.55719159] [ 0.02429876 0.0058901 0.99968739 -1.04867804] [ 0. 0. 0. 1. ]] SLAMing on 88.406296757 meters Centerline goodness [0,1] 0.8186763865843375 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.56, Z:-1.05 [[ 0.99784989 0.06074418 -0.024612 3.23441651] [-0.06087016 0.99813599 -0.00440143 -0.55719159] [ 0.02429876 0.0058901 0.99968739 -1.04867804] [ 0. 0. 0. 1. ]] SLAMing on 88.43629675700001 meters Centerline goodness [0,1] 0.8159402105722546 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.99785829 0.06050542 -0.02485818 3.23507974] [-0.0606267 0.99815187 -0.00415391 -0.55851499] [ 0.0245609 0.00565208 0.99968236 -1.04859256] [ 0. 0. 0. 1. ]] SLAMing on 88.46629675700001 meters Centerline goodness [0,1] 0.8226200825907412 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.99790533 0.05953288 -0.02531385 3.23731429] [-0.05966741 0.99820775 -0.0045922 -0.55891713] [ 0.02499509 0.00609299 0.99966901 -1.04986117] [ 0. 0. 0. 1. ]] SLAMing on 88.49629675700001 meters Centerline goodness [0,1] 0.821805838424983 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.99791651 0.05924435 -0.02554903 3.23830886] [-0.05938412 0.99822392 -0.00474659 -0.55876359] [ 0.02522244 0.00625391 0.9996623 -1.05039248] [ 0. 0. 0. 1. ]] SLAMing on 88.526296757 meters Centerline goodness [0,1] 0.8260171451898217 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.99791738 0.05930156 -0.02538179 3.2380032 ] [-0.0594407 0.99822048 -0.00476231 -0.55792343] [ 0.02505421 0.00626111 0.99966649 -1.05030804] [ 0. 0. 0. 1. ]] SLAMing on 88.556296757 meters Centerline goodness [0,1] 0.8259023354564756 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.99790342 0.05957018 -0.02530153 3.23733839] [-0.05970246 0.99820605 -0.0045045 -0.55793226] [ 0.0249878 0.00600562 0.99966972 -1.04954257] [ 0. 0. 0. 1. ]] SLAMing on 88.586296757 meters Centerline goodness [0,1] 0.8237182975944269 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.99786848 0.06035276 -0.0248201 3.23535503] [-0.06047221 0.9981615 -0.00408988 -0.55775108] [ 0.02452763 0.00558209 0.99968357 -1.04823096] [ 0. 0. 0. 1. ]] SLAMing on 88.616296757 meters Centerline goodness [0,1] 0.8123965372194633 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 0.9978586 0.06051472 -0.02482295 3.23509502] [-0.0606361 0.99815125 -0.00416595 -0.55699277] [ 0.02452496 0.00566219 0.99968318 -1.04793992] [ 0. 0. 0. 1. ]] SLAMing on 88.646296757 meters Centerline goodness [0,1] 0.8136082696823298 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 9.97664279e-01 6.34628704e-02 -2.52675781e-02 3.23722695e+00] [-6.34961180e-02 9.97981953e-01 -5.14867694e-04 -5.56956405e-01] [ 2.51839120e-02 2.11805823e-03 9.99680591e-01 -1.04781752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.676296757 meters Centerline goodness [0,1] 0.8065820328293039 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.56, Z:-1.05 [[ 9.97658717e-01 6.35493787e-02 -2.52697542e-02 3.23718717e+00] [-6.35869962e-02 9.97976063e-01 -6.87081408e-04 -5.55586962e-01] [ 2.51749462e-02 2.29230052e-03 9.99680433e-01 -1.04775216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.706296757 meters Centerline goodness [0,1] 0.7998974248231928 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.55, Z:-1.05 [[ 9.97613891e-01 6.42618310e-02 -2.52377027e-02 3.23734833e+00] [-6.43090167e-02 9.97929468e-01 -1.06164908e-03 -5.51224954e-01] [ 2.51172238e-02 2.68212772e-03 9.99680915e-01 -1.04847262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.736296757 meters Centerline goodness [0,1] 0.798842530282638 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.55, Z:-1.05 [[ 9.97605270e-01 6.44670255e-02 -2.50545129e-02 3.23747060e+00] [-6.45312831e-02 9.97914126e-01 -1.76386015e-03 -5.48182084e-01] [ 2.48885415e-02 3.37643605e-03 9.99684530e-01 -1.04950694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.766296757 meters Centerline goodness [0,1] 0.7897080918652071 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.55, Z:-1.05 [[ 9.97595575e-01 6.46590113e-02 -2.49455572e-02 3.23723374e+00] [-6.47354437e-02 9.97899884e-01 -2.26783074e-03 -5.45491198e-01] [ 2.47465330e-02 3.87723962e-03 9.99686239e-01 -1.04970726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79629675700001 meters Centerline goodness [0,1] 0.7787492313039759 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 9.97553078e-01 6.55498736e-02 -2.43119440e-02 3.23475579e+00] [-6.56217314e-02 9.97842214e-01 -2.16885367e-03 -5.42940967e-01] [ 2.41173159e-02 3.75893851e-03 9.99702068e-01 -1.04820789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82629675700001 meters Centerline goodness [0,1] 0.7813820398994491 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 9.97540603e-01 6.57829024e-02 -2.41940942e-02 3.23391794e+00] [-6.58529563e-02 9.97827109e-01 -2.10937769e-03 -5.42361684e-01] [ 2.40027621e-02 3.69744253e-03 9.99705055e-01 -1.04736871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85629675700001 meters Centerline goodness [0,1] 0.7789906322559983 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 9.97530776e-01 6.60436946e-02 -2.38868615e-02 3.23292099e+00] [-6.61187935e-02 9.97808951e-01 -2.36706434e-03 -5.40267670e-01] [ 2.36781945e-02 3.94058999e-03 9.99711866e-01 -1.04687189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88629675700001 meters Centerline goodness [0,1] 0.7619187208527648 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.54, Z:-1.05 [[ 9.97526453e-01 6.61396910e-02 -2.38016344e-02 3.23316717e+00] [-6.62281774e-02 9.97800149e-01 -2.94791686e-03 -5.36426635e-01] [ 2.35543000e-02 4.51696392e-03 9.99712355e-01 -1.04748568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.916296757 meters Centerline goodness [0,1] 0.7770100336218992 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.53, Z:-1.05 [[ 0.99754878 0.06568206 -0.02413105 3.23473001] [-0.06578988 0.99782664 -0.00370089 -0.53434721] [ 0.02383553 0.0052794 0.99970195 -1.04869124] [ 0. 0. 0. 1. ]] SLAMing on 88.946296757 meters Centerline goodness [0,1] 0.7746321771923301 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99757116 0.06526728 -0.0243301 3.23583899] [-0.06538913 0.99785081 -0.00424564 -0.53266205] [ 0.0240007 0.00582626 0.99969496 -1.04953095] [ 0. 0. 0. 1. ]] SLAMing on 88.976296757 meters Centerline goodness [0,1] 0.7964674200021121 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99762021 0.06435756 -0.02473916 3.2373346 ] [-0.06449304 0.99790701 -0.00471723 -0.53185325] [ 0.0243838 0.00630151 0.99968281 -1.04988416] [ 0. 0. 0. 1. ]] SLAMing on 89.006296757 meters Centerline goodness [0,1] 0.8011300334235238 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99784313 0.06089991 -0.02450062 3.23561802] [-0.06112618 0.99809304 -0.00859443 -0.53012797] [ 0.0239305 0.01007352 0.99966287 -1.04915276] [ 0. 0. 0. 1. ]] SLAMing on 89.036296757 meters Centerline goodness [0,1] 0.8140115877318875 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99810927 0.05619681 -0.02489593 3.23576604] [-0.05652252 0.9983221 -0.0125777 -0.53006011] [ 0.02414733 0.0139611 0.99961092 -1.04826141] [ 0. 0. 0. 1. ]] SLAMing on 89.066296757 meters Centerline goodness [0,1] 0.8163628161239816 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.9981418 0.05539321 -0.02538769 3.23722756] [-0.05572699 0.99836611 -0.01263366 -0.53051629] [ 0.02464639 0.01402497 0.99959785 -1.04822805] [ 0. 0. 0. 1. ]] SLAMing on 89.096296757 meters Centerline goodness [0,1] 0.8130355200679099 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99816932 0.05470853 -0.02578718 3.23848292] [-0.05505332 0.99840066 -0.01285524 -0.53046769] [ 0.02504264 0.01425138 0.9995848 -1.04838969] [ 0. 0. 0. 1. ]] SLAMing on 89.126296757 meters Centerline goodness [0,1] 0.8097202390396108 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99821566 0.05376043 -0.0259867 3.23918026] [-0.05410897 0.99845171 -0.01290008 -0.53025419] [ 0.02525295 0.01428317 0.99957905 -1.04769499] [ 0. 0. 0. 1. ]] SLAMing on 89.156296757 meters Centerline goodness [0,1] 0.8110804053164891 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99823487 0.05331531 -0.02616514 3.23934814] [-0.05366682 0.9984753 -0.01292082 -0.5299924 ] [ 0.02543637 0.01430222 0.99957413 -1.04687501] [ 0. 0. 0. 1. ]] SLAMing on 89.18629675700001 meters Centerline goodness [0,1] 0.8074576808302744 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99824496 0.05295926 -0.02650131 3.24030592] [-0.0533237 0.99848951 -0.01323917 -0.52892198] [ 0.02576014 0.01462908 0.99956111 -1.04706786] [ 0. 0. 0. 1. ]] SLAMing on 89.21629675700001 meters Centerline goodness [0,1] 0.8084989539748955 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99808512 0.0554582 -0.02739478 3.24364641] [-0.05574021 0.99839877 -0.00963957 -0.52957097] [ 0.02681632 0.0111481 0.99957821 -1.04740089] [ 0. 0. 0. 1. ]] SLAMing on 89.24629675700001 meters Centerline goodness [0,1] 0.811641868963717 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99809267 0.05533695 -0.02736492 3.24358379] [-0.05563638 0.99839793 -0.0103038 -0.52603311] [ 0.0267509 0.01180663 0.99957241 -1.04734906] [ 0. 0. 0. 1. ]] SLAMing on 89.276296757 meters Centerline goodness [0,1] 0.808361457761034 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.53, Z:-1.05 [[ 0.99809662 0.05520237 -0.02749251 3.24386765] [-0.05551167 0.9984016 -0.01061646 -0.52510553] [ 0.02686252 0.01212241 0.99956563 -1.04737907] [ 0. 0. 0. 1. ]] SLAMing on 89.306296757 meters Centerline goodness [0,1] 0.8115670671451605 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.52, Z:-1.05 [[ 0.99809333 0.05520845 -0.02759953 3.24419011] [-0.05552977 0.99839628 -0.01101428 -0.523849 ] [ 0.02694718 0.01252587 0.99955838 -1.04764937] [ 0. 0. 0. 1. ]] SLAMing on 89.336296757 meters Centerline goodness [0,1] 0.8125404845187201 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.52, Z:-1.05 [[ 0.99808716 0.05538069 -0.02747727 3.24405577] [-0.05571038 0.9983821 -0.01138119 -0.52176934] [ 0.02680252 0.01289019 0.99955764 -1.04792257] [ 0. 0. 0. 1. ]] SLAMing on 89.366296757 meters Centerline goodness [0,1] 0.8075159695034 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.52, Z:-1.05 [[ 0.99789007 0.05880276 -0.02752544 3.24527762] [-0.05905451 0.99821922 -0.00842346 -0.51814837] [ 0.0269811 0.01003119 0.99958561 -1.04852699] [ 0. 0. 0. 1. ]] SLAMing on 89.396296757 meters Centerline goodness [0,1] 0.8071679802829196 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.52, Z:-1.05 [[ 0.99788686 0.05878374 -0.0276818 3.2458289 ] [-0.05905145 0.99821478 -0.00895418 -0.51525192] [ 0.02710602 0.01056991 0.99957668 -1.04887096] [ 0. 0. 0. 1. ]] SLAMing on 89.426296757 meters Centerline goodness [0,1] 0.8061991713978824 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99789088 0.05861237 -0.02789966 3.24673319] [-0.058901 0.9982173 -0.00963771 -0.51274488] [ 0.02728503 0.0112607 0.99956427 -1.04960106] [ 0. 0. 0. 1. ]] SLAMing on 89.456296757 meters Centerline goodness [0,1] 0.803679100664282 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99788197 0.05870643 -0.02802012 3.24747104] [-0.05902485 0.99819944 -0.01067471 -0.50922534] [ 0.02734299 0.01230598 0.99955036 -1.05084272] [ 0. 0. 0. 1. ]] SLAMing on 89.486296757 meters Centerline goodness [0,1] 0.8039971412527439 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99787451 0.05885452 -0.02797505 3.24747041] [-0.05918053 0.998187 -0.01097147 -0.50775944] [ 0.02727861 0.01260373 0.99954841 -1.05104682] [ 0. 0. 0. 1. ]] SLAMing on 89.516296757 meters Centerline goodness [0,1] 0.8035380338640384 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99765071 0.06257971 -0.02787186 3.24739268] [-0.06280139 0.99800044 -0.00714955 -0.50713263] [ 0.02736871 0.00888314 0.99958594 -1.0499277 ] [ 0. 0. 0. 1. ]] SLAMing on 89.54629675700001 meters Centerline goodness [0,1] 0.8005659852944892 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99761927 0.06319777 -0.02760148 3.24584172] [-0.06341063 0.99796363 -0.00690508 -0.50573926] [ 0.02710888 0.00863887 0.99959516 -1.04855071] [ 0. 0. 0. 1. ]] SLAMing on 89.57629675700001 meters Centerline goodness [0,1] 0.8004285354171918 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.50, Z:-1.05 [[ 0.99757207 0.06398297 -0.02749801 3.24429461] [-0.06418745 0.99791591 -0.00661809 -0.5039527 ] [ 0.02701726 0.00836705 0.99959995 -1.04674629] [ 0. 0. 0. 1. ]] SLAMing on 89.60629675700001 meters Centerline goodness [0,1] 0.7981902727158476 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.50, Z:-1.05 [[ 0.99755056 0.06429553 -0.02754916 3.24425116] [-0.06450062 0.9978957 -0.00662074 -0.50303096] [ 0.0270655 0.00838146 0.99959852 -1.04665268] [ 0. 0. 0. 1. ]] SLAMing on 89.63629675700001 meters Centerline goodness [0,1] 0.7972962786139659 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.50, Z:-1.05 [[ 0.99753614 0.06448469 -0.02762925 3.24447379] [-0.06469362 0.99788244 -0.00673513 -0.50204384] [ 0.02713643 0.00850598 0.99959555 -1.04680126] [ 0. 0. 0. 1. ]] SLAMing on 89.666296757 meters Centerline goodness [0,1] 0.7938402261752858 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99750942 0.06476967 -0.02792564 3.24548365] [-0.0649865 0.9978621 -0.00692721 -0.50079316] [ 0.02741726 0.00872475 0.999586 -1.04764814] [ 0. 0. 0. 1. ]] SLAMing on 89.696296757 meters Centerline goodness [0,1] 0.7934891905480141 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.9975232 0.06445704 -0.02815608 3.2465603 ] [-0.06467882 0.99788132 -0.00703751 -0.50100442] [ 0.0276428 0.00884118 0.99957877 -1.04830151] [ 0. 0. 0. 1. ]] SLAMing on 89.726296757 meters Centerline goodness [0,1] 0.7934951993163424 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99754155 0.0640988 -0.02832306 3.24720253] [-0.06432376 0.9979038 -0.00710314 -0.50110169] [ 0.02780839 0.00890752 0.99957358 -1.04846502] [ 0. 0. 0. 1. ]] SLAMing on 89.756296757 meters Centerline goodness [0,1] 0.7939688373146726 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99755921 0.06370936 -0.02857857 3.24797604] [-0.0639365 0.99792868 -0.00710511 -0.50143944] [ 0.02806671 0.00891498 0.9995663 -1.04853146] [ 0. 0. 0. 1. ]] SLAMing on 89.786296757 meters Centerline goodness [0,1] 0.7973608143772779 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99762813 0.06248586 -0.02887264 3.24920893] [-0.06271745 0.99800546 -0.00718533 -0.50271919] [ 0.02836607 0.0089791 0.99955727 -1.0483875 ] [ 0. 0. 0. 1. ]] SLAMing on 89.816296757 meters Centerline goodness [0,1] 0.7991625466653214 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99787968 0.05825286 -0.02903025 3.24883979] [-0.05860387 0.99821634 -0.01139003 -0.50200323] [ 0.02831497 0.01306717 0.99951364 -1.04807235] [ 0. 0. 0. 1. ]] SLAMing on 89.846296757 meters Centerline goodness [0,1] 0.7987270477104539 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99789185 0.05790217 -0.02931216 3.24929868] [-0.05825157 0.998239 -0.01120919 -0.50289651] [ 0.02861151 0.01289304 0.99950745 -1.04753617] [ 0. 0. 0. 1. ]] SLAMing on 89.876296757 meters Centerline goodness [0,1] 0.7978216473791695 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99790229 0.0575935 -0.02956359 3.24981087] [-0.05794456 0.99825745 -0.01115789 -0.50319805] [ 0.02886945 0.01284753 0.99950062 -1.04722974] [ 0. 0. 0. 1. ]] SLAMing on 89.906296757 meters Centerline goodness [0,1] 0.798977725439102 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99793366 0.05679077 -0.03005353 3.25114143] [-0.05714991 0.99830246 -0.01122858 -0.5028936 ] [ 0.02936483 0.01292294 0.99948522 -1.04690272] [ 0. 0. 0. 1. ]] SLAMing on 89.93629675700001 meters Centerline goodness [0,1] 0.8010216920831446 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99793542 0.05665643 -0.03024807 3.25142364] [-0.05701199 0.99831263 -0.01102413 -0.50364662] [ 0.02957244 0.01272588 0.99948163 -1.04657016] [ 0. 0. 0. 1. ]] SLAMing on 89.96629675700001 meters Centerline goodness [0,1] 0.8042487855219109 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99793607 0.05652245 -0.03047646 3.25154059] [-0.05686027 0.99832867 -0.01033348 -0.50588807] [ 0.02984145 0.01204505 0.99948207 -1.04555886] [ 0. 0. 0. 1. ]] SLAMing on 89.99629675700001 meters Centerline goodness [0,1] 0.8043303324448021 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.99792981 0.05657011 -0.03059264 3.25172917] [-0.05690451 0.9983278 -0.01017223 -0.50610813] [ 0.02996604 0.01189203 0.99948017 -1.04543751] [ 0. 0. 0. 1. ]] SLAMing on 90.026296757 meters Centerline goodness [0,1] 0.8077773867578302 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.51, Z:-1.05 [[ 0.9979324 0.05646337 -0.03070535 3.25232454] [-0.05680253 0.99833243 -0.01028713 -0.5053617 ] [ 0.0300733 0.01201001 0.99947554 -1.04581997] [ 0. 0. 0. 1. ]] SLAMing on 90.056296757 meters Centerline goodness [0,1] 0.807844611528822 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 0.99776185 0.05910366 -0.03127378 3.25538194] [-0.0593471 0.99821347 -0.00691327 -0.50533455] [ 0.03080931 0.0087538 0.99948695 -1.04692384] [ 0. 0. 0. 1. ]] SLAMing on 90.086296757 meters Centerline goodness [0,1] 0.810332732010423 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.50, Z:-1.05 [[ 0.99775857 0.05906656 -0.03144815 3.25591651] [-0.05931522 0.99821453 -0.00703303 -0.5048961 ] [ 0.03097659 0.00888262 0.99948064 -1.04716235] [ 0. 0. 0. 1. ]] SLAMing on 90.116296757 meters Centerline goodness [0,1] 0.8129112973852121 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 0.9977462 0.05916873 -0.03164789 3.25602385] [-0.05942053 0.99820797 -0.00707495 -0.50555514] [ 0.03117256 0.00893954 0.99947404 -1.04692349] [ 0. 0. 0. 1. ]] SLAMing on 90.146296757 meters Centerline goodness [0,1] 0.8150007492881762 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 0.99774182 0.05920494 -0.03171793 3.25616622] [-0.05946076 0.9982048 -0.007183 -0.50575583] [ 0.03123572 0.00905275 0.99947105 -1.04701822] [ 0. 0. 0. 1. ]] SLAMing on 90.176296757 meters Centerline goodness [0,1] 0.8137694145758662 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.50, Z:-1.05 [[ 0.9977196 0.05975287 -0.03138769 3.25519811] [-0.06000868 0.99817137 -0.00727152 -0.50412761] [ 0.0308958 0.00913847 0.99948083 -1.04686625] [ 0. 0. 0. 1. ]] SLAMing on 90.206296757 meters Centerline goodness [0,1] 0.8129566124944088 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99769509 0.06031386 -0.03109268 3.25426501] [-0.06056662 0.99813782 -0.00725156 -0.50199743] [ 0.03059741 0.00911803 0.9994902 -1.04652466] [ 0. 0. 0. 1. ]] SLAMing on 90.236296757 meters Centerline goodness [0,1] 0.8099972725694875 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 9.97410625e-01 6.51035181e-02 -3.05544800e-02 3.25297534e+00] [-6.52263006e-02 9.97865873e-01 -3.03806029e-03 -4.99878608e-01] [ 3.02914845e-02 5.02314931e-03 9.99528486e-01 -1.04543063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.266296757 meters Centerline goodness [0,1] 0.8074156746031746 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.04 [[ 9.97369134e-01 6.58169340e-02 -3.03799621e-02 3.25177364e+00] [-6.59309546e-02 9.97820355e-01 -2.76572653e-03 -4.98964317e-01] [ 3.01317129e-02 4.76143018e-03 9.99534596e-01 -1.04442233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29629675700001 meters Centerline goodness [0,1] 0.8084106369820656 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.04 [[ 9.97318397e-01 6.66122971e-02 -3.03119885e-02 3.25126958e+00] [-6.67267051e-02 9.97767424e-01 -2.77746699e-03 -4.98471239e-01] [ 3.00593012e-02 4.79263805e-03 9.99536627e-01 -1.04444249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32629675700001 meters Centerline goodness [0,1] 0.8084106369820656 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.04 [[ 9.97318397e-01 6.66122971e-02 -3.03119885e-02 3.25126958e+00] [-6.67267051e-02 9.97767424e-01 -2.77746699e-03 -4.98471239e-01] [ 3.00593012e-02 4.79263805e-03 9.99536627e-01 -1.04444249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35629675700001 meters Centerline goodness [0,1] 0.8074664949092081 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.04 [[ 9.97294169e-01 6.69785619e-02 -3.03020363e-02 3.25136993e+00] [-6.70980271e-02 9.97742051e-01 -2.94182870e-03 -4.97519518e-01] [ 3.00365764e-02 4.96707546e-03 9.99536459e-01 -1.04487678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38629675700001 meters Centerline goodness [0,1] 0.8058269192816262 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 9.97015728e-01 7.09676971e-02 -3.03845961e-02 3.25279016e+00] [-7.09780227e-02 9.97477605e-01 7.39966478e-04 -4.96694355e-01] [ 3.03604679e-02 1.41888034e-03 9.99538008e-01 -1.04579634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.416296757 meters Centerline goodness [0,1] 0.798463546155172 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 9.96989015e-01 7.13795480e-02 -3.02962686e-02 3.25282836e+00] [-7.13968692e-02 9.97447856e-01 5.11047961e-04 -4.94848492e-01] [ 3.02554266e-02 1.65354953e-03 9.99540832e-01 -1.04632910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.446296757 meters Centerline goodness [0,1] 0.8073611179451853 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 9.96978453e-01 7.14837907e-02 -3.03979094e-02 3.25333726e+00] [-7.15095668e-02 9.97439885e-01 2.39709531e-04 -4.93278016e-01] [ 3.03372226e-02 1.93475610e-03 9.99537848e-01 -1.04683281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.476296757 meters Centerline goodness [0,1] 0.8050845371988286 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 9.96990116e-01 7.12244719e-02 -3.06232485e-02 3.25434817e+00] [-7.12616351e-02 9.97457650e-01 -1.22503340e-04 -4.93096819e-01] [ 3.05366682e-02 2.30439738e-03 9.99530991e-01 -1.04763180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.506296757 meters Centerline goodness [0,1] 0.8032146389713155 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 0.99721011 0.06808516 -0.0306007 3.25286878] [-0.06822944 0.99766281 -0.00369476 -0.49229824] [ 0.03027762 0.00577232 0.99952486 -1.04682334] [ 0. 0. 0. 1. ]] SLAMing on 90.536296757 meters Centerline goodness [0,1] 0.8064492106047065 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 0.99745807 0.06440072 -0.03049493 3.25135967] [-0.0646434 0.9978836 -0.00703906 -0.49358784] [ 0.02997707 0.00899247 0.99951014 -1.0456768 ] [ 0. 0. 0. 1. ]] SLAMing on 90.566296757 meters Centerline goodness [0,1] 0.8058503367547283 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 0.99748119 0.06392818 -0.03073207 3.25222815] [-0.06417233 0.99791411 -0.00702397 -0.49437523] [ 0.03021894 0.00897842 0.99950298 -1.04590719] [ 0. 0. 0. 1. ]] SLAMing on 90.596296757 meters Centerline goodness [0,1] 0.8074304174950299 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.49, Z:-1.05 [[ 0.99754333 0.06280596 -0.0310276 3.25380669] [-0.0630544 0.99798488 -0.00709348 -0.49496741] [ 0.03051956 0.00903248 0.99949336 -1.04624661] [ 0. 0. 0. 1. ]] SLAMing on 90.626296757 meters Centerline goodness [0,1] 0.8093333002012773 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.50, Z:-1.05 [[ 0.99755428 0.06250658 -0.03127912 3.25448731] [-0.06274781 0.99800632 -0.0067901 -0.49607691] [ 0.03079233 0.00873619 0.99948762 -1.04611303] [ 0. 0. 0. 1. ]] SLAMing on 90.656296757 meters Centerline goodness [0,1] 0.8105265787370104 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.50, Z:-1.05 [[ 0.99760324 0.06152107 -0.03166901 3.2555544 ] [-0.06174404 0.99807331 -0.00611057 -0.50020189] [ 0.03123206 0.0080513 0.99947973 -1.04534534] [ 0. 0. 0. 1. ]] SLAMing on 90.68629675700001 meters Centerline goodness [0,1] 0.8117883120140457 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.50, Z:-1.05 [[ 0.99761009 0.06128506 -0.03191008 3.25602275] [-0.06149377 0.99809176 -0.00559982 -0.50277428] [ 0.031506 0.00754871 0.99947506 -1.04502738] [ 0. 0. 0. 1. ]] SLAMing on 90.71629675700001 meters Centerline goodness [0,1] 0.8128040327662256 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 0.99763871 0.06066615 -0.03219674 3.25684175] [-0.06085398 0.99813472 -0.00488554 -0.50592364] [ 0.03184029 0.00683331 0.99946961 -1.04444161] [ 0. 0. 0. 1. ]] SLAMing on 90.74629675700001 meters Centerline goodness [0,1] 0.8138531415594247 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 0.99765016 0.06042524 -0.0322947 3.25727958] [-0.06060007 0.99815216 -0.00446139 -0.50733345] [ 0.03196544 0.00640797 0.99946843 -1.04429158] [ 0. 0. 0. 1. ]] SLAMing on 90.77629675700001 meters Centerline goodness [0,1] 0.8149018418858486 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 0.9976529 0.06026918 -0.03250107 3.25774867] [-0.06043079 0.99816432 -0.00401242 -0.50883276] [ 0.03219958 0.00596707 0.99946365 -1.04399327] [ 0. 0. 0. 1. ]] SLAMing on 90.806296757 meters Centerline goodness [0,1] 0.8153207852661405 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 0.99767016 0.0597723 -0.03288638 3.25888047] [-0.05991304 0.99819811 -0.00330996 -0.51173181] [ 0.03262928 0.00527257 0.99945362 -1.04365435] [ 0. 0. 0. 1. ]] SLAMing on 90.836296757 meters Centerline goodness [0,1] 0.8117027738408584 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97668439e-01 5.99793555e-02 -3.25601473e-02 3.25825058e+00] [-6.00972985e-02 9.98188993e-01 -2.65494915e-03 -5.13567417e-01] [ 3.23419385e-02 4.60553586e-03 9.99466252e-01 -1.04326655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.866296757 meters Centerline goodness [0,1] 0.8092831932559734 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97660224e-01 6.02015744e-02 -3.24013483e-02 3.25781272e+00] [-6.03137931e-02 9.98176344e-01 -2.49634416e-03 -5.13564371e-01] [ 3.21919755e-02 4.44475149e-03 9.99471821e-01 -1.04305756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.896296757 meters Centerline goodness [0,1] 0.809199837530463 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97632596e-01 6.07570072e-02 -3.22147256e-02 3.25728112e+00] [-6.08673929e-02 9.98142839e-01 -2.45612940e-03 -5.12662529e-01] [ 3.20056706e-02 4.41114111e-03 9.99477953e-01 -1.04305905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.926296757 meters Centerline goodness [0,1] 0.8092299095804125 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97619528e-01 6.09304445e-02 -3.22917687e-02 3.25752475e+00] [-6.10465444e-02 9.98131480e-01 -2.62079357e-03 -5.11804018e-01] [ 3.20717448e-02 4.58585573e-03 9.99475049e-01 -1.04325253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.956296757 meters Centerline goodness [0,1] 0.8058991194584415 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97560514e-01 6.19068631e-02 -3.22577354e-02 3.25777580e+00] [-6.20285519e-02 9.98070491e-01 -2.78447560e-03 -5.09593787e-01] [ 3.20231157e-02 4.77858353e-03 9.99475705e-01 -1.04436646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.986296757 meters Centerline goodness [0,1] 0.8075098312825066 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97537068e-01 6.23247244e-02 -3.21780426e-02 3.25769326e+00] [-6.24535922e-02 9.98043317e-01 -3.01443348e-03 -5.08130057e-01] [ 3.19272066e-02 5.01664349e-03 9.99477607e-01 -1.04475139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.016296757 meters Centerline goodness [0,1] 0.8044330211726385 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97499094e-01 6.30330594e-02 -3.19748626e-02 3.25683328e+00] [-6.31531336e-02 9.98000037e-01 -2.75835475e-03 -5.07337699e-01] [ 3.17370465e-02 4.77076913e-03 9.99484867e-01 -1.04431735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04629675700001 meters Centerline goodness [0,1] 0.8044053311628854 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97423203e-01 6.44068442e-02 -3.16024018e-02 3.25558433e+00] [-6.45102543e-02 9.97914479e-01 -2.26255465e-03 -5.06831011e-01] [ 3.13907703e-02 4.29540348e-03 9.99497959e-01 -1.04411425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07629675700001 meters Centerline goodness [0,1] 0.801657304084797 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.04 [[ 9.97395708e-01 6.49118028e-02 -3.14366073e-02 3.25530009e+00] [-6.50136948e-02 9.97881883e-01 -2.22886972e-03 -5.06282788e-01] [ 3.12253409e-02 4.26687509e-03 9.99503263e-01 -1.04444677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10629675700001 meters Centerline goodness [0,1] 0.7998576765700054 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97104573e-01 6.93453598e-02 -3.12040371e-02 3.25588880e+00] [-6.93156552e-02 9.97592704e-01 2.03397480e-03 -5.06795437e-01] [ 3.12699665e-02 1.34842698e-04 9.99510966e-01 -1.04501520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13629675700001 meters Centerline goodness [0,1] 0.7978715298062026 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97077963e-01 6.98041130e-02 -3.10309877e-02 3.25572397e+00] [-6.97742793e-02 9.97560710e-01 2.04454503e-03 -5.05887937e-01] [ 3.10980118e-02 1.26594005e-04 9.99516332e-01 -1.04542505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.166296757 meters Centerline goodness [0,1] 0.7923799847599695 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97070570e-01 6.99496590e-02 -3.09406597e-02 3.25609707e+00] [-6.99234660e-02 9.97550494e-01 1.92907057e-03 -5.05468233e-01] [ 3.09998082e-02 2.40058672e-04 9.99519362e-01 -1.04626717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.196296757 meters Centerline goodness [0,1] 0.7899943903309705 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97068341e-01 6.99102260e-02 -3.11011927e-02 3.25695399e+00] [-6.98803527e-02 9.97553278e-01 2.04776242e-03 -5.07096426e-01] [ 3.11682563e-02 1.31603236e-04 9.99514143e-01 -1.04697613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.226296757 meters Centerline goodness [0,1] 0.7912197875506748 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97298877e-01 6.65194398e-02 -3.11466388e-02 3.25638352e+00] [-6.65939889e-02 9.97779228e-01 -1.36114678e-03 -5.08911362e-01] [ 3.09869265e-02 3.43164908e-03 9.99513899e-01 -1.04712402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.256296757 meters Centerline goodness [0,1] 0.7918771313556063 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97298090e-01 6.65121408e-02 -3.11874180e-02 3.25666214e+00] [-6.65743233e-02 9.97781008e-01 -9.58544561e-04 -5.10735722e-01] [ 3.10544585e-02 3.03223591e-03 9.99513095e-01 -1.04720175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.286296757 meters Centerline goodness [0,1] 0.7926819834455017 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97298586e-01 6.64638419e-02 -3.12744049e-02 3.25701422e+00] [-6.65144059e-02 9.97785297e-01 -5.78067784e-04 -5.12017844e-01] [ 3.11667208e-02 2.65670464e-03 9.99510669e-01 -1.04720353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.316296757 meters Centerline goodness [0,1] 0.7975795030256212 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97143519e-01 6.87961903e-02 -3.11750865e-02 3.25853898e+00] [-6.86932321e-02 9.97628290e-01 4.36292159e-03 -5.15912340e-01] [ 3.14013007e-02 -2.20894153e-03 9.99504417e-01 -1.04564864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.346296757 meters Centerline goodness [0,1] 0.7995743355481728 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97637918e-01 6.66284574e-02 -1.67102442e-02 3.25819481e+00] [-6.66129497e-02 9.97777788e-01 1.48354383e-03 -5.17585567e-01] [ 1.67719567e-02 -3.66920925e-04 9.99859274e-01 -1.04935457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.376296757 meters Centerline goodness [0,1] 0.8049256723334461 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97820438e-01 6.39109259e-02 -1.64246105e-02 3.25610583e+00] [-6.39460639e-02 9.97952037e-01 -1.62261301e-03 -5.17575459e-01] [ 1.62872708e-02 2.66936562e-03 9.99863790e-01 -1.04836908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.406296757 meters Centerline goodness [0,1] 0.8084280204315647 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97826754e-01 6.37628842e-02 -1.66151342e-02 3.25660302e+00] [-6.37943148e-02 9.97962130e-01 -1.36805130e-03 -5.19023520e-01] [ 1.64940438e-02 2.42502929e-03 9.99861023e-01 -1.04828293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43629675700001 meters Centerline goodness [0,1] 0.8092725610552436 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97839609e-01 6.36052574e-02 -1.64464811e-02 3.25697589e+00] [-6.36330099e-02 9.97972682e-01 -1.16915069e-03 -5.19825401e-01] [ 1.63387747e-02 2.21316396e-03 9.99864064e-01 -1.04891584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46629675700001 meters Centerline goodness [0,1] 0.8110160204560872 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97856925e-01 6.32780274e-02 -1.66567751e-02 3.25812618e+00] [-6.33109082e-02 9.97992793e-01 -1.45363445e-03 -5.19407120e-01] [ 1.65313584e-02 2.50507477e-03 9.99860210e-01 -1.04982201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49629675700001 meters Centerline goodness [0,1] 0.8093983196785473 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97872756e-01 6.29981992e-02 -1.67687070e-02 3.25930429e+00] [-6.30361598e-02 9.98009719e-01 -1.74440493e-03 -5.19356641e-01] [ 1.66254382e-02 2.79772905e-03 9.99857874e-01 -1.05102451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52629675700001 meters Centerline goodness [0,1] 0.8107959743824337 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97860509e-01 6.32830119e-02 -1.64214557e-02 3.25854026e+00] [-6.33183803e-02 9.97992027e-01 -1.64236257e-03 -5.19417458e-01] [ 1.62845482e-02 2.67862873e-03 9.99863810e-01 -1.05090932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.556296757 meters Centerline goodness [0,1] 0.8104972231637682 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97851897e-01 6.34625986e-02 -1.62508707e-02 3.25801148e+00] [-6.34964582e-02 9.97980820e-01 -1.57561187e-03 -5.19161211e-01] [ 1.61180649e-02 2.60410002e-03 9.99866704e-01 -1.05061124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.586296757 meters Centerline goodness [0,1] 0.8102626851683111 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97847960e-01 6.35503241e-02 -1.61494886e-02 3.25773861e+00] [-6.35853356e-02 9.97975019e-01 -1.66330081e-03 -5.18705239e-01] [ 1.60110829e-02 2.68659197e-03 9.99868205e-01 -1.05054267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.616296757 meters Centerline goodness [0,1] 0.8107897808325768 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97831833e-01 6.38328727e-02 -1.60311361e-02 3.25780133e+00] [-6.38726307e-02 9.97956095e-01 -1.97988695e-03 -5.17243763e-01] [ 1.58719881e-02 2.99954506e-03 9.99869533e-01 -1.05120182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.646296757 meters Centerline goodness [0,1] 0.8087531990796991 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 9.97826393e-01 6.39110487e-02 -1.60582347e-02 3.25839527e+00] [-6.39574834e-02 9.97949752e-01 -2.39439737e-03 -5.15910366e-01] [ 1.58722829e-02 3.41623717e-03 9.99868191e-01 -1.05216207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.676296757 meters Centerline goodness [0,1] 0.8036836795405748 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.05 [[ 9.97794667e-01 6.43927445e-02 -1.61051974e-02 3.25933785e+00] [-6.44458050e-02 9.97917288e-01 -2.79708251e-03 -5.13667287e-01] [ 1.58915431e-02 3.82882642e-03 9.99866391e-01 -1.05381358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.706296757 meters Centerline goodness [0,1] 0.7974212552647219 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 9.97790518e-01 6.44667698e-02 -1.60660151e-02 3.26008139e+00] [-6.45269023e-02 9.97910668e-01 -3.25245510e-03 -5.12628026e-01] [ 1.58227725e-02 4.28195905e-03 9.99865643e-01 -1.05531020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.736296757 meters Centerline goodness [0,1] 0.7901027847188232 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 0.99776359 0.06487816 -0.0160822 3.26086155] [-0.06494332 0.9978826 -0.00356217 -0.51128552] [ 0.01581704 0.00459864 0.99986433 -1.05677046] [ 0. 0. 0. 1. ]] SLAMing on 91.766296757 meters Centerline goodness [0,1] 0.7837733419188667 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 0.99774928 0.06510102 -0.01606963 3.26098159] [-0.06516705 0.9978678 -0.00361973 -0.51110083] [ 0.01579972 0.0046588 0.99986432 -1.05717406] [ 0. 0. 0. 1. ]] SLAMing on 91.79629675700001 meters Centerline goodness [0,1] 0.7722101561692005 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 9.97719263e-01 6.55925737e-02 -1.59338072e-02 3.26048660e+00] [-6.56490399e-02 9.97838125e-01 -3.04641503e-03 -5.12538699e-01] [ 1.56995381e-02 4.08550611e-03 9.99868408e-01 -1.05675660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82629675700001 meters Centerline goodness [0,1] 0.7625019433072499 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 9.97699859e-01 6.59010793e-02 -1.58757328e-02 3.26008393e+00] [-6.59504286e-02 9.97819501e-01 -2.60468400e-03 -5.13620885e-01] [ 1.56694643e-02 3.64570425e-03 9.99870580e-01 -1.05632360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85629675700001 meters Centerline goodness [0,1] 0.7661259023519367 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 9.97679193e-01 6.62860807e-02 -1.55686975e-02 3.25941529e+00] [-6.63263595e-02 9.97795805e-01 -2.08467092e-03 -5.14235789e-01] [ 1.53961964e-02 3.11244783e-03 9.99876627e-01 -1.05602708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88629675700001 meters Centerline goodness [0,1] 0.7573558003888529 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 9.97673994e-01 6.63845338e-02 -1.54820990e-02 3.25944937e+00] [-6.64239849e-02 9.97789388e-01 -2.04745962e-03 -5.13787423e-01] [ 1.53119545e-02 3.07107993e-03 9.99878049e-01 -1.05623791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.916296757 meters Centerline goodness [0,1] 0.7847672705657354 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.51, Z:-1.06 [[ 9.97685622e-01 6.62120846e-02 -1.54712661e-02 3.26030946e+00] [-6.62517605e-02 9.97800800e-01 -2.06562857e-03 -5.14173332e-01] [ 1.53004721e-02 3.08584654e-03 9.99878179e-01 -1.05724157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.946296757 meters Centerline goodness [0,1] 0.7760008307804144 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.06 [[ 9.97691653e-01 6.60715738e-02 -1.56815893e-02 3.26100777e+00] [-6.61093745e-02 9.97810566e-01 -1.90393612e-03 -5.15448857e-01] [ 1.55214594e-02 2.93624123e-03 9.99875224e-01 -1.05753187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.976296757 meters Centerline goodness [0,1] 0.7765507945148664 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.06 [[ 9.97702317e-01 6.58839887e-02 -1.57919561e-02 3.26147333e+00] [-6.59174079e-02 9.97823792e-01 -1.60456220e-03 -5.16974502e-01] [ 1.56518746e-02 2.64184023e-03 9.99874012e-01 -1.05756277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.006296757 meters Centerline goodness [0,1] 0.7888095113938572 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.06 [[ 0.99794829 0.06208796 -0.01563001 3.26059086] [-0.06217808 0.99805075 -0.0053471 -0.51713844] [ 0.01526755 0.00630797 0.99986355 -1.05745846] [ 0. 0. 0. 1. ]] SLAMing on 92.036296757 meters Centerline goodness [0,1] 0.79320297467367 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.06 [[ 0.99798282 0.06148827 -0.01579511 3.2610961 ] [-0.06157194 0.99809079 -0.004866 -0.51781512] [ 0.01546575 0.00582872 0.99986341 -1.05634637] [ 0. 0. 0. 1. ]] SLAMing on 92.066296757 meters Centerline goodness [0,1] 0.7961685222936595 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.06 [[ 0.99798818 0.06138169 -0.01587088 3.26102885] [-0.06146166 0.99809884 -0.0046004 -0.51822866] [ 0.01555833 0.0055666 0.99986347 -1.05564913] [ 0. 0. 0. 1. ]] SLAMing on 92.096296757 meters Centerline goodness [0,1] 0.7942633637548892 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 0.99798677 0.06131707 -0.01620565 3.26127513] [-0.06138914 0.99810594 -0.00398754 -0.51927574] [ 0.01593045 0.00497437 0.99986073 -1.05441817] [ 0. 0. 0. 1. ]] SLAMing on 92.126296757 meters Centerline goodness [0,1] 0.7976487259558611 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 0.99816625 0.05837073 -0.01603087 3.2592662 ] [-0.05849215 0.99826182 -0.00721211 -0.51873563] [ 0.01558203 0.00813657 0.99984549 -1.05297297] [ 0. 0. 0. 1. ]] SLAMing on 92.156296757 meters Centerline goodness [0,1] 0.7978801553153532 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.52, Z:-1.05 [[ 0.99817869 0.05808522 -0.01629168 3.26030527] [-0.05821134 0.99827703 -0.00737649 -0.51840095] [ 0.01583514 0.00831142 0.99984007 -1.05346359] [ 0. 0. 0. 1. ]] SLAMing on 92.18629675700001 meters Centerline goodness [0,1] 0.7961530420238344 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-1.06 [[ 0.99806656 0.0597212 -0.01721987 3.26556184] [-0.05981419 0.99819732 -0.00493641 -0.51730916] [ 0.01689402 0.00595686 0.99983954 -1.05640963] [ 0. 0. 0. 1. ]] SLAMing on 92.21629675700001 meters Centerline goodness [0,1] 0.7961530420238344 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-1.06 [[ 0.99806656 0.0597212 -0.01721987 3.26556184] [-0.05981419 0.99819732 -0.00493641 -0.51730916] [ 0.01689402 0.00595686 0.99983954 -1.05640963] [ 0. 0. 0. 1. ]] SLAMing on 92.24629675700001 meters Centerline goodness [0,1] 0.79585667752443 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-1.06 [[ 0.99808559 0.05932569 -0.01748178 3.26718576] [-0.05943315 0.99821606 -0.00569238 -0.51567809] [ 0.01711289 0.00672048 0.99983098 -1.05803494] [ 0. 0. 0. 1. ]] SLAMing on 92.27629675700001 meters Centerline goodness [0,1] 0.7932312188502988 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 0.99809845 0.05904218 -0.01770593 3.26862765] [-0.0591624 0.99822821 -0.00634415 -0.51492967] [ 0.01729998 0.00737961 0.99982311 -1.05970671] [ 0. 0. 0. 1. ]] SLAMing on 92.306296757 meters Centerline goodness [0,1] 0.7940063173832459 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-1.06 [[ 0.99809281 0.05906661 -0.01794079 3.26898365] [-0.05918599 0.99822774 -0.00619727 -0.51534074] [ 0.01754294 0.00724729 0.99981984 -1.0594655 ] [ 0. 0. 0. 1. ]] SLAMing on 92.336296757 meters Centerline goodness [0,1] 0.7932564330079858 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.52, Z:-1.06 [[ 0.99809024 0.05909122 -0.01800304 3.2692236 ] [-0.05921311 0.9982254 -0.00631386 -0.51512955] [ 0.017598 0.00736782 0.999818 -1.05960766] [ 0. 0. 0. 1. ]] SLAMing on 92.366296757 meters Centerline goodness [0,1] 0.793567434812144 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 0.99808594 0.05917396 -0.01796947 3.26927636] [-0.0592985 0.99821927 -0.00647854 -0.51409991] [ 0.01755411 0.0075317 0.99981755 -1.05978339] [ 0. 0. 0. 1. ]] SLAMing on 92.396296757 meters Centerline goodness [0,1] 0.7903439669292567 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 0.99803876 0.05999949 -0.01785201 3.26861387] [-0.06012288 0.9981701 -0.00645692 -0.51117686] [ 0.01743193 0.00751757 0.99981979 -1.05945111] [ 0. 0. 0. 1. ]] SLAMing on 92.426296757 meters Centerline goodness [0,1] 0.7840170540217335 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 0.99801009 0.06051277 -0.01772175 3.26792419] [-0.06063401 0.99813964 -0.00638553 -0.5101878 ] [ 0.01730237 0.00744736 0.99982257 -1.05903122] [ 0. 0. 0. 1. ]] SLAMing on 92.456296757 meters Centerline goodness [0,1] 0.7732604811352513 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 0.99795405 0.0614833 -0.01753634 3.26705436] [-0.06159997 0.99808171 -0.00619174 -0.50952404] [ 0.01712201 0.00725931 0.99982705 -1.05876171] [ 0. 0. 0. 1. ]] SLAMing on 92.486296757 meters Centerline goodness [0,1] 0.7721187276218151 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 0.99792856 0.06194341 -0.01736691 3.26646629] [-0.06205639 0.99805435 -0.00604305 -0.5088979 ] [ 0.01695879 0.00710825 0.99983092 -1.05853609] [ 0. 0. 0. 1. ]] SLAMing on 92.516296757 meters Centerline goodness [0,1] 0.7649618024083905 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 9.97682924e-01 6.57462945e-02 -1.74987805e-02 3.26771361e+00] [-6.57951024e-02 9.97830668e-01 -2.22765024e-03 -5.08283239e-01] [ 1.73143601e-02 3.37382266e-03 9.99844403e-01 -1.05894420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54629675700001 meters Centerline goodness [0,1] 0.7495032386261 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 9.97666606e-01 6.59823844e-02 -1.75404480e-02 3.26795411e+00] [-6.60365122e-02 9.97814015e-01 -2.52417949e-03 -5.06594294e-01] [ 1.73355535e-02 3.67659960e-03 9.99842968e-01 -1.05940033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57629675700001 meters Centerline goodness [0,1] 0.7517031379025598 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.51, Z:-1.06 [[ 9.97619137e-01 6.67282009e-02 -1.74185077e-02 3.26756532e+00] [-6.67816499e-02 9.97764471e-01 -2.50445864e-03 -5.05116305e-01] [ 1.72124501e-02 3.66173255e-03 9.99845150e-01 -1.05961987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60629675700001 meters Centerline goodness [0,1] 0.7394826167455256 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 9.97599640e-01 6.69996087e-02 -1.74931343e-02 3.26748059e+00] [-6.70509844e-02 9.97746744e-01 -2.36644549e-03 -5.04914671e-01] [ 1.72951669e-02 3.53369705e-03 9.99844183e-01 -1.05918880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63629675700001 meters Centerline goodness [0,1] 0.7292794989604456 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 9.97605434e-01 6.68912918e-02 -1.75770634e-02 3.26775335e+00] [-6.69454377e-02 9.97753481e-01 -2.50970106e-03 -5.04484080e-01] [ 1.73696990e-02 3.68039561e-03 9.99842362e-01 -1.05924077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.666296757 meters Centerline goodness [0,1] 0.7474840829739167 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 9.97618590e-01 6.66347117e-02 -1.78035012e-02 3.26846328e+00] [-6.66942530e-02 9.97769611e-01 -2.77115015e-03 -5.02940247e-01] [ 1.75791377e-02 3.95194212e-03 9.99837665e-01 -1.05929038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.696296757 meters Centerline goodness [0,1] 0.7452914798206278 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 9.97630742e-01 6.63943723e-02 -1.80191548e-02 3.26912797e+00] [-6.64601740e-02 9.97784334e-01 -3.07718340e-03 -5.02014935e-01] [ 1.77749227e-02 4.26744892e-03 9.99832907e-01 -1.05954004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.726296757 meters Centerline goodness [0,1] 0.7653071681098529 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 0.99764399 0.06612244 -0.01828373 3.26975465] [-0.06619313 0.99780141 -0.00328765 -0.50144592] [ 0.01802614 0.00449016 0.99982743 -1.05945217] [ 0. 0. 0. 1. ]] SLAMing on 92.756296757 meters Centerline goodness [0,1] 0.7581916854392792 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 0.99764619 0.06604477 -0.01844387 3.2700263 ] [-0.06611755 0.99780617 -0.00336393 -0.5010146 ] [ 0.01818124 0.00457548 0.99982424 -1.05930778] [ 0. 0. 0. 1. ]] SLAMing on 92.786296757 meters Centerline goodness [0,1] 0.7778964228510411 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 0.99765103 0.06601812 -0.01827654 3.26937423] [-0.0660938 0.99780704 -0.00356743 -0.49825904] [ 0.01800094 0.00476701 0.99982661 -1.0584137 ] [ 0. 0. 0. 1. ]] SLAMing on 92.816296757 meters Centerline goodness [0,1] 0.7796469104665826 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.50, Z:-1.06 [[ 0.99766863 0.06570929 -0.01842781 3.26997887] [-0.06579501 0.99782481 -0.00408358 -0.49610484] [ 0.0181194 0.00528652 0.99982185 -1.05864787] [ 0. 0. 0. 1. ]] SLAMing on 92.846296757 meters Centerline goodness [0,1] 0.7804945469166206 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.49, Z:-1.06 [[ 0.99767624 0.06553939 -0.01861996 3.27001538] [-0.06563528 0.99783314 -0.00458547 -0.4937534 ] [ 0.01827908 0.00579694 0.99981612 -1.05802587] [ 0. 0. 0. 1. ]] SLAMing on 92.876296757 meters Centerline goodness [0,1] 0.7766407286010959 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.49, Z:-1.06 [[ 0.9976741 0.06552362 -0.01878933 3.26992311] [-0.06562098 0.99783396 -0.00461229 -0.49369616] [ 0.01844642 0.00583454 0.99981283 -1.05736488] [ 0. 0. 0. 1. ]] SLAMing on 92.906296757 meters Centerline goodness [0,1] 0.780341751854079 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.49, Z:-1.06 [[ 0.99767237 0.06547367 -0.01905383 3.27010698] [-0.06557295 0.99783702 -0.00463249 -0.49346955] [ 0.01870931 0.00587112 0.99980773 -1.05675787] [ 0. 0. 0. 1. ]] SLAMing on 92.93629675700001 meters Centerline goodness [0,1] 0.7741975492384779 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.49, Z:-1.06 [[ 0.99768408 0.06520564 -0.01935746 3.27120093] [-0.0653255 0.99784815 -0.00562514 -0.48988676] [ 0.01894902 0.00687665 0.9997968 -1.05757582] [ 0. 0. 0. 1. ]] SLAMing on 92.96629675700001 meters Centerline goodness [0,1] 0.7720869090728707 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.49, Z:-1.06 [[ 0.99769312 0.06500682 -0.01955903 3.27213295] [-0.06514259 0.99785553 -0.00638585 -0.48658102] [ 0.01910196 0.00764525 0.99978831 -1.05830735] [ 0. 0. 0. 1. ]] SLAMing on 92.99629675700001 meters Centerline goodness [0,1] 0.7812615543888191 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.48, Z:-1.06 [[ 0.99748374 0.06802291 -0.01997701 3.2747681 ] [-0.06810858 0.99767128 -0.00363931 -0.48377658] [ 0.01968293 0.00499076 0.99979382 -1.05974991] [ 0. 0. 0. 1. ]] SLAMing on 93.02629675700001 meters Centerline goodness [0,1] 0.7797139973910261 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 0.99747173 0.06817106 -0.02007146 3.27531338] [-0.06826882 0.99765802 -0.00422536 -0.4825837 ] [ 0.01973641 0.00558493 0.99978962 -1.06062631] [ 0. 0. 0. 1. ]] SLAMing on 93.056296757 meters Centerline goodness [0,1] 0.7795219495418478 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 0.99746842 0.06817897 -0.0202084 3.27584181] [-0.06828274 0.99765591 -0.00448982 -0.48206676] [ 0.01985492 0.00585834 0.99978571 -1.0610648 ] [ 0. 0. 0. 1. ]] SLAMing on 93.086296757 meters Centerline goodness [0,1] 0.765193099392276 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97274906e-01 7.08290967e-02 -2.06398107e-02 3.27909230e+00] [-7.08780052e-02 9.97483632e-01 -1.64688285e-03 -4.81090142e-01] [ 2.04712261e-02 3.10530354e-03 9.99785620e-01 -1.06313964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.116296757 meters Centerline goodness [0,1] 0.7637144181281557 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97271126e-01 7.08728856e-02 -2.06721083e-02 3.27954921e+00] [-7.09303922e-02 9.97479138e-01 -2.06109860e-03 -4.78847377e-01] [ 2.04739208e-02 3.52175487e-03 9.99784185e-01 -1.06373222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.146296757 meters Centerline goodness [0,1] 0.7595781474535401 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97256646e-01 7.10794573e-02 -2.06613636e-02 3.27968980e+00] [-7.11447660e-02 9.97463011e-01 -2.44229952e-03 -4.76622171e-01] [ 2.04353486e-02 3.90554731e-03 9.99783548e-01 -1.06402934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.176296757 meters Centerline goodness [0,1] 0.7560969655542806 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97245460e-01 7.11941640e-02 -2.08058447e-02 3.27970630e+00] [-7.12578372e-02 9.97455198e-01 -2.33423514e-03 -4.76975654e-01] [ 2.05867140e-02 3.81038489e-03 9.99780810e-01 -1.06364290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.206296757 meters Centerline goodness [0,1] 0.7601690567512764 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97237764e-01 7.12792507e-02 -2.08832363e-02 3.27969559e+00] [-7.13387269e-02 9.97449903e-01 -2.11608905e-03 -4.77822788e-01] [ 2.06791487e-02 3.60002740e-03 9.99779682e-01 -1.06335954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.236296757 meters Centerline goodness [0,1] 0.7584901050574151 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97237391e-01 7.11987479e-02 -2.11736608e-02 3.27992183e+00] [-7.12538377e-02 9.97456485e-01 -1.85789129e-03 -4.78088334e-01] [ 2.09875258e-02 3.36146325e-03 9.99774087e-01 -1.06246906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.266296757 meters Centerline goodness [0,1] 0.7604457506735244 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97238207e-01 7.11468325e-02 -2.13093267e-02 3.27990069e+00] [-7.11953948e-02 9.97461218e-01 -1.52804589e-03 -4.78286521e-01] [ 2.11465113e-02 3.04095167e-03 9.99771763e-01 -1.06169315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29629675700001 meters Centerline goodness [0,1] 0.7612155940836517 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97237176e-01 7.11264910e-02 -2.14251399e-02 3.28002226e+00] [-7.11709835e-02 9.97463256e-01 -1.32037902e-03 -4.78808196e-01] [ 2.12768759e-02 2.84157933e-03 9.99769583e-01 -1.06138800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32629675700001 meters Centerline goodness [0,1] 0.7642204755258454 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97249178e-01 7.08879288e-02 -2.16559338e-02 3.28050759e+00] [-7.09319601e-02 9.97480347e-01 -1.27092610e-03 -4.79069722e-01] [ 2.15112750e-02 2.80352784e-03 9.99764675e-01 -1.06111964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35629675700001 meters Centerline goodness [0,1] 0.7658345570239844 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97258565e-01 7.07027536e-02 -2.18283289e-02 3.28118449e+00] [-7.07528916e-02 9.97492697e-01 -1.53226137e-03 -4.78185752e-01] [ 2.16652636e-02 3.07247816e-03 9.99760559e-01 -1.06148998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38629675700001 meters Centerline goodness [0,1] 0.7609462847129262 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97285216e-01 7.02837443e-02 -2.19634440e-02 3.28233084e+00] [-7.03499775e-02 9.97519818e-01 -2.25669218e-03 -4.76213081e-01] [ 2.17503619e-02 3.79569354e-03 9.99756228e-01 -1.06254301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.416296757 meters Centerline goodness [0,1] 0.7709136139700502 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.48, Z:-1.06 [[ 9.97293158e-01 7.00924981e-02 -2.22125935e-02 3.28303500e+00] [-7.01646957e-02 9.97532321e-01 -2.48681602e-03 -4.75721754e-01] [ 2.19834728e-02 4.03862447e-03 9.99750177e-01 -1.06278845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.446296757 meters Centerline goodness [0,1] 0.7665080598174403 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.47, Z:-1.06 [[ 9.97312143e-01 6.97273059e-02 -2.25076243e-02 3.28376465e+00] [-6.98144755e-02 9.97555146e-01 -3.10967078e-03 -4.73962232e-01] [ 2.22357675e-02 4.67267042e-03 9.99741835e-01 -1.06286255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.476296757 meters Centerline goodness [0,1] 0.7730818771720903 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.47, Z:-1.06 [[ 0.99731485 0.0696452 -0.02264165 3.28408713] [-0.06973909 0.99755953 -0.00338285 -0.4726378 ] [ 0.0223508 0.00495277 0.99973792 -1.06287321] [ 0. 0. 0. 1. ]] SLAMing on 93.506296757 meters Centerline goodness [0,1] 0.7693968130775387 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.47, Z:-1.06 [[ 0.99730226 0.06982265 -0.02264932 3.2836886 ] [-0.0699245 0.99754529 -0.00373556 -0.47003817] [ 0.02233289 0.00530923 0.99973649 -1.06226816] [ 0. 0. 0. 1. ]] SLAMing on 93.536296757 meters Centerline goodness [0,1] 0.7760517642497092 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.47, Z:-1.06 [[ 0.99729394 0.06993005 -0.02268466 3.28350441] [-0.0700353 0.99753698 -0.00387795 -0.4688976 ] [ 0.0223576 0.00545618 0.99973515 -1.06188635] [ 0. 0. 0. 1. ]] SLAMing on 93.566296757 meters Centerline goodness [0,1] 0.7632812877652633 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.47, Z:-1.06 [[ 0.99726462 0.07037483 -0.0225978 3.28279736] [-0.07048138 0.99750527 -0.00395236 -0.46727424] [ 0.02226328 0.00553428 0.99973682 -1.06123316] [ 0. 0. 0. 1. ]] SLAMing on 93.596296757 meters Centerline goodness [0,1] 0.7716527851331183 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.46, Z:-1.06 [[ 0.99728599 0.06999337 -0.02283802 3.2838693 ] [-0.07011448 0.9975286 -0.0045453 -0.46488025] [ 0.02246344 0.00613424 0.99972885 -1.06183799] [ 0. 0. 0. 1. ]] SLAMing on 93.626296757 meters Centerline goodness [0,1] 0.7755506661186199 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99730759 0.06954491 -0.02326093 3.28521988] [-0.06967788 0.99755724 -0.00495461 -0.46380045] [ 0.02285955 0.00656204 0.99971715 -1.06234167] [ 0. 0. 0. 1. ]] SLAMing on 93.656296757 meters Centerline goodness [0,1] 0.7763529667463595 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99733156 0.06907396 -0.02363351 3.28666915] [-0.06921936 0.9975869 -0.00538983 -0.46332048] [ 0.02320419 0.00701135 0.99970616 -1.06323176] [ 0. 0. 0. 1. ]] SLAMing on 93.68629675700001 meters Centerline goodness [0,1] 0.7742598187311178 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99738509 0.06806132 -0.02430295 3.28919924] [-0.0682287 0.9976509 -0.00612519 -0.46389347] [ 0.02382897 0.00776733 0.99968587 -1.06471363] [ 0. 0. 0. 1. ]] SLAMing on 93.71629675700001 meters Centerline goodness [0,1] 0.7817600619944787 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.9973841 0.0679921 -0.02453636 3.28958322] [-0.0681577 0.99765666 -0.00597638 -0.46476503] [ 0.02407252 0.00763309 0.99968107 -1.06450738] [ 0. 0. 0. 1. ]] SLAMing on 93.74629675700001 meters Centerline goodness [0,1] 0.7841420347346524 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.47, Z:-1.06 [[ 0.9973863 0.06800562 -0.02440898 3.2891478 ] [-0.06816353 0.9976579 -0.0056955 -0.46536022] [ 0.02396448 0.00734442 0.99968583 -1.06394035] [ 0. 0. 0. 1. ]] SLAMing on 93.77629675700001 meters Centerline goodness [0,1] 0.7853171533552504 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99738015 0.06806904 -0.02448332 3.28931094] [-0.06822511 0.99765426 -0.00559562 -0.46483478] [ 0.024045 0.00725134 0.99968458 -1.06382324] [ 0. 0. 0. 1. ]] SLAMing on 93.806296757 meters Centerline goodness [0,1] 0.7816755190729117 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97123598e-01 7.17724937e-02 -2.43565012e-02 3.29036039e+00] [-7.18385699e-02 9.97414561e-01 -1.84768129e-03 -4.63806772e-01] [ 2.41609162e-02 3.59210282e-03 9.99701629e-01 -1.06442765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.836296757 meters Centerline goodness [0,1] 0.7808852198608871 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97099490e-01 7.21664827e-02 -2.41786242e-02 3.28989511e+00] [-7.22339787e-02 9.97385849e-01 -1.92875718e-03 -4.62352050e-01] [ 2.39762260e-02 3.66968103e-03 9.99705794e-01 -1.06436927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.866296757 meters Centerline goodness [0,1] 0.7706422018348624 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97038161e-01 7.31777980e-02 -2.36625300e-02 3.28753351e+00] [-7.32299204e-02 9.97314181e-01 -1.34260871e-03 -4.61957679e-01] [ 2.35007276e-02 3.07143731e-03 9.99719102e-01 -1.06257441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.896296757 meters Centerline goodness [0,1] 0.7677983613253562 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97026764e-01 7.33611174e-02 -2.35749698e-02 3.28706215e+00] [-7.34110052e-02 9.97300980e-01 -1.25652633e-03 -4.62438901e-01] [ 2.34191603e-02 2.98345261e-03 9.99721282e-01 -1.06222537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.926296757 meters Centerline goodness [0,1] 0.7866522626335374 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97020059e-01 7.34224882e-02 -2.36672790e-02 3.28690781e+00] [-7.34748751e-02 9.97296154e-01 -1.35035454e-03 -4.61760719e-01] [ 2.35041399e-02 3.08528093e-03 9.99718979e-01 -1.06171671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.956296757 meters Centerline goodness [0,1] 0.77998129541258 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97028345e-01 7.32758018e-02 -2.37725995e-02 3.28730544e+00] [-7.33357005e-02 9.97305936e-01 -1.65652596e-03 -4.60521845e-01] [ 2.35871713e-02 3.39498357e-03 9.99716019e-01 -1.06189066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.986296757 meters Centerline goodness [0,1] 0.7894005129557276 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97048997e-01 7.29388304e-02 -2.39421133e-02 3.28748701e+00] [-7.30006067e-02 9.97330421e-01 -1.71527321e-03 -4.59450279e-01] [ 2.37530880e-02 3.45800023e-03 9.99711875e-01 -1.06120385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.016296757 meters Centerline goodness [0,1] 0.7925778343215152 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 9.97057273e-01 7.27393508e-02 -2.42029022e-02 3.28783744e+00] [-7.28011152e-02 9.97345064e-01 -1.67950559e-03 -4.59672667e-01] [ 2.40164789e-02 3.43656154e-03 9.99705656e-01 -1.06078536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04629675700001 meters Centerline goodness [0,1] 0.7990970654627539 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99728548 0.06953888 -0.0242077 3.2865093 ] [-0.06968554 0.9975551 -0.00526724 -0.4580991 ] [ 0.02378224 0.00693986 0.99969307 -1.05992743] [ 0. 0. 0. 1. ]] SLAMing on 94.07629675700001 meters Centerline goodness [0,1] 0.7965391927992106 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99729773 0.06927468 -0.02445941 3.28709152] [-0.06942604 0.99757252 -0.00539316 -0.45809141] [ 0.02402642 0.00707671 0.99968628 -1.05993893] [ 0. 0. 0. 1. ]] SLAMing on 94.10629675700001 meters Centerline goodness [0,1] 0.7995726906087959 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99733398 0.06868186 -0.02465233 3.28813102] [-0.06884632 0.99760992 -0.00588475 -0.45727777] [ 0.02418924 0.00756628 0.99967876 -1.06061725] [ 0. 0. 0. 1. ]] SLAMing on 94.13629675700001 meters Centerline goodness [0,1] 0.7995726906087959 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99733398 0.06868186 -0.02465233 3.28813102] [-0.06884632 0.99760992 -0.00588475 -0.45727777] [ 0.02418924 0.00756628 0.99967876 -1.06061725] [ 0. 0. 0. 1. ]] SLAMing on 94.166296757 meters Centerline goodness [0,1] 0.7974792942023767 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99736117 0.06819305 -0.02490799 3.2893581 ] [-0.06837146 0.99763952 -0.00638177 -0.45627128] [ 0.024414 0.00806792 0.99966938 -1.06149399] [ 0. 0. 0. 1. ]] SLAMing on 94.196296757 meters Centerline goodness [0,1] 0.8016093495545551 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99742355 0.0671038 -0.02536434 3.29141112] [-0.06731008 0.9977049 -0.00736763 -0.45448116] [ 0.02481173 0.00905593 0.99965112 -1.06278358] [ 0. 0. 0. 1. ]] SLAMing on 94.226296757 meters Centerline goodness [0,1] 0.8034967874459598 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99746717 0.06642046 -0.02544735 3.29193731] [-0.06663451 0.99774807 -0.00765672 -0.45496976] [ 0.02488149 0.009333 0.99964684 -1.06295447] [ 0. 0. 0. 1. ]] SLAMing on 94.256296757 meters Centerline goodness [0,1] 0.801941980340446 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99747426 0.06628287 -0.02552818 3.29200234] [-0.06649493 0.99775821 -0.00754892 -0.45573254] [ 0.02497059 0.00922735 0.9996456 -1.06269492] [ 0. 0. 0. 1. ]] SLAMing on 94.286296757 meters Centerline goodness [0,1] 0.8049620786180827 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99747643 0.06621839 -0.02561039 3.29194201] [-0.06642753 0.99776379 -0.00740233 -0.45630073] [ 0.02506295 0.00908488 0.99964459 -1.06221608] [ 0. 0. 0. 1. ]] SLAMing on 94.316296757 meters Centerline goodness [0,1] 0.8057376656936402 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99745947 0.06656912 -0.02536049 3.29065035] [-0.06676719 0.99774371 -0.00704432 -0.45571402] [ 0.02483434 0.00871968 0.99965355 -1.06090644] [ 0. 0. 0. 1. ]] SLAMing on 94.346296757 meters Centerline goodness [0,1] 0.807626936059177 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.9974589 0.0665386 -0.02546304 3.29093352] [-0.06674122 0.9977444 -0.00719135 -0.45458682] [ 0.0249271 0.00887251 0.9996499 -1.06095741] [ 0. 0. 0. 1. ]] SLAMing on 94.376296757 meters Centerline goodness [0,1] 0.8102330680139174 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99747329 0.06623281 -0.02569546 3.29219749] [-0.06645002 0.9977601 -0.0076924 -0.45256926] [ 0.02512842 0.00938043 0.99964022 -1.06195163] [ 0. 0. 0. 1. ]] SLAMing on 94.406296757 meters Centerline goodness [0,1] 0.8116787278613598 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99747697 0.06610055 -0.02589227 3.29287809] [-0.06632274 0.9977676 -0.00781787 -0.45226571] [ 0.0253177 0.0095154 0.99963417 -1.06229329] [ 0. 0. 0. 1. ]] SLAMing on 94.43629675700001 meters Centerline goodness [0,1] 0.8077719837131223 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99748778 0.06583536 -0.02615038 3.29373707] [-0.06606341 0.99778372 -0.00795401 -0.45252515] [ 0.02556877 0.00966161 0.99962638 -1.06270296] [ 0. 0. 0. 1. ]] SLAMing on 94.46629675700001 meters Centerline goodness [0,1] 0.8087173990710969 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99748711 0.06582011 -0.02621398 3.29389098] [-0.06604842 0.99778483 -0.00794009 -0.45245204] [ 0.0256333 0.00965153 0.99962482 -1.06267561] [ 0. 0. 0. 1. ]] SLAMing on 94.49629675700001 meters Centerline goodness [0,1] 0.8079672162393977 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99747683 0.06600589 -0.02613788 3.29361829] [-0.06623491 0.99777203 -0.00799433 -0.45130561] [ 0.02555197 0.0097054 0.99962638 -1.06247341] [ 0. 0. 0. 1. ]] SLAMing on 94.52629675700001 meters Centerline goodness [0,1] 0.807816968541468 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99746786 0.06609783 -0.02624787 3.29380037] [-0.06632768 0.99776595 -0.0079841 -0.45083933] [ 0.0256615 0.00970484 0.99962358 -1.06239403] [ 0. 0. 0. 1. ]] SLAMing on 94.556296757 meters Centerline goodness [0,1] 0.8072935287808366 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99745519 0.06630115 -0.02621653 3.29347665] [-0.06652668 0.99775396 -0.00782498 -0.4509034 ] [ 0.02563885 0.00954917 0.99962566 -1.06193931] [ 0. 0. 0. 1. ]] SLAMing on 94.586296757 meters Centerline goodness [0,1] 0.806361686919228 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99744098 0.06650214 -0.02624789 3.29327468] [-0.06672307 0.99774234 -0.00763206 -0.4511148 ] [ 0.02568109 0.00936387 0.99962633 -1.06162051] [ 0. 0. 0. 1. ]] SLAMing on 94.616296757 meters Centerline goodness [0,1] 0.8030818634969326 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99739333 0.0672958 -0.02603488 3.29198329] [-0.06749526 0.99769602 -0.00685918 -0.45180948] [ 0.02551331 0.00859854 0.9996375 -1.0604533 ] [ 0. 0. 0. 1. ]] SLAMing on 94.646296757 meters Centerline goodness [0,1] 0.8042080514370712 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99738409 0.0673841 -0.02616029 3.29219414] [-0.06758275 0.99769061 -0.00678434 -0.451775 ] [ 0.02564272 0.00853458 0.99963474 -1.06039891] [ 0. 0. 0. 1. ]] SLAMing on 94.676296757 meters Centerline goodness [0,1] 0.8035893514314391 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99738342 0.0673781 -0.02620121 3.29260719] [-0.06757665 0.99769114 -0.00676649 -0.45188523] [ 0.0256848 0.00851937 0.99963379 -1.06081276] [ 0. 0. 0. 1. ]] SLAMing on 94.706296757 meters Centerline goodness [0,1] 0.8020526806861408 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99738123 0.06741255 -0.02619601 3.29277712] [-0.0676057 0.99769056 -0.00655793 -0.45242634] [ 0.02569343 0.00831176 0.99963531 -1.06098113] [ 0. 0. 0. 1. ]] SLAMing on 94.736296757 meters Centerline goodness [0,1] 0.8026161888621011 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.99738722 0.06727775 -0.02631404 3.29319545] [-0.06746568 0.99770158 -0.00631927 -0.45369773] [ 0.02582842 0.00807806 0.99963375 -1.06106651] [ 0. 0. 0. 1. ]] SLAMing on 94.766296757 meters Centerline goodness [0,1] 0.8035406698564593 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.45, Z:-1.06 [[ 0.9973892 0.06716476 -0.0265268 3.29361559] [-0.06734939 0.99771063 -0.00612805 -0.45482674] [ 0.02605448 0.00789862 0.99962932 -1.06094573] [ 0. 0. 0. 1. ]] SLAMing on 94.79629675700001 meters Centerline goodness [0,1] 0.8050255597955216 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99739454 0.06703549 -0.02665302 3.29381559] [-0.06721471 0.99772118 -0.00588534 -0.45633818] [ 0.02619776 0.00766148 0.99962742 -1.06076706] [ 0. 0. 0. 1. ]] SLAMing on 94.82629675700001 meters Centerline goodness [0,1] 0.8070779002068998 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.99762684 0.0634931 -0.02663278 3.29254933] [-0.06375809 0.99792278 -0.00922075 -0.4574765 ] [ 0.025992 0.01089692 0.99960276 -1.0598883 ] [ 0. 0. 0. 1. ]] SLAMing on 94.85629675700001 meters Centerline goodness [0,1] 0.805900060204696 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.46, Z:-1.06 [[ 0.9976443 0.063124 -0.02685534 3.29329043] [-0.06338975 0.9979468 -0.00916122 -0.45821064] [ 0.02622191 0.010842 0.99959735 -1.06009287] [ 0. 0. 0. 1. ]] SLAMing on 94.88629675700001 meters Centerline goodness [0,1] 0.8080040526849037 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:-1.06 [[ 0.99770464 0.06200538 -0.02721747 3.29518156] [-0.06227837 0.9980155 -0.00929887 -0.45965359] [ 0.02658687 0.01097258 0.99958628 -1.0610829 ] [ 0. 0. 0. 1. ]] SLAMing on 94.916296757 meters Centerline goodness [0,1] 0.8084766673924088 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:-1.06 [[ 0.99775963 0.06104984 -0.02736129 3.29629898] [-0.06131926 0.99807656 -0.00911775 -0.46292147] [ 0.02675202 0.01077509 0.99958403 -1.06161443] [ 0. 0. 0. 1. ]] SLAMing on 94.946296757 meters Centerline goodness [0,1] 0.8075814460457793 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.46, Z:-1.06 [[ 0.99775883 0.06103615 -0.02742087 3.29628787] [-0.06129264 0.99808269 -0.0086117 -0.4648881 ] [ 0.02684267 0.0102731 0.99958688 -1.06123214] [ 0. 0. 0. 1. ]] SLAMing on 94.976296757 meters Centerline goodness [0,1] 0.8081895504252734 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99775827 0.06102734 -0.02746073 3.29619606] [-0.06126353 0.99809081 -0.00784277 -0.4676412 ] [ 0.02692968 0.00950753 0.99959212 -1.06064604] [ 0. 0. 0. 1. ]] SLAMing on 95.006296757 meters Centerline goodness [0,1] 0.8076268714757924 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99775257 0.0610247 -0.02767286 3.29682961] [-0.06125902 0.9980922 -0.00769956 -0.46814504] [ 0.0271502 0.00937747 0.99958738 -1.06090852] [ 0. 0. 0. 1. ]] SLAMing on 95.036296757 meters Centerline goodness [0,1] 0.8092551613452326 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99775132 0.06096776 -0.02784311 3.29752992] [-0.06120552 0.99809496 -0.00776753 -0.46780779] [ 0.0273165 0.00945422 0.99958213 -1.06136099] [ 0. 0. 0. 1. ]] SLAMing on 95.066296757 meters Centerline goodness [0,1] 0.8037233266903223 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99771953 0.0615785 -0.02763747 3.29722374] [-0.06180926 0.99805924 -0.0075737 -0.46689212] [ 0.02711746 0.00926468 0.99958932 -1.06167535] [ 0. 0. 0. 1. ]] SLAMing on 95.096296757 meters Centerline goodness [0,1] 0.8024084661233426 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99768329 0.06222407 -0.02749959 3.29656164] [-0.06243968 0.99802383 -0.00705155 -0.46839107] [ 0.02700647 0.00875228 0.99959694 -1.06130929] [ 0. 0. 0. 1. ]] SLAMing on 95.126296757 meters Centerline goodness [0,1] 0.8040130545146863 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99767084 0.06229567 -0.02778733 3.29726636] [-0.06251164 0.99801989 -0.00697149 -0.46912736] [ 0.02729801 0.00869228 0.99958955 -1.06154548] [ 0. 0. 0. 1. ]] SLAMing on 95.156296757 meters Centerline goodness [0,1] 0.8026488776354872 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99762474 0.06322528 -0.02733942 3.29623584] [-0.06342544 0.9979653 -0.00651653 -0.46920141] [ 0.02687178 0.00823506 0.99960497 -1.06168225] [ 0. 0. 0. 1. ]] SLAMing on 95.18629675700001 meters Centerline goodness [0,1] 0.803378033050208 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99760818 0.06356508 -0.02715522 3.29618339] [-0.06376726 0.99794268 -0.00664462 -0.46812791] [ 0.02667699 0.00836035 0.99960915 -1.06228939] [ 0. 0. 0. 1. ]] SLAMing on 95.21629675700001 meters Centerline goodness [0,1] 0.8025474610466954 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97364028e-01 6.72988705e-02 -2.71267091e-02 3.29738463e+00] [-6.73949925e-02 9.97722870e-01 -2.64385056e-03 -4.68884193e-01] [ 2.68870099e-02 4.46508580e-03 9.99628507e-01 -1.06301421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24629675700001 meters Centerline goodness [0,1] 0.8020557432021966 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97343079e-01 6.76890590e-02 -2.69253520e-02 3.29685228e+00] [-6.77746895e-02 9.97698048e-01 -2.27946750e-03 -4.69479012e-01] [ 2.67090761e-02 4.09826851e-03 9.99634848e-01 -1.06286040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27629675700001 meters Centerline goodness [0,1] 0.7977770767102677 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97318760e-01 6.79846085e-02 -2.70810448e-02 3.29681681e+00] [-6.80543808e-02 9.97680229e-01 -1.66208229e-03 -4.71816751e-01] [ 2.69052269e-02 3.50060958e-03 9.99631859e-01 -1.06233553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.306296757 meters Centerline goodness [0,1] 0.7965182996801523 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97307279e-01 6.80972636e-02 -2.72204779e-02 3.29694894e+00] [-6.81572986e-02 9.97673763e-01 -1.28274074e-03 -4.73106716e-01] [ 2.70698055e-02 3.13456092e-03 9.99628631e-01 -1.06207907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.336296757 meters Centerline goodness [0,1] 0.7976652746232935 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97293894e-01 6.83059784e-02 -2.71878953e-02 3.29678342e+00] [-6.83516120e-02 9.97661011e-01 -7.51580801e-04 -4.74234994e-01] [ 2.70729656e-02 2.60788341e-03 9.99630058e-01 -1.06174611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.366296757 meters Centerline goodness [0,1] 0.7999462155290435 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97296050e-01 6.82268326e-02 -2.73072908e-02 3.29724028e+00] [-6.82734456e-02 9.97666343e-01 -7.77195302e-04 -4.73770820e-01] [ 2.71905394e-02 2.63945664e-03 9.99626784e-01 -1.06195915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.396296757 meters Centerline goodness [0,1] 0.8023170373273244 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 9.97305907e-01 6.79890719e-02 -2.75392994e-02 3.29809220e+00] [-6.80317197e-02 9.97682970e-01 -6.13553334e-04 -4.74596835e-01] [ 2.74337751e-02 2.48544626e-03 9.99620533e-01 -1.06231468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.426296757 meters Centerline goodness [0,1] 0.8041932319764591 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 9.97311543e-01 6.77738960e-02 -2.78636995e-02 3.29879755e+00] [-6.78119181e-02 9.97698034e-01 -4.20830749e-04 -4.75911373e-01] [ 2.77710368e-02 2.30919027e-03 9.99611643e-01 -1.06224469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.456296757 meters Centerline goodness [0,1] 0.8040036441533499 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99755691 0.06402757 -0.02794055 3.29823333] [-0.06416917 0.9979302 -0.00420032 -0.47630453] [ 0.02761378 0.00598298 0.99960076 -1.06217497] [ 0. 0. 0. 1. ]] SLAMing on 95.486296757 meters Centerline goodness [0,1] 0.8058572871252987 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99756705 0.06376758 -0.0281721 3.29883953] [-0.06390759 0.99794741 -0.00409677 -0.4771157 ] [ 0.02785303 0.00588721 0.99959469 -1.06216687] [ 0. 0. 0. 1. ]] SLAMing on 95.516296757 meters Centerline goodness [0,1] 0.8081553110661601 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99760199 0.06300901 -0.02863796 3.30030977] [-0.06315429 0.99799495 -0.00419622 -0.47799342] [ 0.02831614 0.00599477 0.99958104 -1.06244749] [ 0. 0. 0. 1. ]] SLAMing on 95.54629675700001 meters Centerline goodness [0,1] 0.8089965057335499 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99761051 0.06276355 -0.02887931 3.30098079] [-0.06291276 0.99800982 -0.00428667 -0.47799919] [ 0.02855279 0.0060933 0.99957371 -1.06255371] [ 0. 0. 0. 1. ]] SLAMing on 95.57629675700001 meters Centerline goodness [0,1] 0.8115377983594847 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99760655 0.06287849 -0.02876563 3.30057577] [-0.06302158 0.99800377 -0.00409408 -0.47798287] [ 0.02845077 0.00589714 0.9995778 -1.06207016] [ 0. 0. 0. 1. ]] SLAMing on 95.60629675700001 meters Centerline goodness [0,1] 0.813150228880566 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99760818 0.06281288 -0.02885225 3.30096859] [-0.06296186 0.99800674 -0.0042835 -0.47732935] [ 0.02852568 0.00608985 0.99957451 -1.06229376] [ 0. 0. 0. 1. ]] SLAMing on 95.63629675700001 meters Centerline goodness [0,1] 0.8112813712489564 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99760752 0.0627885 -0.02892813 3.30172948] [-0.06295131 0.99800529 -0.0047513 -0.47590346] [ 0.0285721 0.00656099 0.9995702 -1.06325587] [ 0. 0. 0. 1. ]] SLAMing on 95.666296757 meters Centerline goodness [0,1] 0.8127741967108649 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99760736 0.06272924 -0.02906204 3.302347 ] [-0.06290199 0.99800684 -0.00506774 -0.47485046] [ 0.02868622 0.00688367 0.99956476 -1.06376288] [ 0. 0. 0. 1. ]] SLAMing on 95.696296757 meters Centerline goodness [0,1] 0.8137230859777331 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99759794 0.06286515 -0.02909154 3.30269286] [-0.06304422 0.99799678 -0.00527857 -0.47393847] [ 0.02870142 0.00709994 0.99956281 -1.06430913] [ 0. 0. 0. 1. ]] SLAMing on 95.726296757 meters Centerline goodness [0,1] 0.8093333660475501 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.06 [[ 0.99760336 0.06274312 -0.02916922 3.30322721] [-0.06292806 0.9980031 -0.00546508 -0.47374254] [ 0.02876807 0.00728754 0.99955955 -1.06480798] [ 0. 0. 0. 1. ]] SLAMing on 95.756296757 meters Centerline goodness [0,1] 0.8118332432033823 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.07 [[ 0.99760845 0.06254029 -0.02942941 3.30422231] [-0.06273081 0.9980148 -0.00559471 -0.4740986 ] [ 0.02902109 0.00742746 0.9995512 -1.06544644] [ 0. 0. 0. 1. ]] SLAMing on 95.786296757 meters Centerline goodness [0,1] 0.8115678963893249 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.07 [[ 0.99761114 0.06245024 -0.0295293 3.30485607] [-0.06264265 0.99802011 -0.00563529 -0.47421302] [ 0.02911891 0.00747162 0.99954803 -1.06596133] [ 0. 0. 0. 1. ]] SLAMing on 95.816296757 meters Centerline goodness [0,1] 0.8102642326428184 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99761721 0.06236185 -0.02951113 3.3055059 ] [-0.06255958 0.99802424 -0.00582382 -0.47365893] [ 0.02908964 0.00765614 0.99954749 -1.06689386] [ 0. 0. 0. 1. ]] SLAMing on 95.846296757 meters Centerline goodness [0,1] 0.8066043521994063 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99761779 0.06230529 -0.02961067 3.30595426] [-0.06250572 0.99802722 -0.00589121 -0.47322555] [ 0.0291852 0.00772801 0.99954415 -1.06714879] [ 0. 0. 0. 1. ]] SLAMing on 95.876296757 meters Centerline goodness [0,1] 0.8053138786877974 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.07 [[ 0.99759271 0.06277381 -0.02946582 3.30459926] [-0.06294793 0.99800419 -0.00501845 -0.47468794] [ 0.02909198 0.00686118 0.99955319 -1.06540619] [ 0. 0. 0. 1. ]] SLAMing on 95.906296757 meters Centerline goodness [0,1] 0.8078423625858067 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99757697 0.06298796 -0.02954175 3.30415383] [-0.06314749 0.99799407 -0.00449772 -0.47628183] [ 0.02919919 0.00635231 0.99955343 -1.06450229] [ 0. 0. 0. 1. ]] SLAMing on 95.93629675700001 meters Centerline goodness [0,1] 0.8092175246765455 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99758067 0.06285099 -0.02970793 3.30459162] [-0.06299802 0.99800548 -0.0040387 -0.4789469 ] [ 0.02939484 0.00590047 0.99955046 -1.06443422] [ 0. 0. 0. 1. ]] SLAMing on 95.96629675700001 meters Centerline goodness [0,1] 0.8105323127987912 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99758695 0.06269568 -0.02982503 3.3053321 ] [-0.06284499 0.9980149 -0.00409446 -0.4792022 ] [ 0.02950912 0.00595893 0.99954675 -1.06506086] [ 0. 0. 0. 1. ]] SLAMing on 95.99629675700001 meters Centerline goodness [0,1] 0.807625649913345 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99758532 0.06280117 -0.02965723 3.30550614] [-0.0629456 0.9980091 -0.00396062 -0.4787521 ] [ 0.02934945 0.00581785 0.99955228 -1.06562464] [ 0. 0. 0. 1. ]] SLAMing on 96.02629675700001 meters Centerline goodness [0,1] 0.807625649913345 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99758532 0.06280117 -0.02965723 3.30550614] [-0.0629456 0.9980091 -0.00396062 -0.4787521 ] [ 0.02934945 0.00581785 0.99955228 -1.06562464] [ 0. 0. 0. 1. ]] SLAMing on 96.056296757 meters Centerline goodness [0,1] 0.8032969480953442 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99757551 0.06300018 -0.02956493 3.30524295] [-0.06314302 0.99799678 -0.00392173 -0.47809507] [ 0.02925863 0.00577904 0.99955517 -1.06547427] [ 0. 0. 0. 1. ]] SLAMing on 96.086296757 meters Centerline goodness [0,1] 0.8069954581358609 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.07 [[ 0.99754392 0.06355214 -0.02944923 3.30465741] [-0.06369002 0.99796262 -0.00376697 -0.47727562] [ 0.02914983 0.00563334 0.99955918 -1.06508613] [ 0. 0. 0. 1. ]] SLAMing on 96.116296757 meters Centerline goodness [0,1] 0.806929958973852 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99752947 0.06378036 -0.02944525 3.30433588] [-0.06391669 0.99794834 -0.00371153 -0.47691003] [ 0.02914812 0.0055844 0.9995595 -1.06467118] [ 0. 0. 0. 1. ]] SLAMing on 96.146296757 meters Centerline goodness [0,1] 0.8041672845914282 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.48, Z:-1.06 [[ 0.99751907 0.06392613 -0.02948141 3.30434042] [-0.0640651 0.99793851 -0.00379271 -0.47643376] [ 0.02917818 0.00567203 0.99955813 -1.06465082] [ 0. 0. 0. 1. ]] SLAMing on 96.176296757 meters Centerline goodness [0,1] 0.8059939618566063 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.07 [[ 0.99751398 0.06403075 -0.02942652 3.30469046] [-0.06418973 0.99792761 -0.00448939 -0.4739749 ] [ 0.02907808 0.00636711 0.99955686 -1.0655561 ] [ 0. 0. 0. 1. ]] SLAMing on 96.206296757 meters Centerline goodness [0,1] 0.8071798395210168 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.47, Z:-1.07 [[ 0.99751348 0.06406454 -0.02936998 3.30473702] [-0.06423064 0.99792379 -0.00474613 -0.47278508] [ 0.02900494 0.00662078 0.99955734 -1.06579296] [ 0. 0. 0. 1. ]] SLAMing on 96.236296757 meters Centerline goodness [0,1] 0.8057005612332426 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99751821 0.06399511 -0.02936049 3.30500491] [-0.06417004 0.99792618 -0.00505412 -0.47163355] [ 0.02897616 0.00692564 0.99955611 -1.06615559] [ 0. 0. 0. 1. ]] SLAMing on 96.266296757 meters Centerline goodness [0,1] 0.8043344567169319 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99752204 0.06391288 -0.02940946 3.30531534] [-0.06409157 0.99793061 -0.00517302 -0.47155222] [ 0.02901798 0.0070451 0.99955406 -1.06642079] [ 0. 0. 0. 1. ]] SLAMing on 96.29629675700001 meters Centerline goodness [0,1] 0.8042244872896966 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99752495 0.06387667 -0.0293894 3.3053848 ] [-0.06405433 0.99793316 -0.00514306 -0.47213897] [ 0.02900014 0.00701285 0.99955481 -1.06648781] [ 0. 0. 0. 1. ]] SLAMing on 96.32629675700001 meters Centerline goodness [0,1] 0.8063571006499901 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99752137 0.06390429 -0.02945099 3.30554763] [-0.06408256 0.99793132 -0.00514868 -0.47188133] [ 0.02906105 0.00702322 0.99955297 -1.0665075 ] [ 0. 0. 0. 1. ]] SLAMing on 96.35629675700001 meters Centerline goodness [0,1] 0.8026881588323463 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99751992 0.06389185 -0.02952695 3.30596197] [-0.06407467 0.9979311 -0.00528663 -0.47105219] [ 0.02912809 0.00716545 0.99955 -1.06680834] [ 0. 0. 0. 1. ]] SLAMing on 96.38629675700001 meters Centerline goodness [0,1] 0.8034789862361686 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99752811 0.06370886 -0.0296453 3.3073477 ] [-0.06390472 0.99793969 -0.00570582 -0.46946466] [ 0.02922071 0.00758619 0.9995442 -1.06829343] [ 0. 0. 0. 1. ]] SLAMing on 96.416296757 meters Centerline goodness [0,1] 0.8035951409039492 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.9975296 0.06365308 -0.02971516 3.30778772] [-0.06383908 0.99794585 -0.00535235 -0.47065448] [ 0.02931343 0.00723612 0.99954408 -1.06841522] [ 0. 0. 0. 1. ]] SLAMing on 96.446296757 meters Centerline goodness [0,1] 0.8063253753384199 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.9975209 0.06368616 -0.02993553 3.30787212] [-0.06386177 0.9979465 -0.00494606 -0.47196102] [ 0.02955906 0.00684554 0.99953959 -1.0678039 ] [ 0. 0. 0. 1. ]] SLAMing on 96.476296757 meters Centerline goodness [0,1] 0.8057321701414559 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99752113 0.06359965 -0.03011103 3.30818308] [-0.06376817 0.99795382 -0.00466882 -0.47316811] [ 0.02975248 0.00657737 0.99953566 -1.06758519] [ 0. 0. 0. 1. ]] SLAMing on 96.506296757 meters Centerline goodness [0,1] 0.805715272808035 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99755755 0.06293808 -0.03029415 3.309187 ] [-0.06310453 0.99799646 -0.00456923 -0.47468818] [ 0.02994588 0.00646977 0.99953058 -1.06795049] [ 0. 0. 0. 1. ]] SLAMing on 96.536296757 meters Centerline goodness [0,1] 0.8059415664129634 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99757376 0.06246202 -0.03074217 3.31075885] [-0.06263434 0.9980256 -0.00467353 -0.47526666] [ 0.03038955 0.00658771 0.99951642 -1.06859306] [ 0. 0. 0. 1. ]] SLAMing on 96.566296757 meters Centerline goodness [0,1] 0.809233277344136 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99777895 0.05918459 -0.03056712 3.3090231 ] [-0.05945391 0.99819918 -0.0079774 -0.47510606] [ 0.03003994 0.00977702 0.99950088 -1.06744196] [ 0. 0. 0. 1. ]] SLAMing on 96.596296757 meters Centerline goodness [0,1] 0.8099369670003708 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99777634 0.05912031 -0.03077615 3.3093805 ] [-0.05938447 0.99820518 -0.00774036 -0.47593169] [ 0.0302633 0.00955077 0.99949633 -1.06721283] [ 0. 0. 0. 1. ]] SLAMing on 96.626296757 meters Centerline goodness [0,1] 0.8084434020491298 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99777727 0.05907284 -0.03083708 3.3097287 ] [-0.05933421 0.99820901 -0.00762982 -0.47604233] [ 0.03033113 0.00944256 0.9994953 -1.0673223 ] [ 0. 0. 0. 1. ]] SLAMing on 96.656296757 meters Centerline goodness [0,1] 0.8092181312870459 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99776946 0.05909676 -0.03104316 3.3102402 ] [-0.05935869 0.99820791 -0.00758434 -0.4758517 ] [ 0.03053932 0.00941011 0.99948927 -1.0673809 ] [ 0. 0. 0. 1. ]] SLAMing on 96.68629675700001 meters Centerline goodness [0,1] 0.8091056670602125 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99776159 0.05918241 -0.03113272 3.31060636] [-0.05944389 0.99820317 -0.00754067 -0.47606681] [ 0.0306305 0.00937444 0.99948681 -1.06761502] [ 0. 0. 0. 1. ]] SLAMing on 96.71629675700001 meters Centerline goodness [0,1] 0.8087273795822416 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99774482 0.05944739 -0.03116547 3.31065075] [-0.05971013 0.99818707 -0.00756774 -0.47506315] [ 0.03065909 0.00941157 0.99948559 -1.06759417] [ 0. 0. 0. 1. ]] SLAMing on 96.74629675700001 meters Centerline goodness [0,1] 0.809619483987945 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99773213 0.05964611 -0.03119196 3.31058755] [-0.05990925 0.99817512 -0.00756992 -0.47427286] [ 0.03068352 0.00942144 0.99948475 -1.06743253] [ 0. 0. 0. 1. ]] SLAMing on 96.77629675700001 meters Centerline goodness [0,1] 0.8098964722045042 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99772239 0.05973291 -0.03133712 3.31082081] [-0.06000205 0.99816841 -0.0077189 -0.47328609] [ 0.03081865 0.00958161 0.99947907 -1.06734083] [ 0. 0. 0. 1. ]] SLAMing on 96.806296757 meters Centerline goodness [0,1] 0.811030166723708 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99768428 0.06034305 -0.03138146 3.31094376] [-0.06061608 0.9981305 -0.00782215 -0.47162593] [ 0.03085078 0.00970625 0.99947687 -1.06768445] [ 0. 0. 0. 1. ]] SLAMing on 96.836296757 meters Centerline goodness [0,1] 0.8092913116715085 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99767157 0.06054041 -0.03140539 3.31117525] [-0.06081761 0.99811726 -0.00794679 -0.47096953] [ 0.03086516 0.00983828 0.99947514 -1.06802925] [ 0. 0. 0. 1. ]] SLAMing on 96.866296757 meters Centerline goodness [0,1] 0.806763757208484 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99763462 0.06120542 -0.03128995 3.31055331] [-0.06147428 0.99807894 -0.00770305 -0.47099759] [ 0.03075837 0.00960836 0.99948067 -1.06775922] [ 0. 0. 0. 1. ]] SLAMing on 96.896296757 meters Centerline goodness [0,1] 0.806721870433512 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.9976159 0.06144173 -0.03142326 3.3107664 ] [-0.0617106 0.9980647 -0.00765847 -0.47084199] [ 0.03089189 0.00957936 0.99947683 -1.06775147] [ 0. 0. 0. 1. ]] SLAMing on 96.926296757 meters Centerline goodness [0,1] 0.8043063371666259 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99758328 0.06205024 -0.03126276 3.30986606] [-0.06230422 0.99803112 -0.00721538 -0.47095828] [ 0.03075349 0.00914574 0.99948516 -1.0670298 ] [ 0. 0. 0. 1. ]] SLAMing on 96.956296757 meters Centerline goodness [0,1] 0.8018563751831949 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99750819 0.06344684 -0.03085299 3.30789768] [-0.0636701 0.99795107 -0.00630741 -0.47040367] [ 0.03038958 0.00825611 0.99950403 -1.06565183] [ 0. 0. 0. 1. ]] SLAMing on 96.986296757 meters Centerline goodness [0,1] 0.8007226033249518 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99748841 0.06374036 -0.03088757 3.3079613 ] [-0.0639632 0.9979325 -0.00628015 -0.46965474] [ 0.03042341 0.00824004 0.99950314 -1.06570788] [ 0. 0. 0. 1. ]] SLAMing on 97.016296757 meters Centerline goodness [0,1] 0.7985070985997951 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99745017 0.06444827 -0.03065246 3.30737036] [-0.06466005 0.9978895 -0.00596803 -0.46894962] [ 0.03020314 0.0079348 0.99951229 -1.06567903] [ 0. 0. 0. 1. ]] SLAMing on 97.04629675700001 meters Centerline goodness [0,1] 0.7976940478217509 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99743613 0.06462675 -0.03073362 3.30755926] [-0.06483658 0.99787858 -0.0058792 -0.46911409] [ 0.03028847 0.00785679 0.99951032 -1.06576066] [ 0. 0. 0. 1. ]] SLAMing on 97.07629675700001 meters Centerline goodness [0,1] 0.7905180840664712 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99740481 0.06520544 -0.03052691 3.30702282] [-0.06540693 0.99784269 -0.0056479 -0.46929616] [ 0.03009278 0.00762991 0.99951799 -1.06584046] [ 0. 0. 0. 1. ]] SLAMing on 97.10629675700001 meters Centerline goodness [0,1] 0.7883256154033634 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99739497 0.06535105 -0.03053724 3.3072299 ] [-0.06555506 0.99783252 -0.00572694 -0.46889605] [ 0.03009679 0.00771389 0.99951722 -1.06617692] [ 0. 0. 0. 1. ]] SLAMing on 97.13629675700001 meters Centerline goodness [0,1] 0.7921538949783952 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99738787 0.06546152 -0.03053241 3.30745188] [-0.06566788 0.99782465 -0.00580454 -0.46842254] [ 0.03008601 0.00779438 0.99951692 -1.06652438] [ 0. 0. 0. 1. ]] SLAMing on 97.166296757 meters Centerline goodness [0,1] 0.7882651814939665 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99736846 0.06587639 -0.03027312 3.30701132] [-0.06607887 0.99779791 -0.00573655 -0.46773141] [ 0.02982855 0.00772187 0.9995252 -1.06672719] [ 0. 0. 0. 1. ]] SLAMing on 97.196296757 meters Centerline goodness [0,1] 0.7880156211862338 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99735156 0.06617938 -0.03016882 3.30659896] [-0.06637436 0.9977796 -0.00550671 -0.46768659] [ 0.0297374 0.00749457 0.99952965 -1.06645836] [ 0. 0. 0. 1. ]] SLAMing on 97.226296757 meters Centerline goodness [0,1] 0.7788196224940785 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.9973245 0.06664424 -0.0300399 3.30569009] [-0.0668241 0.99775213 -0.00502242 -0.46837728] [ 0.02963766 0.00701637 0.99953608 -1.0655263 ] [ 0. 0. 0. 1. ]] SLAMing on 97.256296757 meters Centerline goodness [0,1] 0.7902323422344922 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99731619 0.06673332 -0.03011772 3.30576654] [-0.06691239 0.99774644 -0.00497648 -0.46844415] [ 0.02971775 0.00697837 0.99953397 -1.06539336] [ 0. 0. 0. 1. ]] SLAMing on 97.286296757 meters Centerline goodness [0,1] 0.7858546168958742 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99728904 0.06722738 -0.02991724 3.30510655] [-0.06739322 0.99771603 -0.00456883 -0.46895057] [ 0.02954176 0.00657266 0.99954194 -1.065068 ] [ 0. 0. 0. 1. ]] SLAMing on 97.316296757 meters Centerline goodness [0,1] 0.7884464495880738 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.9972737 0.06742702 -0.02997929 3.30519902] [-0.06759061 0.9977031 -0.00447602 -0.46874327] [ 0.02960863 0.00649014 0.9995405 -1.06504004] [ 0. 0. 0. 1. ]] SLAMing on 97.346296757 meters Centerline goodness [0,1] 0.7820487661286366 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99724787 0.06784855 -0.02988756 3.30513168] [-0.06800451 0.99767604 -0.00423198 -0.4687747 ] [ 0.02953097 0.00625282 0.99954431 -1.06531842] [ 0. 0. 0. 1. ]] SLAMing on 97.376296757 meters Centerline goodness [0,1] 0.7820232449566307 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99722888 0.06808779 -0.02997684 3.30526519] [-0.06823553 0.99766149 -0.00393231 -0.46934914] [ 0.029639 0.0059669 0.99954286 -1.06527081] [ 0. 0. 0. 1. ]] SLAMing on 97.406296757 meters Centerline goodness [0,1] 0.7809075911653904 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99720769 0.06832912 -0.03013237 3.30545299] [-0.06846574 0.99764724 -0.00352477 -0.47066933] [ 0.02982063 0.00557796 0.9995397 -1.06507515] [ 0. 0. 0. 1. ]] SLAMing on 97.43629675700001 meters Centerline goodness [0,1] 0.783855510504976 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 0.99720357 0.06830505 -0.0303225 3.3060078 ] [-0.06843771 0.99764974 -0.00335746 -0.47169802] [ 0.0300219 0.00542327 0.99953453 -1.06528355] [ 0. 0. 0. 1. ]] SLAMing on 97.46629675700001 meters Centerline goodness [0,1] 0.7907171747065207 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 9.97202271e-01 6.81774174e-02 -3.06507931e-02 3.30700649e+00] [-6.83074374e-02 9.97659143e-01 -3.21387750e-03 -4.72877011e-01] [ 3.03599301e-02 5.29856307e-03 9.99524987e-01 -1.06568493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49629675700001 meters Centerline goodness [0,1] 0.7806563039723662 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.47, Z:-1.07 [[ 9.97227269e-01 6.76193670e-02 -3.10708051e-02 3.30885506e+00] [-6.77528958e-02 9.97696794e-01 -3.26382377e-03 -4.74431688e-01] [ 3.07785450e-02 5.35991108e-03 9.99511857e-01 -1.06680458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52629675700001 meters Centerline goodness [0,1] 0.7969796584196347 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 9.97245141e-01 6.73212582e-02 -3.11444551e-02 3.30948125e+00] [-6.74514063e-02 9.97717600e-01 -3.14607990e-03 -4.75145060e-01] [ 3.08615729e-02 5.23815018e-03 9.99509942e-01 -1.06712892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.556296757 meters Centerline goodness [0,1] 0.788834471158603 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 9.97243480e-01 6.73413496e-02 -3.11541944e-02 3.30962768e+00] [-6.74639718e-02 9.97717495e-01 -2.90052118e-03 -4.76185786e-01] [ 3.08877598e-02 4.99431153e-03 9.99510382e-01 -1.06716803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.586296757 meters Centerline goodness [0,1] 0.79148639912477 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99745395 0.06410032 -0.03125323 3.3087925 ] [-0.06432217 0.99791027 -0.0061444 -0.47822946] [ 0.03079406 0.00813903 0.99949261 -1.06683876] [ 0. 0. 0. 1. ]] SLAMing on 97.616296757 meters Centerline goodness [0,1] 0.7875449640287769 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99744232 0.06419377 -0.03143226 3.30908229] [-0.06439798 0.99790899 -0.00552702 -0.48074826] [ 0.03101174 0.00753706 0.9994906 -1.06660586] [ 0. 0. 0. 1. ]] SLAMing on 97.646296757 meters Centerline goodness [0,1] 0.7924792129641189 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99743461 0.06430341 -0.03145253 3.309277 ] [-0.06449553 0.9979048 -0.00513115 -0.48237181] [ 0.03105668 0.00714653 0.99949208 -1.06675425] [ 0. 0. 0. 1. ]] SLAMing on 97.676296757 meters Centerline goodness [0,1] 0.7989514417675696 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99741906 0.06455479 -0.03143095 3.30965668] [-0.06473278 0.99789167 -0.0046777 -0.48318512] [ 0.03106271 0.00670024 0.99949498 -1.06720821] [ 0. 0. 0. 1. ]] SLAMing on 97.706296757 meters Centerline goodness [0,1] 0.7834450670402241 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.48, Z:-1.07 [[ 0.99740753 0.06475696 -0.03138069 3.30979037] [-0.06492623 0.99788035 -0.0044045 -0.48378892] [ 0.03102895 0.00643051 0.9994978 -1.06753592] [ 0. 0. 0. 1. ]] SLAMing on 97.736296757 meters Centerline goodness [0,1] 0.7897654261886164 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.49, Z:-1.07 [[ 0.99738426 0.06505111 -0.03151189 3.31014448] [-0.06519898 0.99786547 -0.00368673 -0.48708338] [ 0.0312048 0.00573163 0.99949658 -1.06759455] [ 0. 0. 0. 1. ]] SLAMing on 97.766296757 meters Centerline goodness [0,1] 0.7898182553524936 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.49, Z:-1.07 [[ 9.97356937e-01 6.55322482e-02 -3.13793717e-02 3.30940804e+00] [-6.56547756e-02 9.97838215e-01 -2.88929730e-03 -4.89545604e-01] [ 3.11221940e-02 4.94186631e-03 9.99503370e-01 -1.06694532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79629675700001 meters Centerline goodness [0,1] 0.7772403838849358 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.49, Z:-1.07 [[ 9.97328024e-01 6.59136031e-02 -3.14993716e-02 3.30936290e+00] [-6.60094337e-02 9.97816972e-01 -2.01103067e-03 -4.92706116e-01] [ 3.12980533e-02 4.08491293e-03 9.99501749e-01 -1.06641638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82629675700001 meters Centerline goodness [0,1] 0.7879264825345248 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.49, Z:-1.07 [[ 9.97310841e-01 6.61951050e-02 -3.14530435e-02 3.30936054e+00] [-6.62790525e-02 9.97799790e-01 -1.63277300e-03 -4.93850418e-01] [ 3.12757586e-02 3.71306013e-03 9.99503897e-01 -1.06657754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85629675700001 meters Centerline goodness [0,1] 0.766611737862847 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.49, Z:-1.07 [[ 9.97307986e-01 6.61635689e-02 -3.16095565e-02 3.31008371e+00] [-6.62466369e-02 9.97802017e-01 -1.58678359e-03 -4.94199352e-01] [ 3.14350920e-02 3.67653876e-03 9.99499034e-01 -1.06708419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88629675700001 meters Centerline goodness [0,1] 0.7577175405584092 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 9.97315628e-01 6.59711785e-02 -3.17701441e-02 3.31112154e+00] [-6.60545650e-02 9.97814760e-01 -1.58118368e-03 -4.95343219e-01] [ 3.15964062e-02 3.67550225e-03 9.99493951e-01 -1.06799174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91629675700001 meters Centerline goodness [0,1] 0.7796284433055733 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99752623 0.06283143 -0.03152193 3.30993985] [-0.06302106 0.99799938 -0.00505779 -0.49669565] [ 0.03114108 0.00703182 0.99949026 -1.06835861] [ 0. 0. 0. 1. ]] SLAMing on 97.946296757 meters Centerline goodness [0,1] 0.7796284433055733 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99752623 0.06283143 -0.03152193 3.30993985] [-0.06302106 0.99799938 -0.00505779 -0.49669565] [ 0.03114108 0.00703182 0.99949026 -1.06835861] [ 0. 0. 0. 1. ]] SLAMing on 97.976296757 meters Centerline goodness [0,1] 0.7767818158469244 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99751511 0.06300823 -0.03152101 3.30993404] [-0.06318273 0.99799151 -0.0045699 -0.49882603] [ 0.03116975 0.00655013 0.99949264 -1.06832205] [ 0. 0. 0. 1. ]] SLAMing on 98.006296757 meters Centerline goodness [0,1] 0.7723273999382653 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99750778 0.06308986 -0.03158951 3.31017646] [-0.06325553 0.99798822 -0.00427186 -0.50011643] [ 0.03125644 0.00625943 0.9994918 -1.06839288] [ 0. 0. 0. 1. ]] SLAMing on 98.036296757 meters Centerline goodness [0,1] 0.7708655332302936 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99750259 0.06320873 -0.03151578 3.31056742] [-0.06336682 0.99798212 -0.00404198 -0.50073241] [ 0.03119669 0.00602894 0.99949508 -1.06907298] [ 0. 0. 0. 1. ]] SLAMing on 98.066296757 meters Centerline goodness [0,1] 0.7743555406762638 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99750238 0.06322848 -0.03148261 3.31091331] [-0.06338587 0.99798097 -0.00402587 -0.50062111] [ 0.0311645 0.00601137 0.99949619 -1.06954927] [ 0. 0. 0. 1. ]] SLAMing on 98.096296757 meters Centerline goodness [0,1] 0.7580807689326409 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.50, Z:-1.07 [[ 0.99749401 0.06323985 -0.03172419 3.31123042] [-0.06338164 0.99798329 -0.00348267 -0.50298385] [ 0.03143997 0.00548468 0.99949059 -1.06903556] [ 0. 0. 0. 1. ]] SLAMing on 98.126296757 meters Centerline goodness [0,1] 0.7587003347779825 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 9.97469745e-01 6.36564497e-02 -3.16538100e-02 3.31051749e+00] [-6.37727217e-02 9.97960860e-01 -2.67630081e-03 -5.05632247e-01] [ 3.14188996e-02 4.68817870e-03 9.99495310e-01 -1.06822017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.156296757 meters Centerline goodness [0,1] 0.7489239598278336 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 0.99767197 0.06052039 -0.03143116 3.30894748] [-0.0607298 0.99813768 -0.00575052 -0.5074383 ] [ 0.0310246 0.00764594 0.99948938 -1.06761881] [ 0. 0. 0. 1. ]] SLAMing on 98.18629675700001 meters Centerline goodness [0,1] 0.7573844595121191 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 0.99767928 0.06010025 -0.03200015 3.31069701] [-0.06031254 0.99816321 -0.0057098 -0.50833381] [ 0.03159821 0.00762656 0.99947155 -1.06810821] [ 0. 0. 0. 1. ]] SLAMing on 98.21629675700001 meters Centerline goodness [0,1] 0.7572642866483588 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 0.99769515 0.05974504 -0.0321702 3.31229194] [-0.05996325 0.99818338 -0.00586069 -0.5082485 ] [ 0.03176161 0.00777621 0.99946522 -1.0695957 ] [ 0. 0. 0. 1. ]] SLAMing on 98.24629675700001 meters Centerline goodness [0,1] 0.7592412834168482 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 0.99769326 0.05971367 -0.03228664 3.31286841] [-0.05992812 0.99818634 -0.00571484 -0.50881211] [ 0.03188683 0.00763653 0.99946231 -1.06996255] [ 0. 0. 0. 1. ]] SLAMing on 98.27629675700001 meters Centerline goodness [0,1] 0.745606164564311 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 0.99768805 0.05979413 -0.03229881 3.31267198] [-0.05997683 0.99818863 -0.0047168 -0.51251632] [ 0.03195827 0.00664308 0.99946713 -1.06911332] [ 0. 0. 0. 1. ]] SLAMing on 98.306296757 meters Centerline goodness [0,1] 0.7531853896793375 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.51, Z:-1.07 [[ 0.99767082 0.06001583 -0.03241958 3.31246236] [-0.06017553 0.99817991 -0.00397213 -0.51484977] [ 0.03212218 0.00591375 0.99946645 -1.06833865] [ 0. 0. 0. 1. ]] SLAMing on 98.336296757 meters Centerline goodness [0,1] 0.7559839186346814 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.52, Z:-1.07 [[ 0.99766794 0.05993739 -0.03265244 3.31288156] [-0.06008586 0.99818678 -0.0035839 -0.51646292] [ 0.03237842 0.0055375 0.99946034 -1.06803879] [ 0. 0. 0. 1. ]] SLAMing on 98.366296757 meters Centerline goodness [0,1] 0.7541075729194541 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.52, Z:-1.07 [[ 0.9976812 0.05950581 -0.03303452 3.31435015] [-0.05965037 0.99821352 -0.00340683 -0.518111 ] [ 0.03277278 0.00536945 0.9994484 -1.06858693] [ 0. 0. 0. 1. ]] SLAMing on 98.396296757 meters Centerline goodness [0,1] 0.7640461468454723 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.99769428 0.05906604 -0.03342638 3.31605457] [-0.05921912 0.99823849 -0.00360745 -0.5182889 ] [ 0.03315442 0.00557861 0.99943467 -1.06961327] [ 0. 0. 0. 1. ]] SLAMing on 98.426296757 meters Centerline goodness [0,1] 0.769069898383248 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.99769242 0.0589554 -0.0336763 3.31656217] [-0.05910424 0.99824589 -0.00344057 -0.51921519] [ 0.03341439 0.00542304 0.99942687 -1.06946976] [ 0. 0. 0. 1. ]] SLAMing on 98.456296757 meters Centerline goodness [0,1] 0.7762924786600096 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97678476e-01 5.91226007e-02 -3.37960956e-02 3.31647418e+00] [-5.92521651e-02 9.98238995e-01 -2.84424278e-03 -5.21271509e-01] [ 3.35684214e-02 4.84013164e-03 9.99424702e-01 -1.06885119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.486296757 meters Centerline goodness [0,1] 0.781617548109272 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97692208e-01 5.88979529e-02 -3.37829663e-02 3.31637466e+00] [-5.90105178e-02 9.98254609e-01 -2.34380959e-03 -5.24510832e-01] [ 3.35859563e-02 4.33195090e-03 9.99426444e-01 -1.06830731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.516296757 meters Centerline goodness [0,1] 0.7757943975482553 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.53, Z:-1.07 [[ 9.97691531e-01 5.89445523e-02 -3.37216307e-02 3.31629767e+00] [-5.90497292e-02 9.98252768e-01 -2.13074745e-03 -5.25160179e-01] [ 3.35371153e-02 4.11708185e-03 9.99428993e-01 -1.06821663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54629675700001 meters Centerline goodness [0,1] 0.7723232268979778 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97675771e-01 5.93646055e-02 -3.34499510e-02 3.31569067e+00] [-5.94585637e-02 9.98229115e-01 -1.82035580e-03 -5.24872268e-01] [ 3.32826503e-02 3.80501092e-03 9.99438736e-01 -1.06813093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57629675700001 meters Centerline goodness [0,1] 0.7813745556393408 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97666152e-01 5.95955389e-02 -3.33259815e-02 3.31561709e+00] [-5.96902256e-02 9.98215230e-01 -1.85270088e-03 -5.24199828e-01] [ 3.31560896e-02 3.83761231e-03 9.99442818e-01 -1.06845801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60629675700001 meters Centerline goodness [0,1] 0.7724356393116963 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.52, Z:-1.07 [[ 9.97607562e-01 6.07164858e-02 -3.30554033e-02 3.31446852e+00] [-6.07989525e-02 9.98148914e-01 -1.49447696e-03 -5.22366259e-01] [ 3.29034756e-02 3.50063542e-03 9.99452403e-01 -1.06807116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63629675700001 meters Centerline goodness [0,1] 0.7639287919877561 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.52, Z:-1.07 [[ 9.97595394e-01 6.09694650e-02 -3.29568500e-02 3.31419746e+00] [-6.10548505e-02 9.98133146e-01 -1.58976799e-03 -5.21677491e-01] [ 3.27983970e-02 3.59812077e-03 9.99455511e-01 -1.06815396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66629675700001 meters Centerline goodness [0,1] 0.7568671719615117 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.52, Z:-1.07 [[ 9.97598420e-01 6.08531507e-02 -3.30800043e-02 3.31483391e+00] [-6.09506782e-02 9.98138880e-01 -1.94693410e-03 -5.21916282e-01] [ 3.28999614e-02 3.95850709e-03 9.99450811e-01 -1.06886268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.696296757 meters Centerline goodness [0,1] 0.7599322617063599 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97603652e-01 6.07170669e-02 -3.31721357e-02 3.31538564e+00] [-6.08195050e-02 9.98146599e-01 -2.08688735e-03 -5.22049858e-01] [ 3.29839448e-02 4.09939932e-03 9.99447475e-01 -1.06933609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.726296757 meters Centerline goodness [0,1] 0.7517250637669486 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97602326e-01 6.07973668e-02 -3.30647732e-02 3.31528342e+00] [-6.09005340e-02 9.98141586e-01 -2.12111859e-03 -5.21899916e-01] [ 3.28743667e-02 4.12969519e-03 9.99450960e-01 -1.06954208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.756296757 meters Centerline goodness [0,1] 0.7547432363723943 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97606351e-01 6.07358305e-02 -3.30564345e-02 3.31544348e+00] [-6.08511786e-02 9.98143735e-01 -2.49372307e-03 -5.19704349e-01] [ 3.28436146e-02 4.49927697e-03 9.99450376e-01 -1.06972694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.786296757 meters Centerline goodness [0,1] 0.7588686481303931 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97606749e-01 6.07969350e-02 -3.29318544e-02 3.31547024e+00] [-6.09239018e-02 9.98138302e-01 -2.86489084e-03 -5.17242716e-01] [ 3.26963687e-02 4.86437150e-03 9.99453493e-01 -1.07006750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.816296757 meters Centerline goodness [0,1] 0.7574079497350976 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 9.97618016e-01 6.05777254e-02 -3.29944515e-02 3.31611889e+00] [-6.07182269e-02 9.98149583e-01 -3.27223750e-03 -5.16068719e-01] [ 3.27351732e-02 5.26780767e-03 9.99450178e-01 -1.07074677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.846296757 meters Centerline goodness [0,1] 0.755846784934207 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.99763091 0.06026765 -0.03317207 3.31700973] [-0.06042398 0.99816583 -0.00372965 -0.51519504] [ 0.03288645 0.0057252 0.9994427 -1.07146009] [ 0. 0. 0. 1. ]] SLAMing on 98.876296757 meters Centerline goodness [0,1] 0.7609692381510903 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.99764419 0.059975 -0.03330264 3.31762734] [-0.06013977 0.99818208 -0.00396733 -0.51519943] [ 0.03300415 0.0059608 0.99943744 -1.07178681] [ 0. 0. 0. 1. ]] SLAMing on 98.906296757 meters Centerline goodness [0,1] 0.7669760495012535 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.9976444 0.05983986 -0.03353867 3.31809086] [-0.06000601 0.99819013 -0.00396839 -0.51541463] [ 0.0332405 0.00597156 0.99942954 -1.07164404] [ 0. 0. 0. 1. ]] SLAMing on 98.93629675700001 meters Centerline goodness [0,1] 0.7685853554590736 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.99764619 0.05974303 -0.03365772 3.31817958] [-0.05990387 0.99819696 -0.00378984 -0.51555579] [ 0.03337062 0.00579715 0.99942623 -1.07110396] [ 0. 0. 0. 1. ]] SLAMing on 98.96629675700001 meters Centerline goodness [0,1] 0.7743426294820717 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.52, Z:-1.07 [[ 0.99764968 0.05961144 -0.03378745 3.31860518] [-0.05977425 0.99820458 -0.00382849 -0.51536282] [ 0.03349856 0.00583911 0.99942171 -1.0711984 ] [ 0. 0. 0. 1. ]] SLAMing on 98.99629675700001 meters Centerline goodness [0,1] 0.77408593894787 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99764233 0.05972298 -0.03380755 3.31883924] [-0.05988495 0.99819806 -0.00379817 -0.51441454] [ 0.0335198 0.00581377 0.99942114 -1.07136568] [ 0. 0. 0. 1. ]] SLAMing on 99.02629675700001 meters Centerline goodness [0,1] 0.7712290355007672 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99763672 0.05985965 -0.03373114 3.31885644] [-0.06002473 0.99818926 -0.00390207 -0.51327207] [ 0.03343649 0.00591756 0.99942333 -1.07164392] [ 0. 0. 0. 1. ]] SLAMing on 99.056296757 meters Centerline goodness [0,1] 0.7605200136845707 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99762406 0.06012868 -0.03362707 3.31876268] [-0.06029776 0.99817228 -0.00403572 -0.51107351] [ 0.03332295 0.00605377 0.9994263 -1.07186384] [ 0. 0. 0. 1. ]] SLAMing on 99.086296757 meters Centerline goodness [0,1] 0.774221498713438 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99762132 0.06017569 -0.03362412 3.31860944] [-0.06034111 0.9981701 -0.00392574 -0.51101979] [ 0.03332635 0.00594532 0.99942684 -1.071506 ] [ 0. 0. 0. 1. ]] SLAMing on 99.116296757 meters Centerline goodness [0,1] 0.7745371344414054 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99763071 0.05993447 -0.0337761 3.31877947] [-0.06009504 0.99818558 -0.00375814 -0.51197089] [ 0.03348957 0.00577901 0.99942236 -1.07087006] [ 0. 0. 0. 1. ]] SLAMing on 99.146296757 meters Centerline goodness [0,1] 0.7799705681400115 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99763978 0.05969291 -0.03393565 3.31951981] [-0.05986407 0.99819833 -0.00404908 -0.51123822] [ 0.0336328 0.00607105 0.99941582 -1.07133427] [ 0. 0. 0. 1. ]] SLAMing on 99.176296757 meters Centerline goodness [0,1] 0.7848412677641393 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99766595 0.05909648 -0.03420889 3.32123471] [-0.05930441 0.99822694 -0.00509477 -0.50727633] [ 0.03384715 0.00711162 0.99940172 -1.07277132] [ 0. 0. 0. 1. ]] SLAMing on 99.206296757 meters Centerline goodness [0,1] 0.7807402760351317 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99767945 0.0586876 -0.03451786 3.32241589] [-0.05891156 0.99824802 -0.00550664 -0.50621076] [ 0.03413422 0.00752736 0.99938891 -1.07333763] [ 0. 0. 0. 1. ]] SLAMing on 99.236296757 meters Centerline goodness [0,1] 0.781649061958064 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99769973 0.05803611 -0.03502952 3.32386943] [-0.05827179 0.99828423 -0.00574416 -0.50698796] [ 0.03463605 0.00777218 0.99936977 -1.07354712] [ 0. 0. 0. 1. ]] SLAMing on 99.266296757 meters Centerline goodness [0,1] 0.7829394114860241 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99770234 0.0578788 -0.03521495 3.32411983] [-0.05810836 0.99829497 -0.00552983 -0.50750935] [ 0.03483485 0.00756341 0.99936446 -1.07295851] [ 0. 0. 0. 1. ]] SLAMing on 99.29629675700001 meters Centerline goodness [0,1] 0.7811440733636388 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99770537 0.05784402 -0.03518614 3.32421327] [-0.05807771 0.99829605 -0.00565507 -0.50661499] [ 0.03479907 0.00768562 0.99936478 -1.07305972] [ 0. 0. 0. 1. ]] SLAMing on 99.32629675700001 meters Centerline goodness [0,1] 0.7824297399328859 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.51, Z:-1.07 [[ 0.99770079 0.05784676 -0.03531125 3.32443737] [-0.05808298 0.99829549 -0.0057001 -0.50519934] [ 0.03492133 0.00773798 0.99936011 -1.07279321] [ 0. 0. 0. 1. ]] SLAMing on 99.35629675700001 meters Centerline goodness [0,1] 0.7665512538033785 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.50, Z:-1.07 [[ 0.99767391 0.05850527 -0.03498421 3.32288376] [-0.05872479 0.99826025 -0.00527969 -0.50359121] [ 0.03461446 0.00732185 0.99937392 -1.07144518] [ 0. 0. 0. 1. ]] SLAMing on 99.38629675700001 meters Centerline goodness [0,1] 0.7798321531602412 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.50, Z:-1.07 [[ 0.99766462 0.05867379 -0.03496691 3.32254402] [-0.05888898 0.99825123 -0.00515538 -0.50331549] [ 0.03460327 0.0072025 0.99937517 -1.0709424 ] [ 0. 0. 0. 1. ]] SLAMing on 99.41629675700001 meters Centerline goodness [0,1] 0.775590034391326 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.50, Z:-1.07 [[ 0.99765528 0.05871988 -0.03515561 3.32291351] [-0.05893888 0.99824792 -0.00522509 -0.50308656] [ 0.0347872 0.00728487 0.99936819 -1.07088707] [ 0. 0. 0. 1. ]] SLAMing on 99.446296757 meters Centerline goodness [0,1] 0.7714540261509839 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.50, Z:-1.07 [[ 0.99765685 0.05848794 -0.03549617 3.32431931] [-0.05873666 0.99825545 -0.00600443 -0.50035936] [ 0.03508306 0.00807529 0.99935177 -1.07201598] [ 0. 0. 0. 1. ]] SLAMing on 99.476296757 meters Centerline goodness [0,1] 0.7697849237836709 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.50, Z:-1.07 [[ 0.99766669 0.05814975 -0.03577404 3.32565898] [-0.05842302 0.99826983 -0.00664072 -0.49837795] [ 0.03532599 0.00871525 0.99933784 -1.07304421] [ 0. 0. 0. 1. ]] SLAMing on 99.506296757 meters Centerline goodness [0,1] 0.7633557888140373 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.50, Z:-1.07 [[ 0.99766797 0.05812569 -0.03577755 3.32600546] [-0.05841067 0.9982683 -0.0069715 -0.4968208 ] [ 0.03531037 0.00904503 0.99933546 -1.07353546] [ 0. 0. 0. 1. ]] SLAMing on 99.536296757 meters Centerline goodness [0,1] 0.7602290473711608 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.50, Z:-1.07 [[ 0.99765757 0.05828803 -0.03580339 3.32583603] [-0.05857705 0.99825781 -0.00707647 -0.49535358] [ 0.03532854 0.00915715 0.9993338 -1.0731864 ] [ 0. 0. 0. 1. ]] SLAMing on 99.566296757 meters Centerline goodness [0,1] 0.7729968782518211 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.50, Z:-1.07 [[ 0.99764795 0.05839248 -0.03590095 3.32567364] [-0.05867739 0.99825292 -0.00693335 -0.49537044] [ 0.03543337 0.00902362 0.9993313 -1.07257697] [ 0. 0. 0. 1. ]] SLAMing on 99.596296757 meters Centerline goodness [0,1] 0.7692887790924458 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.50, Z:-1.07 [[ 0.99764834 0.0582775 -0.03607672 3.32580585] [-0.0585596 0.99826067 -0.00681205 -0.49535159] [ 0.03561698 0.00890866 0.99932581 -1.07192057] [ 0. 0. 0. 1. ]] SLAMing on 99.626296757 meters Centerline goodness [0,1] 0.7727650943886838 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99765647 0.05791242 -0.03643791 3.3267791 ] [-0.05820531 0.99827989 -0.00702842 -0.49470341] [ 0.0359682 0.00913283 0.9993112 -1.07199562] [ 0. 0. 0. 1. ]] SLAMing on 99.656296757 meters Centerline goodness [0,1] 0.7715403346976841 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99767367 0.05718667 -0.03710704 3.32903789] [-0.05749826 0.9983183 -0.00738413 -0.49376377] [ 0.03662237 0.00950054 0.99928401 -1.07269986] [ 0. 0. 0. 1. ]] SLAMing on 99.68629675700001 meters Centerline goodness [0,1] 0.778582554517134 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99767849 0.05699161 -0.0372773 3.32979048] [-0.05730752 0.99832869 -0.00746098 -0.49364364] [ 0.03678978 0.00957993 0.99927711 -1.07306558] [ 0. 0. 0. 1. ]] SLAMing on 99.71629675700001 meters Centerline goodness [0,1] 0.7750939484255539 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99766207 0.05716332 -0.0374532 3.33011432] [-0.05747287 0.99832081 -0.00724039 -0.49337662] [ 0.03697643 0.00937601 0.99927215 -1.07278745] [ 0. 0. 0. 1. ]] SLAMing on 99.74629675700001 meters Centerline goodness [0,1] 0.7713951979234264 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99764568 0.0574316 -0.03747955 3.32998114] [-0.0577353 0.99830689 -0.00707083 -0.4933169 ] [ 0.03701001 0.00921807 0.99927238 -1.07256691] [ 0. 0. 0. 1. ]] SLAMing on 99.77629675700001 meters Centerline goodness [0,1] 0.7759225116206601 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99762889 0.05769908 -0.0375156 3.32982873] [-0.05799964 0.99829226 -0.00697228 -0.49274935] [ 0.03704924 0.00913163 0.99927172 -1.07230413] [ 0. 0. 0. 1. ]] SLAMing on 99.806296757 meters Centerline goodness [0,1] 0.7759225116206601 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 0.99762889 0.05769908 -0.0375156 3.32982873] [-0.05799964 0.99829226 -0.00697228 -0.49274935] [ 0.03704924 0.00913163 0.99927172 -1.07230413] [ 0. 0. 0. 1. ]] SLAMing on 99.836296757 meters Centerline goodness [0,1] 0.7776915716243825 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97406834e-01 6.13213763e-02 -3.76735455e-02 3.33076248e+00] [-6.14708096e-02 9.98104898e-01 -2.82000666e-03 -4.93238014e-01] [ 3.74292236e-02 5.12851726e-03 9.99286121e-01 -1.07161561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.866296757 meters Centerline goodness [0,1] 0.7817455201753255 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97356853e-01 6.23422263e-02 -3.73196404e-02 3.32908040e+00] [-6.24704416e-02 9.98044214e-01 -2.27828392e-03 -4.91631599e-01] [ 3.71046179e-02 4.60363650e-03 9.99300782e-01 -1.07035303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.896296757 meters Centerline goodness [0,1] 0.7784552845528455 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97344024e-01 6.24708117e-02 -3.74472353e-02 3.32914426e+00] [-6.25987873e-02 9.98036228e-01 -2.25365292e-03 -4.91298476e-01] [ 3.72329100e-02 4.59181879e-03 9.99296065e-01 -1.07006451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.926296757 meters Centerline goodness [0,1] 0.777390323325043 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97318135e-01 6.27524092e-02 -3.76652603e-02 3.32899620e+00] [-6.28736786e-02 9.98019403e-01 -2.04267835e-03 -4.91566995e-01] [ 3.74624776e-02 4.40535364e-03 9.99288325e-01 -1.06923301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.956296757 meters Centerline goodness [0,1] 0.7716243512055432 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97314776e-01 6.27137538e-02 -3.78182936e-02 3.32957373e+00] [-6.28476688e-02 9.98020337e-01 -2.36147696e-03 -4.90417129e-01] [ 3.75953291e-02 4.73192746e-03 9.99281842e-01 -1.06962854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.986296757 meters Centerline goodness [0,1] 0.7722474374011934 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97316636e-01 6.26585512e-02 -3.78607214e-02 3.33010590e+00] [-6.28087832e-02 9.98021678e-01 -2.79054096e-03 -4.88555051e-01] [ 3.76109694e-02 5.16103876e-03 9.99279130e-01 -1.07024145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.016296757 meters Centerline goodness [0,1] 0.7698115119578435 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97108916e-01 6.57348535e-02 -3.81148211e-02 3.33235233e+00] [-6.57594535e-02 9.97835319e-01 6.09241596e-04 -4.87874506e-01] [ 3.80723630e-02 1.89892957e-03 9.99273180e-01 -1.07106239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04629675700001 meters Centerline goodness [0,1] 0.7689763143275592 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97115444e-01 6.56720654e-02 -3.80522059e-02 3.33233495e+00] [-6.57065814e-02 9.97838928e-01 3.44164843e-04 -4.87085028e-01] [ 3.79925743e-02 2.15710828e-03 9.99275693e-01 -1.07110689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07629675700001 meters Centerline goodness [0,1] 0.7655859719944493 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97114522e-01 6.56628479e-02 -3.80922623e-02 3.33247167e+00] [-6.57030940e-02 9.97839198e-01 1.95691872e-04 -4.86891964e-01] [ 3.80228022e-02 2.30765229e-03 9.99274207e-01 -1.07119701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10629675700001 meters Centerline goodness [0,1] 0.7624204786428355 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97108639e-01 6.57841755e-02 -3.80368777e-02 3.33244485e+00] [-6.58352328e-02 9.97830504e-01 -8.99768604e-05 -4.86184835e-01] [ 3.79484378e-02 2.59388341e-03 9.99276332e-01 -1.07137838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13629675700001 meters Centerline goodness [0,1] 0.7582500566365444 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.49, Z:-1.07 [[ 9.97108363e-01 6.58048726e-02 -3.80083084e-02 3.33248336e+00] [-6.58640115e-02 9.97828562e-01 -3.04545913e-04 -4.85197381e-01] [ 3.79057351e-02 2.80704494e-03 9.99277377e-01 -1.07148471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16629675700001 meters Centerline goodness [0,1] 0.7496985227615315 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.48, Z:-1.07 [[ 9.97110538e-01 6.58172337e-02 -3.79297514e-02 3.33248992e+00] [-6.58856655e-02 9.97827024e-01 -5.55683083e-04 -4.83844280e-01] [ 3.78107575e-02 3.05310437e-03 9.99280254e-01 -1.07164270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.196296757 meters Centerline goodness [0,1] 0.7375574655206876 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.48, Z:-1.07 [[ 9.96873184e-01 6.92865677e-02 -3.79898201e-02 3.33364567e+00] [-6.92109628e-02 9.97596577e-01 3.30325123e-03 -4.83552420e-01] [ 3.81273855e-02 -6.63610546e-04 9.99272667e-01 -1.07150410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.226296757 meters Centerline goodness [0,1] 0.7519097308902092 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.48, Z:-1.07 [[ 9.96869581e-01 6.93506689e-02 -3.79673975e-02 3.33397252e+00] [-6.92872624e-02 9.97592284e-01 2.98487412e-03 -4.82101441e-01] [ 3.80829858e-02 -3.44873176e-04 9.99274520e-01 -1.07200475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.256296757 meters Centerline goodness [0,1] 0.7637474031987586 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.48, Z:-1.07 [[ 9.96871437e-01 6.92625346e-02 -3.80793900e-02 3.33446123e+00] [-6.92055501e-02 9.97598452e-01 2.81415181e-03 -4.81943901e-01] [ 3.81828558e-02 -1.70042428e-04 9.99270754e-01 -1.07234779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.286296757 meters Centerline goodness [0,1] 0.7435506067809333 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96891380e-01 6.88135980e-02 -3.83701161e-02 3.33581712e+00] [-6.87696365e-02 9.97629518e-01 2.46595225e-03 -4.82292285e-01] [ 3.84488515e-02 1.80412398e-04 9.99260553e-01 -1.07320880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.316296757 meters Centerline goodness [0,1] 0.7602678125312281 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96906297e-01 6.85303894e-02 -3.84892353e-02 3.33665066e+00] [-6.84990993e-02 9.97648899e-01 2.13265157e-03 -4.81673920e-01] [ 3.85448947e-02 5.10424171e-04 9.99256739e-01 -1.07387907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.346296757 meters Centerline goodness [0,1] 0.7664822843474361 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96921425e-01 6.82275411e-02 -3.86351510e-02 3.33754944e+00] [-6.82093162e-02 9.97669425e-01 1.79118936e-03 -4.80677682e-01] [ 3.86673173e-02 8.49602185e-04 9.99251778e-01 -1.07452726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.376296757 meters Centerline goodness [0,1] 0.76267023889261 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96933013e-01 6.79542379e-02 -3.88173841e-02 3.33845145e+00] [-6.79523974e-02 9.97687626e-01 1.36830509e-03 -4.78817684e-01] [ 3.88206059e-02 1.27362579e-03 9.99245384e-01 -1.07496002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.406296757 meters Centerline goodness [0,1] 0.7667586309745731 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96926665e-01 6.78842960e-02 -3.91017596e-02 3.33846834e+00] [-6.78757728e-02 9.97692581e-01 1.54700686e-03 -4.79261320e-01] [ 3.91165529e-02 1.11180976e-03 9.99234036e-01 -1.07392213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43629675700001 meters Centerline goodness [0,1] 0.7600019929251158 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96937010e-01 6.75997047e-02 -3.93303754e-02 3.33914251e+00] [-6.75977423e-02 9.97711701e-01 1.38125578e-03 -4.79674135e-01] [ 3.93337482e-02 1.28161957e-03 9.99225307e-01 -1.07406239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46629675700001 meters Centerline goodness [0,1] 0.7693687856662264 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96954742e-01 6.72125534e-02 -3.95438481e-02 3.34013795e+00] [-6.72225252e-02 9.97737424e-01 1.07892133e-03 -4.78864757e-01] [ 3.95268942e-02 1.58260158e-03 9.99217254e-01 -1.07451147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49629675700001 meters Centerline goodness [0,1] 0.7688309750578171 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96961226e-01 6.70878929e-02 -3.95920252e-02 3.34047998e+00] [-6.71097898e-02 9.97745294e-01 7.77205118e-04 -4.77054128e-01] [ 3.95548979e-02 1.88216912e-03 9.99215626e-01 -1.07470401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52629675700001 meters Centerline goodness [0,1] 0.7667038828929413 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.48, Z:-1.07 [[ 9.96958458e-01 6.71712045e-02 -3.95203962e-02 3.34043277e+00] [-6.72005719e-02 9.97739314e-01 5.86356630e-04 -4.75267832e-01] [ 3.94704393e-02 2.07122002e-03 9.99218592e-01 -1.07472825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.556296757 meters Centerline goodness [0,1] 0.7707063197026023 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.96942420e-01 6.74256388e-02 -3.94917038e-02 3.34027058e+00] [-6.74655469e-02 9.97721552e-01 3.22787814e-04 -4.73108669e-01] [ 3.94234882e-02 2.34252853e-03 9.99219846e-01 -1.07459421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.586296757 meters Centerline goodness [0,1] 0.7754322427008657 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.96944256e-01 6.72474061e-02 -3.97484281e-02 3.34088977e+00] [-6.72942382e-02 9.97733161e-01 1.60078339e-04 -4.73130027e-01] [ 3.96690897e-02 2.51525101e-03 9.99209706e-01 -1.07464943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.616296757 meters Centerline goodness [0,1] 0.767175572519084 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.96958704e-01 6.68714435e-02 -4.00194094e-02 3.34169968e+00] [-6.69187400e-02 9.97758416e-01 1.58054876e-04 -4.74566466e-01] [ 3.99402719e-02 2.52047427e-03 9.99198890e-01 -1.07465429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.646296757 meters Centerline goodness [0,1] 0.7699888295891771 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.08 [[ 9.96968878e-01 6.65714346e-02 -4.02653730e-02 3.34269007e+00] [-6.66263665e-02 9.97777995e-01 -2.23863814e-05 -4.74410736e-01] [ 4.01744129e-02 2.70505403e-03 9.99189021e-01 -1.07510330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.676296757 meters Centerline goodness [0,1] 0.7757443861905233 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.08 [[ 9.96966393e-01 6.66973904e-02 -4.01181874e-02 3.34265051e+00] [-6.67547237e-02 9.97769412e-01 -8.97403569e-05 -4.72303323e-01] [ 4.00227148e-02 2.76754664e-03 9.99194937e-01 -1.07522012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.706296757 meters Centerline goodness [0,1] 0.7647903006309539 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.08 [[ 9.96955222e-01 6.68699353e-02 -4.01085594e-02 3.34263624e+00] [-6.69244692e-02 9.97758044e-01 -1.70350224e-05 -4.71615024e-01] [ 4.00174986e-02 2.70122720e-03 9.99195328e-01 -1.07514677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.736296757 meters Centerline goodness [0,1] 0.7312731767614339 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.96939701e-01 6.72551497e-02 -3.98494322e-02 3.34166045e+00] [-6.72906944e-02 9.97733311e-01 4.50155064e-04 -4.72189094e-01] [ 3.97893811e-02 2.23271851e-03 9.99205595e-01 -1.07421041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.766296757 meters Centerline goodness [0,1] 0.7741975523173548 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.96937776e-01 6.72060566e-02 -3.99802053e-02 3.34186141e+00] [-6.72307697e-02 9.97737187e-01 7.27555974e-04 -4.73446743e-01] [ 3.99386338e-02 1.96257194e-03 9.99200207e-01 -1.07384293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79629675700001 meters Centerline goodness [0,1] 0.7730017144134966 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.96953540e-01 6.67908852e-02 -4.02817152e-02 3.34323011e+00] [-6.68271013e-02 9.97764470e-01 4.48267313e-04 -4.73267012e-01] [ 4.02216044e-02 2.24500858e-03 9.99188262e-01 -1.07471385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82629675700001 meters Centerline goodness [0,1] 0.7832256461232604 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.08 [[ 9.96969562e-01 6.64283667e-02 -4.04841380e-02 3.34447561e+00] [-6.64788937e-02 9.97787827e-01 9.83641783e-05 -4.72670944e-01] [ 4.04011142e-02 2.59327461e-03 9.99180176e-01 -1.07572014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85629675700001 meters Centerline goodness [0,1] 0.7847315352903194 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.47, Z:-1.08 [[ 9.96995516e-01 6.59290198e-02 -4.06608579e-02 3.34544343e+00] [-6.59871359e-02 9.97820470e-01 -8.73843445e-05 -4.72109627e-01] [ 4.05664751e-02 2.77021535e-03 9.99173002e-01 -1.07608722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88629675700001 meters Centerline goodness [0,1] 0.7869328764061685 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.47, Z:-1.08 [[ 9.96995705e-01 6.57311125e-02 -4.09754251e-02 3.34585343e+00] [-6.57782166e-02 9.97834248e-01 1.99039540e-04 -4.73078872e-01] [ 4.08997655e-02 2.49684882e-03 9.99160135e-01 -1.07541850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91629675700001 meters Centerline goodness [0,1] 0.7926290294389373 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.47, Z:-1.07 [[ 9.97237238e-01 6.19921536e-02 -4.09251116e-02 3.34476115e+00] [-6.21799626e-02 9.98059395e-01 -3.33102868e-03 -4.73703433e-01] [ 4.06391945e-02 5.86654774e-03 9.99156664e-01 -1.07470556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.946296757 meters Centerline goodness [0,1] 0.7964794007490636 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.47, Z:-1.07 [[ 9.97244496e-01 6.15437876e-02 -4.14219420e-02 3.34607692e+00] [-6.17341856e-02 9.98087064e-01 -3.33201431e-03 -4.74611233e-01] [ 4.11376397e-02 5.87998279e-03 9.99136187e-01 -1.07487073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.976296757 meters Centerline goodness [0,1] 0.8023634780445329 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.47, Z:-1.08 [[ 0.99727911 0.06064153 -0.04191645 3.34778919] [-0.06084704 0.99814045 -0.00364334 -0.47482674] [ 0.04161757 0.00618392 0.99911448 -1.07529866] [ 0. 0. 0. 1. ]] SLAMing on 101.006296757 meters Centerline goodness [0,1] 0.8055763007219318 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.47, Z:-1.08 [[ 0.99729573 0.06015438 -0.04222182 3.34900206] [-0.06037282 0.99816821 -0.00391642 -0.47472273] [ 0.04190888 0.00645488 0.99910059 -1.07590762] [ 0. 0. 0. 1. ]] SLAMing on 101.036296757 meters Centerline goodness [0,1] 0.8065558289221899 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.48, Z:-1.08 [[ 0.99733459 0.05933823 -0.04245807 3.35011381] [-0.05956222 0.99821646 -0.00402907 -0.47528852] [ 0.04214326 0.00654723 0.99909013 -1.07611533] [ 0. 0. 0. 1. ]] SLAMing on 101.066296757 meters Centerline goodness [0,1] 0.8071753335486596 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.48, Z:-1.08 [[ 0.99733796 0.05906913 -0.04275313 3.35081564] [-0.05928846 0.99823335 -0.00387935 -0.47631213] [ 0.04244845 0.00640379 0.99907814 -1.07604078] [ 0. 0. 0. 1. ]] SLAMing on 101.096296757 meters Centerline goodness [0,1] 0.8113993514592168 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.48, Z:-1.08 [[ 0.99736664 0.0583793 -0.04303062 3.35184456] [-0.05859628 0.99827454 -0.00379735 -0.47800663] [ 0.04273469 0.00630879 0.99906654 -1.0760645 ] [ 0. 0. 0. 1. ]] SLAMing on 101.126296757 meters Centerline goodness [0,1] 0.8089404631746347 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.48, Z:-1.08 [[ 0.99737349 0.05803133 -0.04334153 3.35284343] [-0.05825203 0.9982945 -0.00384573 -0.47850038] [ 0.04304444 0.00636036 0.99905291 -1.07627916] [ 0. 0. 0. 1. ]] SLAMing on 101.156296757 meters Centerline goodness [0,1] 0.8126582278481013 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.48, Z:-1.08 [[ 0.99739058 0.05753853 -0.04360437 3.3543771 ] [-0.05777846 0.99832034 -0.00426123 -0.47796192] [ 0.04328594 0.0067695 0.99903979 -1.07742758] [ 0. 0. 0. 1. ]] SLAMing on 101.18629675700001 meters Centerline goodness [0,1] 0.8101529902642559 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 0.99739336 0.05735218 -0.04378595 3.35527121] [-0.05760551 0.99832908 -0.00454492 -0.47710536] [ 0.04345213 0.00705538 0.9990306 -1.07804515] [ 0. 0. 0. 1. ]] SLAMing on 101.21629675700001 meters Centerline goodness [0,1] 0.8079373342257257 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 0.99739159 0.05732817 -0.04385761 3.3558508 ] [-0.05758713 0.99832959 -0.00466312 -0.47643292] [ 0.04351702 0.00717659 0.99902691 -1.07855033] [ 0. 0. 0. 1. ]] SLAMing on 101.24629675700001 meters Centerline goodness [0,1] 0.8045996973230456 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 0.99738876 0.05732613 -0.04392466 3.35648182] [-0.05758873 0.99832916 -0.00473551 -0.4763012 ] [ 0.0435798 0.00725271 0.99902362 -1.07911266] [ 0. 0. 0. 1. ]] SLAMing on 101.27629675700001 meters Centerline goodness [0,1] 0.8077688747324939 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 0.99737889 0.05766844 -0.04370017 3.35585929] [-0.05791312 0.99831214 -0.00435276 -0.47731947] [ 0.04337539 0.00687217 0.99903521 -1.07880577] [ 0. 0. 0. 1. ]] SLAMing on 101.306296757 meters Centerline goodness [0,1] 0.8051973814719302 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 0.99736631 0.05795756 -0.04360457 3.35557961] [-0.05818957 0.99829726 -0.00406936 -0.47771655] [ 0.04329447 0.00659597 0.99904058 -1.07862619] [ 0. 0. 0. 1. ]] SLAMing on 101.336296757 meters Centerline goodness [0,1] 0.8035261981624038 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 0.9973496 0.05829665 -0.04353486 3.35526828] [-0.05852043 0.99827866 -0.00388264 -0.47761801] [ 0.04323358 0.00642003 0.99904436 -1.07847222] [ 0. 0. 0. 1. ]] SLAMing on 101.366296757 meters Centerline goodness [0,1] 0.8024338755743201 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97139306e-01 6.17494676e-02 -4.35913765e-02 3.35710041e+00] [-6.18167484e-02 9.98087497e-01 -1.95863965e-04 -4.78445587e-01] [ 4.34959133e-02 2.88998081e-03 9.99049425e-01 -1.07971910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.396296757 meters Centerline goodness [0,1] 0.8015949914287843 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97136337e-01 6.17903181e-02 -4.36013946e-02 3.35762434e+00] [-6.18622989e-02 9.98084648e-01 -3.02243905e-04 -4.77923645e-01] [ 4.34992069e-02 2.99866089e-03 9.99048961e-01 -1.08039843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.426296757 meters Centerline goodness [0,1] 0.8021082535885168 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97128546e-01 6.19111725e-02 -4.36081326e-02 3.35788554e+00] [-6.19715507e-02 9.98077916e-01 -3.27534886e-05 -4.79068754e-01] [ 4.35222863e-02 2.73512304e-03 9.99048712e-01 -1.08067420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.456296757 meters Centerline goodness [0,1] 0.8017717613099089 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97122502e-01 6.18774057e-02 -4.37938686e-02 3.35835729e+00] [-6.19284921e-02 9.98080571e-01 1.90515872e-04 -4.80572793e-01] [ 4.37215979e-02 2.52212058e-03 9.99040570e-01 -1.08074798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.486296757 meters Centerline goodness [0,1] 0.800320048007201 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97103896e-01 6.21950079e-02 -4.37675934e-02 3.35782197e+00] [-6.22066144e-02 9.98062689e-01 1.09805636e-03 -4.83557466e-01] [ 4.37510956e-02 1.62775753e-03 9.99041136e-01 -1.07983413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.516296757 meters Centerline goodness [0,1] 0.8009734181954324 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97104873e-01 6.21966848e-02 -4.37429440e-02 3.35795076e+00] [-6.22013262e-02 9.98062832e-01 1.25629270e-03 -4.84001528e-01] [ 4.37363438e-02 1.46821356e-03 9.99042029e-01 -1.07991003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54629675700001 meters Centerline goodness [0,1] 0.8014864120914869 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97108962e-01 6.20639196e-02 -4.38382017e-02 3.35852552e+00] [-6.20637877e-02 9.98071251e-01 1.36536103e-03 -4.84029630e-01] [ 4.38383885e-02 1.35935112e-03 9.99037711e-01 -1.08021074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57629675700001 meters Centerline goodness [0,1] 0.8023456882941132 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.48, Z:-1.08 [[ 9.97104305e-01 6.20224400e-02 -4.40025254e-02 3.35917017e+00] [-6.20185993e-02 9.98073935e-01 1.45374323e-03 -4.84582181e-01] [ 4.40079384e-02 1.27944136e-03 9.99030362e-01 -1.08059044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60629675700001 meters Centerline goodness [0,1] 0.8027270894243371 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97102133e-01 6.17391033e-02 -4.44479381e-02 3.36035527e+00] [-6.17266558e-02 9.98091722e-01 1.65379510e-03 -4.87439422e-01] [ 4.44652229e-02 1.09461995e-03 9.99010333e-01 -1.08086410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63629675700001 meters Centerline goodness [0,1] 0.804174975389353 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97094457e-01 6.18120050e-02 -4.45187689e-02 3.36046440e+00] [-6.17881660e-02 9.98087453e-01 1.91264934e-03 -4.88821703e-01] [ 4.45518493e-02 8.43641026e-04 9.99006717e-01 -1.08075470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66629675700001 meters Centerline goodness [0,1] 0.803036821460205 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97087827e-01 6.20070435e-02 -4.43958534e-02 3.36056050e+00] [-6.19762789e-02 9.98075475e-01 2.07037845e-03 -4.89110050e-01] [ 4.44387905e-02 6.87140636e-04 9.99011873e-01 -1.08119507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.696296757 meters Centerline goodness [0,1] 0.8045179202423018 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97091777e-01 6.18599553e-02 -4.45121763e-02 3.36140253e+00] [-6.18436917e-02 9.98084324e-01 1.74368474e-03 -4.88306331e-01] [ 4.45347696e-02 1.01418358e-03 9.99007320e-01 -1.08200555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.726296757 meters Centerline goodness [0,1] 0.8045179202423018 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97091777e-01 6.18599553e-02 -4.45121763e-02 3.36140253e+00] [-6.18436917e-02 9.98084324e-01 1.74368474e-03 -4.88306331e-01] [ 4.45347696e-02 1.01418358e-03 9.99007320e-01 -1.08200555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.756296757 meters Centerline goodness [0,1] 0.8002378121284186 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97082182e-01 6.19425147e-02 -4.46121878e-02 3.36172328e+00] [-6.19202653e-02 9.98079325e-01 1.88177291e-03 -4.88185524e-01] [ 4.46430641e-02 8.86116267e-04 9.99002608e-01 -1.08201680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.786296757 meters Centerline goodness [0,1] 0.801058254639358 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97081615e-01 6.19501938e-02 -4.46142048e-02 3.36188919e+00] [-6.19263884e-02 9.98078879e-01 1.91680164e-03 -4.88645977e-01] [ 4.46472418e-02 8.51588900e-04 9.99002452e-01 -1.08220807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.816296757 meters Centerline goodness [0,1] 0.8024116614515759 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.49, Z:-1.08 [[ 9.97095192e-01 6.14509296e-02 -4.49995663e-02 3.36335696e+00] [-6.14290188e-02 9.98109701e-01 1.87089910e-03 -4.91049466e-01] [ 4.50294722e-02 8.98814706e-04 9.98985255e-01 -1.08293008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.846296757 meters Centerline goodness [0,1] 0.8031734712069888 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.08 [[ 9.97120749e-01 6.06056248e-02 -4.55759728e-02 3.36585241e+00] [-6.06032561e-02 9.98160902e-01 1.43498775e-03 -4.92822572e-01] [ 4.55791224e-02 1.33119630e-03 9.98959845e-01 -1.08446133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.876296757 meters Centerline goodness [0,1] 0.804143174222517 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.97124760e-01 6.04663729e-02 -4.56730802e-02 3.36659583e+00] [-6.04710511e-02 9.98169130e-01 1.28050140e-03 -4.92677357e-01] [ 4.56668860e-02 1.48507952e-03 9.98955620e-01 -1.08515534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.906296757 meters Centerline goodness [0,1] 0.8041016222834405 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.97127545e-01 6.03893260e-02 -4.57141992e-02 3.36725629e+00] [-6.04032697e-02 9.98173474e-01 1.07755056e-03 -4.92086029e-01] [ 4.56957735e-02 1.68683175e-03 9.98953978e-01 -1.08591056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93629675700001 meters Centerline goodness [0,1] 0.8050652927973883 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.97117259e-01 6.04785329e-02 -4.58205005e-02 3.36804418e+00] [-6.04970484e-02 9.98167891e-01 9.83807755e-04 -4.91328491e-01] [ 4.57960516e-02 1.79103334e-03 9.98949205e-01 -1.08670544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96629675700001 meters Centerline goodness [0,1] 0.8074142203827189 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.97105690e-01 6.07009887e-02 -4.57780768e-02 3.36811999e+00] [-6.07171262e-02 9.98154472e-01 1.03917436e-03 -4.91672463e-01] [ 4.57566710e-02 1.74334660e-03 9.98951094e-01 -1.08703313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99629675700001 meters Centerline goodness [0,1] 0.8080655485853284 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.97083189e-01 6.10284760e-02 -4.58327275e-02 3.36839997e+00] [-6.10351976e-02 9.98134827e-01 1.25407868e-03 -4.93372284e-01] [ 4.58237760e-02 1.54698881e-03 9.98948341e-01 -1.08745472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02629675700001 meters Centerline goodness [0,1] 0.8081185534027795 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.97066708e-01 6.13310203e-02 -4.57874002e-02 3.36833594e+00] [-6.13289882e-02 9.98116552e-01 1.45048927e-03 -4.94051688e-01] [ 4.57901220e-02 1.36186036e-03 9.98950154e-01 -1.08760339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.056296757 meters Centerline goodness [0,1] 0.8053424413121607 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.50, Z:-1.09 [[ 9.96827262e-01 6.47765000e-02 -4.62538126e-02 3.37086649e+00] [-6.46029984e-02 9.97897299e-01 5.23771715e-03 -4.95687114e-01] [ 4.64958356e-02 -2.23296427e-03 9.98915988e-01 -1.08862121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.086296757 meters Centerline goodness [0,1] 0.8040796601978788 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.96821040e-01 6.47701451e-02 -4.63965681e-02 3.37170913e+00] [-6.46087285e-02 9.97898288e-01 4.97185429e-03 -4.94954269e-01] [ 4.66210836e-02 -1.95842569e-03 9.98910726e-01 -1.08944436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.116296757 meters Centerline goodness [0,1] 0.8001586854700418 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.49, Z:-1.09 [[ 9.96803370e-01 6.53021314e-02 -4.60290531e-02 3.37125615e+00] [-6.51327582e-02 9.97863207e-01 5.17154576e-03 -4.94968109e-01] [ 4.62684114e-02 -2.15701506e-03 9.98926715e-01 -1.09003627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.146296757 meters Centerline goodness [0,1] 0.804953560371517 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.50, Z:-1.09 [[ 9.96785533e-01 6.54071083e-02 -4.62656611e-02 3.37152801e+00] [-6.52268162e-02 9.97855866e-01 5.39752365e-03 -4.95676300e-01] [ 4.65194977e-02 -2.36241171e-03 9.98914589e-01 -1.08970662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.176296757 meters Centerline goodness [0,1] 0.8022436062368137 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 0.99696098 0.0665209 -0.04054344 3.38223487] [-0.06672667 0.99776428 -0.00374188 -0.4961942 ] [ 0.04020388 0.00643584 0.99917077 -1.09257481] [ 0. 0. 0. 1. ]] SLAMing on 102.206296757 meters Centerline goodness [0,1] 0.8033564486607718 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96937642e-01 6.68711471e-02 -4.05411771e-02 3.38183104e+00] [-6.70563813e-02 9.97743976e-01 -3.22502835e-03 -4.97617747e-01] [ 4.02340539e-02 5.93369679e-03 9.99172664e-01 -1.09201015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.236296757 meters Centerline goodness [0,1] 0.8029742641393127 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96918093e-01 6.69638716e-02 -4.08675478e-02 3.38246348e+00] [-6.71372293e-02 9.97739586e-01 -2.88280093e-03 -4.98374446e-01] [ 4.05821268e-02 5.61765033e-03 9.99160414e-01 -1.09175800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.266296757 meters Centerline goodness [0,1] 0.7957222007473264 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96899034e-01 6.71401266e-02 -4.10429013e-02 3.38267106e+00] [-6.73062200e-02 9.97728774e-01 -2.67694196e-03 -4.98392485e-01] [ 4.07699534e-02 5.43108340e-03 9.99153799e-01 -1.09148635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29629675700001 meters Centerline goodness [0,1] 0.8007393335729321 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96879714e-01 6.74857304e-02 -4.09452359e-02 3.38253401e+00] [-6.76428652e-02 9.97706559e-01 -2.46290631e-03 -4.98213423e-01] [ 4.06851194e-02 5.22487441e-03 9.99158357e-01 -1.09152722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32629675700001 meters Centerline goodness [0,1] 0.8033665867553424 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96871987e-01 6.76378457e-02 -4.08823174e-02 3.38235431e+00] [-6.77886051e-02 9.97697030e-01 -2.31111232e-03 -4.98305516e-01] [ 4.06318480e-02 5.07523840e-03 9.99161296e-01 -1.09138314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35629675700001 meters Centerline goodness [0,1] 0.7651311712456104 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96861906e-01 6.77987877e-02 -4.08615360e-02 3.38213864e+00] [-6.79354793e-02 9.97687783e-01 -1.96441815e-03 -4.99327103e-01] [ 4.06338701e-02 4.73420165e-03 9.99162888e-01 -1.09090225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38629675700001 meters Centerline goodness [0,1] 0.8003455211180445 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96861596e-01 6.78308090e-02 -4.08159356e-02 3.38205383e+00] [-6.79602551e-02 9.97686422e-01 -1.79075238e-03 -5.00060776e-01] [ 4.06000366e-02 4.55899367e-03 9.99165078e-01 -1.09083485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41629675700001 meters Centerline goodness [0,1] 0.8045801920892286 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96879558e-01 6.74791015e-02 -4.09599454e-02 3.38289106e+00] [-6.76155939e-02 9.97709532e-01 -1.95460781e-03 -4.99961368e-01] [ 4.07342327e-02 4.71803960e-03 9.99158877e-01 -1.09127776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.446296757 meters Centerline goodness [0,1] 0.8042603672374664 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96885699e-01 6.73038420e-02 -4.10986022e-02 3.38357140e+00] [-6.74485654e-02 9.97720450e-01 -2.14340055e-03 -4.99747237e-01] [ 4.08606568e-02 4.90876711e-03 9.99152796e-01 -1.09178368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.476296757 meters Centerline goodness [0,1] 0.7966119122901725 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96899280e-01 6.70845224e-02 -4.11277604e-02 3.38429335e+00] [-6.72447746e-02 9.97733316e-01 -2.52394886e-03 -4.98886183e-01] [ 4.08652189e-02 5.28174978e-03 9.99150708e-01 -1.09255946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.506296757 meters Centerline goodness [0,1] 0.7986539251952323 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96900958e-01 6.70712374e-02 -4.11087411e-02 3.38445829e+00] [-6.72385883e-02 9.97733271e-01 -2.70035011e-03 -4.98240911e-01] [ 4.08344429e-02 5.45607533e-03 9.99151029e-01 -1.09284234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.536296757 meters Centerline goodness [0,1] 0.7920016385887654 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96894659e-01 6.72027463e-02 -4.10466817e-02 3.38443440e+00] [-6.73792824e-02 9.97723128e-01 -2.93111292e-03 -4.96660860e-01] [ 4.07562448e-02 5.68770677e-03 9.99152930e-01 -1.09301214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.566296757 meters Centerline goodness [0,1] 0.7952430991619037 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.50, Z:-1.09 [[ 9.96890491e-01 6.73036846e-02 -4.09824618e-02 3.38445105e+00] [-6.74872944e-02 9.97715281e-01 -3.11175766e-03 -4.95832219e-01] [ 4.06793957e-02 5.86787709e-03 9.99155020e-01 -1.09332277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.596296757 meters Centerline goodness [0,1] 0.7927093144617264 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.49, Z:-1.09 [[ 0.99690487 0.06700526 -0.04112137 3.38542095] [-0.06721437 0.99773161 -0.00372232 -0.49400297] [ 0.04077868 0.00647474 0.99914722 -1.09426154] [ 0. 0. 0. 1. ]] SLAMing on 102.626296757 meters Centerline goodness [0,1] 0.7928283806514094 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.49, Z:-1.09 [[ 0.99690353 0.06694628 -0.0412499 3.38580874] [-0.06715969 0.99773497 -0.00380809 -0.4936415 ] [ 0.04090153 0.00656662 0.9991416 -1.0943524 ] [ 0. 0. 0. 1. ]] SLAMing on 102.656296757 meters Centerline goodness [0,1] 0.7930902111324376 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.49, Z:-1.09 [[ 0.99690537 0.06681408 -0.04141936 3.38629829] [-0.06702631 0.99774414 -0.00375501 -0.49419184] [ 0.04107503 0.00651958 0.99913479 -1.09436187] [ 0. 0. 0. 1. ]] SLAMing on 102.68629675700001 meters Centerline goodness [0,1] 0.7932735311405863 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.49, Z:-1.09 [[ 0.99690561 0.0666654 -0.04165252 3.38690145] [-0.06687684 0.99775437 -0.00370219 -0.49448502] [ 0.04131218 0.00647632 0.9991253 -1.09435845] [ 0. 0. 0. 1. ]] SLAMing on 102.71629675700001 meters Centerline goodness [0,1] 0.7961628857551604 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.49, Z:-1.09 [[ 0.99691113 0.0663787 -0.04197692 3.38781901] [-0.06659061 0.99777364 -0.0036687 -0.49493898] [ 0.04163994 0.00645264 0.99911184 -1.09448283] [ 0. 0. 0. 1. ]] SLAMing on 102.74629675700001 meters Centerline goodness [0,1] 0.8003879431357035 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 0.9969622 0.06526327 -0.04250966 3.39028339] [-0.06549437 0.99784466 -0.00406515 -0.49562654] [ 0.04215273 0.00683695 0.99908779 -1.09574897] [ 0. 0. 0. 1. ]] SLAMing on 102.77629675700001 meters Centerline goodness [0,1] 0.8038888746376626 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 0.99699618 0.06456942 -0.04277162 3.39184336] [-0.06480379 0.99788954 -0.0041146 -0.49654021] [ 0.04241567 0.00687401 0.9990764 -1.09659944] [ 0. 0. 0. 1. ]] SLAMing on 102.806296757 meters Centerline goodness [0,1] 0.8054013773255216 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 0.99699989 0.0644424 -0.0428766 3.3920927 ] [-0.06466675 0.99789943 -0.00386474 -0.49736464] [ 0.04253748 0.00662583 0.9990729 -1.09639684] [ 0. 0. 0. 1. ]] SLAMing on 102.836296757 meters Centerline goodness [0,1] 0.8044896491498433 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 0.99702581 0.0639091 -0.04307162 3.39279722] [-0.06411651 0.99793646 -0.00345008 -0.50004005] [ 0.04276225 0.00620142 0.99906603 -1.09607171] [ 0. 0. 0. 1. ]] SLAMing on 102.866296757 meters Centerline goodness [0,1] 0.801931374563386 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.97023549e-01 6.38052747e-02 -4.32773639e-02 3.39317770e+00] [-6.40014272e-02 9.97944802e-01 -3.16072377e-03 -5.01161419e-01] [ 4.29867495e-02 5.92112908e-03 9.99058096e-01 -1.09579425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.896296757 meters Centerline goodness [0,1] 0.8012902894155143 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.97020645e-01 6.38253852e-02 -4.33145933e-02 3.39306491e+00] [-6.40080858e-02 9.97945331e-01 -2.84287216e-03 -5.01625077e-01] [ 4.30441488e-02 5.60688644e-03 9.99057438e-01 -1.09517477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.926296757 meters Centerline goodness [0,1] 0.8028447456930858 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.97014217e-01 6.40247926e-02 -4.31680052e-02 3.39264969e+00] [-6.42037745e-02 9.97932962e-01 -2.77115088e-03 -5.01336033e-01] [ 4.29013529e-02 5.53442570e-03 9.99063984e-01 -1.09503994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.956296757 meters Centerline goodness [0,1] 0.8038173595319007 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.96785978e-01 6.73374488e-02 -4.33979396e-02 3.39445368e+00] [-6.73606582e-02 9.97728259e-01 9.28983983e-04 -5.02100922e-01] [ 4.33619062e-02 1.99731557e-03 9.99057434e-01 -1.09549396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.986296757 meters Centerline goodness [0,1] 0.8034100770840777 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.96775931e-01 6.74019258e-02 -4.35284267e-02 3.39468519e+00] [-6.74361211e-02 9.97723359e-01 6.83999045e-04 -5.00869749e-01] [ 4.34754310e-02 2.25359447e-03 9.99051955e-01 -1.09554958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.016296757 meters Centerline goodness [0,1] 0.8044870976798795 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.96743295e-01 6.81209581e-02 -4.31548226e-02 3.39366120e+00] [-6.81569009e-02 9.97674410e-01 6.39619974e-04 -4.99590951e-01] [ 4.30980337e-02 2.30376205e-03 9.99068192e-01 -1.09559735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04629675700001 meters Centerline goodness [0,1] 0.804623834461617 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.96724432e-01 6.83568159e-02 -4.32174928e-02 3.39356477e+00] [-6.83902066e-02 9.97658398e-01 7.07157356e-04 -4.99233481e-01] [ 4.31646337e-02 2.25081225e-03 9.99065437e-01 -1.09536324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07629675700001 meters Centerline goodness [0,1] 0.8011658690561043 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.50, Z:-1.10 [[ 9.96724822e-01 6.82036087e-02 -4.34499398e-02 3.39476882e+00] [-6.82646628e-02 9.97667244e-01 7.87667862e-05 -4.97795613e-01] [ 4.33539539e-02 2.88758668e-03 9.99055602e-01 -1.09657720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10629675700001 meters Centerline goodness [0,1] 0.8039395560991769 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.50, Z:-1.10 [[ 9.96729473e-01 6.81114710e-02 -4.34877568e-02 3.39536697e+00] [-6.81901628e-02 9.97672288e-01 -3.26940474e-04 -4.96588110e-01] [ 4.33642615e-02 3.29130842e-03 9.99053907e-01 -1.09733303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13629675700001 meters Centerline goodness [0,1] 0.8037478099687683 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.49, Z:-1.10 [[ 9.96711653e-01 6.82861638e-02 -4.36220192e-02 3.39597959e+00] [-6.83866724e-02 9.97658559e-01 -8.14210283e-04 -4.94115766e-01] [ 4.34642815e-02 3.79469761e-03 9.99047775e-01 -1.09801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16629675700001 meters Centerline goodness [0,1] 0.8044861234317577 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.49, Z:-1.10 [[ 9.96704086e-01 6.83428506e-02 -4.37060673e-02 3.39620028e+00] [-6.84536599e-02 9.97653753e-01 -1.04198585e-03 -4.93116034e-01] [ 4.35323098e-02 4.03039182e-03 9.99043890e-01 -1.09816860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.196296757 meters Centerline goodness [0,1] 0.8019147481194437 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.49, Z:-1.10 [[ 9.96700149e-01 6.83317879e-02 -4.38130145e-02 3.39659940e+00] [-6.84565424e-02 9.97653184e-01 -1.35165870e-03 -4.91924410e-01] [ 4.36178322e-02 4.34648591e-03 9.99038834e-01 -1.09842805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.226296757 meters Centerline goodness [0,1] 0.8001921715383837 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.49, Z:-1.10 [[ 9.96694824e-01 6.83901283e-02 -4.38431031e-02 3.39665158e+00] [-6.85213805e-02 9.97648526e-01 -1.49612002e-03 -4.91340755e-01] [ 4.36376873e-02 4.49536503e-03 9.99037309e-01 -1.09848165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.256296757 meters Centerline goodness [0,1] 0.7993542202714293 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.49, Z:-1.10 [[ 9.96679529e-01 6.85850413e-02 -4.38863115e-02 3.39682806e+00] [-6.87349988e-02 9.97633115e-01 -1.91535467e-03 -4.88771748e-01] [ 4.36510730e-02 4.92552036e-03 9.99034696e-01 -1.09870633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.286296757 meters Centerline goodness [0,1] 0.7933711930847321 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.49, Z:-1.10 [[ 9.96671507e-01 6.87661423e-02 -4.37849834e-02 3.39675049e+00] [-6.89304765e-02 9.97618922e-01 -2.25275954e-03 -4.87235615e-01] [ 4.35258144e-02 5.26338102e-03 9.99038438e-01 -1.09907578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.316296757 meters Centerline goodness [0,1] 0.792133283226857 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.48, Z:-1.10 [[ 9.96630073e-01 6.96544641e-02 -4.33215021e-02 3.39521226e+00] [-6.98136401e-02 9.97557690e-01 -2.17044385e-03 -4.84719969e-01] [ 4.30645165e-02 5.18756137e-03 9.99058825e-01 -1.09847994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.346296757 meters Centerline goodness [0,1] 0.7856269494697442 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.48, Z:-1.10 [[ 9.96617767e-01 7.00016231e-02 -4.30441598e-02 3.39432408e+00] [-7.01595248e-02 9.97533431e-01 -2.16683817e-03 -4.83559171e-01] [ 4.27863062e-02 5.17946722e-03 9.99070821e-01 -1.09805847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.376296757 meters Centerline goodness [0,1] 0.7920015976833591 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.48, Z:-1.10 [[ 9.96598884e-01 7.04085724e-02 -4.28170228e-02 3.39332531e+00] [-7.05716857e-02 9.97504040e-01 -2.30814158e-03 -4.81545998e-01] [ 4.25476403e-02 5.32196080e-03 9.99080265e-01 -1.09740416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.406296757 meters Centerline goodness [0,1] 0.7935515996514378 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.48, Z:-1.10 [[ 9.96586275e-01 7.06491126e-02 -4.27141493e-02 3.39280519e+00] [-7.08100162e-02 9.97487251e-01 -2.26391262e-03 -4.80686118e-01] [ 4.24468759e-02 5.28077384e-03 9.99084769e-01 -1.09697185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43629675700001 meters Centerline goodness [0,1] 0.7946576802041777 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.48, Z:-1.10 [[ 9.96561109e-01 7.11821959e-02 -4.24152272e-02 3.39159447e+00] [-7.13458024e-02 9.97448863e-01 -2.35414418e-03 -4.78084873e-01] [ 4.21394470e-02 5.37219695e-03 9.99097296e-01 -1.09624047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46629675700001 meters Centerline goodness [0,1] 0.7859809617999753 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.48, Z:-1.10 [[ 9.96550569e-01 7.13602259e-02 -4.23636830e-02 3.39131251e+00] [-7.15300904e-02 9.97435295e-01 -2.50555049e-03 -4.76649099e-01] [ 4.20762360e-02 5.52718584e-03 9.99099114e-01 -1.09603610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49629675700001 meters Centerline goodness [0,1] 0.7906134515890614 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 9.96554870e-01 7.13171146e-02 -4.23350848e-02 3.39147107e+00] [-7.15057856e-02 9.97435801e-01 -2.95725394e-03 -4.74826990e-01] [ 4.20156264e-02 5.97426931e-03 9.99099092e-01 -1.09638419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52629675700001 meters Centerline goodness [0,1] 0.7813493033488145 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 0.99654674 0.07149911 -0.04221929 3.39110505] [-0.07170687 0.99741987 -0.0034253 -0.47138121] [ 0.04186545 0.00644088 0.9991025 -1.09622077] [ 0. 0. 0. 1. ]] SLAMing on 103.556296757 meters Centerline goodness [0,1] 0.7785988695035114 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 0.99655861 0.07126382 -0.0423367 3.39119635] [-0.07149198 0.99743356 -0.00389779 -0.46963769] [ 0.04195027 0.00691111 0.9990958 -1.09590439] [ 0. 0. 0. 1. ]] SLAMing on 103.586296757 meters Centerline goodness [0,1] 0.7864023078427538 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 0.9965652 0.07100496 -0.0426156 3.39183728] [-0.07124475 0.9974503 -0.00413282 -0.46921027] [ 0.04221349 0.00715476 0.99908299 -1.09594802] [ 0. 0. 0. 1. ]] SLAMing on 103.616296757 meters Centerline goodness [0,1] 0.7864023078427538 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 0.9965652 0.07100496 -0.0426156 3.39183728] [-0.07124475 0.9974503 -0.00413282 -0.46921027] [ 0.04221349 0.00715476 0.99908299 -1.09594802] [ 0. 0. 0. 1. ]] SLAMing on 103.646296757 meters Centerline goodness [0,1] 0.7920688054340655 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 0.99657855 0.07066186 -0.04287297 3.39267074] [-0.07092027 0.99747168 -0.00453454 -0.46833373] [ 0.04244416 0.00755959 0.99907024 -1.09625069] [ 0. 0. 0. 1. ]] SLAMing on 103.676296757 meters Centerline goodness [0,1] 0.7992694508705711 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.47, Z:-1.10 [[ 0.99661139 0.07002226 -0.0431581 3.39385493] [-0.07032348 0.99750908 -0.00549951 -0.46532793] [ 0.04266551 0.0085159 0.99905312 -1.09691493] [ 0. 0. 0. 1. ]] SLAMing on 103.706296757 meters Centerline goodness [0,1] 0.8008062949290848 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.46, Z:-1.10 [[ 0.99663577 0.0695682 -0.04332906 3.39431364] [-0.06988515 0.99753794 -0.00584179 -0.46413895] [ 0.04281597 0.0088502 0.99904378 -1.09672747] [ 0. 0. 0. 1. ]] SLAMing on 103.736296757 meters Centerline goodness [0,1] 0.8058484088529619 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.46, Z:-1.10 [[ 0.99664689 0.06923478 -0.04360638 3.3949974 ] [-0.06955997 0.99755983 -0.00598276 -0.46380359] [ 0.04308575 0.00899596 0.99903088 -1.09666123] [ 0. 0. 0. 1. ]] SLAMing on 103.766296757 meters Centerline goodness [0,1] 0.8028240651036621 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99666993 0.0687392 -0.04386307 3.39595767] [-0.06907921 0.9975914 -0.00628179 -0.46323362] [ 0.04332561 0.0092909 0.9990178 -1.09700009] [ 0. 0. 0. 1. ]] SLAMing on 103.79629675700001 meters Centerline goodness [0,1] 0.806510208530117 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99674428 0.06718161 -0.04458102 3.39886868] [-0.06756604 0.99768903 -0.00717147 -0.4625992 ] [ 0.0439962 0.01016029 0.99898003 -1.09828101] [ 0. 0. 0. 1. ]] SLAMing on 103.82629675700001 meters Centerline goodness [0,1] 0.8099768828324614 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99676166 0.06663703 -0.04500778 3.40018861] [-0.06702768 0.99772496 -0.0072252 -0.46336822] [ 0.04442392 0.01021857 0.99896051 -1.09856125] [ 0. 0. 0. 1. ]] SLAMing on 103.85629675700001 meters Centerline goodness [0,1] 0.809591248718074 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.9970292 0.06237863 -0.04518496 3.39997094] [-0.06294629 0.99795351 -0.01124971 -0.46324793] [ 0.04439075 0.01406051 0.99891529 -1.09841129] [ 0. 0. 0. 1. ]] SLAMing on 103.88629675700001 meters Centerline goodness [0,1] 0.8091744913928013 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99703756 0.06219072 -0.04525952 3.39989369] [-0.06274768 0.99796892 -0.01098949 -0.46393572] [ 0.04448415 0.01379687 0.99891481 -1.09774721] [ 0. 0. 0. 1. ]] SLAMing on 103.91629675700001 meters Centerline goodness [0,1] 0.8108868501529052 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99709799 0.06098471 -0.04556817 3.40103577] [-0.06155942 0.99803927 -0.01131579 -0.46340481] [ 0.04478873 0.0140881 0.99889714 -1.09739186] [ 0. 0. 0. 1. ]] SLAMing on 103.946296757 meters Centerline goodness [0,1] 0.8104961972072094 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99711612 0.0604172 -0.04592602 3.40212593] [-0.06100692 0.99807054 -0.01154806 -0.46299611] [ 0.04513971 0.01431656 0.99887809 -1.09754254] [ 0. 0. 0. 1. ]] SLAMing on 103.976296757 meters Centerline goodness [0,1] 0.8139483719565855 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99714262 0.05952484 -0.04651234 3.40402341] [-0.06014104 0.99811822 -0.01196175 -0.46314302] [ 0.04571279 0.01472487 0.99884609 -1.09808183] [ 0. 0. 0. 1. ]] SLAMing on 104.006296757 meters Centerline goodness [0,1] 0.8125198757308153 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99714164 0.05945917 -0.04661708 3.4043368 ] [-0.0600699 0.9981243 -0.01181017 -0.46386999] [ 0.04582742 0.0145767 0.99884301 -1.09805253] [ 0. 0. 0. 1. ]] SLAMing on 104.036296757 meters Centerline goodness [0,1] 0.8119014547847065 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.46, Z:-1.10 [[ 0.99713719 0.05933798 -0.04686616 3.40493139] [-0.05995253 0.99813128 -0.01181667 -0.46398532] [ 0.0460774 0.01459258 0.99883128 -1.09805389] [ 0. 0. 0. 1. ]] SLAMing on 104.066296757 meters Centerline goodness [0,1] 0.8157785635898062 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99713261 0.05925101 -0.04707313 3.40549747] [-0.05987939 0.99813286 -0.01205175 -0.4624168 ] [ 0.04627116 0.01483591 0.99881874 -1.09809059] [ 0. 0. 0. 1. ]] SLAMing on 104.096296757 meters Centerline goodness [0,1] 0.8139699424221724 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99690807 0.06271239 -0.04734402 3.40740421] [-0.06317007 0.99796882 -0.00823215 -0.46265173] [ 0.04673159 0.01119743 0.99884472 -1.09868783] [ 0. 0. 0. 1. ]] SLAMing on 104.126296757 meters Centerline goodness [0,1] 0.8141325536062378 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99688734 0.06294648 -0.04746967 3.40774666] [-0.06340662 0.99795368 -0.00824916 -0.46189066] [ 0.04685328 0.01123338 0.99883862 -1.09886774] [ 0. 0. 0. 1. ]] SLAMing on 104.156296757 meters Centerline goodness [0,1] 0.810735702793623 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99664034 0.06666582 -0.04757838 3.40922565] [-0.0669492 0.99774675 -0.00438563 -0.46308794] [ 0.0471788 0.00755623 0.99885788 -1.09950952] [ 0. 0. 0. 1. ]] SLAMing on 104.18629675700001 meters Centerline goodness [0,1] 0.8117948093091263 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99661932 0.06702288 -0.04751705 3.40892715] [-0.06729663 0.99772424 -0.00418306 -0.46318591] [ 0.04712855 0.00736666 0.99886167 -1.09934532] [ 0. 0. 0. 1. ]] SLAMing on 104.21629675700001 meters Centerline goodness [0,1] 0.8108937662907115 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99659437 0.06733667 -0.04759651 3.40897732] [-0.06760368 0.99770415 -0.00402071 -0.46333065] [ 0.04721649 0.00722471 0.99885855 -1.09922881] [ 0. 0. 0. 1. ]] SLAMing on 104.24629675700001 meters Centerline goodness [0,1] 0.8095458194468095 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99657715 0.06735973 -0.04792334 3.40975578] [-0.06762944 0.99770238 -0.00402689 -0.46342123] [ 0.04754198 0.00725413 0.9988429 -1.09937621] [ 0. 0. 0. 1. ]] SLAMing on 104.27629675700001 meters Centerline goodness [0,1] 0.8104233100460067 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99657164 0.06735245 -0.04804811 3.41027789] [-0.06762343 0.99770276 -0.00403486 -0.46350278] [ 0.04766597 0.0072702 0.99883687 -1.09970281] [ 0. 0. 0. 1. ]] SLAMing on 104.306296757 meters Centerline goodness [0,1] 0.8100168083603323 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99656148 0.0675127 -0.04803396 3.41033718] [-0.06778002 0.99769244 -0.0039565 -0.46367192] [ 0.047656 0.00719864 0.99883787 -1.09985032] [ 0. 0. 0. 1. ]] SLAMing on 104.336296757 meters Centerline goodness [0,1] 0.8123221365504828 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99653957 0.06784164 -0.04802505 3.41048005] [-0.06810095 0.99767127 -0.00378206 -0.46397676] [ 0.04765663 0.00703952 0.99883897 -1.10013642] [ 0. 0. 0. 1. ]] SLAMing on 104.366296757 meters Centerline goodness [0,1] 0.8122373630644417 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99652744 0.06803719 -0.04799994 3.41044084] [-0.06829476 0.99765816 -0.00374455 -0.46395273] [ 0.04763276 0.0070097 0.99884032 -1.10026384] [ 0. 0. 0. 1. ]] SLAMing on 104.396296757 meters Centerline goodness [0,1] 0.8133385183744896 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.46, Z:-1.10 [[ 0.99651881 0.0682713 -0.04784656 3.41025752] [-0.06851602 0.99764391 -0.00349134 -0.46462869] [ 0.04749547 0.00675744 0.9988486 -1.10041445] [ 0. 0. 0. 1. ]] SLAMing on 104.426296757 meters Centerline goodness [0,1] 0.8121530820917324 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-1.10 [[ 9.96512751e-01 6.83366537e-02 -4.78794104e-02 3.41016705e+00] [-6.85663240e-02 9.97641527e-01 -3.16905970e-03 -4.65639252e-01] [ 4.75499252e-02 6.44092356e-03 9.98848096e-01 -1.10005732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.456296757 meters Centerline goodness [0,1] 0.8110008271298594 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-1.10 [[ 9.96525779e-01 6.80991971e-02 -4.79465455e-02 3.41038630e+00] [-6.82986140e-02 9.97661712e-01 -2.53131851e-03 -4.68413551e-01] [ 4.76620519e-02 5.79720675e-03 9.98846696e-01 -1.09957841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.486296757 meters Centerline goodness [0,1] 0.8119355626067855 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-1.10 [[ 9.96522271e-01 6.79641752e-02 -4.82103145e-02 3.41097235e+00] [-6.81466817e-02 9.97672996e-01 -2.15024065e-03 -4.70184716e-01] [ 4.79519896e-02 5.42813565e-03 9.98834892e-01 -1.09944161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.516296757 meters Centerline goodness [0,1] 0.8096066658497734 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-1.10 [[ 9.96538336e-01 6.76360718e-02 -4.83394923e-02 3.41172872e+00] [-6.77888484e-02 9.97698523e-01 -1.52623218e-03 -4.72975120e-01] [ 4.81250117e-02 4.79782739e-03 9.98829797e-01 -1.09955424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54629675700001 meters Centerline goodness [0,1] 0.811548517948342 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-1.10 [[ 9.96531584e-01 6.76841014e-02 -4.84114022e-02 3.41183161e+00] [-6.78170535e-02 9.97697159e-01 -1.10717723e-03 -4.74092120e-01] [ 4.82249802e-02 4.38645574e-03 9.98826867e-01 -1.09927680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57629675700001 meters Centerline goodness [0,1] 0.8117398979992154 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96513508e-01 6.80567672e-02 -4.82608008e-02 3.41094551e+00] [-6.81421163e-02 9.97675617e-01 -1.23540686e-04 -4.76765018e-01] [ 4.81402165e-02 3.41170306e-03 9.98834761e-01 -1.09815052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60629675700001 meters Centerline goodness [0,1] 0.810733003617037 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96489231e-01 6.84494689e-02 -4.82066625e-02 3.41039479e+00] [-6.85053657e-02 9.97650626e-01 4.93630607e-04 -4.78560462e-01] [ 4.81271957e-02 2.81051746e-03 9.98837261e-01 -1.09754308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63629675700001 meters Centerline goodness [0,1] 0.808072102243345 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96454196e-01 6.89135943e-02 -4.82695795e-02 3.41026922e+00] [-6.89530931e-02 9.97619542e-01 8.48350100e-04 -4.79889786e-01] [ 4.82131387e-02 2.48299479e-03 9.98833984e-01 -1.09740784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66629675700001 meters Centerline goodness [0,1] 0.8104833755191311 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96430384e-01 6.92837097e-02 -4.82312813e-02 3.41009614e+00] [-6.93179045e-02 9.97594154e-01 9.65297922e-04 -4.79760022e-01] [ 4.81821237e-02 2.38143917e-03 9.98835728e-01 -1.09746166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.696296757 meters Centerline goodness [0,1] 0.8074587817158654 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96368100e-01 7.03009250e-02 -4.80457005e-02 3.40964380e+00] [-7.03227941e-02 9.97523521e-01 1.23710228e-03 -4.79100237e-01] [ 4.80136858e-02 2.14609866e-03 9.98844372e-01 -1.09794269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.726296757 meters Centerline goodness [0,1] 0.807946856931972 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96346510e-01 7.05764234e-02 -4.80895116e-02 3.40984176e+00] [-7.06045968e-02 9.97503759e-01 1.11467068e-03 -4.78446713e-01] [ 4.80481381e-02 2.28474233e-03 9.98842408e-01 -1.09830804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.756296757 meters Centerline goodness [0,1] 0.8014920933921579 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96259073e-01 7.21219210e-02 -4.76055353e-02 3.40777943e+00] [-7.21104541e-02 9.97394726e-01 1.96047284e-03 -4.78873720e-01] [ 4.76229029e-02 1.47971792e-03 9.98864290e-01 -1.09744419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.786296757 meters Centerline goodness [0,1] 0.8035395154884829 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96218534e-01 7.27577579e-02 -4.74862245e-02 3.40702224e+00] [-7.27288738e-02 9.97349008e-01 2.33806006e-03 -4.78994595e-01] [ 4.75304509e-02 1.12440086e-03 9.98869157e-01 -1.09694340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.816296757 meters Centerline goodness [0,1] 0.7931668073695188 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96148291e-01 7.36823846e-02 -4.75340815e-02 3.40699967e+00] [-7.36503718e-02 9.97281170e-01 2.42694970e-03 -4.77443966e-01] [ 4.75836679e-02 1.08330098e-03 9.98866668e-01 -1.09732451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.846296757 meters Centerline goodness [0,1] 0.7828067742893929 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96140124e-01 7.36907555e-02 -4.76919802e-02 3.40782200e+00] [-7.36783811e-02 9.97280009e-01 2.01974591e-03 -4.75969438e-01] [ 4.77110950e-02 1.50191794e-03 9.98860048e-01 -1.09812048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.876296757 meters Centerline goodness [0,1] 0.7719676149446631 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.47, Z:-1.10 [[ 9.96131214e-01 7.35452367e-02 -4.81009669e-02 3.40961656e+00] [-7.35621285e-02 9.97289623e-01 1.42136550e-03 -4.74651478e-01] [ 4.80751299e-02 2.12254297e-03 9.98841467e-01 -1.09967327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.906296757 meters Centerline goodness [0,1] 0.7669443204918439 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96123035e-01 7.34529105e-02 -4.84104159e-02 3.41036835e+00] [-7.34683293e-02 9.97296477e-01 1.46319070e-03 -4.75412528e-01] [ 4.83870128e-02 2.09911442e-03 9.98826457e-01 -1.09981829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93629675700001 meters Centerline goodness [0,1] 0.7680161137912169 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96112008e-01 7.33740151e-02 -4.87557413e-02 3.41094331e+00] [-7.33734360e-02 9.97302905e-01 1.80404924e-03 -4.76919576e-01] [ 4.87566127e-02 1.78034115e-03 9.98809102e-01 -1.09946717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96629675700001 meters Centerline goodness [0,1] 0.7884672841350463 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 9.96378074e-01 6.94406659e-02 -4.90787854e-02 3.41043716e+00] [-6.96081552e-02 9.97572946e-01 -1.70969859e-03 -4.77673247e-01] [ 4.88409459e-02 5.11978990e-03 9.98793447e-01 -1.09858994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99629675700001 meters Centerline goodness [0,1] 0.8052256532066508 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 0.99665581 0.06516098 -0.04930755 3.41003469] [-0.06549874 0.99783877 -0.0052639 -0.47826163] [ 0.04885798 0.00847588 0.99876977 -1.09778144] [ 0. 0. 0. 1. ]] SLAMing on 105.02629675700001 meters Centerline goodness [0,1] 0.8060370741482966 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 0.99666832 0.06460314 -0.04978648 3.41116319] [-0.06492583 0.99787811 -0.00489005 -0.47994432] [ 0.04936492 0.00810619 0.99874791 -1.0973786 ] [ 0. 0. 0. 1. ]] SLAMing on 105.05629675700001 meters Centerline goodness [0,1] 0.8081838227924225 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.10 [[ 0.99668854 0.06399815 -0.05016174 3.41210564] [-0.06430061 0.99792071 -0.00443763 -0.48226474] [ 0.04977344 0.00764836 0.99873125 -1.09695232] [ 0. 0. 0. 1. ]] SLAMing on 105.086296757 meters Centerline goodness [0,1] 0.8111426112489242 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.10 [[ 0.99694623 0.05971699 -0.05031986 3.41139196] [-0.06016336 0.9981611 -0.00740185 -0.48554008] [ 0.04978531 0.01040666 0.99870572 -1.09558597] [ 0. 0. 0. 1. ]] SLAMing on 105.116296757 meters Centerline goodness [0,1] 0.8117003217715169 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99694835 0.05951128 -0.05052125 3.41161307] [-0.05991873 0.99818152 -0.00658762 -0.48867396] [ 0.05003734 0.00959468 0.99870126 -1.0947822 ] [ 0. 0. 0. 1. ]] SLAMing on 105.146296757 meters Centerline goodness [0,1] 0.814681842487205 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99696571 0.05912666 -0.05063019 3.41197351] [-0.05949035 0.99821258 -0.00570542 -0.49173456] [ 0.05020235 0.00870011 0.99870117 -1.09401994] [ 0. 0. 0. 1. ]] SLAMing on 105.176296757 meters Centerline goodness [0,1] 0.8122211741912458 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99695952 0.05914856 -0.05072638 3.41231725] [-0.05950221 0.99821308 -0.00548875 -0.49207621] [ 0.05031109 0.0084904 0.99869751 -1.09406369] [ 0. 0. 0. 1. ]] SLAMing on 105.206296757 meters Centerline goodness [0,1] 0.811579830650698 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.9969358 0.0594505 -0.05083951 3.41251532] [-0.05977693 0.99819962 -0.00492329 -0.49324553] [ 0.05045529 0.00794723 0.9986947 -1.09385817] [ 0. 0. 0. 1. ]] SLAMing on 105.236296757 meters Centerline goodness [0,1] 0.8093607014135631 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99691686 0.05989206 -0.05069228 3.41197925] [-0.06019418 0.99817675 -0.00445299 -0.49416662] [ 0.05033315 0.00749065 0.99870439 -1.09356505] [ 0. 0. 0. 1. ]] SLAMing on 105.266296757 meters Centerline goodness [0,1] 0.8098532227185705 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99686408 0.06080362 -0.05064504 3.41164354] [-0.06108954 0.99812381 -0.00411547 -0.49447835] [ 0.05029978 0.00719645 0.99870824 -1.09369759] [ 0. 0. 0. 1. ]] SLAMing on 105.29629675700001 meters Centerline goodness [0,1] 0.8097668573187309 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99684111 0.06139736 -0.05038024 3.41098627] [-0.06167975 0.9980877 -0.00406835 -0.49362205] [ 0.05003411 0.00716294 0.99872182 -1.09383591] [ 0. 0. 0. 1. ]] SLAMing on 105.32629675700001 meters Centerline goodness [0,1] 0.8012692563590768 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96558406e-01 6.59517759e-02 -5.02165926e-02 3.41161588e+00] [-6.60483519e-02 9.97816389e-01 -2.64403758e-04 -4.92891039e-01] [ 5.00895012e-02 3.58021697e-03 9.98738316e-01 -1.09466102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35629675700001 meters Centerline goodness [0,1] 0.7960055237315875 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.10 [[ 9.96530434e-01 6.65342783e-02 -5.00028377e-02 3.41115459e+00] [-6.66401604e-02 9.97776972e-01 -4.51518740e-04 -4.91252500e-01] [ 4.98616385e-02 3.78214929e-03 9.98748974e-01 -1.09501811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38629675700001 meters Centerline goodness [0,1] 0.7804896729556537 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96214772e-01 7.12456838e-02 -4.98014172e-02 3.41103462e+00] [-7.11409511e-02 9.97458747e-01 3.87467111e-03 -4.91664456e-01] [ 4.99509128e-02 -3.17084413e-04 9.98751624e-01 -1.09470028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41629675700001 meters Centerline goodness [0,1] 0.7760881767617492 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96186443e-01 7.17664120e-02 -4.96200954e-02 3.41025656e+00] [-7.16586772e-02 9.97421395e-01 3.94904633e-03 -4.90941237e-01] [ 4.97755537e-02 -3.78276014e-04 9.98760357e-01 -1.09439702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.446296757 meters Centerline goodness [0,1] 0.7661758712044019 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96150892e-01 7.25596519e-02 -4.91782229e-02 3.40894575e+00] [-7.24397101e-02 9.97363869e-01 4.21921014e-03 -4.90372384e-01] [ 4.93547270e-02 -6.40513736e-04 9.98781107e-01 -1.09404456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.476296757 meters Centerline goodness [0,1] 0.7665909728778098 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96149452e-01 7.25793655e-02 -4.91782956e-02 3.40914024e+00] [-7.24634989e-02 9.97362484e-01 4.13722128e-03 -4.89995757e-01] [ 4.93488640e-02 -5.57659341e-04 9.98781447e-01 -1.09426643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.506296757 meters Centerline goodness [0,1] 0.7617391304347826 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96165188e-01 7.21369364e-02 -4.95093990e-02 3.41026550e+00] [-7.20213129e-02 9.97394593e-01 4.11771781e-03 -4.90299012e-01] [ 4.96774464e-02 -5.36195222e-04 9.98765170e-01 -1.09448248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.536296757 meters Centerline goodness [0,1] 0.7617391304347826 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96165188e-01 7.21369364e-02 -4.95093990e-02 3.41026550e+00] [-7.20213129e-02 9.97394593e-01 4.11771781e-03 -4.90299012e-01] [ 4.96774464e-02 -5.36195222e-04 9.98765170e-01 -1.09448248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.566296757 meters Centerline goodness [0,1] 0.7642572944297082 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96185338e-01 7.15761083e-02 -4.99162679e-02 3.41152879e+00] [-7.14636269e-02 9.97435038e-01 4.03678073e-03 -4.91111592e-01] [ 5.00771716e-02 -4.54184230e-04 9.98745248e-01 -1.09469458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.596296757 meters Centerline goodness [0,1] 0.7917503475977136 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96457947e-01 6.76041044e-02 -5.00124571e-02 3.41071778e+00] [-6.76588987e-02 9.97708332e-01 5.98469257e-04 -4.92311838e-01] [ 4.99383041e-02 2.78743832e-03 9.98748415e-01 -1.09392722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.626296757 meters Centerline goodness [0,1] 0.797606767072416 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96468301e-01 6.73087099e-02 -5.02042009e-02 3.41117619e+00] [-6.73464655e-02 9.97729206e-01 9.41108995e-04 -4.94053089e-01] [ 5.01535423e-02 2.44329020e-03 9.98738531e-01 -1.09361711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.656296757 meters Centerline goodness [0,1] 0.8037267080745342 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96735878e-01 6.31124578e-02 -5.03428904e-02 3.41110590e+00] [-6.33402488e-02 9.97987658e-01 -2.94072347e-03 -4.93889694e-01] [ 5.00559869e-02 6.11985579e-03 9.98727663e-01 -1.09367128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68629675700001 meters Centerline goodness [0,1] 0.8057259713701431 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96733654e-01 6.29512809e-02 -5.05881363e-02 3.41166933e+00] [-6.31697376e-02 9.97999065e-01 -2.72956994e-03 -4.94697177e-01] [ 5.03150828e-02 5.91629351e-03 9.98715870e-01 -1.09347615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71629675700001 meters Centerline goodness [0,1] 0.8084362619436029 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96733919e-01 6.29540685e-02 -5.05794424e-02 3.41180631e+00] [-6.31557363e-02 9.98000805e-01 -2.39728849e-03 -4.95656763e-01] [ 5.03274051e-02 5.58384067e-03 9.98717164e-01 -1.09331597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74629675700001 meters Centerline goodness [0,1] 0.8048042612607954 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96730080e-01 6.30156729e-02 -5.05783872e-02 3.41187784e+00] [-6.32110754e-02 9.97997595e-01 -2.27152689e-03 -4.95742078e-01] [ 5.03339670e-02 5.46121343e-03 9.98717511e-01 -1.09327398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77629675700001 meters Centerline goodness [0,1] 0.8037863070539419 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96716850e-01 6.33874852e-02 -5.03740841e-02 3.41112053e+00] [-6.35588697e-02 9.97976457e-01 -1.80605683e-03 -4.96503677e-01] [ 5.01576686e-02 5.00184713e-03 9.98728787e-01 -1.09263094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80629675700001 meters Centerline goodness [0,1] 0.8043850544888428 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96707407e-01 6.34662870e-02 -5.04616295e-02 3.41140837e+00] [-6.36363503e-02 9.97971585e-01 -1.76907961e-03 -4.96837991e-01] [ 5.02469955e-02 4.97444868e-03 9.98724434e-01 -1.09282409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.836296757 meters Centerline goodness [0,1] 0.796217015645676 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96697894e-01 6.36603151e-02 -5.04050836e-02 3.41172679e+00] [-6.38273871e-02 9.97959488e-01 -1.71028205e-03 -4.97101865e-01] [ 5.01933543e-02 4.92185930e-03 9.98727391e-01 -1.09341486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.866296757 meters Centerline goodness [0,1] 0.7924031007751938 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96689619e-01 6.37238491e-02 -5.04883627e-02 3.41207039e+00] [-6.38898858e-02 9.97955540e-01 -1.67994658e-03 -4.96918360e-01] [ 5.02780887e-02 4.90008105e-03 9.98723236e-01 -1.09355934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.896296757 meters Centerline goodness [0,1] 0.7951361968263814 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 9.96650631e-01 6.45965418e-02 -5.01478467e-02 3.41103592e+00] [-6.47473949e-02 9.97900721e-01 -1.38782281e-03 -4.95346929e-01] [ 4.99529238e-02 4.63011691e-03 9.98740841e-01 -1.09336468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.926296757 meters Centerline goodness [0,1] 0.7755770470664087 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96640039e-01 6.49019556e-02 -4.99636724e-02 3.41069702e+00] [-6.50573744e-02 9.97880414e-01 -1.48895726e-03 -4.94194036e-01] [ 4.97611339e-02 4.73445977e-03 9.98749926e-01 -1.09352202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.956296757 meters Centerline goodness [0,1] 0.7725806035261622 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96601024e-01 6.56914564e-02 -4.97094763e-02 3.40985253e+00] [-6.58424566e-02 9.97829043e-01 -1.40449276e-03 -4.93016590e-01] [ 4.95092959e-02 4.67271296e-03 9.98762732e-01 -1.09343983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.986296757 meters Centerline goodness [0,1] 0.7726179080537087 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96584866e-01 6.59643935e-02 -4.96719671e-02 3.40955167e+00] [-6.61166071e-02 9.97810885e-01 -1.42575665e-03 -4.92493878e-01] [ 4.94691803e-02 4.70502943e-03 9.98764568e-01 -1.09328467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.016296757 meters Centerline goodness [0,1] 0.7366561807023877 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96528472e-01 6.67840758e-02 -4.97080687e-02 3.40898243e+00] [-6.69289591e-02 9.97756955e-01 -1.25406520e-03 -4.91726303e-01] [ 4.95128197e-02 4.57662097e-03 9.98763003e-01 -1.09285180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04629675700001 meters Centerline goodness [0,1] 0.7492474335554584 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96518191e-01 6.69712781e-02 -4.96622878e-02 3.40890637e+00] [-6.71195644e-02 9.97744063e-01 -1.32236659e-03 -4.91169059e-01] [ 4.94616922e-02 4.65107348e-03 9.98765192e-01 -1.09293930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07629675700001 meters Centerline goodness [0,1] 0.7480223659460434 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96503325e-01 6.72312321e-02 -4.96093305e-02 3.40871225e+00] [-6.73790743e-02 9.97726585e-01 -1.31192934e-03 -4.90757293e-01] [ 4.94083453e-02 4.64997272e-03 9.98767837e-01 -1.09292802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10629675700001 meters Centerline goodness [0,1] 0.7362668449747969 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96475489e-01 6.77092569e-02 -4.95182429e-02 3.40817873e+00] [-6.78453302e-02 9.97695277e-01 -1.07036882e-03 -4.89798886e-01] [ 4.93316432e-02 4.42617784e-03 9.98772646e-01 -1.09242659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13629675700001 meters Centerline goodness [0,1] 0.7356990298757109 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96462819e-01 6.79560880e-02 -4.94350176e-02 3.40743509e+00] [-6.80741342e-02 9.97680016e-01 -7.06234645e-04 -4.89546563e-01] [ 4.92723362e-02 4.06898259e-03 9.98777092e-01 -1.09136494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16629675700001 meters Centerline goodness [0,1] 0.7427193231356566 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96449733e-01 6.79644373e-02 -4.96866735e-02 3.40773852e+00] [-6.80722287e-02 9.97680281e-01 -4.78503274e-04 -4.90207667e-01] [ 4.95388932e-02 3.85908706e-03 9.98764740e-01 -1.09093140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.196296757 meters Centerline goodness [0,1] 0.7394542221764115 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96458428e-01 6.75205698e-02 -5.01155991e-02 3.40888961e+00] [-6.76363179e-02 9.97709853e-01 -6.15403726e-04 -4.90635765e-01] [ 4.99592745e-02 4.00285882e-03 9.98743234e-01 -1.09101457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.226296757 meters Centerline goodness [0,1] 0.7407388298421216 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96496554e-01 6.65406696e-02 -5.06651468e-02 3.41055629e+00] [-6.66689308e-02 9.97774795e-01 -8.43910196e-04 -4.92088376e-01] [ 5.04962521e-02 4.21874477e-03 9.98715340e-01 -1.09103962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.256296757 meters Centerline goodness [0,1] 0.7563309240289117 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99673555 0.06284597 -0.05068164 3.40973582] [-0.06316945 0.99799125 -0.00480481 -0.49075023] [ 0.05027787 0.00799065 0.9987033 -1.09086399] [ 0. 0. 0. 1. ]] SLAMing on 106.286296757 meters Centerline goodness [0,1] 0.7508830251402452 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99674165 0.06247366 -0.05102075 3.41074545] [-0.06280419 0.99801384 -0.00489948 -0.49085355] [ 0.05061333 0.00808783 0.99868558 -1.0910185 ] [ 0. 0. 0. 1. ]] SLAMing on 106.316296757 meters Centerline goodness [0,1] 0.7560258212296319 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99674392 0.06230685 -0.05118019 3.41115991] [-0.06263393 0.99802498 -0.00481021 -0.49101427] [ 0.0507794 0.00800016 0.99867785 -1.0908828 ] [ 0. 0. 0. 1. ]] SLAMing on 106.346296757 meters Centerline goodness [0,1] 0.7557757496740547 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99676855 0.0619376 -0.05114874 3.41111574] [-0.06224292 0.99805134 -0.00439676 -0.49209539] [ 0.05077674 0.0075662 0.99868137 -1.09011544] [ 0. 0. 0. 1. ]] SLAMing on 106.376296757 meters Centerline goodness [0,1] 0.7629110427849288 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99677001 0.06175572 -0.05133987 3.4114596 ] [-0.06204388 0.99806526 -0.00403667 -0.49355377] [ 0.05099126 0.00720895 0.99867308 -1.08967143] [ 0. 0. 0. 1. ]] SLAMing on 106.406296757 meters Centerline goodness [0,1] 0.7686440456599535 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 0.99678998 0.0612727 -0.05153045 3.4120049 ] [-0.06154217 0.99809778 -0.00365749 -0.49576676] [ 0.05120832 0.00681704 0.99866473 -1.08915272] [ 0. 0. 0. 1. ]] SLAMing on 106.43629675700001 meters Centerline goodness [0,1] 0.7777603143418468 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 0.9967817 0.06124776 -0.05172003 3.41243584] [-0.06150776 0.99810065 -0.00344897 -0.49640299] [ 0.05141056 0.00661905 0.99865567 -1.08906562] [ 0. 0. 0. 1. ]] SLAMing on 106.46629675700001 meters Centerline goodness [0,1] 0.7674724465370755 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.50, Z:-1.09 [[ 0.99677663 0.06116583 -0.05191429 3.41307252] [-0.06143378 0.99810474 -0.00357981 -0.49544333] [ 0.05159694 0.00675756 0.99864513 -1.08931982] [ 0. 0. 0. 1. ]] SLAMing on 106.49629675700001 meters Centerline goodness [0,1] 0.759956942949408 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99676574 0.06136643 -0.05188672 3.41296723] [-0.06163408 0.99809242 -0.00357274 -0.49472357] [ 0.05156849 0.00675918 0.99864659 -1.08933259] [ 0. 0. 0. 1. ]] SLAMing on 106.52629675700001 meters Centerline goodness [0,1] 0.774191010646667 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99675314 0.06155042 -0.05191068 3.41297947] [-0.06182297 0.99808042 -0.00365956 -0.49389893] [ 0.05158579 0.00685695 0.99864503 -1.08938381] [ 0. 0. 0. 1. ]] SLAMing on 106.55629675700001 meters Centerline goodness [0,1] 0.7550090359079124 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 0.99671036 0.06252339 -0.05156828 3.41165786] [-0.06278576 0.99802095 -0.00348207 -0.49210416] [ 0.05124851 0.00670837 0.9986634 -1.08896321] [ 0. 0. 0. 1. ]] SLAMing on 106.586296757 meters Centerline goodness [0,1] 0.7451138791890343 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96687794e-01 6.30137490e-02 -5.14072906e-02 3.41088771e+00] [-6.32715527e-02 9.97990552e-01 -3.40142786e-03 -4.90836707e-01] [ 5.10896536e-02 6.64278073e-03 9.98671979e-01 -1.08851172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.616296757 meters Centerline goodness [0,1] 0.7627087825025327 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96626028e-01 6.43423523e-02 -5.09570628e-02 3.40868308e+00] [-6.45810155e-02 9.97907808e-01 -3.04933646e-03 -4.88166460e-01] [ 5.06542494e-02 6.32990694e-03 9.98696190e-01 -1.08726768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.646296757 meters Centerline goodness [0,1] 0.7417287282352025 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96607175e-01 6.47179211e-02 -5.08500757e-02 3.40803427e+00] [-6.49563582e-02 9.97883448e-01 -3.04877352e-03 -4.87011325e-01] [ 5.05451386e-02 6.34146529e-03 9.98701645e-01 -1.08680521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.676296757 meters Centerline goodness [0,1] 0.747903958468527 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.49, Z:-1.09 [[ 9.96590971e-01 6.50688573e-02 -5.07196228e-02 3.40744448e+00] [-6.53066680e-02 9.97860598e-01 -3.04392605e-03 -4.85972782e-01] [ 5.04130483e-02 6.34587878e-03 9.98708293e-01 -1.08647580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.706296757 meters Centerline goodness [0,1] 0.7428165007112375 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 9.96559905e-01 6.56333164e-02 -5.06026106e-02 3.40691376e+00] [-6.58760804e-02 9.97822862e-01 -3.14285572e-03 -4.83128418e-01] [ 5.02861657e-02 6.46554564e-03 9.98713922e-01 -1.08622871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.736296757 meters Centerline goodness [0,1] 0.735945925027734 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 9.96554743e-01 6.57951966e-02 -5.04939276e-02 3.40671022e+00] [-6.60458643e-02 9.97811098e-01 -3.31013891e-03 -4.80853118e-01] [ 5.01656101e-02 6.63364972e-03 9.98718882e-01 -1.08611399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.766296757 meters Centerline goodness [0,1] 0.7364289207485006 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 0.99655643 0.0656117 -0.05069896 3.4072927 ] [-0.0658742 0.99782172 -0.00352233 -0.48000628] [ 0.05035742 0.00684996 0.99870777 -1.08623044] [ 0. 0. 0. 1. ]] SLAMing on 106.79629675700001 meters Centerline goodness [0,1] 0.7386005680351149 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 0.99656163 0.06540058 -0.05086927 3.4078953 ] [-0.06566726 0.99783513 -0.00358706 -0.47975728] [ 0.05052455 0.00691517 0.99869888 -1.08638366] [ 0. 0. 0. 1. ]] SLAMing on 106.82629675700001 meters Centerline goodness [0,1] 0.7566933195769925 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 0.99660334 0.06412246 -0.05167294 3.4105441 ] [-0.06442634 0.99791348 -0.00423517 -0.47914543] [ 0.05129355 0.00754988 0.99865508 -1.08708313] [ 0. 0. 0. 1. ]] SLAMing on 106.85629675700001 meters Centerline goodness [0,1] 0.7537868996536214 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 0.99661551 0.06345524 -0.05225851 3.41216678] [-0.06376666 0.99795552 -0.00431185 -0.47961745] [ 0.05187805 0.0076296 0.99862428 -1.08723056] [ 0. 0. 0. 1. ]] SLAMing on 106.88629675700001 meters Centerline goodness [0,1] 0.7833160621761658 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 0.99687907 0.05851031 -0.05299678 3.41354376] [-0.05904256 0.998219 -0.0085324 -0.47926 ] [ 0.05240316 0.01163484 0.99855823 -1.0872994 ] [ 0. 0. 0. 1. ]] SLAMing on 106.91629675700001 meters Centerline goodness [0,1] 0.7920350540589592 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.48, Z:-1.09 [[ 0.99688948 0.05784562 -0.05352801 3.41481121] [-0.05836539 0.99826163 -0.00819726 -0.48142591] [ 0.05296078 0.01129595 0.9985327 -1.08690931] [ 0. 0. 0. 1. ]] SLAMing on 106.946296757 meters Centerline goodness [0,1] 0.7952690191169183 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.48, Z:-1.09 [[ 0.9971238 0.05317206 -0.05400803 3.41507963] [-0.05386707 0.99848195 -0.01149459 -0.48371501] [ 0.05331485 0.01437078 0.99847434 -1.08567702] [ 0. 0. 0. 1. ]] SLAMing on 106.976296757 meters Centerline goodness [0,1] 0.7948483502703833 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.09 [[ 0.99713265 0.05261427 -0.05438941 3.41608833] [-0.05329241 0.99851733 -0.01109301 -0.48561901] [ 0.05372512 0.01395975 0.99845818 -1.08530921] [ 0. 0. 0. 1. ]] SLAMing on 107.006296757 meters Centerline goodness [0,1] 0.7985335470815484 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.09 [[ 0.99717314 0.05142724 -0.05478111 3.41800569] [-0.05209556 0.99858325 -0.01084165 -0.48813132] [ 0.05414594 0.01366485 0.99843953 -1.08566104] [ 0. 0. 0. 1. ]] SLAMing on 107.036296757 meters Centerline goodness [0,1] 0.7997372569626905 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.09 [[ 0.9971699 0.05124021 -0.0550148 3.41878827] [-0.05189597 0.99859669 -0.01055713 -0.48911334] [ 0.05439664 0.0133823 0.99842973 -1.08574196] [ 0. 0. 0. 1. ]] SLAMing on 107.066296757 meters Centerline goodness [0,1] 0.800285382094916 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.09 [[ 0.99715137 0.05160485 -0.05500982 3.4185312 ] [-0.05221104 0.99858955 -0.00963908 -0.49141618] [ 0.0544348 0.01248374 0.99843929 -1.0851456 ] [ 0. 0. 0. 1. ]] SLAMing on 107.096296757 meters Centerline goodness [0,1] 0.7984557618065471 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 0.99712571 0.05208194 -0.05502528 3.4180694 ] [-0.05265 0.99857315 -0.00892396 -0.4926397 ] [ 0.05448199 0.01179539 0.99844508 -1.08437287] [ 0. 0. 0. 1. ]] SLAMing on 107.126296757 meters Centerline goodness [0,1] 0.797824475968664 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 0.9970879 0.0528663 -0.05496239 3.41717359] [-0.05338988 0.99854088 -0.00810077 -0.49370407] [ 0.05445394 0.01101161 0.99845556 -1.08337863] [ 0. 0. 0. 1. ]] SLAMing on 107.156296757 meters Centerline goodness [0,1] 0.7970680239647951 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 0.99707103 0.05325832 -0.05488996 3.41683365] [-0.05376654 0.99852289 -0.00782301 -0.49380335] [ 0.05439224 0.01075134 0.99846176 -1.08316192] [ 0. 0. 0. 1. ]] SLAMing on 107.18629675700001 meters Centerline goodness [0,1] 0.7959848504912996 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 0.99705116 0.05365014 -0.05486934 3.41650397] [-0.05414622 0.99850414 -0.00759372 -0.49360357] [ 0.05437986 0.01054229 0.99846467 -1.0828467 ] [ 0. 0. 0. 1. ]] SLAMing on 107.21629675700001 meters Centerline goodness [0,1] 0.785625709084193 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.08 [[ 0.99683321 0.05722684 -0.05521446 3.41870307] [-0.05753226 0.99833581 -0.0039567 -0.49509389] [ 0.05489614 0.00712078 0.99846668 -1.08394062] [ 0. 0. 0. 1. ]] SLAMing on 107.24629675700001 meters Centerline goodness [0,1] 0.7823939570017432 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.08 [[ 9.96575900e-01 6.14640695e-02 -5.53050063e-02 3.41967824e+00] [-6.15563842e-02 9.98103607e-01 3.43643999e-05 -4.95499754e-01] [ 5.52022384e-02 3.37012948e-03 9.98469506e-01 -1.08426794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27629675700001 meters Centerline goodness [0,1] 0.7754197022489706 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96556556e-01 6.19807978e-02 -5.50764199e-02 3.41906083e+00] [-6.20771515e-02 9.98071353e-01 -3.87384327e-05 -4.94236762e-01] [ 5.49677959e-02 3.45759230e-03 9.98482141e-01 -1.08438664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30629675700001 meters Centerline goodness [0,1] 0.7696825396825397 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96534766e-01 6.25865757e-02 -5.47848586e-02 3.41813057e+00] [-6.26760540e-02 9.98033920e-01 8.50361154e-05 -4.93278546e-01] [ 5.46824693e-02 3.34895731e-03 9.98498178e-01 -1.08416378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.336296757 meters Centerline goodness [0,1] 0.761036214644462 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96270053e-01 6.66783172e-02 -5.47721072e-02 3.41862347e+00] [-6.65449354e-02 9.97774346e-01 4.25742141e-03 -4.94624429e-01] [ 5.49340811e-02 -5.96735120e-04 9.98489805e-01 -1.08374007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.366296757 meters Centerline goodness [0,1] 0.7511783085314834 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96247058e-01 6.70062478e-02 -5.47901621e-02 3.41825747e+00] [-6.68661571e-02 9.97752305e-01 4.38812153e-03 -4.94703595e-01] [ 5.49610421e-02 -7.08045575e-04 9.98488249e-01 -1.08334779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.396296757 meters Centerline goodness [0,1] 0.7378465779568467 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96214786e-01 6.76360513e-02 -5.46027865e-02 3.41779521e+00] [-6.74932327e-02 9.97709774e-01 4.45752183e-03 -4.94772498e-01] [ 5.47792230e-02 -7.55330577e-04 9.98498205e-01 -1.08362836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.426296757 meters Centerline goodness [0,1] 0.7378465779568467 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96214786e-01 6.76360513e-02 -5.46027865e-02 3.41779521e+00] [-6.74932327e-02 9.97709774e-01 4.45752183e-03 -4.94772498e-01] [ 5.47792230e-02 -7.55330577e-04 9.98498205e-01 -1.08362836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.456296757 meters Centerline goodness [0,1] 0.7362062556422919 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96203222e-01 6.78822102e-02 -5.45082133e-02 3.41775361e+00] [-6.77435908e-02 9.97693111e-01 4.38888065e-03 -4.94301432e-01] [ 5.46803958e-02 -6.79634947e-04 9.98503677e-01 -1.08400720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.486296757 meters Centerline goodness [0,1] 0.7242839748001482 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96165252e-01 6.85745320e-02 -5.43352975e-02 3.41737484e+00] [-6.84361281e-02 9.97645771e-01 4.40595878e-03 -4.92633123e-01] [ 5.45095163e-02 -6.70565659e-04 9.98513026e-01 -1.08431656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.516296757 meters Centerline goodness [0,1] 0.7120449213086231 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96157530e-01 6.85870646e-02 -5.44609093e-02 3.41797470e+00] [-6.84649200e-02 9.97645069e-01 4.10755493e-03 -4.91696351e-01] [ 5.46143828e-02 -3.63109966e-04 9.98507455e-01 -1.08488338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54629675700001 meters Centerline goodness [0,1] 0.7004587520882501 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96138449e-01 6.90999004e-02 -5.41608107e-02 3.41708710e+00] [-6.89650869e-02 9.97609562e-01 4.35640943e-03 -4.91824120e-01] [ 5.43323702e-02 -6.04381921e-04 9.98522723e-01 -1.08466089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57629675700001 meters Centerline goodness [0,1] 0.6900888947857238 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96129578e-01 6.91343120e-02 -5.42799326e-02 3.41725327e+00] [-6.89908190e-02 9.97607077e-01 4.51517688e-03 -4.92458695e-01] [ 5.44621986e-02 -7.52884235e-04 9.98515549e-01 -1.08448913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60629675700001 meters Centerline goodness [0,1] 0.6998326648782172 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96122174e-01 6.91274462e-02 -5.44243485e-02 3.41739856e+00] [-6.89713128e-02 9.97607363e-01 4.74411311e-03 -4.93200350e-01] [ 5.46220792e-02 -9.71997500e-04 9.98506627e-01 -1.08416763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63629675700001 meters Centerline goodness [0,1] 0.6874088993719025 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.49, Z:-1.08 [[ 9.96141945e-01 6.84544046e-02 -5.49110239e-02 3.41900136e+00] [-6.83013234e-02 9.97653846e-01 4.66184996e-03 -4.94367739e-01] [ 5.51013183e-02 -8.93368683e-04 9.98480369e-01 -1.08449652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66629675700001 meters Centerline goodness [0,1] 0.7079368454627611 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.08 [[ 9.96144537e-01 6.81391659e-02 -5.52549984e-02 3.41993770e+00] [-6.79812611e-02 9.97675364e-01 4.73450976e-03 -4.95233168e-01] [ 5.54491562e-02 -9.59951568e-04 9.98461051e-01 -1.08458059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.696296757 meters Centerline goodness [0,1] 0.7161921944230718 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96184779e-01 6.72990793e-02 -5.55582531e-02 3.42144467e+00] [-6.71417757e-02 9.97732398e-01 4.69519364e-03 -4.97123547e-01] [ 5.57482513e-02 -9.47000677e-04 9.98444408e-01 -1.08508538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.726296757 meters Centerline goodness [0,1] 0.7153315762851742 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96189360e-01 6.70988574e-02 -5.57180621e-02 3.42204793e+00] [-6.69285481e-02 9.97745645e-01 4.91914544e-03 -4.98012757e-01] [ 5.59225229e-02 -1.17127134e-03 9.98434424e-01 -1.08509762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.756296757 meters Centerline goodness [0,1] 0.7290795257759424 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.08 [[ 9.96188827e-01 6.70745955e-02 -5.57567975e-02 3.42213220e+00] [-6.68838900e-02 9.97746787e-01 5.28147655e-03 -4.99158453e-01] [ 5.59854184e-02 -1.53211642e-03 9.98430411e-01 -1.08488234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.786296757 meters Centerline goodness [0,1] 0.7319829424307036 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96213005e-01 6.64568074e-02 -5.60637235e-02 3.42348435e+00] [-6.62600891e-02 9.97787976e-01 5.36248541e-03 -5.00444591e-01] [ 5.62960828e-02 -1.62739039e-03 9.98412792e-01 -1.08523898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.816296757 meters Centerline goodness [0,1] 0.7255331658560051 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96217749e-01 6.63190434e-02 -5.61425137e-02 3.42421820e+00] [-6.61129492e-02 9.97796864e-01 5.52237631e-03 -5.01303010e-01] [ 5.63850628e-02 -1.78974214e-03 9.98407493e-01 -1.08575068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.846296757 meters Centerline goodness [0,1] 0.7360406091370558 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96223739e-01 6.62730079e-02 -5.60905552e-02 3.42450824e+00] [-6.60676016e-02 9.97799933e-01 5.51054742e-03 -5.01636180e-01] [ 5.63323527e-02 -1.78396970e-03 9.98410478e-01 -1.08622312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.876296757 meters Centerline goodness [0,1] 0.734861845972957 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96209602e-01 6.65335541e-02 -5.60331667e-02 3.42431306e+00] [-6.63128927e-02 9.97782077e-01 5.79027289e-03 -5.02238153e-01] [ 5.62941369e-02 -2.05260408e-03 9.98412118e-01 -1.08617296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.906296757 meters Centerline goodness [0,1] 0.7276753555134601 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96213397e-01 6.65415421e-02 -5.59561527e-02 3.42449605e+00] [-6.63275494e-02 9.97781766e-01 5.67487240e-03 -5.02045145e-01] [ 5.62096436e-02 -1.94194942e-03 9.98417100e-01 -1.08665349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93629675700001 meters Centerline goodness [0,1] 0.7181281259976589 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96225027e-01 6.65512708e-02 -5.57370913e-02 3.42478769e+00] [-6.63638286e-02 9.97781893e-01 5.20920731e-03 -5.00633647e-01] [ 5.59601398e-02 -1.49061592e-03 9.98431891e-01 -1.08780869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96629675700001 meters Centerline goodness [0,1] 0.7122304071483658 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96226733e-01 6.65175899e-02 -5.57468094e-02 3.42504222e+00] [-6.63410826e-02 9.97784411e-01 5.01292071e-03 -5.00019153e-01] [ 5.59567448e-02 -1.29570194e-03 9.98432353e-01 -1.08812002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99629675700001 meters Centerline goodness [0,1] 0.7180306054557551 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96226297e-01 6.64960351e-02 -5.57803121e-02 3.42525303e+00] [-6.63330383e-02 9.97786134e-01 4.77058421e-03 -4.99677947e-01] [ 5.59740469e-02 -1.05250386e-03 9.98431669e-01 -1.08841527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02629675700001 meters Centerline goodness [0,1] 0.7030146333662073 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96224477e-01 6.67579885e-02 -5.54992111e-02 3.42493810e+00] [-6.66108580e-02 9.97768889e-01 4.49874415e-03 -4.99717802e-01] [ 5.56757133e-02 -7.84908964e-04 9.98448596e-01 -1.08917242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05629675700001 meters Centerline goodness [0,1] 0.6981627993415813 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96228062e-01 6.66497149e-02 -5.55649496e-02 3.42543304e+00] [-6.65185486e-02 9.97776312e-01 4.20880287e-03 -4.98725794e-01] [ 5.57219060e-02 -4.96827728e-04 9.98446204e-01 -1.08962757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.086296757 meters Centerline goodness [0,1] 0.7124160541483793 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96201751e-01 6.73985028e-02 -5.51317765e-02 3.42439311e+00] [-6.72640599e-02 9.97725974e-01 4.29267046e-03 -4.96039108e-01] [ 5.52957250e-02 -5.67978704e-04 9.98469859e-01 -1.08962395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.116296757 meters Centerline goodness [0,1] 0.6958368509919797 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96185694e-01 6.78413081e-02 -5.48782310e-02 3.42376905e+00] [-6.77064370e-02 9.97695954e-01 4.31527677e-03 -4.95047517e-01] [ 5.50445431e-02 -5.83207497e-04 9.98483730e-01 -1.08965171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.146296757 meters Centerline goodness [0,1] 0.7058497439417137 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.50, Z:-1.09 [[ 9.96186858e-01 6.75765020e-02 -5.51829728e-02 3.42480132e+00] [-6.74500150e-02 9.97714009e-01 4.15353111e-03 -4.95343500e-01] [ 5.53375061e-02 -4.15600762e-04 9.98467620e-01 -1.09013044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.176296757 meters Centerline goodness [0,1] 0.701773894625364 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96196914e-01 6.69722603e-02 -5.57353068e-02 3.42667973e+00] [-6.68582297e-02 9.97754823e-01 3.91015335e-03 -4.95942587e-01] [ 5.58720430e-02 -1.68918758e-04 9.98437923e-01 -1.09085539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.206296757 meters Centerline goodness [0,1] 0.7245461301624376 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96406981e-01 6.38227561e-02 -5.56756954e-02 3.42838489e+00] [-6.38355852e-02 9.97959226e-01 1.54978837e-03 -4.96960937e-01] [ 5.56609856e-02 2.00987064e-03 9.98447703e-01 -1.09251103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.236296757 meters Centerline goodness [0,1] 0.7287279302276111 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96418073e-01 6.32306007e-02 -5.61508192e-02 3.42970716e+00] [-6.32355695e-02 9.97997198e-01 1.69005528e-03 -4.98300153e-01] [ 5.61452234e-02 1.86672741e-03 9.98420868e-01 -1.09245733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.266296757 meters Centerline goodness [0,1] 0.7411051427963623 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96612851e-01 6.00817372e-02 -5.61516767e-02 3.43135889e+00] [-6.01702493e-02 9.98188123e-01 1.14560556e-04 -4.99667573e-01] [ 5.60568197e-02 3.26448786e-03 9.98422243e-01 -1.09315074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29629675700001 meters Centerline goodness [0,1] 0.7507982120051085 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 9.96627237e-01 5.92507097e-02 -5.67759027e-02 3.43312495e+00] [-5.93340446e-02 9.98238160e-01 2.18303446e-04 -5.00848891e-01] [ 5.66888072e-02 3.15117678e-03 9.98386924e-01 -1.09304673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32629675700001 meters Centerline goodness [0,1] 0.7681628504172908 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.50, Z:-1.09 [[ 0.99687329 0.05441909 -0.05729056 3.43426345] [-0.05471955 0.99849495 -0.00368779 -0.50195871] [ 0.05700365 0.00681117 0.99835074 -1.093332 ] [ 0. 0. 0. 1. ]] SLAMing on 108.35629675700001 meters Centerline goodness [0,1] 0.7799078933276213 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.50, Z:-1.09 [[ 0.99688235 0.0535321 -0.0579646 3.43616048] [-0.05382192 0.99854459 -0.00344925 -0.50445555] [ 0.05769559 0.00655826 0.99831268 -1.09323124] [ 0. 0. 0. 1. ]] SLAMing on 108.38629675700001 meters Centerline goodness [0,1] 0.7874989935857868 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.51, Z:-1.09 [[ 0.99698757 0.05115812 -0.05829771 3.43845833] [-0.05147265 0.99866677 -0.00390553 -0.50752043] [ 0.05802018 0.00689451 0.9982916 -1.09347352] [ 0. 0. 0. 1. ]] SLAMing on 108.41629675700001 meters Centerline goodness [0,1] 0.7898354229870862 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.51, Z:-1.09 [[ 0.99698489 0.05082213 -0.05863647 3.4393624 ] [-0.0511278 0.99868518 -0.00372359 -0.50839283] [ 0.05837014 0.00671032 0.99827246 -1.09338494] [ 0. 0. 0. 1. ]] SLAMing on 108.446296757 meters Centerline goodness [0,1] 0.7925568942436412 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.51, Z:-1.09 [[ 0.99698628 0.05063116 -0.0587779 3.43992181] [-0.05094085 0.99869451 -0.00378137 -0.507503 ] [ 0.05850971 0.00676417 0.99826392 -1.09347339] [ 0. 0. 0. 1. ]] SLAMing on 108.476296757 meters Centerline goodness [0,1] 0.7922314005400058 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.51, Z:-1.09 [[ 0.99697977 0.050728 -0.0588049 3.43999762] [-0.05104832 0.99868835 -0.00395683 -0.50599153] [ 0.05852704 0.00694677 0.99826165 -1.0935238 ] [ 0. 0. 0. 1. ]] SLAMing on 108.506296757 meters Centerline goodness [0,1] 0.7920349270578213 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.50, Z:-1.09 [[ 0.99693009 0.05176073 -0.05874709 3.43874605] [-0.05208357 0.99863481 -0.00397657 -0.50350297] [ 0.05846106 0.00702412 0.99826498 -1.09279956] [ 0. 0. 0. 1. ]] SLAMing on 108.536296757 meters Centerline goodness [0,1] 0.7914326029658423 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.50, Z:-1.09 [[ 0.9969132 0.05225897 -0.05859238 3.43799521] [-0.0525847 0.99860834 -0.00403018 -0.5025779 ] [ 0.05830023 0.00709881 0.99827386 -1.09255659] [ 0. 0. 0. 1. ]] SLAMing on 108.566296757 meters Centerline goodness [0,1] 0.7850497102450954 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.50, Z:-1.09 [[ 0.99683573 0.0536619 -0.05864243 3.43699077] [-0.05399569 0.99853266 -0.00412111 -0.49950742] [ 0.05833523 0.00727451 0.99827055 -1.09229062] [ 0. 0. 0. 1. ]] SLAMing on 108.596296757 meters Centerline goodness [0,1] 0.781783378529271 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.50, Z:-1.09 [[ 0.9968151 0.05406046 -0.05862705 3.4368545 ] [-0.05441604 0.99850828 -0.00448458 -0.49727244] [ 0.05829715 0.00766055 0.99826988 -1.09256094] [ 0. 0. 0. 1. ]] SLAMing on 108.626296757 meters Centerline goodness [0,1] 0.7653395909442415 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.50, Z:-1.09 [[ 9.96579401e-01 5.80074035e-02 -5.88611852e-02 3.43822034e+00] [-5.81745863e-02 9.98305786e-01 -1.12922895e-03 -4.95066372e-01] [ 5.86959581e-02 4.54959141e-03 9.98265539e-01 -1.09307511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.656296757 meters Centerline goodness [0,1] 0.7741944060406254 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96545078e-01 5.83440941e-02 -5.91089953e-02 3.43865172e+00] [-5.85305180e-02 9.98284601e-01 -1.42599313e-03 -4.92564990e-01] [ 5.89244015e-02 4.88074655e-03 9.98250516e-01 -1.09329286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68629675700001 meters Centerline goodness [0,1] 0.7624827732428707 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96302740e-01 6.22704200e-02 -5.91882182e-02 3.43960010e+00] [-6.22533714e-02 9.98058097e-01 2.13374268e-03 -4.91363741e-01] [ 5.92061494e-02 1.55881245e-03 9.98244560e-01 -1.09351710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71629675700001 meters Centerline goodness [0,1] 0.760092058621237 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96295658e-01 6.22751772e-02 -5.93023196e-02 3.43992144e+00] [-6.22761742e-02 9.98057272e-01 1.83317376e-03 -4.90422385e-01] [ 5.93012726e-02 1.86673853e-03 9.98238386e-01 -1.09374033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74629675700001 meters Centerline goodness [0,1] 0.7674140587641465 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96296219e-01 6.19973032e-02 -5.95833671e-02 3.44071854e+00] [-6.20132682e-02 9.98074070e-01 1.58292642e-03 -4.90128232e-01] [ 5.95667509e-02 2.11789572e-03 9.98222078e-01 -1.09396162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77629675700001 meters Centerline goodness [0,1] 0.7674325939699828 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96294075e-01 6.18610904e-02 -5.97605388e-02 3.44122270e+00] [-6.18820995e-02 9.98082338e-01 1.50086767e-03 -4.89818934e-01] [ 5.97387836e-02 2.20280204e-03 9.98211614e-01 -1.09405437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80629675700001 meters Centerline goodness [0,1] 0.7790339702760085 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96294116e-01 6.16928871e-02 -5.99334836e-02 3.44185768e+00] [-6.17280044e-02 9.98092204e-01 1.26710624e-03 -4.89160251e-01] [ 5.98973142e-02 2.43716385e-03 9.98201569e-01 -1.09440866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.836296757 meters Centerline goodness [0,1] 0.7791091361159604 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96303806e-01 6.14291905e-02 -6.00431561e-02 3.44193094e+00] [-6.14536209e-02 9.98108899e-01 1.44138451e-03 -4.89176385e-01] [ 6.00181515e-02 2.25381248e-03 9.98194741e-01 -1.09375246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.866296757 meters Centerline goodness [0,1] 0.7888413386140719 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96525872e-01 5.77563142e-02 -6.00032834e-02 3.44048180e+00] [-5.79845981e-02 9.98315334e-01 -2.06885499e-03 -4.88910806e-01] [ 5.97827084e-02 5.54093379e-03 9.98196036e-01 -1.09267493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.896296757 meters Centerline goodness [0,1] 0.7919006250662146 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96519690e-01 5.75019327e-02 -6.03492689e-02 3.44120769e+00] [-5.77128106e-02 9.98331683e-01 -1.75562897e-03 -4.90224299e-01] [ 6.01476351e-02 5.23244476e-03 9.98175778e-01 -1.09236329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.926296757 meters Centerline goodness [0,1] 0.7942126442867733 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96519942e-01 5.71774330e-02 -6.06526698e-02 3.44202387e+00] [-5.73760076e-02 9.98351458e-01 -1.53599474e-03 -4.91489400e-01] [ 6.04648571e-02 5.01065743e-03 9.98157750e-01 -1.09226218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.956296757 meters Centerline goodness [0,1] 0.7999260647989227 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96540217e-01 5.67000371e-02 -6.07676044e-02 3.44271312e+00] [-5.68726804e-02 9.98380818e-01 -1.11381548e-03 -4.93584295e-01] [ 6.06060572e-02 4.56597847e-03 9.98151320e-01 -1.09217283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.986296757 meters Centerline goodness [0,1] 0.8008910576005092 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96532819e-01 5.67912188e-02 -6.08037749e-02 3.44272714e+00] [-5.69501581e-02 9.98376632e-01 -8.82769844e-04 -4.93983498e-01] [ 6.06549344e-02 4.34249371e-03 9.98149348e-01 -1.09201849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.016296757 meters Centerline goodness [0,1] 0.8041995168697407 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96518735e-01 5.73110714e-02 -6.05462848e-02 3.44197121e+00] [-5.74424774e-02 9.98348725e-01 -4.30576783e-04 -4.94540975e-01] [ 6.04216294e-02 3.90700643e-03 9.98165298e-01 -1.09181063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04629675700001 meters Centerline goodness [0,1] 0.8054973891377528 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96500805e-01 5.75697126e-02 -6.05959894e-02 3.44210094e+00] [-5.76983012e-02 9.98333996e-01 -3.73002113e-04 -4.94700023e-01] [ 6.04735626e-02 3.86798255e-03 9.98162305e-01 -1.09203543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07629675700001 meters Centerline goodness [0,1] 0.8070896412758173 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96462498e-01 5.86867958e-02 -6.01527302e-02 3.44062935e+00] [-5.88011072e-02 9.98269709e-01 -1.30461217e-04 -4.94096809e-01] [ 6.00409922e-02 3.66704685e-03 9.98189176e-01 -1.09198710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10629675700001 meters Centerline goodness [0,1] 0.8056416368692888 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96436674e-01 5.93319906e-02 -5.99472198e-02 3.43991671e+00] [-5.94457377e-02 9.98231532e-01 -1.14256042e-04 -4.93238266e-01] [ 5.98344260e-02 3.67745561e-03 9.98201542e-01 -1.09204151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13629675700001 meters Centerline goodness [0,1] 0.7934043338429905 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.96171345e-01 6.38288092e-02 -5.97372083e-02 3.44034252e+00] [-6.37264996e-02 9.97960842e-01 3.61816995e-03 -4.92961974e-01] [ 5.98463382e-02 2.02525958e-04 9.98207581e-01 -1.09285559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16629675700001 meters Centerline goodness [0,1] 0.7757913170757207 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 9.95900859e-01 6.75761573e-02 -6.01243861e-02 3.44215535e+00] [-6.72485111e-02 9.97708377e-01 7.45867486e-03 -4.93465360e-01] [ 6.04906323e-02 -3.38482525e-03 9.98163026e-01 -1.09316312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.196296757 meters Centerline goodness [0,1] 0.7777516462841016 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.49, Z:-1.09 [[ 0.99556309 0.07254912 -0.05992291 3.44148692] [-0.07197814 0.99733834 0.0116357 -0.49267792] [ 0.06060757 -0.00727094 0.99813519 -1.09239018] [ 0. 0. 0. 1. ]] SLAMing on 109.226296757 meters Centerline goodness [0,1] 0.7436295433967145 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95600460e-01 7.60562438e-02 -5.47281589e-02 3.45279818e+00] [-7.59567319e-02 9.97103491e-01 3.89907003e-03 -4.90420747e-01] [ 5.48661869e-02 2.75056175e-04 9.98493678e-01 -1.09620228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.256296757 meters Centerline goodness [0,1] 0.7645543266102798 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95522742e-01 7.71944353e-02 -5.45480388e-02 3.45171327e+00] [-7.70946459e-02 9.97016016e-01 3.93442164e-03 -4.88766618e-01] [ 5.46889838e-02 2.88555518e-04 9.98503396e-01 -1.09606881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.286296757 meters Centerline goodness [0,1] 0.7429247121806699 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95497744e-01 7.73925725e-02 -5.47232186e-02 3.45202515e+00] [-7.72923270e-02 9.97000652e-01 3.94911183e-03 -4.88412299e-01] [ 5.48647166e-02 2.98352989e-04 9.98493753e-01 -1.09614239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.316296757 meters Centerline goodness [0,1] 0.7539872201153307 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95515059e-01 7.70060200e-02 -5.49530650e-02 3.45319334e+00] [-7.69305208e-02 9.97030344e-01 3.49109852e-03 -4.88105631e-01] [ 5.50587089e-02 7.52126759e-04 9.98482836e-01 -1.09707398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.346296757 meters Centerline goodness [0,1] 0.7635644800499402 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95519584e-01 7.67175749e-02 -5.52736152e-02 3.45411413e+00] [-7.66411426e-02 9.97052584e-01 3.50434740e-03 -4.88629648e-01] [ 5.53795459e-02 7.47586560e-04 9.98465096e-01 -1.09724475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.376296757 meters Centerline goodness [0,1] 0.7635644800499402 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95519584e-01 7.67175749e-02 -5.52736152e-02 3.45411413e+00] [-7.66411426e-02 9.97052584e-01 3.50434740e-03 -4.88629648e-01] [ 5.53795459e-02 7.47586560e-04 9.98465096e-01 -1.09724475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.406296757 meters Centerline goodness [0,1] 0.768293955040943 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95800619e-01 7.28192462e-02 -5.54840874e-02 3.45384923e+00] [-7.29483098e-02 9.97335677e-01 -3.01705080e-04 -4.88310108e-01] [ 5.53142900e-02 4.34790850e-03 9.98459526e-01 -1.09729250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43629675700001 meters Centerline goodness [0,1] 0.7794740419302557 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.49, Z:-1.10 [[ 9.95818064e-01 7.23163523e-02 -5.58276696e-02 3.45463832e+00] [-7.24257066e-02 9.97373808e-01 6.46415093e-05 -4.89857227e-01] [ 5.56857300e-02 3.97898723e-03 9.98440417e-01 -1.09679267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46629675700001 meters Centerline goodness [0,1] 0.7848127672890373 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.49, Z:-1.10 [[ 9.95848708e-01 7.15513087e-02 -5.62650999e-02 3.45604137e+00] [-7.16495844e-02 9.97429829e-01 2.71278470e-04 -4.91641421e-01] [ 5.61398993e-02 3.76121871e-03 9.98415828e-01 -1.09679209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49629675700001 meters Centerline goodness [0,1] 0.8099989496901586 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.49, Z:-1.10 [[ 0.99617295 0.06656529 -0.05664379 3.45699467] [-0.06687027 0.99775553 -0.00350375 -0.49367884] [ 0.05628342 0.00727812 0.9983883 -1.09715327] [ 0. 0. 0. 1. ]] SLAMing on 109.52629675700001 meters Centerline goodness [0,1] 0.8243893412287194 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.50, Z:-1.10 [[ 0.99648044 0.06122766 -0.05725306 3.45922981] [-0.06175745 0.99806279 -0.00752868 -0.49580323] [ 0.05668119 0.01103798 0.99833131 -1.0984377 ] [ 0. 0. 0. 1. ]] SLAMing on 109.55629675700001 meters Centerline goodness [0,1] 0.8294191014515829 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.50, Z:-1.10 [[ 0.99651318 0.06005077 -0.05792578 3.46183333] [-0.06058318 0.99813514 -0.00747783 -0.4982107 ] [ 0.0573687 0.01096108 0.99829289 -1.09919515] [ 0. 0. 0. 1. ]] SLAMing on 109.586296757 meters Centerline goodness [0,1] 0.8336390949456276 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.50, Z:-1.10 [[ 0.99677134 0.05490673 -0.05858458 3.46442772] [-0.05566908 0.99838351 -0.01145976 -0.50020043] [ 0.05786066 0.01468411 0.99821667 -1.10087827] [ 0. 0. 0. 1. ]] SLAMing on 109.616296757 meters Centerline goodness [0,1] 0.8383585704021077 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.50, Z:-1.10 [[ 0.9967739 0.05429111 -0.05911232 3.46613242] [-0.05502992 0.99842475 -0.01094179 -0.50278034] [ 0.05842516 0.01415944 0.99819137 -1.1009557 ] [ 0. 0. 0. 1. ]] SLAMing on 109.646296757 meters Centerline goodness [0,1] 0.8342276117400869 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.10 [[ 0.9969798 0.05012028 -0.05932312 3.46696329] [-0.05105776 0.99859198 -0.01439314 -0.50517738] [ 0.0585182 0.01737858 0.99813506 -1.10194665] [ 0. 0. 0. 1. ]] SLAMing on 109.676296757 meters Centerline goodness [0,1] 0.8337403719706933 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.10 [[ 0.99696662 0.05013501 -0.05953187 3.46755336] [-0.05102932 0.99860459 -0.01359743 -0.50746357] [ 0.05876709 0.01659405 0.99813379 -1.10173749] [ 0. 0. 0. 1. ]] SLAMing on 109.706296757 meters Centerline goodness [0,1] 0.835306171974007 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.10 [[ 0.99695974 0.05023664 -0.05956136 3.46768803] [-0.05109605 0.99860921 -0.012994 -0.50915727] [ 0.05882575 0.01599784 0.99814007 -1.10155844] [ 0. 0. 0. 1. ]] SLAMing on 109.736296757 meters Centerline goodness [0,1] 0.8351550481742369 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.10 [[ 0.99694651 0.05042242 -0.05962582 3.4680576 ] [-0.05121133 0.9986184 -0.01177689 -0.51288693] [ 0.05894962 0.01479445 0.99815132 -1.10123221] [ 0. 0. 0. 1. ]] SLAMing on 109.766296757 meters Centerline goodness [0,1] 0.8355771830224386 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.10 [[ 0.99692298 0.05072935 -0.05975871 3.46820382] [-0.05148612 0.998611 -0.01119183 -0.51444635] [ 0.05910795 0.01423414 0.99815011 -1.10100751] [ 0. 0. 0. 1. ]] SLAMing on 109.79629675700001 meters Centerline goodness [0,1] 0.8388513788334825 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 0.99688082 0.05166488 -0.05966044 3.46763162] [-0.05237321 0.99857374 -0.01036961 -0.51654873] [ 0.05903961 0.01346187 0.99816487 -1.10093776] [ 0. 0. 0. 1. ]] SLAMing on 109.82629675700001 meters Centerline goodness [0,1] 0.8406017901352123 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 0.99686249 0.05217843 -0.05951969 3.46727895] [-0.05286349 0.99855175 -0.00999269 -0.51732581] [ 0.05891209 0.01310776 0.99817711 -1.1010783 ] [ 0. 0. 0. 1. ]] SLAMing on 109.85629675700001 meters Centerline goodness [0,1] 0.8443001009797768 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 0.99681693 0.05341176 -0.0591878 3.46653661] [-0.05407141 0.99849093 -0.00959899 -0.51796975] [ 0.05858578 0.0127688 0.99820071 -1.10200508] [ 0. 0. 0. 1. ]] SLAMing on 109.88629675700001 meters Centerline goodness [0,1] 0.8438900426276096 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 0.99679372 0.05397086 -0.05907131 3.46615661] [-0.05461501 0.99846377 -0.0093438 -0.51825994] [ 0.05847627 0.01254002 0.99821003 -1.10214983] [ 0. 0. 0. 1. ]] SLAMing on 109.91629675700001 meters Centerline goodness [0,1] 0.8395315108228663 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.52, Z:-1.10 [[ 0.99674104 0.05555295 -0.0584908 3.46400324] [-0.05611518 0.99839215 -0.00801282 -0.52090995] [ 0.05795162 0.01126893 0.99825579 -1.10142945] [ 0. 0. 0. 1. ]] SLAMing on 109.946296757 meters Centerline goodness [0,1] 0.8354772634166325 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.52, Z:-1.10 [[ 0.99671539 0.0562617 -0.05824988 3.46306451] [-0.05677248 0.99836154 -0.00714993 -0.52239537] [ 0.05775217 0.01043343 0.99827643 -1.1007945 ] [ 0. 0. 0. 1. ]] SLAMing on 109.976296757 meters Centerline goodness [0,1] 0.8253143794423182 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 0.99669454 0.05716969 -0.05772025 3.46185455] [-0.0576114 0.99832095 -0.00601648 -0.52517412] [ 0.05727938 0.00932194 0.99831467 -1.10064403] [ 0. 0. 0. 1. ]] SLAMing on 110.006296757 meters Centerline goodness [0,1] 0.8206851335846582 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 0.99668242 0.05746704 -0.05763406 3.46177002] [-0.05788366 0.99830772 -0.0055842 -0.52649372] [ 0.05721562 0.00890174 0.99832216 -1.10077782] [ 0. 0. 0. 1. ]] SLAMing on 110.036296757 meters Centerline goodness [0,1] 0.8177742543943577 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 0.99666995 0.0578152 -0.05750148 3.46164217] [-0.05820882 0.99829092 -0.00519291 -0.52769454] [ 0.05710298 0.00852271 0.99833192 -1.10102749] [ 0. 0. 0. 1. ]] SLAMing on 110.066296757 meters Centerline goodness [0,1] 0.8181220734412223 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96490404e-01 6.09107515e-02 -5.74173774e-02 3.46303647e+00] [-6.10595434e-02 9.98133773e-01 -8.38959782e-04 -5.31690951e-01] [ 5.72591218e-02 4.34189422e-03 9.98349909e-01 -1.10095032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.096296757 meters Centerline goodness [0,1] 0.7971751257178973 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96473948e-01 6.16060003e-02 -5.69593908e-02 3.46193038e+00] [-6.17175196e-02 9.98093637e-01 -1.99151757e-04 -5.33005906e-01] [ 5.68385365e-02 3.71384185e-03 9.98376476e-01 -1.10080852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.126296757 meters Centerline goodness [0,1] 0.7904005242034564 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96458550e-01 6.16329512e-02 -5.71991090e-02 3.46267439e+00] [-6.17431903e-02 9.98092056e-01 -1.60332790e-04 -5.33287065e-01] [ 5.70800945e-02 3.69142045e-03 9.98362778e-01 -1.10113125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.156296757 meters Centerline goodness [0,1] 0.7961263736263736 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96447832e-01 6.18286656e-02 -5.71745984e-02 3.46268288e+00] [-6.19314277e-02 9.98080406e-01 -2.54869127e-05 -5.33656986e-01] [ 5.70632705e-02 3.56630088e-03 9.98364194e-01 -1.10125681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18629675700001 meters Centerline goodness [0,1] 0.7841653644762453 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96422619e-01 6.21732090e-02 -5.72403320e-02 3.46300397e+00] [-6.22806344e-02 9.98058673e-01 -9.29825435e-05 -5.33926883e-01] [ 5.71234287e-02 3.65761409e-03 9.98360424e-01 -1.10193656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21629675700001 meters Centerline goodness [0,1] 0.7573527392558012 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96401864e-01 6.29330597e-02 -5.67693109e-02 3.46180160e+00] [-6.30302446e-02 9.98011614e-01 7.87608501e-05 -5.34061809e-01] [ 5.66613883e-02 3.49970610e-03 9.98387319e-01 -1.10217817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24629675700001 meters Centerline goodness [0,1] 0.7567730778732398 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96395901e-01 6.31316715e-02 -5.66533445e-02 3.46148807e+00] [-6.32239388e-02 9.97999352e-01 1.64046773e-04 -5.33959128e-01] [ 5.65503576e-02 3.41839205e-03 9.98393896e-01 -1.10212349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27629675700001 meters Centerline goodness [0,1] 0.7772225577947395 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96384632e-01 6.32225169e-02 -5.67501448e-02 3.46161223e+00] [-6.33109142e-02 9.97993823e-01 2.40693453e-04 -5.33833110e-01] [ 5.66515112e-02 3.35308029e-03 9.98388383e-01 -1.10200068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30629675700001 meters Centerline goodness [0,1] 0.7546535465354653 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96381952e-01 6.32403048e-02 -5.67773602e-02 3.46184817e+00] [-6.33286985e-02 9.97992694e-01 2.42876887e-04 -5.33586526e-01] [ 5.66787502e-02 3.35363817e-03 9.98386835e-01 -1.10214521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.336296757 meters Centerline goodness [0,1] 0.7518136275288128 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96381926e-01 6.31727937e-02 -5.68529388e-02 3.46223934e+00] [-6.32700946e-02 9.97996436e-01 8.87262924e-05 -5.33232984e-01] [ 5.67446354e-02 3.50868554e-03 9.98382560e-01 -1.10248263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.366296757 meters Centerline goodness [0,1] 0.7636691532092794 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96381196e-01 6.31033487e-02 -5.69427770e-02 3.46309224e+00] [-6.32329822e-02 9.97998679e-01 -4.75841180e-04 -5.32371110e-01] [ 5.67987891e-02 4.07478081e-03 9.98377330e-01 -1.10371999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.396296757 meters Centerline goodness [0,1] 0.7673046992327226 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.53, Z:-1.10 [[ 9.96374275e-01 6.29609568e-02 -5.72208101e-02 3.46394145e+00] [-6.31119355e-02 9.98006107e-01 -8.33431009e-04 -5.31559041e-01] [ 5.70542443e-02 4.44172529e-03 9.98361199e-01 -1.10419517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.426296757 meters Centerline goodness [0,1] 0.7590770735949559 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.53, Z:-1.11 [[ 9.96151623e-01 6.58712953e-02 -5.78179590e-02 3.46720755e+00] [-6.58388677e-02 9.97827217e-01 2.46768050e-03 -5.30885249e-01] [ 5.78548824e-02 1.34848502e-03 9.98324093e-01 -1.10524078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.456296757 meters Centerline goodness [0,1] 0.7612934809214283 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.53, Z:-1.11 [[ 9.96158437e-01 6.56127193e-02 -5.79943043e-02 3.46791363e+00] [-6.56168459e-02 9.97843205e-01 1.83520437e-03 -5.28903660e-01] [ 5.79896352e-02 1.97724901e-03 9.98315227e-01 -1.10579565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.486296757 meters Centerline goodness [0,1] 0.7610874229379974 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.53, Z:-1.11 [[ 9.96159048e-01 6.57389970e-02 -5.78406054e-02 3.46730565e+00] [-6.57679912e-02 9.97833954e-01 1.40426943e-03 -5.26804865e-01] [ 5.78076353e-02 2.40518473e-03 9.98324843e-01 -1.10566404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.516296757 meters Centerline goodness [0,1] 0.7553013543409054 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.53, Z:-1.11 [[ 9.96154131e-01 6.55518229e-02 -5.81369497e-02 3.46772970e+00] [-6.55919134e-02 9.97845785e-01 1.22047502e-03 -5.26122329e-01] [ 5.80917146e-02 2.59753253e-03 9.98307871e-01 -1.10527908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54629675700001 meters Centerline goodness [0,1] 0.7459014179608372 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 9.96147817e-01 6.59389756e-02 -5.78063775e-02 3.46631424e+00] [-6.59834025e-02 9.97820067e-01 1.14192705e-03 -5.24502748e-01] [ 5.77556610e-02 2.67673333e-03 9.98327160e-01 -1.10442414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57629675700001 meters Centerline goodness [0,1] 0.7434020367919176 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 9.96146323e-01 6.60051816e-02 -5.77565440e-02 3.46594594e+00] [-6.60644878e-02 9.97814964e-01 8.84077479e-04 -5.22980202e-01] [ 5.76886975e-02 2.93498596e-03 9.98330306e-01 -1.10414094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60629675700001 meters Centerline goodness [0,1] 0.7422622246104245 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 9.95899027e-01 6.92914811e-02 -5.81706073e-02 3.46747418e+00] [-6.91310884e-02 9.97596192e-01 4.76759722e-03 -5.21534511e-01] [ 5.83611302e-02 -7.26648028e-04 9.98295272e-01 -1.10286356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63629675700001 meters Centerline goodness [0,1] 0.7350418185717349 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 9.95889555e-01 6.94949437e-02 -5.80899872e-02 3.46698574e+00] [-6.93523221e-02 9.97582214e-01 4.47007533e-03 -5.19524612e-01] [ 5.82601856e-02 -4.23025833e-04 9.98301343e-01 -1.10264694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66629675700001 meters Centerline goodness [0,1] 0.7312150333270873 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 9.95881683e-01 6.95055370e-02 -5.82121481e-02 3.46705570e+00] [-6.93849991e-02 9.97581565e-01 4.09180380e-03 -5.17801914e-01] [ 5.83557688e-02 -3.59026090e-05 9.98295849e-01 -1.10253404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.696296757 meters Centerline goodness [0,1] 0.7297838270616492 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.52, Z:-1.10 [[ 9.95881587e-01 6.91249598e-02 -5.86651928e-02 3.46862180e+00] [-6.90670997e-02 9.97607458e-01 3.01580202e-03 -5.15196026e-01] [ 5.87333011e-02 1.04845302e-03 9.98273159e-01 -1.10375735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.726296757 meters Centerline goodness [0,1] 0.7315525344520857 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.11 [[ 9.95903586e-01 6.82609227e-02 -5.93000319e-02 3.47137753e+00] [-6.82948900e-02 9.97664116e-01 1.45610749e-03 -5.11471624e-01] [ 5.92609091e-02 2.59974648e-03 9.98239143e-01 -1.10595587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.756296757 meters Centerline goodness [0,1] 0.7248407306563747 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.11 [[ 9.95915849e-01 6.76880315e-02 -5.97490779e-02 3.47280428e+00] [-6.77615748e-02 9.97701225e-01 7.96759962e-04 -5.09454339e-01] [ 5.96656593e-02 3.25518574e-03 9.98213110e-01 -1.10638235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.786296757 meters Centerline goodness [0,1] 0.7349506078021134 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.51, Z:-1.11 [[ 9.95920442e-01 6.73187529e-02 -6.00887531e-02 3.47365954e+00] [-6.74151653e-02 9.97724920e-01 4.23641821e-04 -5.08119648e-01] [ 5.99805654e-02 3.62897967e-03 9.98192948e-01 -1.10634924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.816296757 meters Centerline goodness [0,1] 0.7648272032576218 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.51, Z:-1.11 [[ 9.95944577e-01 6.64375389e-02 -6.06667317e-02 3.47507672e+00] [-6.65659671e-02 9.97782022e-01 -9.61321477e-05 -5.07017935e-01] [ 6.05257874e-02 4.13408195e-03 9.98158073e-01 -1.10594498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.846296757 meters Centerline goodness [0,1] 0.7457281373354174 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.51, Z:-1.11 [[ 9.95951309e-01 6.60680385e-02 -6.09590452e-02 3.47588717e+00] [-6.62128476e-02 9.97805458e-01 -3.56350663e-04 -5.06462544e-01] [ 6.08017246e-02 4.39117988e-03 9.98140204e-01 -1.10595715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.876296757 meters Centerline goodness [0,1] 0.7475283778835591 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.51, Z:-1.11 [[ 9.95789108e-01 6.77071323e-02 -6.18045018e-02 3.48006515e+00] [-6.76804984e-02 9.97703847e-01 2.52672756e-03 -5.05429486e-01] [ 6.18336667e-02 1.66687171e-03 9.98085076e-01 -1.10630062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.906296757 meters Centerline goodness [0,1] 0.7487718376461316 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.50, Z:-1.11 [[ 9.95796995e-01 6.73688017e-02 -6.20466709e-02 3.48087477e+00] [-6.73861749e-02 9.97725318e-01 1.81490240e-03 -5.03056595e-01] [ 6.20278023e-02 2.37381347e-03 9.98071599e-01 -1.10674020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93629675700001 meters Centerline goodness [0,1] 0.7861789679947746 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.50, Z:-1.11 [[ 9.95804341e-01 6.69413111e-02 -6.23905092e-02 3.48184654e+00] [-6.70250488e-02 9.97751010e-01 7.52136712e-04 -4.98584715e-01] [ 6.23005425e-02 3.43274592e-03 9.98051531e-01 -1.10713248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96629675700001 meters Centerline goodness [0,1] 0.7925278839404103 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.50, Z:-1.11 [[ 9.95813271e-01 6.64174577e-02 -6.28064504e-02 3.48295255e+00] [-6.65382520e-02 9.97783861e-01 1.68660855e-04 -4.97118188e-01] [ 6.26784646e-02 4.01107671e-03 9.98025712e-01 -1.10729665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99629675700001 meters Centerline goodness [0,1] 0.7938764352104976 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.50, Z:-1.11 [[ 9.95824835e-01 6.57094977e-02 -6.33652832e-02 3.48406064e+00] [-6.58550105e-02 9.97829181e-01 -2.08328023e-04 -4.96466687e-01] [ 6.32140395e-02 4.38037961e-03 9.97990379e-01 -1.10667536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02629675700001 meters Centerline goodness [0,1] 0.7997090455655427 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.50, Z:-1.11 [[ 9.95818518e-01 6.55672425e-02 -6.36114501e-02 3.48439648e+00] [-6.57212074e-02 9.97837970e-01 -3.28732733e-04 -4.96053136e-01] [ 6.34523662e-02 4.50797945e-03 9.97974687e-01 -1.10635435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05629675700001 meters Centerline goodness [0,1] 0.8002697305288274 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.49, Z:-1.11 [[ 9.95814615e-01 6.53317364e-02 -6.39141405e-02 3.48507637e+00] [-6.55098578e-02 9.97851682e-01 -6.92974127e-04 -4.94803760e-01] [ 6.37315593e-02 4.87708002e-03 9.97955161e-01 -1.10636299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.086296757 meters Centerline goodness [0,1] 0.7861635220125787 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.49, Z:-1.11 [[ 9.95571808e-01 6.84355758e-02 -6.44464640e-02 3.48744868e+00] [-6.84277057e-02 9.97653352e-01 2.33196533e-03 -4.91961465e-01] [ 6.44548202e-02 2.08828473e-03 9.97918441e-01 -1.10668065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.116296757 meters Centerline goodness [0,1] 0.7431748466257668 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.49, Z:-1.11 [[ 9.95316704e-01 7.15811314e-02 -6.49676839e-02 3.48944900e+00] [-7.13844746e-02 9.97434546e-01 5.34624788e-03 -4.88800687e-01] [ 6.51837028e-02 -6.83525842e-04 9.97873047e-01 -1.10643577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.146296757 meters Centerline goodness [0,1] 0.8049824435502473 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.49, Z:-1.11 [[ 9.95305608e-01 7.15245266e-02 -6.51996034e-02 3.48976848e+00] [-7.13486372e-02 9.97438780e-01 5.02514970e-03 -4.87656927e-01] [ 6.53920343e-02 -3.49656832e-04 9.97859589e-01 -1.10629238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.176296757 meters Centerline goodness [0,1] 0.8093452699772999 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.49, Z:-1.11 [[ 9.95310160e-01 7.10233280e-02 -6.56762614e-02 3.49098458e+00] [-7.08858540e-02 9.97474623e-01 4.42407311e-03 -4.86637690e-01] [ 6.58246165e-02 2.52192962e-04 9.97831176e-01 -1.10654577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.206296757 meters Centerline goodness [0,1] 0.8097194925853135 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.48, Z:-1.11 [[ 9.95329999e-01 7.02620030e-02 -6.61924715e-02 3.49264724e+00] [-7.02078581e-02 9.97527421e-01 3.14669088e-03 -4.83195438e-01] [ 6.62498981e-02 1.51523581e-03 9.97801912e-01 -1.10736474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.236296757 meters Centerline goodness [0,1] 0.8158140946215895 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.48, Z:-1.11 [[ 9.95346522e-01 6.96217596e-02 -6.66191569e-02 3.49426766e+00] [-6.96244344e-02 9.97570659e-01 2.28441727e-03 -4.80738789e-01] [ 6.66163614e-02 2.36453434e-03 9.97775861e-01 -1.10817473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.266296757 meters Centerline goodness [0,1] 0.8158140946215895 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.48, Z:-1.11 [[ 9.95346522e-01 6.96217596e-02 -6.66191569e-02 3.49426766e+00] [-6.96244344e-02 9.97570659e-01 2.28441727e-03 -4.80738789e-01] [ 6.66163614e-02 2.36453434e-03 9.97775861e-01 -1.10817473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29629675700001 meters Centerline goodness [0,1] 0.8185736973455343 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.48, Z:-1.11 [[ 9.95380055e-01 6.84892199e-02 -6.72887270e-02 3.49677816e+00] [-6.86035801e-02 9.97643811e-01 6.12449613e-04 -4.76205335e-01] [ 6.71721282e-02 4.00662744e-03 9.97733357e-01 -1.10959349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32629675700001 meters Centerline goodness [0,1] 0.820525023796403 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95389068e-01 6.81970352e-02 -6.74519592e-02 3.49732093e+00] [-6.83441868e-02 9.97661794e-01 1.26313020e-04 -4.74933251e-01] [ 6.73028568e-02 4.48421870e-03 9.97722515e-01 -1.10982567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35629675700001 meters Centerline goodness [0,1] 0.8243172465394688 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95399433e-01 6.80060826e-02 -6.74917853e-02 3.49679296e+00] [-6.81877985e-02 9.97672427e-01 -3.89712805e-04 -4.72494807e-01] [ 6.73081905e-02 4.99003616e-03 9.97719754e-01 -1.10884232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38629675700001 meters Centerline goodness [0,1] 0.826577361685175 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95401845e-01 6.77425449e-02 -6.77208555e-02 3.49703807e+00] [-6.79437094e-02 9.97688932e-01 -6.69017855e-04 -4.71244154e-01] [ 6.75190270e-02 5.26714774e-03 9.97704083e-01 -1.10836167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41629675700001 meters Centerline goodness [0,1] 0.8288991280221958 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95408876e-01 6.73869718e-02 -6.79718001e-02 3.49744886e+00] [-6.76046484e-02 9.97711779e-01 -9.04663454e-04 -4.70236389e-01] [ 6.77553030e-02 5.49571968e-03 9.97686833e-01 -1.10795543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.446296757 meters Centerline goodness [0,1] 0.8291388758027324 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95430245e-01 6.66080727e-02 -6.84250885e-02 3.49862512e+00] [-6.68600160e-02 9.97761389e-01 -1.39596367e-03 -4.68730059e-01] [ 6.81789289e-02 5.96448697e-03 9.97655280e-01 -1.10772094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.476296757 meters Centerline goodness [0,1] 0.8311444652908068 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95446011e-01 6.57278226e-02 -6.90441343e-02 3.50052253e+00] [-6.60259802e-02 9.97815813e-01 -2.04272023e-03 -4.67318641e-01] [ 6.87590655e-02 6.59212434e-03 9.97611515e-01 -1.10813150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.506296757 meters Centerline goodness [0,1] 0.830277839629877 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95438984e-01 6.53630214e-02 -6.94903256e-02 3.50167038e+00] [-6.56772039e-02 9.97838399e-01 -2.24371515e-03 -4.66958769e-01] [ 6.91934593e-02 6.79741182e-03 9.97580102e-01 -1.10826494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.536296757 meters Centerline goodness [0,1] 0.8310940973079772 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95441676e-01 6.49826450e-02 -6.98077711e-02 3.50268789e+00] [-6.53155365e-02 9.97861543e-01 -2.49434492e-03 -4.66413995e-01] [ 6.94964010e-02 7.04250690e-03 9.97557343e-01 -1.10851175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.566296757 meters Centerline goodness [0,1] 0.8303615774312109 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.47, Z:-1.11 [[ 9.95454949e-01 6.41122334e-02 -7.04206376e-02 3.50455142e+00] [-6.44947618e-02 9.97913012e-01 -3.16949486e-03 -4.65313037e-01] [ 7.00704672e-02 7.69685159e-03 9.97512350e-01 -1.10896490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.596296757 meters Centerline goodness [0,1] 0.8354697146257407 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.47, Z:-1.11 [[ 9.95444682e-01 6.39424699e-02 -7.07194898e-02 3.50512244e+00] [-6.43342711e-02 9.97923034e-01 -3.27412439e-03 -4.65100393e-01] [ 7.03632523e-02 7.80889654e-03 9.97490869e-01 -1.10877512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.626296757 meters Centerline goodness [0,1] 0.8358279112342595 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.11 [[ 0.99542927 0.06366433 -0.07118577 3.50586837] [-0.06408122 0.99793824 -0.00358569 -0.46409299] [ 0.07081072 0.00813097 0.99745663 -1.10833419] [ 0. 0. 0. 1. ]] SLAMing on 111.656296757 meters Centerline goodness [0,1] 0.8375093029025056 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.11 [[ 0.99541975 0.06370732 -0.07128049 3.50578157] [-0.06414465 0.99793314 -0.00386093 -0.46251674] [ 0.0708872 0.00841551 0.99744884 -1.10801722] [ 0. 0. 0. 1. ]] SLAMing on 111.68629675700001 meters Centerline goodness [0,1] 0.834845376115492 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.11 [[ 0.99540057 0.06381809 -0.07144892 3.50576714] [-0.06428211 0.99792288 -0.00421172 -0.46037496] [ 0.07103173 0.00878524 0.99743537 -1.1076803 ] [ 0. 0. 0. 1. ]] SLAMing on 111.71629675700001 meters Centerline goodness [0,1] 0.83611323264924 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.11 [[ 9.95294826e-01 6.56946794e-02 -7.12209163e-02 3.50431936e+00] [-6.60678323e-02 9.97810938e-01 -2.89384023e-03 -4.57031817e-01] [ 7.08748994e-02 7.58563576e-03 9.97456368e-01 -1.10610462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74629675700001 meters Centerline goodness [0,1] 0.8340380808056119 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.11 [[ 9.95034483e-01 6.88742800e-02 -7.18520092e-02 3.50673179e+00] [-6.90287864e-02 9.97614613e-01 3.33538270e-04 -4.56313769e-01] [ 7.17035866e-02 4.62797492e-03 9.97415248e-01 -1.10629310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77629675700001 meters Centerline goodness [0,1] 0.8320483229386633 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.11 [[ 9.95028248e-01 6.89057013e-02 -7.19082006e-02 3.50687516e+00] [-6.90906226e-02 9.97610384e-01 -8.45250635e-05 -4.54847700e-01] [ 7.17305433e-02 5.05228717e-03 9.97411251e-01 -1.10649759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80629675700001 meters Centerline goodness [0,1] 0.8335450148991256 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.11 [[ 9.95011023e-01 6.89358096e-02 -7.21173881e-02 3.50731030e+00] [-6.91454972e-02 9.97606501e-01 -4.12107769e-04 -4.53348114e-01] [ 7.19163662e-02 5.39664443e-03 9.97396066e-01 -1.10659189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.836296757 meters Centerline goodness [0,1] 0.8333006279434851 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.11 [[ 9.94979801e-01 6.92289987e-02 -7.22671534e-02 3.50714325e+00] [-6.94633772e-02 9.97584234e-01 -7.32000295e-04 -4.50539867e-01] [ 7.20418972e-02 5.74824604e-03 9.97385042e-01 -1.10611052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.866296757 meters Centerline goodness [0,1] 0.8312181497451979 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.11 [[ 9.94965308e-01 6.92402889e-02 -7.24556299e-02 3.50740737e+00] [-6.94884182e-02 9.97582347e-01 -9.06423645e-04 -4.49657408e-01] [ 7.22176962e-02 5.93668719e-03 9.97371225e-01 -1.10593130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.896296757 meters Centerline goodness [0,1] 0.8281513323400825 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.11 [[ 9.94953635e-01 6.91347371e-02 -7.27162439e-02 3.50794428e+00] [-6.94177320e-02 9.97586741e-01 -1.36871290e-03 -4.47831173e-01] [ 7.24461351e-02 6.40960260e-03 9.97351731e-01 -1.10590888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.926296757 meters Centerline goodness [0,1] 0.8313485756204915 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.11 [[ 9.94939702e-01 6.91533092e-02 -7.28890185e-02 3.50807128e+00] [-6.94465280e-02 9.97584558e-01 -1.49315386e-03 -4.46937938e-01] [ 7.26097028e-02 6.54748732e-03 9.97338940e-01 -1.10559285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.956296757 meters Centerline goodness [0,1] 0.8304798295245793 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94923499e-01 6.92515587e-02 -7.30168039e-02 3.50766154e+00] [-6.95398693e-02 9.97578176e-01 -1.41072359e-03 -4.46237214e-01] [ 7.27422752e-02 6.48114104e-03 9.97329713e-01 -1.10455713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.986296757 meters Centerline goodness [0,1] 0.8273745475887704 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94900848e-01 6.93581334e-02 -7.32239809e-02 3.50754410e+00] [-6.96356841e-02 9.97571717e-01 -1.24124563e-03 -4.46331609e-01] [ 7.29600819e-02 6.33391834e-03 9.97314749e-01 -1.10375548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.016296757 meters Centerline goodness [0,1] 0.831008360097085 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94877104e-01 6.96827206e-02 -7.32384260e-02 3.50697197e+00] [-6.99333757e-02 9.97551293e-01 -8.60562266e-04 -4.46828389e-01] [ 7.29991202e-02 5.97796405e-03 9.97314089e-01 -1.10283296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04629675700001 meters Centerline goodness [0,1] 0.8299116646683142 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94866376e-01 6.97523590e-02 -7.33178160e-02 3.50711053e+00] [-7.00178998e-02 9.97545178e-01 -1.05465305e-03 -4.45892373e-01] [ 7.30642692e-02 6.18279834e-03 9.97308070e-01 -1.10285427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07629675700001 meters Centerline goodness [0,1] 0.8281444582814446 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94588314e-01 7.34104018e-02 -7.35186958e-02 3.50846843e+00] [-7.34050042e-02 9.97298342e-01 2.77905644e-03 -4.45571496e-01] [ 7.35240850e-02 2.63262311e-03 9.97289967e-01 -1.10275565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10629675700001 meters Centerline goodness [0,1] 0.8267915804842438 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94572292e-01 7.35974151e-02 -7.35484635e-02 3.50848587e+00] [-7.36054405e-02 9.97284038e-01 2.60502619e-03 -4.44290698e-01] [ 7.35404319e-02 2.82268019e-03 9.97288242e-01 -1.10276387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13629675700001 meters Centerline goodness [0,1] 0.8178603653034848 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94530035e-01 7.37963439e-02 -7.39196112e-02 3.50935411e+00] [-7.38281963e-02 9.97268311e-01 2.30516027e-03 -4.43033745e-01] [ 7.38877982e-02 3.16480045e-03 9.97261539e-01 -1.10310269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16629675700001 meters Centerline goodness [0,1] 0.8142334876919327 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94507084e-01 7.39143761e-02 -7.41102234e-02 3.50985967e+00] [-7.39481810e-02 9.97259453e-01 2.29145794e-03 -4.43121253e-01] [ 7.40764925e-02 3.20144507e-03 9.97247424e-01 -1.10330952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19629675700001 meters Centerline goodness [0,1] 0.8072706008479119 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94489044e-01 7.39047016e-02 -7.43615255e-02 3.51036945e+00] [-7.39413081e-02 9.97260024e-01 2.26439166e-03 -4.43109957e-01] [ 7.43251259e-02 3.24647577e-03 9.97228778e-01 -1.10325656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.226296757 meters Centerline goodness [0,1] 0.7922052582800839 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94451910e-01 7.43562451e-02 -7.44079852e-02 3.50982634e+00] [-7.43653598e-02 9.97227537e-01 2.65188034e-03 -4.43718791e-01] [ 7.43988756e-02 2.89620912e-03 9.97224358e-01 -1.10240277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.256296757 meters Centerline goodness [0,1] 0.8120530156947936 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94427948e-01 7.46725870e-02 -7.44114315e-02 3.50936440e+00] [-7.46636878e-02 9.97204539e-01 2.90526460e-03 -4.44014503e-01] [ 7.44203609e-02 2.66675558e-03 9.97223394e-01 -1.10183635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.286296757 meters Centerline goodness [0,1] 0.803085588343333 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94404024e-01 7.50762243e-02 -7.43249458e-02 3.50900496e+00] [-7.50441230e-02 9.97174988e-01 3.22846048e-03 -4.44750080e-01] [ 7.43573576e-02 2.36725628e-03 9.97228850e-01 -1.10159706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.316296757 meters Centerline goodness [0,1] 0.7891274576934364 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94388563e-01 7.51701133e-02 -7.44368173e-02 3.50919794e+00] [-7.51225867e-02 9.97168365e-01 3.44208679e-03 -4.45255044e-01] [ 7.44847815e-02 2.16911453e-03 9.97219791e-01 -1.10141381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.346296757 meters Centerline goodness [0,1] 0.7973624643243775 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94365686e-01 7.54211423e-02 -7.44884801e-02 3.50914972e+00] [-7.53398918e-02 9.97150269e-01 3.90408130e-03 -4.46479887e-01] [ 7.45706582e-02 1.72986956e-03 9.97214232e-01 -1.10113365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.376296757 meters Centerline goodness [0,1] 0.791318741044518 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94360021e-01 7.56108691e-02 -7.43716745e-02 3.50881862e+00] [-7.54607087e-02 9.97137073e-01 4.83099075e-03 -4.49700452e-01] [ 7.45240293e-02 8.08395202e-04 9.97218890e-01 -1.10060597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.406296757 meters Centerline goodness [0,1] 0.7902685812067555 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94334122e-01 7.59668601e-02 -7.43551678e-02 3.50836134e+00] [-7.57621954e-02 9.97110339e-01 5.57332596e-03 -4.51544987e-01] [ 7.45636946e-02 9.15625742e-05 9.97216249e-01 -1.09989391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43629675700001 meters Centerline goodness [0,1] 0.8016724322440955 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94336652e-01 7.61513393e-02 -7.41322858e-02 3.50763388e+00] [-7.58759440e-02 9.97095894e-01 6.52827020e-03 -4.54184156e-01] [ 7.44141344e-02 -8.66441165e-04 9.97227048e-01 -1.09901138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46629675700001 meters Centerline goodness [0,1] 0.8004525561965387 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94336244e-01 7.62036558e-02 -7.40839826e-02 3.50750186e+00] [-7.59072813e-02 9.97091611e-01 6.81206523e-03 -4.55122105e-01] [ 7.43876219e-02 -1.14996965e-03 9.97228740e-01 -1.09884229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49629675700001 meters Centerline goodness [0,1] 0.7988186414376532 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94329099e-01 7.63646790e-02 -7.40140407e-02 3.50711604e+00] [-7.60340837e-02 9.97078656e-01 7.27820694e-03 -4.56161439e-01] [ 7.43536181e-02 -1.60934318e-03 9.97230640e-01 -1.09835733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52629675700001 meters Centerline goodness [0,1] 0.7970985392299583 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94592445e-01 7.31788194e-02 -7.36934782e-02 3.50502530e+00] [-7.30679141e-02 9.97318109e-01 4.20344455e-03 -4.56908474e-01] [ 7.38034434e-02 1.20391454e-03 9.97272080e-01 -1.09754649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55629675700001 meters Centerline goodness [0,1] 0.8036760250454453 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.10 [[ 9.94866480e-01 6.95549198e-02 -7.35037429e-02 3.50366724e+00] [-6.96844321e-02 9.97568761e-01 8.04169834e-04 -4.58283187e-01] [ 7.33809717e-02 4.32202497e-03 9.97294617e-01 -1.09731863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.586296757 meters Centerline goodness [0,1] 0.8016954283984257 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.10 [[ 9.94869304e-01 6.93843562e-02 -7.36266194e-02 3.50407638e+00] [-6.94884918e-02 9.97582091e-01 1.14936227e-03 -4.59798580e-01] [ 7.35283447e-02 3.97273749e-03 9.97285215e-01 -1.09723189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.616296757 meters Centerline goodness [0,1] 0.8004804652927044 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.10 [[ 9.94866410e-01 6.92080925e-02 -7.38313413e-02 3.50460956e+00] [-6.92928922e-02 9.97595355e-01 1.41539684e-03 -4.60928954e-01] [ 7.37517600e-02 3.70785640e-03 9.97269738e-01 -1.09712955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.646296757 meters Centerline goodness [0,1] 0.8138888186667341 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94895721e-01 6.85328374e-02 -7.40658752e-02 3.50566532e+00] [-6.86043659e-02 9.97642692e-01 1.58094816e-03 -4.62375143e-01] [ 7.39996260e-02 3.50836385e-03 9.97252098e-01 -1.09720690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.676296757 meters Centerline goodness [0,1] 0.8155122966422172 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94894124e-01 6.84614427e-02 -7.41533033e-02 3.50595809e+00] [-6.85155700e-02 9.97648393e-01 1.81664582e-03 -4.63317315e-01] [ 7.41032941e-02 3.27328559e-03 9.97245199e-01 -1.09718600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.706296757 meters Centerline goodness [0,1] 0.812725700625604 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94899260e-01 6.84404559e-02 -7.41037520e-02 3.50570561e+00] [-6.84638969e-02 9.97651109e-01 2.22682940e-03 -4.64733502e-01] [ 7.40820956e-02 2.85796071e-03 9.97248051e-01 -1.09669348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.736296757 meters Centerline goodness [0,1] 0.8087842138765118 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.47, Z:-1.10 [[ 9.94891580e-01 6.86329956e-02 -7.40287502e-02 3.50544049e+00] [-6.86386184e-02 9.97638528e-01 2.47116377e-03 -4.65437611e-01] [ 7.40235367e-02 2.62269110e-03 9.97253046e-01 -1.09656728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.766296757 meters Centerline goodness [0,1] 0.8105854538983654 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.47, Z:-1.10 [[ 9.94884256e-01 6.86728773e-02 -7.40901657e-02 3.50561345e+00] [-6.86779616e-02 9.97635794e-01 2.48207928e-03 -4.65364876e-01] [ 7.40854528e-02 2.61897996e-03 9.97248458e-01 -1.09660444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79629675700001 meters Centerline goodness [0,1] 0.8156896683381272 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94884546e-01 6.86278462e-02 -7.41279907e-02 3.50620201e+00] [-6.86587458e-02 9.97637921e-01 2.13437208e-03 -4.64221933e-01] [ 7.40993719e-02 2.96608107e-03 9.97246452e-01 -1.09737663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82629675700001 meters Centerline goodness [0,1] 0.803985949908369 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94868535e-01 6.86629405e-02 -7.43101486e-02 3.50672002e+00] [-6.86994561e-02 9.97635259e-01 2.06759396e-03 -4.63961069e-01] [ 7.42763914e-02 3.04808261e-03 9.97233035e-01 -1.09758362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85629675700001 meters Centerline goodness [0,1] 0.8046978497910935 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94846527e-01 6.89153782e-02 -7.43710859e-02 3.50674797e+00] [-6.89514186e-02 9.97617838e-01 2.08590827e-03 -4.63913116e-01] [ 7.43376731e-02 3.05283328e-03 9.97228455e-01 -1.09764393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88629675700001 meters Centerline goodness [0,1] 0.8018652744690558 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94840739e-01 6.89196264e-02 -7.44445330e-02 3.50708417e+00] [-6.89659177e-02 9.97617107e-01 1.95170597e-03 -4.63667765e-01] [ 7.44016505e-02 3.19249893e-03 9.97223246e-01 -1.09789748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91629675700001 meters Centerline goodness [0,1] 0.8030175599561639 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94830543e-01 6.90356043e-02 -7.44733225e-02 3.50698057e+00] [-6.90756825e-02 9.97609336e-01 2.04052406e-03 -4.63807004e-01] [ 7.44361506e-02 3.11431992e-03 9.97220919e-01 -1.09773967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94629675700001 meters Centerline goodness [0,1] 0.8089813186533119 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94815995e-01 6.93730144e-02 -7.43540197e-02 3.50641541e+00] [-6.93834148e-02 9.97587068e-01 2.44628469e-03 -4.64398334e-01] [ 7.43443147e-02 2.72533266e-03 9.97228908e-01 -1.09729537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.976296757 meters Centerline goodness [0,1] 0.803458036875526 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94807613e-01 6.94765879e-02 -7.43694578e-02 3.50660062e+00] [-6.94838216e-02 9.97579963e-01 2.49319039e-03 -4.64460824e-01] [ 7.43626993e-02 2.68722936e-03 9.97227641e-01 -1.09751353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.006296757 meters Centerline goodness [0,1] 0.7971390755446955 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94787461e-01 7.00768929e-02 -7.40752141e-02 3.50565334e+00] [-7.00563155e-02 9.97538883e-01 2.87925263e-03 -4.64127761e-01] [ 7.40946754e-02 2.32519216e-03 9.97248501e-01 -1.09716636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.036296757 meters Centerline goodness [0,1] 0.7801160364395134 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94782294e-01 7.02922768e-02 -7.39403979e-02 3.50511334e+00] [-7.02635185e-02 9.97523974e-01 2.99331811e-03 -4.63892752e-01] [ 7.39677267e-02 2.21761266e-03 9.97258170e-01 -1.09683252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.066296757 meters Centerline goodness [0,1] 0.7962840753337733 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.10 [[ 9.94775935e-01 7.06404598e-02 -7.36937226e-02 3.50415959e+00] [-7.05909329e-02 9.97499957e-01 3.27971446e-03 -4.63984402e-01] [ 7.37411657e-02 1.93952761e-03 9.97275528e-01 -1.09623733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.096296757 meters Centerline goodness [0,1] 0.7903401463921181 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.10 [[ 9.94769132e-01 7.10983531e-02 -7.33443775e-02 3.50273928e+00] [-7.10234579e-02 9.97468033e-01 3.63205475e-03 -4.64098551e-01] [ 7.34169050e-02 1.59611535e-03 9.97300060e-01 -1.09533368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.126296757 meters Centerline goodness [0,1] 0.7885403149886777 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94760658e-01 7.13589396e-02 -7.32061156e-02 3.50205389e+00] [-7.12724093e-02 9.97449661e-01 3.79696808e-03 -4.64158182e-01] [ 7.32903628e-02 1.44050177e-03 9.97309605e-01 -1.09485968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.156296757 meters Centerline goodness [0,1] 0.787927973624144 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94742802e-01 7.20929093e-02 -7.27280600e-02 3.50030344e+00] [-7.19968853e-02 9.97397057e-01 3.94444861e-03 -4.63034312e-01] [ 7.28231198e-02 1.31248194e-03 9.97344008e-01 -1.09417930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18629675700001 meters Centerline goodness [0,1] 0.787927973624144 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94742802e-01 7.20929093e-02 -7.27280600e-02 3.50030344e+00] [-7.19968853e-02 9.97397057e-01 3.94444861e-03 -4.63034312e-01] [ 7.28231198e-02 1.31248194e-03 9.97344008e-01 -1.09417930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21629675700001 meters Centerline goodness [0,1] 0.7834402951134469 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94733371e-01 7.23992030e-02 -7.25525721e-02 3.49971095e+00] [-7.23127154e-02 9.97374687e-01 3.82152333e-03 -4.61489278e-01] [ 7.26387742e-02 1.44507672e-03 9.97357268e-01 -1.09404120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24629675700001 meters Centerline goodness [0,1] 0.7798750031374715 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94477311e-01 7.61975925e-02 -7.21720458e-02 3.49973679e+00] [-7.58500775e-02 9.97090667e-01 7.54762062e-03 -4.60197897e-01] [ 7.25371838e-02 -2.03168219e-03 9.97363639e-01 -1.09368226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27629675700001 meters Centerline goodness [0,1] 0.7890956252805906 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94492193e-01 7.61120167e-02 -7.20571891e-02 3.49975010e+00] [-7.58035949e-02 9.97098132e-01 7.00924352e-03 -4.58773136e-01] [ 7.23815763e-02 -1.50844400e-03 9.97375873e-01 -1.09418930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30629675700001 meters Centerline goodness [0,1] 0.7917083416683337 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94497255e-01 7.63087676e-02 -7.17786986e-02 3.49879737e+00] [-7.60113021e-02 9.97083285e-01 6.87063609e-03 -4.58007953e-01] [ 7.20936304e-02 -1.37683639e-03 9.97396918e-01 -1.09383569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.336296757 meters Centerline goodness [0,1] 0.7898316062176166 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94497712e-01 7.61481547e-02 -7.19427499e-02 3.49906187e+00] [-7.58574768e-02 9.97095701e-01 6.76802793e-03 -4.57859441e-01] [ 7.22491795e-02 -1.27339281e-03 9.97385800e-01 -1.09366746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.366296757 meters Centerline goodness [0,1] 0.7968570429221007 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94500383e-01 7.60170087e-02 -7.20444501e-02 3.49940249e+00] [-7.57323884e-02 9.97105817e-01 6.67799185e-03 -4.57826106e-01] [ 7.23435812e-02 -1.18516718e-03 9.97379066e-01 -1.09378483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.396296757 meters Centerline goodness [0,1] 0.8010641736492703 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94541040e-01 7.53580338e-02 -7.21753844e-02 3.50045676e+00] [-7.51144193e-02 9.97156340e-01 6.08751152e-03 -4.56491045e-01] [ 7.24288851e-02 -6.32867947e-04 9.97373378e-01 -1.09458055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.426296757 meters Centerline goodness [0,1] 0.8097024193949028 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.09 [[ 9.94555919e-01 7.50911211e-02 -7.22485166e-02 3.50092588e+00] [-7.48661578e-02 9.97176604e-01 5.82058790e-03 -4.55624434e-01] [ 7.24816048e-02 -3.79931308e-04 9.97369677e-01 -1.09490115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.456296757 meters Centerline goodness [0,1] 0.8125741399762751 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94586299e-01 7.45521219e-02 -7.23883662e-02 3.50170741e+00] [-7.43548783e-02 9.97217118e-01 5.41950282e-03 -4.54579638e-01] [ 7.25909534e-02 -7.73508704e-06 9.97361797e-01 -1.09525810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.486296757 meters Centerline goodness [0,1] 0.8127175335094172 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94581969e-01 7.43806725e-02 -7.26238415e-02 3.50228172e+00] [-7.41820667e-02 9.97229921e-01 5.43191019e-03 -4.54846076e-01] [ 7.28266968e-02 -1.50932761e-05 9.97344610e-01 -1.09524656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.516296757 meters Centerline goodness [0,1] 0.8167805693495256 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.46, Z:-1.10 [[ 9.94603143e-01 7.39294599e-02 -7.27943943e-02 3.50315511e+00] [-7.37545801e-02 9.97263426e-01 5.09117968e-03 -4.55071217e-01] [ 7.29715752e-02 3.05216672e-04 9.97333974e-01 -1.09583764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54629675700001 meters Centerline goodness [0,1] 0.8195793875292092 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94607177e-01 7.38957248e-02 -7.27735146e-02 3.50311818e+00] [-7.37298092e-02 9.97265883e-01 4.96729884e-03 -4.54533078e-01] [ 7.29416055e-02 4.25066277e-04 9.97336123e-01 -1.09584489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57629675700001 meters Centerline goodness [0,1] 0.8153518332557741 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94606843e-01 7.39009783e-02 -7.27727559e-02 3.50309278e+00] [-7.37497350e-02 9.97265388e-01 4.76684949e-03 -4.53736936e-01] [ 7.29260255e-02 6.25830340e-04 9.97337156e-01 -1.09587405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60629675700001 meters Centerline goodness [0,1] 0.815609756097561 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94620790e-01 7.39718427e-02 -7.25096564e-02 3.50254134e+00] [-7.38420566e-02 9.97259919e-01 4.47263459e-03 -4.52190128e-01] [ 7.26418231e-02 9.05686803e-04 9.97357682e-01 -1.09591794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63629675700001 meters Centerline goodness [0,1] 0.8176568058872264 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94614398e-01 7.39946874e-02 -7.25739963e-02 3.50255281e+00] [-7.38702842e-02 9.97258150e-01 4.40043030e-03 -4.51514961e-01] [ 7.27006178e-02 9.84330393e-04 9.97353323e-01 -1.09576370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66629675700001 meters Centerline goodness [0,1] 0.8242667640258001 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94607562e-01 7.41647877e-02 -7.24940070e-02 3.50207278e+00] [-7.40465633e-02 9.97245425e-01 4.32068126e-03 -4.50406863e-01] [ 7.26147592e-02 1.07054982e-03 9.97359489e-01 -1.09540210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69629675700001 meters Centerline goodness [0,1] 0.8227300352497873 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94600174e-01 7.43525893e-02 -7.24029489e-02 3.50172700e+00] [-7.42373077e-02 9.97231395e-01 4.28569896e-03 -4.49849556e-01] [ 7.25211466e-02 1.11244307e-03 9.97366255e-01 -1.09527436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.726296757 meters Centerline goodness [0,1] 0.8183587099284915 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94592099e-01 7.45118991e-02 -7.23500809e-02 3.50162362e+00] [-7.44080828e-02 9.97219312e-01 4.13286970e-03 -4.48970875e-01] [ 7.24568459e-02 1.27291126e-03 9.97370736e-01 -1.09539826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.756296757 meters Centerline goodness [0,1] 0.8128071662026389 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94559658e-01 7.49597882e-02 -7.23333786e-02 3.50174514e+00] [-7.48928842e-02 9.97184939e-01 3.64051250e-03 -4.46494628e-01] [ 7.24026478e-02 1.79654848e-03 9.97373866e-01 -1.09613867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.786296757 meters Centerline goodness [0,1] 0.8134826568622708 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.45, Z:-1.10 [[ 9.94557267e-01 7.48557467e-02 -7.24738618e-02 3.50251324e+00] [-7.48208016e-02 9.97191859e-01 3.20072974e-03 -4.45345944e-01] [ 7.25099380e-02 2.23924341e-03 9.97365176e-01 -1.09690896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.816296757 meters Centerline goodness [0,1] 0.8103173453122736 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94553908e-01 7.47664116e-02 -7.26120355e-02 3.50305018e+00] [-7.47530010e-02 9.97197846e-01 2.90606526e-03 -4.44505407e-01] [ 7.26258415e-02 2.53772900e-03 9.97356028e-01 -1.09729483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.846296757 meters Centerline goodness [0,1] 0.8161684618177417 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94556682e-01 7.48586524e-02 -7.24788797e-02 3.50269711e+00] [-7.48653587e-02 9.97190188e-01 2.62795095e-03 -4.43473563e-01] [ 7.24719526e-02 2.81251115e-03 9.97366485e-01 -1.09730549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.876296757 meters Centerline goodness [0,1] 0.8101605571138408 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94554797e-01 7.48723244e-02 -7.24906299e-02 3.50259894e+00] [-7.48841273e-02 9.97188959e-01 2.55877628e-03 -4.42969520e-01] [ 7.24784373e-02 2.88355433e-03 9.97365811e-01 -1.09711712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.906296757 meters Centerline goodness [0,1] 0.8183152827918171 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94572687e-01 7.46153856e-02 -7.25101014e-02 3.50275828e+00] [-7.46532354e-02 9.97207145e-01 2.19178819e-03 -4.41960892e-01] [ 7.24711324e-02 3.23322100e-03 9.97365270e-01 -1.09715672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93629675700001 meters Centerline goodness [0,1] 0.8171401059220029 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94573312e-01 7.46108679e-02 -7.25061808e-02 3.50270379e+00] [-7.46466592e-02 9.97207576e-01 2.21977843e-03 -4.41769767e-01] [ 7.24693324e-02 3.20461178e-03 9.97365493e-01 -1.09699866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96629675700001 meters Centerline goodness [0,1] 0.8178733848263914 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94587612e-01 7.44360393e-02 -7.24897120e-02 3.50255876e+00] [-7.44672436e-02 9.97220863e-01 2.27581823e-03 -4.41807096e-01] [ 7.24576561e-02 3.13460842e-03 9.97366564e-01 -1.09655808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99629675700001 meters Centerline goodness [0,1] 0.8183801145760924 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94593783e-01 7.42289495e-02 -7.26172860e-02 3.50276696e+00] [-7.42547116e-02 9.97236543e-01 2.34856485e-03 -4.42219026e-01] [ 7.25909428e-02 3.05630763e-03 9.97357115e-01 -1.09628506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02629675700001 meters Centerline goodness [0,1] 0.8222992323057301 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94606493e-01 7.39671341e-02 -7.27102930e-02 3.50305298e+00] [-7.39862001e-02 9.97256293e-01 2.43479881e-03 -4.42651013e-01] [ 7.26908924e-02 2.95789158e-03 9.97350132e-01 -1.09616661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05629675700001 meters Centerline goodness [0,1] 0.8219985031747181 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.44, Z:-1.10 [[ 9.94673854e-01 7.26555197e-02 -7.31101831e-02 3.50497636e+00] [-7.26949628e-02 9.97351958e-01 2.12481939e-03 -4.43415789e-01] [ 7.30709641e-02 3.20123975e-03 9.97321606e-01 -1.09677917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086296757 meters Centerline goodness [0,1] 0.8236534639065303 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.44, Z:-1.10 [[ 9.94680025e-01 7.22215914e-02 -7.34553545e-02 3.50614046e+00] [-7.22646614e-02 9.97383334e-01 2.07468083e-03 -4.43964800e-01] [ 7.34129831e-02 3.24458274e-03 9.97296348e-01 -1.09717112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.116296757 meters Centerline goodness [0,1] 0.8239146252728595 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94757571e-01 7.06300627e-02 -7.39511331e-02 3.50888278e+00] [-7.07121632e-02 9.97495618e-01 1.51070529e-03 -4.45475476e-01] [ 7.38726324e-02 3.72645907e-03 9.97260722e-01 -1.09874970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.146296757 meters Centerline goodness [0,1] 0.8256698483453656 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94766308e-01 7.01880273e-02 -7.42538468e-02 3.50983395e+00] [-7.02527488e-02 9.97527700e-01 1.74312827e-03 -4.47016876e-01] [ 7.41926157e-02 3.48253157e-03 9.97237849e-01 -1.09882647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.176296757 meters Centerline goodness [0,1] 0.8261440132202483 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94777989e-01 6.98276721e-02 -7.44368831e-02 3.51040760e+00] [-6.98692452e-02 9.97554055e-01 2.04858413e-03 -4.48657683e-01] [ 7.43978625e-02 3.16296244e-03 9.97223623e-01 -1.09871122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.206296757 meters Centerline goodness [0,1] 0.8296292690051362 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.95042264e-01 6.58623834e-02 -7.45187178e-02 3.50966566e+00] [-6.61568264e-02 9.97808129e-01 -1.48709956e-03 -4.49016888e-01] [ 7.42574385e-02 6.40964879e-03 9.97218506e-01 -1.09814530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.236296757 meters Centerline goodness [0,1] 0.8294735817845675 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.95036017e-01 6.56489214e-02 -7.47900033e-02 3.51026049e+00] [-6.59271143e-02 9.97823653e-01 -1.25426643e-03 -4.50042877e-01] [ 7.45448931e-02 6.17872937e-03 9.97198517e-01 -1.09795898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.266296757 meters Centerline goodness [0,1] 0.8272266543805621 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.95036212e-01 6.50339200e-02 -7.53228091e-02 3.51217333e+00] [-6.53177067e-02 9.97863662e-01 -1.30767723e-03 -4.51033574e-01] [ 7.50768507e-02 6.22109935e-03 9.97158345e-01 -1.09863955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29629675700001 meters Centerline goodness [0,1] 0.8291022721767356 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.95031058e-01 6.46577275e-02 -7.57137542e-02 3.51370298e+00] [-6.49648959e-02 9.97886270e-01 -1.59852769e-03 -4.51038116e-01] [ 7.54503586e-02 6.50932086e-03 9.97128313e-01 -1.09952616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32629675700001 meters Centerline goodness [0,1] 0.8294912946211458 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.95014121e-01 6.44656807e-02 -7.60991125e-02 3.51523026e+00] [-6.47913917e-02 9.97897177e-01 -1.81643180e-03 -4.51239912e-01] [ 7.58219920e-02 6.73794269e-03 9.97098604e-01 -1.10052784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35629675700001 meters Centerline goodness [0,1] 0.8301346597112702 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94992600e-01 6.44953422e-02 -7.63549360e-02 3.51589837e+00] [-6.48289498e-02 9.97894590e-01 -1.89604310e-03 -4.51196068e-01] [ 7.60718916e-02 6.83655917e-03 9.97078898e-01 -1.10076989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38629675700001 meters Centerline goodness [0,1] 0.8320468006602583 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94966606e-01 6.49071728e-02 -7.63446870e-02 3.51587053e+00] [-6.52488532e-02 9.97867045e-01 -1.98705794e-03 -4.50562021e-01] [ 7.60528728e-02 6.95845957e-03 9.97079506e-01 -1.10106444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41629675700001 meters Centerline goodness [0,1] 0.8285936323675839 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94941580e-01 6.52834794e-02 -7.63499856e-02 3.51555376e+00] [-6.56143028e-02 9.97843382e-01 -1.82986523e-03 -4.50193580e-01] [ 7.60658679e-02 6.83026007e-03 9.97079401e-01 -1.10072540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44629675700001 meters Centerline goodness [0,1] 0.8306000339139071 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94917959e-01 6.56119324e-02 -7.63762322e-02 3.51527512e+00] [-6.59410270e-02 9.97821912e-01 -1.79228817e-03 -4.49608671e-01] [ 7.60922826e-02 6.81950688e-03 9.97077459e-01 -1.10040383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.476296757 meters Centerline goodness [0,1] 0.8346675695939246 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94868457e-01 6.62977827e-02 -7.64287731e-02 3.51487391e+00] [-6.66213655e-02 9.97776899e-01 -1.68914203e-03 -4.48337018e-01] [ 7.61468779e-02 6.77226335e-03 9.97073613e-01 -1.09998540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.506296757 meters Centerline goodness [0,1] 0.8269551553245498 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.45, Z:-1.10 [[ 9.94821220e-01 6.67924102e-02 -7.66127598e-02 3.51496091e+00] [-6.71054233e-02 9.97744739e-01 -1.51571559e-03 -4.48172304e-01] [ 7.63387397e-02 6.64899771e-03 9.97059771e-01 -1.09984986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.536296757 meters Centerline goodness [0,1] 0.8291525423728814 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94791834e-01 6.69318334e-02 -7.68722166e-02 3.51541020e+00] [-6.72284446e-02 9.97736795e-01 -1.27425386e-03 -4.48973397e-01] [ 7.66129508e-02 6.43561689e-03 9.97040139e-01 -1.09972657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.566296757 meters Centerline goodness [0,1] 0.828409118496759 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94764430e-01 6.70569867e-02 -7.71173693e-02 3.51593668e+00] [-6.73333664e-02 9.97730046e-01 -9.86385147e-04 -4.50099846e-01] [ 7.68761724e-02 6.17379294e-03 9.97021534e-01 -1.09972944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.596296757 meters Centerline goodness [0,1] 0.8292286019624988 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94731856e-01 6.72176004e-02 -7.73972121e-02 3.51664045e+00] [-6.74678903e-02 9.97721253e-01 -6.20581011e-04 -4.51764299e-01] [ 7.71791295e-02 5.83913832e-03 9.97000144e-01 -1.09986077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.626296757 meters Centerline goodness [0,1] 0.8298822672654449 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94717213e-01 6.73192312e-02 -7.74970123e-02 3.51696901e+00] [-6.75602563e-02 9.97715076e-01 -4.89541763e-04 -4.51867855e-01] [ 7.72869819e-02 5.72267364e-03 9.96992464e-01 -1.09998128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.656296757 meters Centerline goodness [0,1] 0.82966472303207 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94694365e-01 6.79288289e-02 -7.72579731e-02 3.51583282e+00] [-6.81198247e-02 9.97677134e-01 1.63523673e-04 -4.52133034e-01] [ 7.70896211e-02 5.10014351e-03 9.97011123e-01 -1.09905862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68629675700001 meters Centerline goodness [0,1] 0.8289996344583892 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.45, Z:-1.10 [[ 9.94672450e-01 6.83128959e-02 -7.72014609e-02 3.51504902e+00] [-6.84546950e-02 9.97653896e-01 8.11221649e-04 -4.53387692e-01] [ 7.70757552e-02 4.47790264e-03 9.97015184e-01 -1.09805816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71629675700001 meters Centerline goodness [0,1] 0.8262652896799239 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94644879e-01 6.86798059e-02 -7.72311442e-02 3.51457366e+00] [-6.87654525e-02 9.97631646e-01 1.55303449e-03 -4.55418838e-01] [ 7.71548956e-02 3.76611678e-03 9.97012005e-01 -1.09726944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74629675700001 meters Centerline goodness [0,1] 0.8272669377357567 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.46, Z:-1.10 [[ 9.94639709e-01 6.83246393e-02 -7.76118102e-02 3.51532666e+00] [-6.83666768e-02 9.97658013e-01 2.11839294e-03 -4.59384375e-01] [ 7.75747828e-02 3.19902382e-03 9.96981404e-01 -1.09682900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77629675700001 meters Centerline goodness [0,1] 0.8279089189653902 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.46, Z:-1.10 [[ 9.94628637e-01 6.86283617e-02 -7.74856287e-02 3.51472053e+00] [-6.86012430e-02 9.97639604e-01 3.01489167e-03 -4.61789172e-01] [ 7.75096390e-02 2.31691285e-03 9.96988911e-01 -1.09600576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80629675700001 meters Centerline goodness [0,1] 0.8281510544384503 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.46, Z:-1.10 [[ 9.94626661e-01 6.86402644e-02 -7.75004409e-02 3.51500861e+00] [-6.86020711e-02 9.97639104e-01 3.15821359e-03 -4.62181191e-01] [ 7.75342510e-02 2.17544732e-03 9.96987316e-01 -1.09621381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.836296757 meters Centerline goodness [0,1] 0.8257287861328364 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.46, Z:-1.10 [[ 9.94622861e-01 6.83852901e-02 -7.77741312e-02 3.51613526e+00] [-6.83482197e-02 9.97656580e-01 3.14156839e-03 -4.62507947e-01] [ 7.78067108e-02 2.19104767e-03 9.96966055e-01 -1.09677206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.866296757 meters Centerline goodness [0,1] 0.826778222145889 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.46, Z:-1.10 [[ 9.94647760e-01 6.76968812e-02 -7.80574547e-02 3.51809143e+00] [-6.76517491e-02 9.97703782e-01 3.22549270e-03 -4.64432141e-01] [ 7.80965736e-02 2.07249425e-03 9.96943644e-01 -1.09802364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.896296757 meters Centerline goodness [0,1] 0.8254603880855271 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.47, Z:-1.10 [[ 9.94644613e-01 6.74502504e-02 -7.83106496e-02 3.51894410e+00] [-6.73762616e-02 9.97721180e-01 3.58964912e-03 -4.66394446e-01] [ 7.83743164e-02 1.70585365e-03 9.96922543e-01 -1.09816465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.926296757 meters Centerline goodness [0,1] 0.826485948768963 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.47, Z:-1.10 [[ 9.94908116e-01 6.35504423e-02 -7.82251980e-02 3.51851225e+00] [-6.37246926e-02 9.97967480e-01 2.69233683e-04 -4.69044246e-01] [ 7.80833136e-02 4.71701392e-03 9.96935678e-01 -1.09858981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.956296757 meters Centerline goodness [0,1] 0.8265032078380663 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.47, Z:-1.10 [[ 9.94915234e-01 6.33745374e-02 -7.82773596e-02 3.51879291e+00] [-6.35026922e-02 9.97981302e-01 8.53471678e-04 -4.71376899e-01] [ 7.81734296e-02 4.12169109e-03 9.96931255e-01 -1.09836662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.986296757 meters Centerline goodness [0,1] 0.826651355534475 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.47, Z:-1.10 [[ 9.94916476e-01 6.33492822e-02 -7.82820148e-02 3.51874854e+00] [-6.34301709e-02 9.97985218e-01 1.45531601e-03 -4.73136060e-01] [ 7.82164868e-02 3.51752370e-03 9.96930192e-01 -1.09792257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.016296757 meters Centerline goodness [0,1] 0.8260391686650679 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94934818e-01 6.33940507e-02 -7.80121908e-02 3.51813913e+00] [-6.34108235e-02 9.97984939e-01 2.26466678e-03 -4.75053048e-01] [ 7.79985579e-02 2.69362143e-03 9.96949833e-01 -1.09727534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04629675700001 meters Centerline goodness [0,1] 0.8235397123202002 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94918161e-01 6.35088868e-02 -7.81311325e-02 3.51817065e+00] [-6.34957167e-02 9.97978578e-01 2.65536698e-03 -4.75755278e-01] [ 7.81418359e-02 2.31911943e-03 9.96939554e-01 -1.09685382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07629675700001 meters Centerline goodness [0,1] 0.8235397123202002 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94918161e-01 6.35088868e-02 -7.81311325e-02 3.51817065e+00] [-6.34957167e-02 9.97978578e-01 2.65536698e-03 -4.75755278e-01] [ 7.81418359e-02 2.31911943e-03 9.96939554e-01 -1.09685382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10629675700001 meters Centerline goodness [0,1] 0.8226658984443498 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94894036e-01 6.41432232e-02 -7.79198600e-02 3.51737313e+00] [-6.40748525e-02 9.97939372e-01 3.37987337e-03 -4.77074812e-01] [ 7.79760921e-02 1.63008768e-03 9.96953897e-01 -1.09633846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13629675700001 meters Centerline goodness [0,1] 0.8247515808491418 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94870432e-01 6.46517133e-02 -7.78008986e-02 3.51678034e+00] [-6.45555501e-02 9.97907057e-01 3.75307873e-03 -4.77503156e-01] [ 7.78807088e-02 1.28865276e-03 9.96961852e-01 -1.09599459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16629675700001 meters Centerline goodness [0,1] 0.8232726177931657 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94847348e-01 6.50486983e-02 -7.77651708e-02 3.51663543e+00] [-6.49425589e-02 9.97881399e-01 3.89575044e-03 -4.77651049e-01] [ 7.78538310e-02 1.17459219e-03 9.96964092e-01 -1.09610115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19629675700001 meters Centerline goodness [0,1] 0.8235279378601854 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94558943e-01 6.94856847e-02 -7.76160378e-02 3.51736380e+00] [-6.90735466e-02 9.97579611e-01 7.98531879e-03 -4.78339546e-01] [ 7.79830421e-02 -2.58065521e-03 9.96951346e-01 -1.09665472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.226296757 meters Centerline goodness [0,1] 0.8257782906454607 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 9.94526032e-01 7.01099321e-02 -7.74762508e-02 3.51712823e+00] [-6.97122859e-02 9.97536421e-01 7.82856311e-03 -4.76559582e-01] [ 7.78342420e-02 -2.38466326e-03 9.96963462e-01 -1.09708639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.256296757 meters Centerline goodness [0,1] 0.8278145695364238 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 0.99419088 0.07498942 -0.07720809 3.51725147] [-0.07428384 0.99716524 0.01197452 -0.47675344] [ 0.07788719 -0.00616964 0.99694309 -1.0974344 ] [ 0. 0. 0. 1. ]] SLAMing on 115.286296757 meters Centerline goodness [0,1] 0.8289688417986893 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 0.99416068 0.0753958 -0.07720112 3.51735358] [-0.07470974 0.9971362 0.01174072 -0.47592221] [ 0.07786524 -0.00590449 0.99694641 -1.09795973] [ 0. 0. 0. 1. ]] SLAMing on 115.316296757 meters Centerline goodness [0,1] 0.8250501002004008 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 0.99413097 0.07579953 -0.07718843 3.51752861] [-0.07513287 0.99710712 0.01150868 -0.47500032] [ 0.07783748 -0.00564175 0.9969501 -1.09860829] [ 0. 0. 0. 1. ]] SLAMing on 115.346296757 meters Centerline goodness [0,1] 0.8233384119689288 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 0.99381779 0.079666 -0.07732745 3.51961195] [-0.07872603 0.99678141 0.01513378 -0.47570595] [ 0.07828422 -0.00895254 0.99689088 -1.100035 ] [ 0. 0. 0. 1. ]] SLAMing on 115.376296757 meters Centerline goodness [0,1] 0.8192936478222888 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.48, Z:-1.10 [[ 0.99380105 0.07990377 -0.07729718 3.51964786] [-0.0789608 0.99676207 0.01518447 -0.47557225] [ 0.07826019 -0.0089869 0.99689246 -1.1002713 ] [ 0. 0. 0. 1. ]] SLAMing on 115.406296757 meters Centerline goodness [0,1] 0.8158026672014439 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.94054267e-01 8.17550866e-02 -7.19181432e-02 3.53091847e+00] [-8.14734995e-02 9.96652002e-01 6.84515571e-03 -4.75699807e-01] [ 7.22369877e-02 -9.45033441e-04 9.97387049e-01 -1.10327971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43629675700001 meters Centerline goodness [0,1] 0.8125031471876731 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.94019386e-01 8.20410396e-02 -7.20744570e-02 3.53074448e+00] [-8.17121904e-02 9.96627715e-01 7.50435663e-03 -4.77356045e-01] [ 7.24470666e-02 -1.57011422e-03 9.97371023e-01 -1.10252538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46629675700001 meters Centerline goodness [0,1] 0.8264464899858386 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.93990105e-01 8.23161799e-02 -7.21645154e-02 3.53061175e+00] [-8.19279655e-02 9.96603456e-01 8.32822481e-03 -4.79504616e-01] [ 7.26049531e-02 -2.36588112e-03 9.97357972e-01 -1.10180312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49629675700001 meters Centerline goodness [0,1] 0.8174396562618476 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.93979385e-01 8.21838330e-02 -7.24624045e-02 3.53144008e+00] [-8.17871892e-02 9.96614171e-01 8.42909511e-03 -4.79919149e-01] [ 7.29097946e-02 -2.45185038e-03 9.97335525e-01 -1.10190207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52629675700001 meters Centerline goodness [0,1] 0.8250329648037327 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.93960680e-01 8.22438366e-02 -7.26506636e-02 3.53182515e+00] [-8.18102418e-02 9.96607926e-01 8.92897326e-03 -4.81220087e-01] [ 7.31385801e-02 -2.93147997e-03 9.97317479e-01 -1.10161176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55629675700001 meters Centerline goodness [0,1] 0.8228680203045685 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.93951979e-01 8.20873901e-02 -7.29460395e-02 3.53250488e+00] [-8.16389047e-02 9.96620304e-01 9.11370643e-03 -4.82130455e-01] [ 7.34476244e-02 -3.10335177e-03 9.97294247e-01 -1.10152559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.586296757 meters Centerline goodness [0,1] 0.8335449466734383 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.48, Z:-1.10 [[ 9.93941332e-01 8.19251023e-02 -7.32728214e-02 3.53326634e+00] [-8.14566467e-02 9.96632897e-01 9.36396375e-03 -4.83355444e-01] [ 7.37932479e-02 -3.33867227e-03 9.97267973e-01 -1.10143672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.616296757 meters Centerline goodness [0,1] 0.8324794167877444 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 0.99393316 0.08142208 -0.07394127 3.53504287] [-0.08093331 0.99667341 0.00958751 -0.48595042] [ 0.07447593 -0.00354503 0.99721651 -1.10156157] [ 0. 0. 0. 1. ]] SLAMing on 115.646296757 meters Centerline goodness [0,1] 0.8332185051927836 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93933859e-01 8.11330471e-02 -7.42489876e-02 3.53609651e+00] [-8.06478200e-02 9.96697242e-01 9.51508327e-03 -4.86608806e-01] [ 7.47757489e-02 -3.46934445e-03 9.97194340e-01 -1.10194938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.676296757 meters Centerline goodness [0,1] 0.8307472437729686 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93932620e-01 8.09580930e-02 -7.44562580e-02 3.53699531e+00] [-8.04704320e-02 9.96711424e-01 9.53135244e-03 -4.87148493e-01] [ 7.49830431e-02 -3.48199485e-03 9.97178730e-01 -1.10242587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.706296757 meters Centerline goodness [0,1] 0.8333375831909631 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93933629e-01 8.06631754e-02 -7.47622385e-02 3.53803767e+00] [-8.01861726e-02 9.96735910e-01 9.36502179e-03 -4.87203872e-01] [ 7.52736202e-02 -3.31331234e-03 9.97157412e-01 -1.10282038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.736296757 meters Centerline goodness [0,1] 0.8331078148535832 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93924166e-01 8.05822360e-02 -7.49750274e-02 3.53858038e+00] [-8.01009930e-02 9.96742348e-01 9.40865906e-03 -4.87709758e-01] [ 7.54889556e-02 -3.34591947e-03 9.97141024e-01 -1.10286267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.766296757 meters Centerline goodness [0,1] 0.7986256577938997 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93903088e-01 8.06980457e-02 -7.51297336e-02 3.53915667e+00] [-8.02157227e-02 9.96733010e-01 9.42039178e-03 -4.88643600e-01] [ 7.56444927e-02 -3.33637061e-03 9.97129269e-01 -1.10331870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79629675700001 meters Centerline goodness [0,1] 0.8238716097262266 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93900908e-01 8.06271369e-02 -7.52346330e-02 3.53996530e+00] [-8.01765069e-02 9.96740088e-01 8.99581061e-03 -4.87965875e-01] [ 7.57146812e-02 -2.90889425e-03 9.97125281e-01 -1.10421200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82629675700001 meters Centerline goodness [0,1] 0.8170775368248773 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 9.93860658e-01 8.12920632e-02 -7.50506009e-02 3.54003535e+00] [-8.08595977e-02 9.96686759e-01 8.78807116e-03 -4.85891394e-01] [ 7.55163406e-02 -2.66555679e-03 9.97141002e-01 -1.10518307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85629675700001 meters Centerline goodness [0,1] 0.7514719000892061 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.48, Z:-1.11 [[ 9.93849330e-01 8.12428937e-02 -7.52535763e-02 3.54069333e+00] [-8.08373379e-02 9.96691703e-01 8.42463575e-03 -4.84591190e-01] [ 7.56890569e-02 -2.28951982e-03 9.97128841e-01 -1.10557927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88629675700001 meters Centerline goodness [0,1] 0.7983957767413254 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.48, Z:-1.10 [[ 9.93800121e-01 8.19754111e-02 -7.51089243e-02 3.53975258e+00] [-8.15412080e-02 9.96630815e-01 8.83461379e-03 -4.84661734e-01] [ 7.55800896e-02 -2.65536784e-03 9.97136199e-01 -1.10494134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91629675700001 meters Centerline goodness [0,1] 0.7912400892925872 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93776645e-01 8.21507102e-02 -7.52279313e-02 3.53980499e+00] [-8.16996422e-02 9.96615824e-01 9.05915536e-03 -4.85489583e-01] [ 7.57175628e-02 -2.85668195e-03 9.97125213e-01 -1.10470669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94629675700001 meters Centerline goodness [0,1] 0.7892251225584559 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.10 [[ 9.93753717e-01 8.22064377e-02 -7.54695340e-02 3.54028397e+00] [-8.17363892e-02 9.96610580e-01 9.30130142e-03 -4.86424724e-01] [ 7.59783629e-02 -3.07459566e-03 9.97104726e-01 -1.10459386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.976296757 meters Centerline goodness [0,1] 0.782730593137507 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 9.93742591e-01 8.20797491e-02 -7.57534016e-02 3.54139803e+00] [-8.15924237e-02 9.96620398e-01 9.51093510e-03 -4.87603818e-01] [ 7.62780405e-02 -3.27051764e-03 9.97081222e-01 -1.10505977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.006296757 meters Centerline goodness [0,1] 0.7804670803615109 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 9.93736845e-01 8.19495172e-02 -7.59694686e-02 3.54217784e+00] [-8.14596704e-02 9.96631079e-01 9.52961716e-03 -4.87892555e-01] [ 7.64944810e-02 -3.28148381e-03 9.97064605e-01 -1.10537200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.036296757 meters Centerline goodness [0,1] 0.8054006608839323 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 9.93738085e-01 8.17278864e-02 -7.61916668e-02 3.54310176e+00] [-8.12274682e-02 9.96648882e-01 9.64905859e-03 -4.88527677e-01] [ 7.67249367e-02 -3.39978081e-03 9.97046501e-01 -1.10568788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.066296757 meters Centerline goodness [0,1] 0.805560584507953 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 9.93731703e-01 8.16270249e-02 -7.63827963e-02 3.54378895e+00] [-8.11186229e-02 9.96656860e-01 9.74024278e-03 -4.89020696e-01] [ 7.69225049e-02 -3.48312079e-03 9.97030991e-01 -1.10590849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.096296757 meters Centerline goodness [0,1] 0.8036940134186462 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 0.99372413 0.08182102 -0.07627367 3.54367188] [-0.08128594 0.99663966 0.01009882 -0.49085584] [ 0.07684366 -0.00383546 0.99703578 -1.10599465] [ 0. 0. 0. 1. ]] SLAMing on 116.126296757 meters Centerline goodness [0,1] 0.7893469989906049 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 0.99371988 0.08158438 -0.07658189 3.54457187] [-0.08105649 0.99665953 0.00998149 -0.49168094] [ 0.0771404 -0.00371134 0.99701333 -1.10629382] [ 0. 0. 0. 1. ]] SLAMing on 116.156296757 meters Centerline goodness [0,1] 0.7985379432347356 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.49, Z:-1.11 [[ 0.99370782 0.08170475 -0.07661001 3.54436689] [-0.08115796 0.99664876 0.01022903 -0.49233628] [ 0.07718903 -0.00394715 0.99700866 -1.10590355] [ 0. 0. 0. 1. ]] SLAMing on 116.18629675700001 meters Centerline goodness [0,1] 0.7991226704044022 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.11 [[ 9.94745264e-01 8.09986294e-02 -6.26185410e-02 3.54618710e+00] [-8.06465795e-02 9.96709574e-01 8.13347601e-03 -4.90900643e-01] [ 6.30712998e-02 -3.04076559e-03 9.98004391e-01 -1.11174344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21629675700001 meters Centerline goodness [0,1] 0.8024845366183273 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.11 [[ 9.94732428e-01 8.10604057e-02 -6.27423903e-02 3.54608043e+00] [-8.06963725e-02 9.96704016e-01 8.31867053e-03 -4.90885724e-01] [ 6.32099072e-02 -3.21176804e-03 9.97995086e-01 -1.11109627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24629675700001 meters Centerline goodness [0,1] 0.7981493995945314 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95531677e-01 8.06498633e-02 -4.91149660e-02 3.54744397e+00] [-8.05418742e-02 9.96742474e-01 4.17708131e-03 -4.89429650e-01] [ 4.92918537e-02 -2.02605345e-04 9.98784397e-01 -1.11621516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27629675700001 meters Centerline goodness [0,1] 0.7948918425853532 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95515696e-01 8.08704438e-02 -4.90761779e-02 3.54722881e+00] [-8.07564237e-02 9.96724569e-01 4.30496041e-03 -4.89483897e-01] [ 4.92635764e-02 -3.22439042e-04 9.98785761e-01 -1.11608333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30629675700001 meters Centerline goodness [0,1] 0.8028436265335829 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95514102e-01 8.08051851e-02 -4.92157896e-02 3.54777005e+00] [-8.06983513e-02 9.96729900e-01 4.15714678e-03 -4.88993409e-01] [ 4.93907681e-02 -1.66865164e-04 9.98779517e-01 -1.11635605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.336296757 meters Centerline goodness [0,1] 0.7966340508806262 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95518320e-01 8.06192083e-02 -4.94349769e-02 3.54917295e+00] [-8.05392559e-02 9.96744899e-01 3.61039516e-03 -4.87448054e-01] [ 4.95651282e-02 3.87241730e-04 9.98770819e-01 -1.11778008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.366296757 meters Centerline goodness [0,1] 0.8041961696234944 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95537588e-01 8.01574825e-02 -4.97964661e-02 3.55062558e+00] [-8.01018063e-02 9.96781817e-01 3.11592476e-03 -4.86407558e-01] [ 4.98859767e-02 8.86766659e-04 9.98754526e-01 -1.11857996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.396296757 meters Centerline goodness [0,1] 0.7824187895590312 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95579364e-01 7.92911001e-02 -5.03453160e-02 3.55295277e+00] [-7.92660230e-02 9.96850370e-01 2.49766302e-03 -4.86402483e-01] [ 5.03847893e-02 1.50405121e-03 9.98728747e-01 -1.11996271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.426296757 meters Centerline goodness [0,1] 0.8073303096243085 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.49, Z:-1.12 [[ 9.95590808e-01 7.88852967e-02 -5.07548263e-02 3.55425433e+00] [-7.88676375e-02 9.96882318e-01 2.35371753e-03 -4.86772805e-01] [ 5.07822626e-02 1.65957371e-03 9.98708370e-01 -1.12042084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.456296757 meters Centerline goodness [0,1] 0.8094715096362542 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.49, Z:-1.12 [[ 9.95600094e-01 7.85750096e-02 -5.10531217e-02 3.55522417e+00] [-7.85658526e-02 9.96906522e-01 2.18927576e-03 -4.86753826e-01] [ 5.10672123e-02 1.83138888e-03 9.98693540e-01 -1.12077848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.486296757 meters Centerline goodness [0,1] 0.8075964484137287 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.49, Z:-1.12 [[ 9.95619440e-01 7.83298118e-02 -5.10526405e-02 3.55571836e+00] [-7.83390051e-02 9.96925109e-01 1.82399626e-03 -4.86251634e-01] [ 5.10385325e-02 2.18340693e-03 9.98694298e-01 -1.12140345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.516296757 meters Centerline goodness [0,1] 0.8037969759058018 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.49, Z:-1.12 [[ 9.95619606e-01 7.83618212e-02 -5.10002405e-02 3.55552961e+00] [-7.83761575e-02 9.96922371e-01 1.72182509e-03 -4.85085667e-01] [ 5.09782060e-02 2.28292007e-03 9.98697157e-01 -1.12113491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54629675700001 meters Centerline goodness [0,1] 0.7984659734376609 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.48, Z:-1.12 [[ 9.95593829e-01 7.87795638e-02 -5.08596847e-02 3.55488478e+00] [-7.87996938e-02 9.96889166e-01 1.61237114e-03 -4.82534174e-01] [ 5.08284905e-02 2.40246082e-03 9.98704507e-01 -1.12065429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57629675700001 meters Centerline goodness [0,1] 0.7966567378800329 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.48, Z:-1.12 [[ 9.95588102e-01 7.88645548e-02 -5.08400683e-02 3.55478575e+00] [-7.88975852e-02 9.96881799e-01 1.35999465e-03 -4.81182004e-01] [ 5.07887941e-02 2.65716412e-03 9.98705882e-01 -1.12060747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60629675700001 meters Centerline goodness [0,1] 0.8024618540838568 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.48, Z:-1.12 [[ 9.95582297e-01 7.89627337e-02 -5.08013409e-02 3.55468735e+00] [-7.90064609e-02 9.96873441e-01 1.14993318e-03 -4.80121411e-01] [ 5.07333093e-02 2.86878103e-03 9.98708116e-01 -1.12061256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63629675700001 meters Centerline goodness [0,1] 0.7971326164874553 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.48, Z:-1.12 [[ 9.95570744e-01 7.91204018e-02 -5.07824441e-02 3.55446734e+00] [-7.91638571e-02 9.96860944e-01 1.15824203e-03 -4.79637085e-01] [ 5.07146758e-02 2.86702227e-03 9.98709068e-01 -1.12032515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66629675700001 meters Centerline goodness [0,1] 0.8037887661048022 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.48, Z:-1.12 [[ 9.95555860e-01 7.93009170e-02 -5.07926541e-02 3.55427706e+00] [-7.93491687e-02 9.96846310e-01 1.06898460e-03 -4.78364842e-01] [ 5.07172413e-02 2.96612100e-03 9.98708648e-01 -1.11992591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69629675700001 meters Centerline goodness [0,1] 0.801975672312654 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95542303e-01 7.93566760e-02 -5.09709857e-02 3.55517808e+00] [-7.94417984e-02 9.96839442e-01 3.56941263e-04 -4.74821269e-01] [ 5.08382146e-02 3.69387664e-03 9.98700071e-01 -1.12080550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.726296757 meters Centerline goodness [0,1] 0.7918556597117226 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95525666e-01 7.93744625e-02 -5.12673768e-02 3.55616694e+00] [-7.94867295e-02 9.96835913e-01 -1.51451204e-04 -4.72342524e-01] [ 5.10931409e-02 4.22584967e-03 9.98684952e-01 -1.12144104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.756296757 meters Centerline goodness [0,1] 0.7910481614960054 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95516278e-01 7.94307068e-02 -5.13624751e-02 3.55680433e+00] [-7.95736617e-02 9.96828713e-01 -7.41129372e-04 -4.69904067e-01] [ 5.11407215e-02 4.82490657e-03 9.98679802e-01 -1.12225911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.786296757 meters Centerline goodness [0,1] 0.7764738472386612 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95492920e-01 7.96129399e-02 -5.15327575e-02 3.55765412e+00] [-7.97932509e-02 9.96810384e-01 -1.44784063e-03 -4.66889415e-01] [ 5.12531209e-02 5.55328135e-03 9.98670255e-01 -1.12330132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.816296757 meters Centerline goodness [0,1] 0.7710637870920811 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95488718e-01 7.95529040e-02 -5.17063650e-02 3.55808091e+00] [-7.97422055e-02 9.96814227e-01 -1.60520598e-03 -4.66402237e-01] [ 5.14139415e-02 5.72114404e-03 9.98661041e-01 -1.12336125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.846296757 meters Centerline goodness [0,1] 0.7752124539369782 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95511490e-01 7.91356236e-02 -5.19078568e-02 3.55843301e+00] [-7.93221094e-02 9.96847849e-01 -1.53917334e-03 -4.66615978e-01] [ 5.16224320e-02 5.64970544e-03 9.98650692e-01 -1.12262439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.876296757 meters Centerline goodness [0,1] 0.7980351265107164 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95520160e-01 7.88029428e-02 -5.22466027e-02 3.55908131e+00] [-7.89843841e-02 9.96874851e-01 -1.41396474e-03 -4.66847198e-01] [ 5.19718997e-02 5.53429614e-03 9.98633213e-01 -1.12212999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.906296757 meters Centerline goodness [0,1] 0.7931519228838237 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.47, Z:-1.12 [[ 9.95534924e-01 7.85077891e-02 -5.24093737e-02 3.55950368e+00] [-7.86899863e-02 9.96898126e-01 -1.41886263e-03 -4.66461650e-01] [ 5.21354146e-02 5.53662020e-03 9.98624676e-01 -1.12187805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93629675700001 meters Centerline goodness [0,1] 0.7992634901548173 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95572725e-01 7.79278365e-02 -5.25566528e-02 3.56011767e+00] [-7.81201543e-02 9.96942648e-01 -1.61180718e-03 -4.64714925e-01] [ 5.22703639e-02 5.71040509e-03 9.98616643e-01 -1.12148454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96629675700001 meters Centerline goodness [0,1] 0.8033016158437601 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95580387e-01 7.75896237e-02 -5.29107063e-02 3.56091210e+00] [-7.77935921e-02 9.96967856e-01 -1.80329889e-03 -4.63942580e-01] [ 5.26103561e-02 5.91144291e-03 9.98597619e-01 -1.12133209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99629675700001 meters Centerline goodness [0,1] 0.8033016158437601 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95580387e-01 7.75896237e-02 -5.29107063e-02 3.56091210e+00] [-7.77935921e-02 9.96967856e-01 -1.80329889e-03 -4.63942580e-01] [ 5.26103561e-02 5.91144291e-03 9.98597619e-01 -1.12133209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02629675700001 meters Centerline goodness [0,1] 0.8057709195834901 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95597377e-01 7.70971697e-02 -5.33093683e-02 3.56173941e+00] [-7.73053208e-02 9.97005749e-01 -1.85057898e-03 -4.63865550e-01] [ 5.30070723e-02 5.96352940e-03 9.98576330e-01 -1.12078626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05629675700001 meters Centerline goodness [0,1] 0.8112118093038435 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95598568e-01 7.69094590e-02 -5.35576912e-02 3.56228635e+00] [-7.71198218e-02 9.97020080e-01 -1.86918445e-03 -4.63618772e-01] [ 5.32543356e-02 5.99131696e-03 9.98563007e-01 -1.12059662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.086296757 meters Centerline goodness [0,1] 0.8133410178665397 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95615319e-01 7.64804095e-02 -5.38598432e-02 3.56324477e+00] [-7.67165710e-02 9.97050224e-01 -2.32796623e-03 -4.62339106e-01] [ 5.35229249e-02 6.44970132e-03 9.98545792e-01 -1.12088051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.116296757 meters Centerline goodness [0,1] 0.8138555117913946 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.46, Z:-1.12 [[ 9.95632682e-01 7.60506003e-02 -5.41467308e-02 3.56442636e+00] [-7.63291242e-02 9.97077884e-01 -3.09158117e-03 -4.58391734e-01] [ 5.37533912e-02 7.21105179e-03 9.98528204e-01 -1.12134421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.146296757 meters Centerline goodness [0,1] 0.8139107089589341 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.46, Z:-1.12 [[ 0.99563789 0.0757459 -0.05447707 3.56532188] [-0.07605387 0.99709721 -0.00359946 -0.45671372] [ 0.05404629 0.00772695 0.99850853 -1.12162747] [ 0. 0. 0. 1. ]] SLAMing on 117.176296757 meters Centerline goodness [0,1] 0.8182965143606362 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.46, Z:-1.12 [[ 0.99564004 0.07541652 -0.05489322 3.56618146] [-0.07574979 0.99711878 -0.00401322 -0.45516308] [ 0.0544324 0.00815387 0.99848417 -1.12141391] [ 0. 0. 0. 1. ]] SLAMing on 117.206296757 meters Centerline goodness [0,1] 0.8171288864742055 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99564347 0.07515625 -0.05518719 3.56691678] [-0.07551022 0.99713552 -0.00435404 -0.45413875] [ 0.05470188 0.00850226 0.99846653 -1.12149355] [ 0. 0. 0. 1. ]] SLAMing on 117.236296757 meters Centerline goodness [0,1] 0.8168098673034787 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99566687 0.07451915 -0.05562709 3.56859783] [-0.07494177 0.99717248 -0.0055476 -0.45047936] [ 0.0550564 0.00969235 0.9984362 -1.12255222] [ 0. 0. 0. 1. ]] SLAMing on 117.266296757 meters Centerline goodness [0,1] 0.8146189046892683 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99566691 0.07406803 -0.05622567 3.57013224] [-0.07452159 0.99720129 -0.00601056 -0.44926579] [ 0.05562312 0.01017454 0.99839999 -1.1228553 ] [ 0. 0. 0. 1. ]] SLAMing on 117.29629675700001 meters Centerline goodness [0,1] 0.8157700447900773 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99568051 0.07337316 -0.05689199 3.57215809] [-0.07387542 0.99724448 -0.00677322 -0.44794726] [ 0.05623825 0.01094688 0.99835736 -1.12367144] [ 0. 0. 0. 1. ]] SLAMing on 117.32629675700001 meters Centerline goodness [0,1] 0.8152379084646876 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99568139 0.07310279 -0.05722365 3.57323386] [-0.07362857 0.99726023 -0.0071315 -0.44708822] [ 0.05654554 0.011314 0.99833591 -1.12411251] [ 0. 0. 0. 1. ]] SLAMing on 117.35629675700001 meters Centerline goodness [0,1] 0.8133509648349495 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99566798 0.07313704 -0.05741297 3.57364903] [-0.07367588 0.99725535 -0.00732269 -0.445307 ] [ 0.05671983 0.01152092 0.99832366 -1.12400534] [ 0. 0. 0. 1. ]] SLAMing on 117.38629675700001 meters Centerline goodness [0,1] 0.8144471407211314 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.44, Z:-1.12 [[ 0.99565758 0.07311743 -0.05761793 3.57400775] [-0.07365005 0.99725835 -0.00717248 -0.44494997] [ 0.05693553 0.0113849 0.99831294 -1.12362709] [ 0. 0. 0. 1. ]] SLAMing on 117.41629675700001 meters Centerline goodness [0,1] 0.816295459568303 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.45, Z:-1.12 [[ 0.99564871 0.0729782 -0.05794672 3.5745678 ] [-0.07350211 0.99727078 -0.00695908 -0.44517736] [ 0.05728071 0.011188 0.99829542 -1.12316559] [ 0. 0. 0. 1. ]] SLAMing on 117.44629675700001 meters Centerline goodness [0,1] 0.817331073612851 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.99567313 0.07215043 -0.05856049 3.57602773] [-0.07264353 0.99733786 -0.00633276 -0.44717266] [ 0.05794768 0.0105594 0.99826378 -1.12213657] [ 0. 0. 0. 1. ]] SLAMing on 117.476296757 meters Centerline goodness [0,1] 0.8203377295698262 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.9956739 0.07173838 -0.05905159 3.57727357] [-0.07222592 0.99736927 -0.00616086 -0.44837527] [ 0.05845427 0.01039926 0.99823592 -1.12215865] [ 0. 0. 0. 1. ]] SLAMing on 117.506296757 meters Centerline goodness [0,1] 0.8215037780255172 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.99573683 0.07050659 -0.05947253 3.5790044 ] [-0.07099127 0.99745844 -0.00607385 -0.45036201] [ 0.05889314 0.01026998 0.99821146 -1.12219078] [ 0. 0. 0. 1. ]] SLAMing on 117.536296757 meters Centerline goodness [0,1] 0.8230566992410338 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.99574219 0.07003581 -0.05993724 3.58024529] [-0.07051271 0.99749357 -0.0058763 -0.4514049 ] [ 0.05937546 0.01007761 0.99818485 -1.12215223] [ 0. 0. 0. 1. ]] SLAMing on 117.566296757 meters Centerline goodness [0,1] 0.8248086592524707 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.99575083 0.06945233 -0.06047034 3.5816869 ] [-0.0699249 0.99753579 -0.0057316 -0.45249023] [ 0.05992325 0.00993563 0.99815354 -1.12215334] [ 0. 0. 0. 1. ]] SLAMing on 117.596296757 meters Centerline goodness [0,1] 0.8285458924005065 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.99602273 0.06477787 -0.06117641 3.58305177] [-0.06549546 0.99780478 -0.00979613 -0.45267736] [ 0.06040754 0.01376394 0.9980789 -1.12258788] [ 0. 0. 0. 1. ]] SLAMing on 117.626296757 meters Centerline goodness [0,1] 0.829262827694376 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.45, Z:-1.12 [[ 0.99601767 0.0644047 -0.06165089 3.58410244] [-0.065107 0.99783355 -0.00944921 -0.45435179] [ 0.06090875 0.01342548 0.99805304 -1.122328 ] [ 0. 0. 0. 1. ]] SLAMing on 117.656296757 meters Centerline goodness [0,1] 0.8286062293370454 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.46, Z:-1.12 [[ 0.996024 0.06396625 -0.06200416 3.58485096] [-0.06462723 0.99787145 -0.00871196 -0.45723723] [ 0.06131491 0.01268448 0.99803787 -1.12157798] [ 0. 0. 0. 1. ]] SLAMing on 117.68629675700001 meters Centerline goodness [0,1] 0.8301727141506147 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.46, Z:-1.12 [[ 0.99600901 0.06405767 -0.06215042 3.5849911 ] [-0.06469645 0.99787032 -0.00831849 -0.45843421] [ 0.06148519 0.0123062 0.99803213 -1.12123238] [ 0. 0. 0. 1. ]] SLAMing on 117.71629675700001 meters Centerline goodness [0,1] 0.8314441958737261 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.46, Z:-1.12 [[ 0.99598306 0.06436608 -0.06224753 3.58487251] [-0.06497837 0.99785571 -0.00786049 -0.45891161] [ 0.0616081 0.01187366 0.99802979 -1.1206394 ] [ 0. 0. 0. 1. ]] SLAMing on 117.74629675700001 meters Centerline goodness [0,1] 0.8284945968826254 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.46, Z:-1.12 [[ 0.9959579 0.06467752 -0.06232721 3.58478642] [-0.06528465 0.99783657 -0.00775208 -0.45814643] [ 0.06169098 0.01178976 0.99802566 -1.12034067] [ 0. 0. 0. 1. ]] SLAMing on 117.77629675700001 meters Centerline goodness [0,1] 0.8271887111199443 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95685581e-01 6.86089475e-02 -6.24742915e-02 3.58566001e+00] [-6.89524646e-02 9.97614299e-01 -3.35670319e-03 -4.59657565e-01] [ 6.20949467e-02 7.64997734e-03 9.98040929e-01 -1.11972453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80629675700001 meters Centerline goodness [0,1] 0.8288254817456779 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95659076e-01 6.87264228e-02 -6.27669029e-02 3.58634500e+00] [-6.90702505e-02 9.97606267e-01 -3.32200000e-03 -4.59725276e-01] [ 6.23883466e-02 7.64290516e-03 9.98022685e-01 -1.11990052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.836296757 meters Centerline goodness [0,1] 0.8289957286182577 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95628436e-01 6.89585901e-02 -6.29978583e-02 3.58728702e+00] [-6.93145263e-02 9.97588788e-01 -3.47943687e-03 -4.59583772e-01] [ 6.26060200e-02 7.83089299e-03 9.98007597e-01 -1.12083872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.866296757 meters Centerline goodness [0,1] 0.8279970215934476 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 0.99560913 0.06906292 -0.06318839 3.58789633] [-0.06943075 0.99758013 -0.00364147 -0.45865095] [ 0.062784 0.0080127 0.99799497 -1.12121133] [ 0. 0. 0. 1. ]] SLAMing on 117.896296757 meters Centerline goodness [0,1] 0.8268395043333582 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 0.99558206 0.06939662 -0.06324931 3.58794847] [-0.06976865 0.99755637 -0.00368984 -0.45747276] [ 0.06283869 0.00808636 0.99799094 -1.12124789] [ 0. 0. 0. 1. ]] SLAMing on 117.926296757 meters Centerline goodness [0,1] 0.8285962301587302 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95279921e-01 7.35475153e-02 -6.33138327e-02 3.58845849e+00] [-7.36595544e-02 9.97283285e-01 5.65944136e-04 -4.57598828e-01] [ 6.31834509e-02 4.10039587e-03 9.97993506e-01 -1.12046894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.956296757 meters Centerline goodness [0,1] 0.8298437112379062 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95247948e-01 7.40484495e-02 -6.32325076e-02 3.58797339e+00] [-7.41556565e-02 9.97246465e-01 6.52979777e-04 -4.57060035e-01] [ 6.31067468e-02 4.03917133e-03 9.97998609e-01 -1.12014368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.986296757 meters Centerline goodness [0,1] 0.8326883960906881 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95221525e-01 7.42513525e-02 -6.34101930e-02 3.58798507e+00] [-7.43435543e-02 9.97232276e-01 9.07422472e-04 -4.57543618e-01] [ 6.33020684e-02 3.81105275e-03 9.97987136e-01 -1.11964978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.016296757 meters Centerline goodness [0,1] 0.8293217174859988 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95191563e-01 7.45007491e-02 -6.35876717e-02 3.58809529e+00] [-7.45760815e-02 9.97214615e-01 1.19124935e-03 -4.58254064e-01] [ 6.34993045e-02 3.55659808e-03 9.97975545e-01 -1.11930968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04629675700001 meters Centerline goodness [0,1] 0.8319168556688183 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95162808e-01 7.49176614e-02 -6.35478602e-02 3.58793295e+00] [-7.49697233e-02 9.97184577e-01 1.56820754e-03 -4.58986360e-01] [ 6.34864326e-02 3.20354368e-03 9.97977560e-01 -1.11921290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07629675700001 meters Centerline goodness [0,1] 0.8276738967838444 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95147398e-01 7.50270059e-02 -6.36600706e-02 3.58831621e+00] [-7.50781170e-02 9.97176384e-01 1.59229610e-03 -4.58928603e-01] [ 6.35997842e-02 3.19490891e-03 9.97970370e-01 -1.11944881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10629675700001 meters Centerline goodness [0,1] 0.8329962294304193 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95116003e-01 7.55304669e-02 -6.35553951e-02 3.58815318e+00] [-7.55569364e-02 9.97139503e-01 1.99031996e-03 -4.59121128e-01] [ 6.35239249e-02 2.82145171e-03 9.97976328e-01 -1.11952182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13629675700001 meters Centerline goodness [0,1] 0.8327678259567886 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95095361e-01 7.56867737e-02 -6.36924974e-02 3.58819905e+00] [-7.56976987e-02 9.97128286e-01 2.24507023e-03 -4.59610949e-01] [ 6.36795129e-02 2.58731651e-03 9.97967046e-01 -1.11919541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16629675700001 meters Centerline goodness [0,1] 0.8318475484549507 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.46, Z:-1.12 [[ 9.95044966e-01 7.59845611e-02 -6.41238080e-02 3.58809056e+00] [-7.59057350e-02 9.97108251e-01 3.66811341e-03 -4.62853312e-01] [ 6.42170981e-02 1.21742699e-03 9.97935209e-01 -1.11711774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19629675700001 meters Centerline goodness [0,1] 0.8334632698740034 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.47, Z:-1.12 [[ 9.95012761e-01 7.61871623e-02 -6.43826164e-02 3.58798531e+00] [-7.60555872e-02 9.97093444e-01 4.49562836e-03 -4.65053829e-01] [ 6.45379940e-02 4.23450112e-04 9.97915161e-01 -1.11597229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.226296757 meters Centerline goodness [0,1] 0.8389363148749717 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.47, Z:-1.12 [[ 9.94997364e-01 7.61822435e-02 -6.46259373e-02 3.58808676e+00] [-7.60094050e-02 9.97093891e-01 5.13248958e-03 -4.67152370e-01] [ 6.48291319e-02 -1.94634560e-04 9.97896360e-01 -1.11515207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.256296757 meters Centerline goodness [0,1] 0.8379476566640588 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.47, Z:-1.12 [[ 9.95066201e-01 7.47796146e-02 -6.52017314e-02 3.59016356e+00] [-7.46034766e-02 9.97200055e-01 5.13541108e-03 -4.70120255e-01] [ 6.54031942e-02 -2.45798150e-04 9.97858889e-01 -1.11539475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.286296757 meters Centerline goodness [0,1] 0.8418662158411345 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.47, Z:-1.12 [[ 9.95071025e-01 7.43167840e-02 -6.56556961e-02 3.59149348e+00] [-7.41304126e-02 9.97234612e-01 5.27362480e-03 -4.71109937e-01] [ 6.58660514e-02 -3.80547394e-04 9.97828401e-01 -1.11552874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.316296757 meters Centerline goodness [0,1] 0.8380029279620375 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.47, Z:-1.12 [[ 9.95128304e-01 7.29866419e-02 -6.62767615e-02 3.59396090e+00] [-7.28086366e-02 9.97332887e-01 5.10047862e-03 -4.72950058e-01] [ 6.64722607e-02 -2.50109995e-04 9.97788242e-01 -1.11620383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.346296757 meters Centerline goodness [0,1] 0.8398049667786676 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.47, Z:-1.12 [[ 9.95129094e-01 7.25631633e-02 -6.67283608e-02 3.59521356e+00] [-7.23730816e-02 9.97363735e-01 5.26475512e-03 -4.74465727e-01] [ 6.69344744e-02 -4.09773888e-04 9.97757289e-01 -1.11628828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.376296757 meters Centerline goodness [0,1] 0.838652616683092 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95133650e-01 7.19174453e-02 -6.73565152e-02 3.59683664e+00] [-7.17268932e-02 9.97410512e-01 5.24627717e-03 -4.76235772e-01] [ 6.75593951e-02 -3.89473377e-04 9.97715178e-01 -1.11640882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.406296757 meters Centerline goodness [0,1] 0.8366284067350963 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95403936e-01 6.77161424e-02 -6.77165253e-02 3.59697561e+00] [-6.77778988e-02 9.97699469e-01 1.38772733e-03 -4.77160089e-01] [ 6.76547129e-02 3.20833456e-03 9.97703637e-01 -1.11641777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43629675700001 meters Centerline goodness [0,1] 0.8369827214370893 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95423282e-01 6.72217292e-02 -6.79244301e-02 3.59770365e+00] [-6.72723259e-02 9.97733455e-01 1.54478584e-03 -4.78496470e-01] [ 6.78743195e-02 3.03171860e-03 9.97689273e-01 -1.11628953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46629675700001 meters Centerline goodness [0,1] 0.8364743183259353 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95408622e-01 6.72272941e-02 -6.81334422e-02 3.59810498e+00] [-6.72736203e-02 9.97733254e-01 1.61690239e-03 -4.78671665e-01] [ 6.80877010e-02 2.97410475e-03 9.97674907e-01 -1.11622001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49629675700001 meters Centerline goodness [0,1] 0.8329019488428746 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95393125e-01 6.74148354e-02 -6.81745244e-02 3.59813542e+00] [-6.74535297e-02 9.97720905e-01 1.73687781e-03 -4.78649333e-01] [ 6.81362396e-02 2.86973607e-03 9.97671899e-01 -1.11618253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52629675700001 meters Centerline goodness [0,1] 0.8306886379818941 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95357592e-01 6.81557188e-02 -6.79563259e-02 3.59740276e+00] [-6.81738427e-02 9.97671341e-01 2.05507667e-03 -4.78634261e-01] [ 6.79381440e-02 2.58730770e-03 9.97686180e-01 -1.11611605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55629675700001 meters Centerline goodness [0,1] 0.8326600096552075 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95336496e-01 6.86681720e-02 -6.77491053e-02 3.59657693e+00] [-6.86658296e-02 9.97636911e-01 2.36603480e-03 -4.78647189e-01] [ 6.77514794e-02 2.29704773e-03 9.97699584e-01 -1.11569837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.586296757 meters Centerline goodness [0,1] 0.8316846828472364 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.95279279e-01 6.99436967e-02 -6.72832515e-02 3.59495190e+00] [-6.99075484e-02 9.97549275e-01 2.89447316e-03 -4.78610793e-01] [ 6.73208090e-02 1.82279800e-03 9.97729716e-01 -1.11541274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.616296757 meters Centerline goodness [0,1] 0.8316826628548091 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95251444e-01 7.02394570e-02 -6.73868015e-02 3.59528398e+00] [-7.01993949e-02 9.97528572e-01 2.96521130e-03 -4.78657173e-01] [ 6.74285348e-02 1.77938186e-03 9.97722520e-01 -1.11574077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.646296757 meters Centerline goodness [0,1] 0.8318631724703831 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95229525e-01 7.05938829e-02 -6.73401561e-02 3.59538859e+00] [-7.05535818e-02 9.97503541e-01 2.97950741e-03 -4.78670819e-01] [ 6.73823791e-02 1.78579547e-03 9.97725627e-01 -1.11626306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.676296757 meters Centerline goodness [0,1] 0.8311366743184339 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.95187562e-01 7.13686345e-02 -6.71433931e-02 3.59524555e+00] [-7.13188305e-02 9.97448623e-01 3.14153268e-03 -4.79181950e-01] [ 6.71962919e-02 1.66217403e-03 9.97738390e-01 -1.11716549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.706296757 meters Centerline goodness [0,1] 0.8281286025361855 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.48, Z:-1.12 [[ 9.94925148e-01 7.45337515e-02 -6.75919413e-02 3.59771870e+00] [-7.42422336e-02 9.97216929e-01 6.81817300e-03 -4.81220377e-01] [ 6.79120122e-02 -1.76539508e-03 9.97689752e-01 -1.11782140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.736296757 meters Centerline goodness [0,1] 0.824134101299171 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.94862146e-01 7.61526236e-02 -6.67089766e-02 3.59458805e+00] [-7.58018955e-02 9.97092571e-01 7.77674675e-03 -4.81546779e-01] [ 6.71072446e-02 -2.68012409e-03 9.97742168e-01 -1.11664226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.766296757 meters Centerline goodness [0,1] 0.822602686744192 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.94843864e-01 7.63775375e-02 -6.67244938e-02 3.59439152e+00] [-7.60240336e-02 9.97075282e-01 7.82488395e-03 -4.81458518e-01] [ 6.71269889e-02 -2.71187262e-03 9.97740754e-01 -1.11639144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79629675700001 meters Centerline goodness [0,1] 0.8097935744218532 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.94815620e-01 7.70540603e-02 -6.63668170e-02 3.59349718e+00] [-7.66969839e-02 9.97023029e-01 7.91532658e-03 -4.81569563e-01] [ 6.67791530e-02 -2.78415583e-03 9.97763897e-01 -1.11661588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82629675700001 meters Centerline goodness [0,1] 0.8071615358724076 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.94816593e-01 7.71462064e-02 -6.62450639e-02 3.59376064e+00] [-7.68077728e-02 9.97016614e-01 7.64438288e-03 -4.81216560e-01] [ 6.66371645e-02 -2.51662312e-03 9.97774100e-01 -1.11745777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85629675700001 meters Centerline goodness [0,1] 0.8002332512634444 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.94809307e-01 7.72417949e-02 -6.62430950e-02 3.59392416e+00] [-7.69116647e-02 9.97009527e-01 7.52328187e-03 -4.80916428e-01] [ 6.66261086e-02 -2.38936412e-03 9.97775151e-01 -1.11775961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88629675700001 meters Centerline goodness [0,1] 0.8002332512634444 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.48, Z:-1.12 [[ 9.94809307e-01 7.72417949e-02 -6.62430950e-02 3.59392416e+00] [-7.69116647e-02 9.97009527e-01 7.52328187e-03 -4.80916428e-01] [ 6.66261086e-02 -2.38936412e-03 9.97775151e-01 -1.11775961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91629675700001 meters Centerline goodness [0,1] 0.7877119520264682 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.48, Z:-1.12 [[ 9.94971839e-01 7.95304240e-02 -6.08765234e-02 3.60614719e+00] [-7.96638828e-02 9.96821755e-01 2.35507223e-04 -4.80638565e-01] [ 6.07017728e-02 4.61533717e-03 9.98145277e-01 -1.12072309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94629675700001 meters Centerline goodness [0,1] 0.7675658801800161 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.48, Z:-1.12 [[ 9.94969555e-01 7.95872956e-02 -6.08395112e-02 3.60604163e+00] [-7.96834254e-02 9.96819859e-01 8.48370464e-04 -4.82835072e-01] [ 6.07135525e-02 4.00379787e-03 9.98147201e-01 -1.12027399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.976296757 meters Centerline goodness [0,1] 0.7655903890756521 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.48, Z:-1.12 [[ 9.94978700e-01 7.93414959e-02 -6.10107618e-02 3.60692485e+00] [-7.94335880e-02 9.96839737e-01 9.18326904e-04 -4.83866628e-01] [ 6.08908132e-02 3.93258801e-03 9.98136686e-01 -1.12072364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.006296757 meters Centerline goodness [0,1] 0.7535032347625659 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.48, Z:-1.12 [[ 9.94982862e-01 7.90774122e-02 -6.12851359e-02 3.60792236e+00] [-7.91634557e-02 9.96861120e-01 1.02661123e-03 -4.84881505e-01] [ 6.11739510e-02 3.83008256e-03 9.98119771e-01 -1.12104980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.036296757 meters Centerline goodness [0,1] 0.6532783440159714 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.48, Z:-1.12 [[ 9.95264872e-01 7.61852584e-02 -6.03625713e-02 3.60765189e+00] [-7.64104311e-02 9.97075428e-01 -1.42752206e-03 -4.84798162e-01] [ 6.00772805e-02 6.03309266e-03 9.98175497e-01 -1.12240953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.066296757 meters Centerline goodness [0,1] 0.7068644179026119 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.49, Z:-1.12 [[ 9.95278467e-01 7.57003085e-02 -6.07473097e-02 3.60886541e+00] [-7.59249551e-02 9.97112559e-01 -1.39503535e-03 -4.85645523e-01] [ 6.04663008e-02 6.00068540e-03 9.98152202e-01 -1.12251503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.096296757 meters Centerline goodness [0,1] 0.5959497793654129 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.49, Z:-1.12 [[ 9.95336489e-01 7.43038795e-02 -6.15159121e-02 3.61200272e+00] [-7.45551594e-02 9.97215273e-01 -1.79639864e-03 -4.87501233e-01] [ 6.12111277e-02 6.37434975e-03 9.98104486e-01 -1.12362590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.126296757 meters Centerline goodness [0,1] 0.5754907886783527 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.49, Z:-1.12 [[ 9.95354301e-01 7.36526034e-02 -6.20089542e-02 3.61410705e+00] [-7.39248656e-02 9.97261592e-01 -2.10486217e-03 -4.88225878e-01] [ 6.16841198e-02 6.67908722e-03 9.98073374e-01 -1.12472219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.156296757 meters Centerline goodness [0,1] 0.553164125042652 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.49, Z:-1.13 [[ 9.95368248e-01 7.31306026e-02 -6.24016470e-02 3.61590706e+00] [-7.34337746e-02 9.97296769e-01 -2.57579500e-03 -4.88051756e-01] [ 6.20445915e-02 7.14625304e-03 9.98047794e-01 -1.12584131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18629675700001 meters Centerline goodness [0,1] 0.5053170539582512 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.49, Z:-1.13 [[ 9.95389065e-01 7.29088529e-02 -6.23290388e-02 3.61691119e+00] [-7.32713144e-02 9.97305739e-01 -3.54646352e-03 -4.85772340e-01] [ 6.19025395e-02 8.09704160e-03 9.98049354e-01 -1.12755480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21629675700001 meters Centerline goodness [0,1] 0.5359200315664869 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.48, Z:-1.13 [[ 0.9953659 0.07330206 -0.06223766 3.61657723] [-0.07368789 0.99727363 -0.00392373 -0.48397428] [ 0.06178036 0.00849171 0.99805364 -1.12759414] [ 0. 0. 0. 1. ]] SLAMing on 119.24629675700001 meters Centerline goodness [0,1] 0.4276970763613439 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.48, Z:-1.14 [[ 0.99621629 0.07127604 -0.04972756 3.61954827] [-0.07192727 0.99734439 -0.01142953 -0.48005011] [ 0.04878085 0.01496305 0.99869742 -1.13590918] [ 0. 0. 0. 1. ]] SLAMing on 119.27629675700001 meters Centerline goodness [0,1] 0.4106585538566445 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.48, Z:-1.14 [[ 0.99619681 0.07139914 -0.04994078 3.61969258] [-0.0720548 0.99733493 -0.01145166 -0.4801417 ] [ 0.04899004 0.01500658 0.99868653 -1.13561062] [ 0. 0. 0. 1. ]] SLAMing on 119.30629675700001 meters Centerline goodness [0,1] 0.3781929990539262 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.48, Z:-1.14 [[ 0.99615187 0.07198853 -0.04999113 3.61921706] [-0.07263789 0.99729443 -0.0112943 -0.48060867] [ 0.04904282 0.01488209 0.9986858 -1.13501738] [ 0. 0. 0. 1. ]] SLAMing on 119.33629675700001 meters Centerline goodness [0,1] 0.4878259503612944 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.48, Z:-1.14 [[ 0.99615844 0.07178303 -0.05015533 3.6203108 ] [-0.07245465 0.99730307 -0.01170119 -0.48007407] [ 0.04918012 0.01529023 0.99867288 -1.13598059] [ 0. 0. 0. 1. ]] SLAMing on 119.366296757 meters Centerline goodness [0,1] 0.3503021850302185 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.48, Z:-1.14 [[ 0.9961656 0.07144327 -0.05049707 3.62276714] [-0.07216466 0.99731305 -0.01260759 -0.47832651] [ 0.04946066 0.01620335 0.99864463 -1.13794648] [ 0. 0. 0. 1. ]] SLAMing on 119.396296757 meters Centerline goodness [0,1] 0.4124961621123734 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.48, Z:-1.14 [[ 0.99619061 0.07084851 -0.05084043 3.62572183] [-0.0716243 0.99733895 -0.01360094 -0.47651069] [ 0.04974154 0.01719054 0.99861417 -1.14010245] [ 0. 0. 0. 1. ]] SLAMing on 119.426296757 meters Centerline goodness [0,1] 0.38998883135343687 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.48, Z:-1.14 [[ 0.99622206 0.07026922 -0.05102794 3.6273957 ] [-0.0710841 0.99736736 -0.01433163 -0.47529025] [ 0.04988653 0.01790476 0.99859439 -1.14146526] [ 0. 0. 0. 1. ]] SLAMing on 119.456296757 meters Centerline goodness [0,1] 0.3825260870663736 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.47, Z:-1.14 [[ 0.99623562 0.06987962 -0.05129746 3.62887805] [-0.07071992 0.99738714 -0.01475051 -0.47468412] [ 0.05013267 0.01832273 0.99857448 -1.1422836 ] [ 0. 0. 0. 1. ]] SLAMing on 119.486296757 meters Centerline goodness [0,1] 0.34455455405607294 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.47, Z:-1.14 [[ 0.99629119 0.06876129 -0.05172769 3.63193798] [-0.06966125 0.99744559 -0.0157989 -0.4740778 ] [ 0.0505092 0.01934372 0.99853625 -1.14379003] [ 0. 0. 0. 1. ]] SLAMing on 119.516296757 meters Centerline goodness [0,1] 0.3073401270122582 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.47, Z:-1.14 [[ 0.99659836 0.06439791 -0.05142585 3.6333003 ] [-0.06550418 0.99764938 -0.02012277 -0.47102866] [ 0.05000911 0.02342293 0.99847406 -1.14484092] [ 0. 0. 0. 1. ]] SLAMing on 119.54629675700001 meters Centerline goodness [0,1] 0.27329602385200025 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.47, Z:-1.14 [[ 0.99662961 0.06387094 -0.05147745 3.63433659] [-0.06498516 0.99768038 -0.02026802 -0.47107547] [ 0.05006351 0.02354498 0.99846847 -1.14493624] [ 0. 0. 0. 1. ]] SLAMing on 119.57629675700001 meters Centerline goodness [0,1] 0.24963036575611408 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.47, Z:-1.14 [[ 0.99666454 0.0633332 -0.05146546 3.63527077] [-0.06445065 0.99771339 -0.02034958 -0.47114322] [ 0.05005898 0.02359869 0.99846743 -1.14484297] [ 0. 0. 0. 1. ]] SLAMing on 119.60629675700001 meters Centerline goodness [0,1] 0.20678579076352044 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.47, Z:-1.14 [[ 0.9970097 0.05964846 -0.04912967 3.64798099] [-0.06052664 0.99802881 -0.01658389 -0.47213385] [ 0.04804363 0.01950796 0.99865472 -1.14412667] [ 0. 0. 0. 1. ]] SLAMing on 119.63629675700001 meters Centerline goodness [0,1] 0.20170373876005676 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.47, Z:-1.15 [[ 0.99705609 0.05858412 -0.04946771 3.65041448] [-0.05949821 0.99808002 -0.01721155 -0.47165037] [ 0.04836441 0.02010412 0.99862741 -1.14511443] [ 0. 0. 0. 1. ]] SLAMing on 119.66629675700001 meters Centerline goodness [0,1] 0.2213289962825279 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.47, Z:-1.15 [[ 0.9972553 0.05329603 -0.05139454 3.66338545] [-0.05426261 0.99837162 -0.01759784 -0.46927947] [ 0.05037295 0.02033834 0.99852337 -1.14528159] [ 0. 0. 0. 1. ]] SLAMing on 119.69629675700001 meters Centerline goodness [0,1] 0.29171375198911464 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.47, Z:-1.15 [[ 0.99728827 0.05216521 -0.05191249 3.66642422] [-0.05318166 0.99841543 -0.01839424 -0.46840115] [ 0.05087069 0.02110516 0.99848222 -1.14680395] [ 0. 0. 0. 1. ]] SLAMing on 119.726296757 meters Centerline goodness [0,1] 0.28537714233342504 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.47, Z:-1.15 [[ 0.99732061 0.05090878 -0.05253469 3.66972615] [-0.05198823 0.99845946 -0.01938871 -0.46741868] [ 0.0514667 0.02206795 0.99843086 -1.14850869] [ 0. 0. 0. 1. ]] SLAMing on 119.756296757 meters Centerline goodness [0,1] 0.3194837541039285 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.47, Z:-1.15 [[ 0.9973481 0.04826925 -0.05446879 3.67774605] [-0.04948519 0.99854985 -0.02119944 -0.46515903] [ 0.05336652 0.02383862 0.99829041 -1.15086016] [ 0. 0. 0. 1. ]] SLAMing on 119.786296757 meters Centerline goodness [0,1] 0.3415943455310012 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.46, Z:-1.15 [[ 0.99727632 0.04567829 -0.05790882 3.68950167] [-0.04705517 0.9986357 -0.02263971 -0.4600018 ] [ 0.05679567 0.02530296 0.99806513 -1.15288925] [ 0. 0. 0. 1. ]] SLAMing on 119.816296757 meters Centerline goodness [0,1] 0.35156371730662217 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.46, Z:-1.15 [[ 0.99729403 0.04487941 -0.05822767 3.69185674] [-0.04633621 0.99863961 -0.02391423 -0.45686884] [ 0.05707521 0.02654757 0.99801686 -1.15453138] [ 0. 0. 0. 1. ]] SLAMing on 119.846296757 meters Centerline goodness [0,1] 0.3573262505533422 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.45, Z:-1.16 [[ 0.99731305 0.04400287 -0.0585699 3.69436533] [-0.04554201 0.99864432 -0.02520794 -0.45351127] [ 0.05738127 0.0278076 0.99796499 -1.15608068] [ 0. 0. 0. 1. ]] SLAMing on 119.876296757 meters Centerline goodness [0,1] 0.3649128927457863 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.45, Z:-1.16 [[ 0.99733516 0.04137095 -0.06009186 3.71014377] [-0.04283109 0.99881254 -0.02321661 -0.44839047] [ 0.05906001 0.02572854 0.99792282 -1.15742243] [ 0. 0. 0. 1. ]] SLAMing on 119.906296757 meters Centerline goodness [0,1] 0.3730841363254219 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.44, Z:-1.16 [[ 0.99737705 0.03817766 -0.0614938 3.7267024 ] [-0.03956091 0.99898721 -0.02143554 -0.44401585] [ 0.06061316 0.02381206 0.99787726 -1.1590951 ] [ 0. 0. 0. 1. ]] SLAMing on 119.93629675700001 meters Centerline goodness [0,1] 0.3785583450059261 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.44, Z:-1.16 [[ 0.99738115 0.03700125 -0.0621429 3.73009289] [-0.03847055 0.99900378 -0.02261579 -0.44128228] [ 0.06124418 0.02494724 0.997811 -1.16041073] [ 0. 0. 0. 1. ]] SLAMing on 119.96629675700001 meters Centerline goodness [0,1] 0.38318800738799885 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.44, Z:-1.16 [[ 0.99737136 0.03576537 -0.0630176 3.73407103] [-0.03731924 0.99902337 -0.02365533 -0.43871014] [ 0.06211001 0.02594492 0.99773203 -1.16142678] [ 0. 0. 0. 1. ]] SLAMing on 119.99629675700001 meters Centerline goodness [0,1] 0.39531801175841796 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.44, Z:-1.16 [[ 0.99737398 0.03613056 -0.06276725 3.76451581] [-0.03784104 0.99893817 -0.0262792 -0.43648631] [ 0.06175111 0.02858537 0.99768215 -1.15910319] [ 0. 0. 0. 1. ]] SLAMing on 120.02629675700001 meters Centerline goodness [0,1] 0.40146936334707306 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.43, Z:-1.16 [[ 0.99733346 0.03451895 -0.06429932 3.77026548] [-0.03634228 0.99896353 -0.02740617 -0.43422791] [ 0.06328664 0.02966988 0.99755426 -1.16018978] [ 0. 0. 0. 1. ]] SLAMing on 120.05629675700001 meters Centerline goodness [0,1] 0.4084635832004253 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.43, Z:-1.16 [[ 0.99733689 0.02871846 -0.06704017 3.79590343] [-0.03044092 0.99922851 -0.02481417 -0.43107798] [ 0.06627582 0.02678886 0.99744166 -1.1609233 ] [ 0. 0. 0. 1. ]] SLAMing on 120.08629675700001 meters Centerline goodness [0,1] 0.41560902896081775 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.43, Z:-1.16 [[ 0.9971815 0.02559959 -0.07052453 3.80682367] [-0.0274186 0.99931272 -0.02494624 -0.42956733] [ 0.06983745 0.02680961 0.99719806 -1.1598401 ] [ 0. 0. 0. 1. ]] SLAMing on 120.116296757 meters Centerline goodness [0,1] 0.42749729190119157 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.43, Z:-1.16 [[ 0.99743632 0.02244421 -0.0679488 3.8463072 ] [-0.02426214 0.99936622 -0.0260483 -0.4284541 ] [ 0.0673211 0.0276301 0.99734871 -1.15912102] [ 0. 0. 0. 1. ]] SLAMing on 120.146296757 meters Centerline goodness [0,1] 0.4254637973073253 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.43, Z:-1.16 [[ 0.99752443 0.01817044 -0.06793261 3.86131065] [-0.01982156 0.99952234 -0.02371064 -0.42805324] [ 0.06746932 0.02499848 0.99740812 -1.15992814] [ 0. 0. 0. 1. ]] SLAMing on 120.176296757 meters Centerline goodness [0,1] 0.43631493920584985 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.43, Z:-1.16 [[ 0.99761765 0.01376181 -0.06759914 3.87607155] [-0.01522963 0.99965826 -0.02124648 -0.42791 ] [ 0.06728365 0.02222538 0.99748631 -1.16049757] [ 0. 0. 0. 1. ]] SLAMing on 120.206296757 meters Centerline goodness [0,1] 0.44006098723079856 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.43, Z:-1.16 [[ 0.99788415 0.00937621 -0.06433752 3.91675421] [-0.0107744 0.99971252 -0.0214196 -0.42754923] [ 0.06411819 0.02206747 0.99769829 -1.15887736] [ 0. 0. 0. 1. ]] SLAMing on 120.236296757 meters Centerline goodness [0,1] 0.4456099620092866 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.43, Z:-1.16 [[ 0.99798133 0.00496819 -0.06331332 3.93210339] [-0.0061479 0.99981085 -0.01845167 -0.42785616] [ 0.06320967 0.01880367 0.99782311 -1.15978007] [ 0. 0. 0. 1. ]] SLAMing on 120.266296757 meters Centerline goodness [0,1] 0.4507973386841272 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.43, Z:-1.16 [[ 9.98241883e-01 -2.66925305e-04 -5.92711719e-02 3.97205017e+00] [-9.11792946e-04 9.99802376e-01 -1.98589369e-02 -4.27341354e-01] [ 5.92647593e-02 1.98780656e-02 9.98044363e-01 -1.15902979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29629675700001 meters Centerline goodness [0,1] 0.45447252306458086 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.43, Z:-1.16 [[ 0.9983208 -0.00505602 -0.05770629 3.98690937] [ 0.00405898 0.99984068 -0.017382 -0.4279597 ] [ 0.05778498 0.01711858 0.99818227 -1.16001554] [ 0. 0. 0. 1. ]] SLAMing on 120.32629675700001 meters Centerline goodness [0,1] 0.45962457193590667 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.43, Z:-1.16 [[ 0.99826611 -0.00546457 -0.05860819 4.01997268] [ 0.00433223 0.99980183 -0.01943017 -0.42923973] [ 0.05870275 0.01914257 0.99809195 -1.15666134] [ 0. 0. 0. 1. ]] SLAMing on 120.35629675700001 meters Centerline goodness [0,1] 0.4608609327475498 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.43, Z:-1.16 [[ 0.9983768 -0.00956236 -0.0561456 4.03421203] [ 0.00864193 0.99982464 -0.01661355 -0.42981921] [ 0.05629462 0.01610137 0.99828436 -1.15796904] [ 0. 0. 0. 1. ]] SLAMing on 120.38629675700001 meters Centerline goodness [0,1] 0.46451245491552595 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.43, Z:-1.16 [[ 0.99817024 -0.01172572 -0.05931848 4.04311101] [ 0.01078674 0.9998118 -0.01612509 -0.42967935] [ 0.05949639 0.01545573 0.99810886 -1.1556469 ] [ 0. 0. 0. 1. ]] SLAMing on 120.41629675700001 meters Centerline goodness [0,1] 0.46525271710456895 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.43, Z:-1.15 [[ 0.99810533 -0.00843499 -0.06094748 4.07641829] [ 0.00751131 0.99985368 -0.01536861 -0.42952493] [ 0.0610682 0.01488169 0.99802265 -1.15324548] [ 0. 0. 0. 1. ]] SLAMing on 120.44629675700001 meters Centerline goodness [0,1] 0.4759796791669302 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.43, Z:-1.15 [[ 0.99788074 -0.00686485 -0.06470632 4.08706081] [ 0.00612227 0.99991319 -0.01166734 -0.42972063] [ 0.0647808 0.01124646 0.99783614 -1.15286033] [ 0. 0. 0. 1. ]] SLAMing on 120.476296757 meters Centerline goodness [0,1] 0.4788958298159717 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.43, Z:-1.16 [[ 0.99780126 -0.00919991 -0.06563544 4.11001686] [ 0.00875472 0.9999367 -0.00706718 -0.42778111] [ 0.0656963 0.00647702 0.99781864 -1.15631218] [ 0. 0. 0. 1. ]] SLAMing on 120.506296757 meters Centerline goodness [0,1] 0.48756597002322144 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.43, Z:-1.16 [[ 0.99808461 -0.00631273 -0.06154067 4.13036096] [ 0.00569149 0.99993112 -0.01026479 -0.42596596] [ 0.06160123 0.00989487 0.99805179 -1.15653476] [ 0. 0. 0. 1. ]] SLAMing on 120.536296757 meters Centerline goodness [0,1] 0.47581613943391854 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.42, Z:-1.16 [[ 9.98191468e-01 -3.64045084e-03 -6.00044944e-02 4.15754970e+00] [ 2.82239545e-03 9.99901998e-01 -1.37123564e-02 -4.23856125e-01] [ 6.00485330e-02 1.35182007e-02 9.98103918e-01 -1.15808541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.566296757 meters Centerline goodness [0,1] 0.4855635816722096 Centerline is valid? [False, False] Translation: X:4.18, Y:-0.42, Z:-1.16 [[ 9.98456467e-01 -8.52280274e-04 -5.55333902e-02 4.17743178e+00] [-7.57334021e-05 9.99860431e-01 -1.67066664e-02 -4.22399298e-01] [ 5.55398783e-02 1.66850849e-02 9.98317049e-01 -1.15789068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.596296757 meters Centerline goodness [0,1] 0.48692948690833726 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.42, Z:-1.16 [[ 9.98697855e-01 2.06072164e-03 -5.09739873e-02 4.19702337e+00] [-3.05188790e-03 9.99807641e-01 -1.93743655e-02 -4.20913845e-01] [ 5.09242568e-02 1.95047041e-02 9.98512036e-01 -1.15731712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.626296757 meters Centerline goodness [0,1] 0.50040221855286 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.42, Z:-1.16 [[ 0.9987617 0.00455974 -0.04954069 4.22520951] [-0.00565032 0.99974428 -0.02189623 -0.4187187 ] [ 0.04942818 0.02214904 0.99853206 -1.15708024] [ 0. 0. 0. 1. ]] SLAMing on 120.656296757 meters Centerline goodness [0,1] 0.5024240499629512 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.42, Z:-1.16 [[ 9.99195613e-01 3.90231070e-03 -3.99111408e-02 4.23545901e+00] [-4.68627349e-03 9.99797545e-01 -1.95680514e-02 -4.19840814e-01] [ 3.98267000e-02 1.97393456e-02 9.99011608e-01 -1.16122152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68629675700001 meters Centerline goodness [0,1] 0.5031712025115076 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.42, Z:-1.17 [[ 9.99336648e-01 2.63542744e-03 -3.63224202e-02 4.25659152e+00] [-3.18386081e-03 9.99881681e-01 -1.50494698e-02 -4.20619859e-01] [ 3.62784608e-02 1.51551322e-02 9.99226799e-01 -1.16623578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71629675700001 meters Centerline goodness [0,1] 0.5089238343838204 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.42, Z:-1.17 [[ 9.99385405e-01 -1.12147313e-03 -3.50364794e-02 4.27179200e+00] [ 7.34197163e-04 9.99938518e-01 -1.10644180e-02 -4.21076701e-01] [ 3.50467337e-02 1.10318942e-02 9.99324784e-01 -1.16699656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74629675700001 meters Centerline goodness [0,1] 0.5193216746157923 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.42, Z:-1.17 [[ 0.99940434 -0.00566808 -0.03404168 4.29924196] [ 0.00545909 0.9999657 -0.00622903 -0.42312838] [ 0.03407582 0.00603948 0.999401 -1.16959233] [ 0. 0. 0. 1. ]] SLAMing on 120.77629675700001 meters Centerline goodness [0,1] 0.5150542889318572 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.42, Z:-1.17 [[ 9.99438373e-01 -1.04808362e-02 -3.18290878e-02 4.31459361e+00] [ 1.03924322e-02 9.99941670e-01 -2.94162777e-03 -4.24293261e-01] [ 3.18580619e-02 2.60919404e-03 9.99488997e-01 -1.17103737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80629675700001 meters Centerline goodness [0,1] 0.5150542889318572 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.42, Z:-1.17 [[ 9.99438373e-01 -1.04808362e-02 -3.18290878e-02 4.31459361e+00] [ 1.03924322e-02 9.99941670e-01 -2.94162777e-03 -4.24293261e-01] [ 3.18580619e-02 2.60919404e-03 9.99488997e-01 -1.17103737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83629675700001 meters Centerline goodness [0,1] 0.5210080483322419 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.43, Z:-1.17 [[ 9.99332470e-01 -1.78861289e-02 -3.18543626e-02 4.34268699e+00] [ 1.78856559e-02 9.99839994e-01 -2.99811518e-04 -4.25791065e-01] [ 3.18546281e-02 -2.70124783e-04 9.99492476e-01 -1.17286058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.866296757 meters Centerline goodness [0,1] 0.5265518707482993 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.43, Z:-1.17 [[ 9.99301871e-01 -2.30668584e-02 -2.93886166e-02 4.35794914e+00] [ 2.31556399e-02 9.99728269e-01 2.68416553e-03 -4.26733110e-01] [ 2.93187155e-02 -3.36280386e-03 9.99564457e-01 -1.17445968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.896296757 meters Centerline goodness [0,1] 0.5304616696875999 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.43, Z:-1.17 [[ 9.99245532e-01 -2.32650413e-02 -3.10983148e-02 4.39526765e+00] [ 2.33245378e-02 9.99726742e-01 1.55173210e-03 -4.26835126e-01] [ 3.10537158e-02 -2.27591518e-03 9.99515126e-01 -1.17331517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.926296757 meters Centerline goodness [0,1] 0.5334938424170111 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.43, Z:-1.17 [[ 9.99426265e-01 -2.18325350e-02 -2.58936567e-02 4.41513669e+00] [ 2.17959762e-02 9.99761005e-01 -1.69331161e-03 -4.26053690e-01] [ 2.59244376e-02 1.12796257e-03 9.99663269e-01 -1.17344074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.956296757 meters Centerline goodness [0,1] 0.5354713521120754 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.43, Z:-1.17 [[ 9.99415467e-01 -2.21763322e-02 -2.60179731e-02 4.44785384e+00] [ 2.20675162e-02 9.99746525e-01 -4.46207156e-03 -4.26819762e-01] [ 2.61103306e-02 3.88531129e-03 9.99651517e-01 -1.17164470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.986296757 meters Centerline goodness [0,1] 0.5330078539588198 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.43, Z:-1.17 [[ 0.99959131 -0.01987103 -0.02055121 4.46691334] [ 0.01973195 0.99978116 -0.00694814 -0.42669683] [ 0.02068478 0.00653978 0.99976466 -1.17136378] [ 0. 0. 0. 1. ]] SLAMing on 121.016296757 meters Centerline goodness [0,1] 0.5406643513093132 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.43, Z:-1.17 [[ 0.99954412 -0.02052058 -0.02214635 4.47164099] [ 0.02036182 0.99976551 -0.00737053 -0.42628001] [ 0.02229241 0.00691623 0.99972757 -1.17210295] [ 0. 0. 0. 1. ]] SLAMing on 121.04629675700001 meters Centerline goodness [0,1] 0.5451424428522689 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.43, Z:-1.17 [[ 0.99962703 -0.01738493 -0.02106121 4.50201994] [ 0.017231 0.99982364 -0.00746822 -0.42608701] [ 0.02118733 0.00710253 0.99975029 -1.17153171] [ 0. 0. 0. 1. ]] SLAMing on 121.07629675700001 meters Centerline goodness [0,1] 0.5444302721088435 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.43, Z:-1.17 [[ 0.99973082 -0.01311138 -0.01914124 4.53032729] [ 0.01297178 0.99988849 -0.00739888 -0.42534066] [ 0.01923611 0.00714859 0.99978941 -1.17219291] [ 0. 0. 0. 1. ]] SLAMing on 121.10629675700001 meters Centerline goodness [0,1] 0.5435393258426966 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.43, Z:-1.17 [[ 9.99726700e-01 -1.00835092e-02 -2.10914392e-02 4.53578920e+00] [ 1.00029904e-02 9.99942287e-01 -3.91962821e-03 -4.26736888e-01] [ 2.11297456e-02 3.70757950e-03 9.99769867e-01 -1.17313508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13629675700001 meters Centerline goodness [0,1] 0.5491934280904384 Centerline is valid? [False, False] Translation: X:4.56, Y:-0.42, Z:-1.18 [[ 0.9998345 -0.00529076 -0.0174064 4.56023078] [ 0.00520462 0.999974 -0.00499061 -0.42419929] [ 0.01743235 0.00489919 0.99983604 -1.1754736 ] [ 0. 0. 0. 1. ]] SLAMing on 121.16629675700001 meters Centerline goodness [0,1] 0.5550233122564987 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.42, Z:-1.18 [[ 9.99806810e-01 -3.44382009e-03 -1.93515684e-02 4.56664108e+00] [ 3.37946633e-03 9.99988654e-01 -3.35722465e-03 -4.24489716e-01] [ 1.93629105e-02 3.29117809e-03 9.99807104e-01 -1.17790671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19629675700001 meters Centerline goodness [0,1] 0.5588386654086972 Centerline is valid? [False, False] Translation: X:4.57, Y:-0.42, Z:-1.18 [[ 9.99793307e-01 -4.06007697e-03 -1.99213128e-02 4.57066353e+00] [ 3.96919202e-03 9.99981544e-01 -4.59961737e-03 -4.20576211e-01] [ 1.99396200e-02 4.51959515e-03 9.99790971e-01 -1.17916470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.226296757 meters Centerline goodness [0,1] 0.5648554368994372 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.42, Z:-1.18 [[ 9.99884913e-01 -9.28420315e-04 -1.51426427e-02 4.59008871e+00] [ 8.00523656e-04 9.99963978e-01 -8.45000097e-03 -4.17674173e-01] [ 1.51499424e-02 8.43690644e-03 9.99849638e-01 -1.18089358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.256296757 meters Centerline goodness [0,1] 0.559486356340289 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.42, Z:-1.18 [[ 9.99861303e-01 -1.32982799e-03 -1.66013694e-02 4.59367739e+00] [ 1.17896911e-03 9.99957957e-01 -9.09361612e-03 -4.16447192e-01] [ 1.66127644e-02 9.07278237e-03 9.99820834e-01 -1.18118734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.286296757 meters Centerline goodness [0,1] 0.5597094866740937 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.42, Z:-1.19 [[ 9.99953431e-01 -3.21048924e-03 -9.10098630e-03 4.60801367e+00] [ 3.15060043e-03 9.99973341e-01 -6.58719221e-03 -4.16043923e-01] [ 9.12189179e-03 6.55821188e-03 9.99936888e-01 -1.18653360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.316296757 meters Centerline goodness [0,1] 0.560307369592671 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.42, Z:-1.19 [[ 9.99941307e-01 2.77740870e-05 -1.08343290e-02 4.61265108e+00] [-6.11708493e-05 9.99995248e-01 -3.08217554e-03 -4.16336982e-01] [ 1.08341920e-02 3.08265738e-03 9.99936557e-01 -1.18709341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.346296757 meters Centerline goodness [0,1] 0.5606538510719918 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.41, Z:-1.19 [[ 9.99890656e-01 1.25498802e-03 -1.47343424e-02 4.62544037e+00] [-1.25408720e-03 9.99999211e-01 7.03770728e-05 -4.11861219e-01] [ 1.47344191e-02 -5.18912274e-05 9.99891441e-01 -1.18711399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.376296757 meters Centerline goodness [0,1] 0.574961988992869 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.41, Z:-1.19 [[ 9.99870232e-01 9.34345949e-04 -1.60824584e-02 4.62938390e+00] [-9.47837152e-04 9.99999205e-01 -8.31275071e-04 -4.08877166e-01] [ 1.60816689e-02 8.46410750e-04 9.99870323e-01 -1.18840071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.406296757 meters Centerline goodness [0,1] 0.5738663026321402 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.41, Z:-1.19 [[ 9.99911452e-01 4.60499101e-03 -1.24853105e-02 4.65155846e+00] [-4.65776956e-03 9.99980326e-01 -4.20147401e-03 -4.05981582e-01] [ 1.24657171e-02 4.25925567e-03 9.99913229e-01 -1.19114640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43629675700001 meters Centerline goodness [0,1] 0.5592544987146529 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.40, Z:-1.19 [[ 9.99892695e-01 4.10452547e-03 -1.40623923e-02 4.65631223e+00] [-4.17459186e-03 9.99979001e-01 -4.95681120e-03 -4.04774763e-01] [ 1.40417517e-02 5.01498405e-03 9.99888833e-01 -1.19270023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46629675700001 meters Centerline goodness [0,1] 0.5736015596546479 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.40, Z:-1.20 [[ 9.99881514e-01 3.04157032e-03 -1.50899486e-02 4.66246852e+00] [-3.13382379e-03 9.99976523e-01 -6.09369586e-03 -4.02712523e-01] [ 1.50710599e-02 6.14026308e-03 9.99867571e-01 -1.19502128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49629675700001 meters Centerline goodness [0,1] 0.5780017622660162 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.40, Z:-1.20 [[ 9.99866729e-01 2.26194695e-03 -1.61681242e-02 4.66839486e+00] [-2.37496920e-03 9.99972856e-01 -6.97465749e-03 -3.99991218e-01] [ 1.61519090e-02 7.01212677e-03 9.99844961e-01 -1.19701350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52629675700001 meters Centerline goodness [0,1] 0.5811473294917003 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.40, Z:-1.20 [[ 9.99843985e-01 1.91063546e-03 -1.75600455e-02 4.67244298e+00] [-2.04346402e-03 9.99969415e-01 -7.54942163e-03 -3.98015301e-01] [ 1.75450842e-02 7.58412713e-03 9.99817309e-01 -1.19796403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55629675700001 meters Centerline goodness [0,1] 0.5737423576102113 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.40, Z:-1.20 [[ 9.99802717e-01 3.58801730e-03 -1.95359664e-02 4.67871308e+00] [-3.70092537e-03 9.99976641e-01 -5.74641412e-03 -3.98697214e-01] [ 1.95148918e-02 5.81758160e-03 9.99792641e-01 -1.19947434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58629675700001 meters Centerline goodness [0,1] 0.5832223415682063 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.40, Z:-1.20 [[ 9.99898431e-01 -5.87771503e-04 -1.42401948e-02 4.69541164e+00] [ 5.51849733e-04 9.99996656e-01 -2.52635982e-03 -3.97446929e-01] [ 1.42416321e-02 2.51824477e-03 9.99895412e-01 -1.20307600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.616296757 meters Centerline goodness [0,1] 0.5843299765958818 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.40, Z:-1.20 [[ 9.99875770e-01 -9.75138310e-04 -1.57319436e-02 4.69928971e+00] [ 9.32850067e-04 9.99995933e-01 -2.69516381e-03 -3.97690858e-01] [ 1.57345077e-02 2.68015344e-03 9.99872613e-01 -1.20314898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.646296757 meters Centerline goodness [0,1] 0.5928001724509593 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.40, Z:-1.20 [[ 9.99858885e-01 -1.85950676e-03 -1.66958700e-02 4.70438935e+00] [ 1.81190649e-03 9.99994252e-01 -2.86569470e-03 -3.98299108e-01] [ 1.67011028e-02 2.83503895e-03 9.99856508e-01 -1.20348471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.676296757 meters Centerline goodness [0,1] 0.5957957568286512 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.40, Z:-1.20 [[ 9.99835898e-01 -2.43438571e-03 -1.79513347e-02 4.70829213e+00] [ 2.37255929e-03 9.99991184e-01 -3.46460543e-03 -3.96824542e-01] [ 1.79596106e-02 3.42144628e-03 9.99832859e-01 -1.20437751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.706296757 meters Centerline goodness [0,1] 0.59756993989709 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.39, Z:-1.21 [[ 9.99806528e-01 -3.19068369e-03 -1.94094089e-02 4.71302379e+00] [ 3.10797673e-03 9.99985969e-01 -4.28985229e-03 -3.94694293e-01] [ 1.94228241e-02 4.22869834e-03 9.99802416e-01 -1.20566621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.736296757 meters Centerline goodness [0,1] 0.6010310167809845 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.40, Z:-1.21 [[ 9.99901258e-01 -5.30307207e-03 -1.30134840e-02 4.73160943e+00] [ 5.30769713e-03 9.99985863e-01 3.20893221e-04 -3.95455747e-01] [ 1.30115983e-02 -3.89933168e-04 9.99915270e-01 -1.21222229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.766296757 meters Centerline goodness [0,1] 0.6034639532366313 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.39, Z:-1.21 [[ 9.99880747e-01 -5.72618564e-03 -1.43423049e-02 4.73528685e+00] [ 5.72762379e-03 9.99983595e-01 5.91996431e-05 -3.94899375e-01] [ 1.43417307e-02 -1.41339910e-04 9.99897142e-01 -1.21231749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79629675700001 meters Centerline goodness [0,1] 0.6050473049214478 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.40, Z:-1.21 [[ 9.99866393e-01 -6.51892697e-03 -1.49899653e-02 4.73962801e+00] [ 6.51851585e-03 9.99978751e-01 -7.62858850e-05 -3.95293660e-01] [ 1.49901441e-02 -2.14366335e-05 9.99887641e-01 -1.21175110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82629675700001 meters Centerline goodness [0,1] 0.604390836515099 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.39, Z:-1.21 [[ 9.99843051e-01 -6.88792257e-03 -1.63226978e-02 4.74341921e+00] [ 6.88287242e-03 9.99976246e-01 -3.65551958e-04 -3.94882570e-01] [ 1.63248280e-02 2.53147538e-04 9.99866709e-01 -1.21206461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85629675700001 meters Centerline goodness [0,1] 0.6056981908785614 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.39, Z:-1.22 [[ 9.99920708e-01 -3.08356795e-03 -1.22094114e-02 4.76834270e+00] [ 3.05614286e-03 9.99992767e-01 -2.26424620e-03 -3.91500661e-01] [ 1.22163050e-02 2.22675296e-03 9.99922899e-01 -1.21573336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88629675700001 meters Centerline goodness [0,1] 0.6053923698618233 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.39, Z:-1.22 [[ 9.99904988e-01 -1.97864687e-04 -1.37832073e-02 4.77366637e+00] [ 2.13178752e-04 9.99999362e-01 1.10960649e-03 -3.91619749e-01] [ 1.37829789e-02 -1.11243935e-03 9.99904391e-01 -1.21700860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91629675700001 meters Centerline goodness [0,1] 0.6028197775460549 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.39, Z:-1.22 [[ 9.99890214e-01 -5.03321237e-04 -1.48090027e-02 4.77702276e+00] [ 5.10479238e-04 9.99999755e-01 4.79578600e-04 -3.89295766e-01] [ 1.48087577e-02 -4.87085637e-04 9.99890226e-01 -1.21791736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94629675700001 meters Centerline goodness [0,1] 0.6024961270755602 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.39, Z:-1.22 [[ 9.99862830e-01 -1.20398035e-03 -1.65188145e-02 4.78299537e+00] [ 1.19425497e-03 9.99999108e-01 -5.98597771e-04 -3.86501544e-01] [ 1.65195204e-02 5.78787986e-04 9.99863376e-01 -1.21868758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.976296757 meters Centerline goodness [0,1] 0.60029704700332 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.39, Z:-1.22 [[ 9.99841585e-01 -1.52314386e-03 -1.77337061e-02 4.78639168e+00] [ 1.50407663e-03 9.99998276e-01 -1.08848485e-03 -3.85550865e-01] [ 1.77353334e-02 1.06163956e-03 9.99842153e-01 -1.21887843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.006296757 meters Centerline goodness [0,1] 0.5940934366653532 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.38, Z:-1.22 [[ 9.99793431e-01 -2.37662939e-03 -2.01853239e-02 4.79389855e+00] [ 2.32724441e-03 9.99994242e-01 -2.46971676e-03 -3.83173342e-01] [ 2.01910773e-02 2.42223041e-03 9.99793205e-01 -1.22016623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.036296757 meters Centerline goodness [0,1] 0.5902928357097488 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.38, Z:-1.22 [[ 9.99771351e-01 -2.65774009e-03 -2.12174815e-02 4.79719654e+00] [ 2.59374896e-03 9.99992007e-01 -3.04291276e-03 -3.81645531e-01] [ 2.12253992e-02 2.98718418e-03 9.99770253e-01 -1.22097049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.066296757 meters Centerline goodness [0,1] 0.5873234509598146 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.38, Z:-1.22 [[ 9.99816912e-01 7.15256291e-04 -1.91214768e-02 4.82167876e+00] [-8.27056702e-04 9.99982607e-01 -5.83958172e-03 -3.79101632e-01] [ 1.91169675e-02 5.85432711e-03 9.99800114e-01 -1.22380622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.096296757 meters Centerline goodness [0,1] 0.5790964172813489 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.38, Z:-1.22 [[ 9.99762721e-01 4.16310442e-03 -2.13815383e-02 4.82865757e+00] [-4.21920347e-03 9.99987773e-01 -2.57927297e-03 -3.77776953e-01] [ 2.13705391e-02 2.66887402e-03 9.99768062e-01 -1.22452251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.126296757 meters Centerline goodness [0,1] 0.5771571707938741 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.38, Z:-1.22 [[ 9.99739403e-01 4.14068603e-03 -2.24495295e-02 4.83144317e+00] [-4.21155675e-03 9.99986294e-01 -3.11053059e-03 -3.75519685e-01] [ 2.24363421e-02 3.20426746e-03 9.99743139e-01 -1.22448173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.156296757 meters Centerline goodness [0,1] 0.5680442336691653 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.37, Z:-1.23 [[ 9.99818442e-01 8.63444661e-03 -1.69861530e-02 4.85349152e+00] [-8.70536713e-03 9.99953679e-01 -4.10569381e-03 -3.72897539e-01] [ 1.69499157e-02 4.25281909e-03 9.99847295e-01 -1.22676046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18629675700001 meters Centerline goodness [0,1] 0.5645579636875193 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.37, Z:-1.23 [[ 9.99802880e-01 8.49305501e-03 -1.79462776e-02 4.85647145e+00] [-8.57929809e-03 9.99951991e-01 -4.73411127e-03 -3.70857991e-01] [ 1.79052089e-02 4.88714455e-03 9.99827745e-01 -1.22743470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21629675700001 meters Centerline goodness [0,1] 0.559698706546325 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.37, Z:-1.23 [[ 0.99978355 0.00815603 -0.01913998 4.86057648] [-0.0082654 0.99994993 -0.00564175 -0.36811726] [ 0.019093 0.00579873 0.9998009 -1.22887231] [ 0. 0. 0. 1. ]] SLAMing on 122.24629675700001 meters Centerline goodness [0,1] 0.5468884049363163 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-1.23 [[ 9.99658423e-01 7.76154129e-03 -2.49558848e-02 4.87885459e+00] [-7.84636855e-03 9.99963762e-01 -3.30296380e-03 -3.64969596e-01] [ 2.49293444e-02 3.49764865e-03 9.99683097e-01 -1.22845856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27629675700001 meters Centerline goodness [0,1] 0.5380243988063893 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.36, Z:-1.23 [[ 9.99624738e-01 7.22051496e-03 -2.64243800e-02 4.88377946e+00] [-7.32966396e-03 9.99964992e-01 -4.03609200e-03 -3.63455149e-01] [ 2.63943123e-02 4.22825924e-03 9.99642667e-01 -1.22964844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30629675700001 meters Centerline goodness [0,1] 0.5239832007073386 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.36, Z:-1.23 [[ 9.99722255e-01 4.06558677e-04 -2.35637026e-02 4.90937163e+00] [-4.34365752e-04 9.99999215e-01 -1.17497453e-03 -3.63640107e-01] [ 2.35632064e-02 1.18488345e-03 9.99721647e-01 -1.23282098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33629675700001 meters Centerline goodness [0,1] 0.5162668934037411 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.36, Z:-1.23 [[ 9.99863732e-01 1.07751315e-03 -1.64729234e-02 4.92762346e+00] [-1.15230200e-03 9.99989070e-01 -4.53129089e-03 -3.62824907e-01] [ 1.64678608e-02 4.54965520e-03 9.99854044e-01 -1.23404410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.366296757 meters Centerline goodness [0,1] 0.5019902194927783 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.36, Z:-1.24 [[ 9.99890281e-01 -7.82031187e-03 -1.25804670e-02 4.95389214e+00] [ 7.80992038e-03 9.99969119e-01 -8.74918968e-04 -3.63924561e-01] [ 1.25869206e-02 7.76570528e-04 9.99920480e-01 -1.23554869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.396296757 meters Centerline goodness [0,1] 0.4935564044736963 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.36, Z:-1.24 [[ 9.99959445e-01 -6.94614237e-03 -5.73234754e-03 4.97251221e+00] [ 6.92463939e-03 9.99968946e-01 -3.76252552e-03 -3.63216609e-01] [ 5.75830456e-03 3.72267849e-03 9.99976492e-01 -1.23714366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.426296757 meters Centerline goodness [0,1] 0.4769468291655945 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.36, Z:-1.24 [[ 9.99935069e-01 -9.95389542e-03 -5.54776710e-03 5.00997418e+00] [ 9.93183471e-03 9.99942718e-01 -3.98996848e-03 -3.63514061e-01] [ 5.58716504e-03 3.93460990e-03 9.99976651e-01 -1.23670545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.456296757 meters Centerline goodness [0,1] 0.46759029011249265 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.36, Z:-1.24 [[ 9.99919802e-01 -1.05725095e-02 -6.97223897e-03 5.01404919e+00] [ 1.05447538e-02 9.99936379e-01 -4.00570526e-03 -3.63867303e-01] [ 7.01414574e-03 3.93186346e-03 9.99967671e-01 -1.23667281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.486296757 meters Centerline goodness [0,1] 0.4492569815023092 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.36, Z:-1.24 [[ 0.99990095 -0.01295638 -0.0054978 5.04738185] [ 0.01292595 0.99990114 -0.00553447 -0.36418728] [ 0.00556897 0.00546286 0.99996957 -1.23700622] [ 0. 0. 0. 1. ]] SLAMing on 122.516296757 meters Centerline goodness [0,1] 0.43386983904828547 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.37, Z:-1.24 [[ 0.99987627 -0.01400542 -0.0071625 5.05220313] [ 0.01396608 0.99988727 -0.00551409 -0.36527824] [ 0.00723892 0.00541337 0.99995915 -1.23652535] [ 0. 0. 0. 1. ]] SLAMing on 122.54629675700001 meters Centerline goodness [0,1] 0.41161770830781297 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.37, Z:-1.24 [[ 0.99985518 -0.01464174 -0.00867407 5.05618495] [ 0.01459695 0.99987991 -0.00520517 -0.36697459] [ 0.00874924 0.0050778 0.99994883 -1.23560249] [ 0. 0. 0. 1. ]] SLAMing on 122.57629675700001 meters Centerline goodness [0,1] 0.35973728729226784 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.37, Z:-1.24 [[ 9.99887211e-01 -1.47443088e-02 -2.85854769e-03 5.07998388e+00] [ 1.47199867e-02 9.99856784e-01 -8.35067200e-03 -3.66574912e-01] [ 2.98126319e-03 8.30765235e-03 9.99961047e-01 -1.23844636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60629675700001 meters Centerline goodness [0,1] 0.2632774063327866 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.37, Z:-1.23 [[ 0.9998366 -0.01433078 -0.01101797 5.10036541] [ 0.01424887 0.99987052 -0.00747696 -0.3687599 ] [ 0.01112369 0.00731874 0.99991135 -1.2319289 ] [ 0. 0. 0. 1. ]] SLAMing on 122.63629675700001 meters Centerline goodness [0,1] 0.1788425289113047 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.37, Z:-1.23 [[ 0.99982103 -0.01471915 -0.01188513 5.10312704] [ 0.01463033 0.99986464 -0.0075264 -0.36868641] [ 0.0119943 0.00735117 0.99990104 -1.2319292 ] [ 0. 0. 0. 1. ]] SLAMing on 122.66629675700001 meters Centerline goodness [0,1] 0.11026265214606024 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.37, Z:-1.23 [[ 0.99980268 -0.01515322 -0.01284472 5.10604584] [ 0.01505574 0.99985738 -0.00765198 -0.36841334] [ 0.01295884 0.00745708 0.99988822 -1.23178912] [ 0. 0. 0. 1. ]] SLAMing on 122.69629675700001 meters Centerline goodness [0,1] 0.11026265214606024 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.37, Z:-1.23 [[ 0.99980268 -0.01515322 -0.01284472 5.10604584] [ 0.01505574 0.99985738 -0.00765198 -0.36841334] [ 0.01295884 0.00745708 0.99988822 -1.23178912] [ 0. 0. 0. 1. ]] SLAMing on 122.726296757 meters Centerline goodness [0,1] 0.1180430996386701 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.37, Z:-1.23 [[ 0.99987461 -0.00893641 -0.01307298 5.11998394] [ 0.00875745 0.99986802 -0.01368363 -0.36873608] [ 0.01319354 0.01356743 0.99982091 -1.23226175] [ 0. 0. 0. 1. ]] SLAMing on 122.756296757 meters Centerline goodness [0,1] 0.13314796841801535 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.37, Z:-1.23 [[ 0.99984938 -0.0086054 -0.01507207 5.12832742] [ 0.00841335 0.9998832 -0.01275938 -0.36856245] [ 0.01518011 0.01263065 0.999805 -1.2346135 ] [ 0. 0. 0. 1. ]] SLAMing on 122.786296757 meters Centerline goodness [0,1] 0.13848835366819834 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.37, Z:-1.24 [[ 0.99985276 -0.00569458 -0.01618758 5.13230772] [ 0.00555116 0.99994507 -0.00889085 -0.36989153] [ 0.01623732 0.00879968 0.99982944 -1.23512622] [ 0. 0. 0. 1. ]] SLAMing on 122.816296757 meters Centerline goodness [0,1] 0.14286474265194837 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.37, Z:-1.24 [[ 0.99984266 -0.00589844 -0.0167294 5.13459783] [ 0.00574371 0.99994043 -0.00928178 -0.36869152] [ 0.01678315 0.00918423 0.99981697 -1.23607588] [ 0. 0. 0. 1. ]] SLAMing on 122.846296757 meters Centerline goodness [0,1] 0.15649019080892235 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.37, Z:-1.24 [[ 9.99832639e-01 -2.76582688e-03 -1.80843449e-02 5.14007845e+00] [ 2.66092453e-03 9.99979510e-01 -5.82221863e-03 -3.67466164e-01] [ 1.81000776e-02 5.77312315e-03 9.99819513e-01 -1.23762484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.876296757 meters Centerline goodness [0,1] 0.17249656139593839 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.37, Z:-1.24 [[ 9.99824647e-01 -2.76806134e-03 -1.85206169e-02 5.14173917e+00] [ 2.65410332e-03 9.99977414e-01 -6.17478879e-03 -3.65918461e-01] [ 1.85372907e-02 6.12455039e-03 9.99809411e-01 -1.23825224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.906296757 meters Centerline goodness [0,1] 0.19471127900701568 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-1.25 [[ 9.99893930e-01 2.81792459e-03 -1.42894240e-02 5.16099925e+00] [-2.97176907e-03 9.99937731e-01 -1.07565386e-02 -3.63759250e-01] [ 1.42582231e-02 1.07978626e-02 9.99840042e-01 -1.24521009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93629675700001 meters Centerline goodness [0,1] 0.2079119571683522 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-1.25 [[ 9.99886265e-01 2.78674847e-03 -1.48219833e-02 5.16251723e+00] [-2.94420725e-03 9.99939355e-01 -1.06121373e-02 -3.64095301e-01] [ 1.47915111e-02 1.06545693e-02 9.99833832e-01 -1.24502802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96629675700001 meters Centerline goodness [0,1] 0.28767346938775507 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.36, Z:-1.24 [[ 9.99879351e-01 2.73394049e-03 -1.52908312e-02 5.16392382e+00] [-2.89348082e-03 9.99941510e-01 -1.04213520e-02 -3.64660361e-01] [ 1.52614455e-02 1.04643384e-02 9.99828778e-01 -1.24490742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99629675700001 meters Centerline goodness [0,1] 0.3067284492213205 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.37, Z:-1.24 [[ 9.99868697e-01 2.82557825e-03 -1.59563277e-02 5.16615856e+00] [-2.98505695e-03 9.99945746e-01 -9.97974324e-03 -3.65049787e-01] [ 1.59272634e-02 1.00260634e-02 9.99822884e-01 -1.24456014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02629675700001 meters Centerline goodness [0,1] 0.31530441002503506 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-1.24 [[ 9.99863683e-01 2.93658025e-03 -1.62478046e-02 5.16689017e+00] [-3.09594609e-03 9.99947264e-01 -9.79201020e-03 -3.64636427e-01] [ 1.62181928e-02 9.84097772e-03 9.99820046e-01 -1.24422861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05629675700001 meters Centerline goodness [0,1] 0.3303027798440642 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-1.24 [[ 9.99852340e-01 3.29270284e-03 -1.68658374e-02 5.16836649e+00] [-3.44968979e-03 9.99950921e-01 -9.28736397e-03 -3.64051118e-01] [ 1.68344291e-02 9.34417451e-03 9.99814627e-01 -1.24314577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08629675700001 meters Centerline goodness [0,1] 0.34498924493960625 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-1.24 [[ 9.99844410e-01 3.24880632e-03 -1.73378384e-02 5.16929528e+00] [-3.40580678e-03 9.99953397e-01 -9.03353419e-03 -3.64268996e-01] [ 1.73076822e-02 9.09117799e-03 9.99808879e-01 -1.24231565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.116296757 meters Centerline goodness [0,1] 0.35272273797976994 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.37, Z:-1.24 [[ 9.99829074e-01 2.92208908e-03 -1.82560677e-02 5.17104013e+00] [-3.07410794e-03 9.99960792e-01 -8.30452576e-03 -3.66065020e-01] [ 1.82310854e-02 8.35922742e-03 9.99798855e-01 -1.23993119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.146296757 meters Centerline goodness [0,1] 0.3554338505794816 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.37, Z:-1.24 [[ 9.99819684e-01 2.75437089e-03 -1.87886370e-02 5.17212559e+00] [-2.90450146e-03 9.99964038e-01 -7.96789581e-03 -3.66838092e-01] [ 1.87660147e-02 8.02103070e-03 9.99791728e-01 -1.23893640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.176296757 meters Centerline goodness [0,1] 0.3551135577747656 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.37, Z:-1.24 [[ 9.99811136e-01 2.64777859e-03 -1.92531008e-02 5.17306308e+00] [-2.79500787e-03 9.99967030e-01 -7.62415910e-03 -3.67454882e-01] [ 1.92322790e-02 7.67653174e-03 9.99785572e-01 -1.23808484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.206296757 meters Centerline goodness [0,1] 0.35886317184996963 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.37, Z:-1.24 [[ 9.99803288e-01 2.70523837e-03 -1.96485704e-02 5.17397075e+00] [-2.85282639e-03 9.99967901e-01 -7.48724560e-03 -3.66506398e-01] [ 1.96276849e-02 7.54182673e-03 9.99778913e-01 -1.23706257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.236296757 meters Centerline goodness [0,1] 0.373367569507717 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-1.24 [[ 9.99797661e-01 3.09678738e-03 -1.98757694e-02 5.17436832e+00] [-3.24640494e-03 9.99966606e-01 -7.49979007e-03 -3.64859437e-01] [ 1.98518804e-02 7.56279737e-03 9.99774328e-01 -1.23632172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.266296757 meters Centerline goodness [0,1] 0.38130991300493156 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.36, Z:-1.24 [[ 9.99793147e-01 3.15759821e-03 -2.00921128e-02 5.17472061e+00] [-3.30793879e-03 9.99966749e-01 -7.45373638e-03 -3.64342807e-01] [ 2.00679088e-02 7.51865804e-03 9.99770348e-01 -1.23583784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29629675700001 meters Centerline goodness [0,1] 0.3813556960967319 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99786447e-01 3.17177797e-03 -2.04206072e-02 5.17604422e+00] [-3.33034803e-03 9.99964532e-01 -7.73587876e-03 -3.63660100e-01] [ 2.03953465e-02 7.80223446e-03 9.99761549e-01 -1.23631015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32629675700001 meters Centerline goodness [0,1] 0.3828837570347371 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99779770e-01 3.02930132e-03 -2.07662170e-02 5.17735774e+00] [-3.19825101e-03 9.99962020e-01 -8.10741751e-03 -3.62697780e-01] [ 2.07408684e-02 8.17204758e-03 9.99751486e-01 -1.23703458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35629675700001 meters Centerline goodness [0,1] 0.3842048502613168 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99766010e-01 2.99854165e-03 -2.14227617e-02 5.17999519e+00] [-3.18896880e-03 9.99955661e-01 -8.86038490e-03 -3.60255117e-01] [ 2.13952436e-02 8.92662818e-03 9.99731243e-01 -1.23873825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38629675700001 meters Centerline goodness [0,1] 0.40100833818111303 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99760382e-01 2.89581455e-03 -2.16977710e-02 5.18086508e+00] [-3.09700916e-03 9.99952471e-01 -9.24473515e-03 -3.59051909e-01] [ 2.16699686e-02 9.30971814e-03 9.99721832e-01 -1.23912201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41629675700001 meters Centerline goodness [0,1] 0.4186188350752682 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99752924e-01 2.83118333e-03 -2.20471341e-02 5.18180254e+00] [-3.04154899e-03 9.99950116e-01 -9.51395288e-03 -3.58140372e-01] [ 2.20190986e-02 9.57865965e-03 9.99711663e-01 -1.23900801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44629675700001 meters Centerline goodness [0,1] 0.419351258359 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99743581e-01 2.80276983e-03 -2.24703402e-02 5.18253310e+00] [-3.01048903e-03 9.99953003e-01 -9.21565823e-03 -3.58788757e-01] [ 2.24434548e-02 9.28094188e-03 9.99705034e-01 -1.23829340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.476296757 meters Centerline goodness [0,1] 0.4191495275152862 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99737484e-01 2.80402258e-03 -2.27398448e-02 5.18305838e+00] [-3.00830531e-03 9.99955385e-01 -8.95424313e-03 -3.59506702e-01] [ 2.27137223e-02 9.02030090e-03 9.99701316e-01 -1.23787006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.506296757 meters Centerline goodness [0,1] 0.4222742997433322 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99728432e-01 2.72501670e-03 -2.31438118e-02 5.18443823e+00] [-2.93781358e-03 9.99953680e-01 -9.16552947e-03 -3.59228058e-01] [ 2.31177636e-02 9.23103261e-03 9.99690131e-01 -1.23828800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.536296757 meters Centerline goodness [0,1] 0.4232637338097365 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.36, Z:-1.24 [[ 9.99725234e-01 2.74718191e-03 -2.32789497e-02 5.18497876e+00] [-2.96669028e-03 9.99951416e-01 -9.40019599e-03 -3.58348212e-01] [ 2.32519946e-02 9.46667457e-03 9.99684814e-01 -1.23869668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.566296757 meters Centerline goodness [0,1] 0.4366161897338826 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99697689e-01 6.75442652e-03 -2.36412376e-02 5.18630738e+00] [-6.87815332e-03 9.99963052e-01 -5.15611832e-03 -3.58416747e-01] [ 2.36055375e-02 5.31716763e-03 9.99707210e-01 -1.23869975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.596296757 meters Centerline goodness [0,1] 0.4259022053909557 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 0.99969628 0.00703357 -0.02361927 5.18631908] [-0.00716058 0.99996033 -0.00529697 -0.35753572] [ 0.02358108 0.00546449 0.99970699 -1.23905891] [ 0. 0. 0. 1. ]] SLAMing on 123.626296757 meters Centerline goodness [0,1] 0.43836953188167394 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 0.99969236 0.00712006 -0.02375898 5.18656843] [-0.00725054 0.99995908 -0.00541024 -0.35700853] [ 0.02371948 0.00558084 0.99970308 -1.23909402] [ 0. 0. 0. 1. ]] SLAMing on 123.656296757 meters Centerline goodness [0,1] 0.4504280893549377 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99683391e-01 7.24851598e-03 -2.40951634e-02 5.18743102e+00] [-7.36994937e-03 9.99960566e-01 -4.95476330e-03 -3.58688849e-01] [ 2.40582986e-02 5.13077471e-03 9.99697391e-01 -1.23884838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68629675700001 meters Centerline goodness [0,1] 0.461429009848506 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99675855e-01 7.20361028e-03 -2.44191250e-02 5.18816302e+00] [-7.31736019e-03 9.99962775e-01 -4.57207923e-03 -3.59971091e-01] [ 2.43852805e-02 4.74928074e-03 9.99691354e-01 -1.23858380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71629675700001 meters Centerline goodness [0,1] 0.4722354323439729 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99671061e-01 7.21347251e-03 -2.46117044e-02 5.18884990e+00] [-7.30898851e-03 9.99966095e-01 -3.79316931e-03 -3.62294584e-01] [ 2.45835080e-02 3.97180826e-03 9.99689890e-01 -1.23814933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74629675700001 meters Centerline goodness [0,1] 0.48115057136455297 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99671518e-01 7.36664996e-03 -2.45476800e-02 5.18857824e+00] [-7.45390055e-03 9.99966217e-01 -3.46472585e-03 -3.62785331e-01] [ 2.45213273e-02 3.64656371e-03 9.99692656e-01 -1.23779306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77629675700001 meters Centerline goodness [0,1] 0.5104813013583767 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99669464e-01 7.51708771e-03 -2.45856791e-02 5.18870099e+00] [-7.59753889e-03 9.99966080e-01 -3.18050598e-03 -3.62931482e-01] [ 2.45609371e-02 3.36624536e-03 9.99692667e-01 -1.23749627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80629675700001 meters Centerline goodness [0,1] 0.5187599675442769 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.36, Z:-1.24 [[ 9.99667713e-01 7.69352420e-03 -2.46022978e-02 5.18861077e+00] [-7.76684264e-03 9.99965673e-01 -2.88597911e-03 -3.63597039e-01] [ 2.45792499e-02 3.07610232e-03 9.99693152e-01 -1.23726650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83629675700001 meters Centerline goodness [0,1] 0.4526441292630219 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.37, Z:-1.24 [[ 9.99620034e-01 1.56057339e-02 -2.27210933e-02 5.31292881e+00] [-1.56108288e-02 9.99878142e-01 -4.68746970e-05 -3.68648599e-01] [ 2.27175930e-02 4.01551984e-04 9.99741842e-01 -1.23979971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.866296757 meters Centerline goodness [0,1] 0.6809489295272079 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99760088e-01 1.04315990e-02 -1.92599969e-02 5.25008127e+00] [-1.03387047e-02 9.99934468e-01 4.91646263e-03 -3.70354658e-01] [ 1.93100213e-02 -4.71615969e-03 9.99802421e-01 -1.24258717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.896296757 meters Centerline goodness [0,1] 0.6939231456657731 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99796268e-01 6.35075537e-03 -1.91596224e-02 5.25034308e+00] [-6.34415978e-03 9.99979794e-01 4.05006702e-04 -3.69177445e-01] [ 1.91618073e-02 -2.83372484e-04 9.99816356e-01 -1.24377986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.926296757 meters Centerline goodness [0,1] 0.7102868943960705 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99792211e-01 6.24321498e-03 -1.94050891e-02 5.25095584e+00] [-6.23484351e-03 9.99980442e-01 4.91875972e-04 -3.69629329e-01] [ 1.94077805e-02 -3.70786072e-04 9.99811583e-01 -1.24385334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.956296757 meters Centerline goodness [0,1] 0.7188251075959979 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99787856e-01 6.23777752e-03 -1.96299212e-02 5.25134812e+00] [-6.22533253e-03 9.99980381e-01 6.95024917e-04 -3.70164587e-01] [ 1.96338714e-02 -5.72674685e-04 9.99807073e-01 -1.24366293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.986296757 meters Centerline goodness [0,1] 0.7364563593802251 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99782568e-01 6.13996385e-03 -1.99278304e-02 5.25194068e+00] [-6.12258830e-03 9.99980822e-01 9.32818290e-04 -3.71459430e-01] [ 1.99331757e-02 -8.10605564e-04 9.99800986e-01 -1.24335213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.016296757 meters Centerline goodness [0,1] 0.7462348766380731 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99778005e-01 6.28948537e-03 -2.01092588e-02 5.25200871e+00] [-6.26519497e-03 9.99979566e-01 1.27069414e-03 -3.72188928e-01] [ 2.01168399e-02 -1.14442362e-03 9.99796981e-01 -1.24284664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04629675700001 meters Centerline goodness [0,1] 0.7719803253032251 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99774102e-01 6.48193826e-03 -2.02417967e-02 5.25228140e+00] [-6.45407485e-03 9.99978133e-01 1.44155357e-03 -3.72613969e-01] [ 2.02506982e-02 -1.31058585e-03 9.99794075e-01 -1.24302294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07629675700001 meters Centerline goodness [0,1] 0.7886333184457347 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99771185e-01 6.48664899e-03 -2.03838412e-02 5.25270942e+00] [-6.46145094e-03 9.99978277e-01 1.30179672e-03 -3.72315800e-01] [ 2.03918427e-02 -1.16978966e-03 9.99791380e-01 -1.24336217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10629675700001 meters Centerline goodness [0,1] 0.799505156931973 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.24 [[ 9.99760731e-01 6.11993285e-03 -2.10006547e-02 5.25464463e+00] [-6.11089183e-03 9.99981206e-01 4.94658376e-04 -3.70630003e-01] [ 2.10032873e-02 -3.66207291e-04 9.99779340e-01 -1.24488754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13629675700001 meters Centerline goodness [0,1] 0.8135814833361152 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.37, Z:-1.25 [[ 9.99757298e-01 6.18866261e-03 -2.11434679e-02 5.25499474e+00] [-6.18161804e-03 9.99980814e-01 3.98521342e-04 -3.70211473e-01] [ 2.11455285e-02 -2.67723778e-04 9.99776372e-01 -1.24510900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16629675700001 meters Centerline goodness [0,1] 0.8235998218461196 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99755133e-01 6.32263782e-03 -2.12061131e-02 5.25520638e+00] [-6.31587989e-03 9.99979980e-01 3.85639039e-04 -3.70205319e-01] [ 2.12081268e-02 -2.51609345e-04 9.99775051e-01 -1.24535339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19629675700001 meters Centerline goodness [0,1] 0.8321928244909267 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99745563e-01 6.33253229e-03 -2.16496692e-02 5.25632801e+00] [-6.33274541e-03 9.99979946e-01 5.87156921e-05 -3.69884836e-01] [ 2.16496069e-02 7.84010906e-05 9.99765617e-01 -1.24610697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.226296757 meters Centerline goodness [0,1] 0.8331538100367333 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99745701e-01 6.49062061e-03 -2.15964117e-02 5.25629140e+00] [-6.49394471e-03 9.99978911e-01 -8.37906972e-05 -3.69525794e-01] [ 2.15954124e-02 2.24015293e-04 9.99766767e-01 -1.24640547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.256296757 meters Centerline goodness [0,1] 0.8364973115329749 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99702321e-01 9.82842602e-03 -2.23309395e-02 5.25835795e+00] [-9.74595254e-03 9.99945290e-01 3.79907558e-03 -3.70578999e-01] [ 2.23670567e-02 -3.58030840e-03 9.99743415e-01 -1.24664737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.286296757 meters Centerline goodness [0,1] 0.8289729079526504 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99700659e-01 9.65985594e-03 -2.24784382e-02 5.25899796e+00] [-9.58888543e-03 9.99948702e-01 3.26291926e-03 -3.69381802e-01] [ 2.25088044e-02 -3.04639937e-03 9.99742003e-01 -1.24731646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.316296757 meters Centerline goodness [0,1] 0.8135085857348899 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99905838e-01 1.01814339e-02 -9.20076714e-03 5.26071985e+00] [-1.01568565e-02 9.99944735e-01 2.71402654e-03 -3.66773103e-01] [ 9.22789134e-03 -2.62032011e-03 9.99953989e-01 -1.25393259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.346296757 meters Centerline goodness [0,1] 0.8106261859582543 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99906015e-01 9.88164358e-03 -9.50338540e-03 5.26156083e+00] [-9.86004779e-03 9.99948705e-01 2.31660686e-03 -3.66004344e-01] [ 9.52578981e-03 -2.22268530e-03 9.99952158e-01 -1.25427122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.376296757 meters Centerline goodness [0,1] 0.8106985898784006 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99903908e-01 9.74043813e-03 -9.86402560e-03 5.26206846e+00] [-9.71778710e-03 9.99950039e-01 2.34166085e-03 -3.65893862e-01] [ 9.88634158e-03 -2.24557933e-03 9.99948607e-01 -1.25382846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.406296757 meters Centerline goodness [0,1] 0.8081550262414211 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99903179e-01 9.25197894e-03 -1.03939143e-02 5.26337949e+00] [-9.23134639e-03 9.99955327e-01 2.03128702e-03 -3.65587200e-01] [ 1.04122434e-02 -1.93514052e-03 9.99943919e-01 -1.25405720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43629675700001 meters Centerline goodness [0,1] 0.8068993288590605 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.37, Z:-1.25 [[ 9.99902353e-01 8.74751403e-03 -1.08979781e-02 5.26473591e+00] [-8.72948972e-03 9.99960452e-01 1.70038542e-03 -3.65324166e-01] [ 1.09124212e-02 -1.60508559e-03 9.99939170e-01 -1.25441889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46629675700001 meters Centerline goodness [0,1] 0.8103664558144501 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.37, Z:-1.26 [[ 9.99901290e-01 7.79735949e-03 -1.16881145e-02 5.26705349e+00] [-7.78381475e-03 9.99968981e-01 1.20389143e-03 -3.65379455e-01] [ 1.16971392e-02 -1.11279447e-03 9.99930967e-01 -1.25508377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49629675700001 meters Centerline goodness [0,1] 0.8125649982667129 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.37, Z:-1.26 [[ 9.99899530e-01 7.18956485e-03 -1.22163904e-02 5.26873352e+00] [-7.18104789e-03 9.99973941e-01 7.40896702e-04 -3.65181819e-01] [ 1.22213987e-02 -6.53095779e-04 9.99925103e-01 -1.25583450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52629675700001 meters Centerline goodness [0,1] 0.8154544007639662 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.36, Z:-1.26 [[ 9.99895493e-01 6.17353378e-03 -1.30725288e-02 5.27124843e+00] [-6.17270148e-03 9.99980943e-01 1.04014757e-04 -3.64495123e-01] [ 1.30729218e-02 -2.33110691e-05 9.99914545e-01 -1.25662198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55629675700001 meters Centerline goodness [0,1] 0.8146638433033351 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.36, Z:-1.26 [[ 9.99894671e-01 5.51416917e-03 -1.34253630e-02 5.27267631e+00] [-5.51932285e-03 9.99984708e-01 -3.46855366e-04 -3.64330964e-01] [ 1.34232451e-02 4.20917745e-04 9.99909816e-01 -1.25737540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58629675700001 meters Centerline goodness [0,1] 0.8132698916204071 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99888488e-01 3.98426445e-03 -1.43922621e-02 5.27603013e+00] [-3.99680559e-03 9.99991658e-01 -8.42722932e-04 -3.65759533e-01] [ 1.43887844e-02 9.00152032e-04 9.99896071e-01 -1.25853078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.616296757 meters Centerline goodness [0,1] 0.8132698916204071 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99888488e-01 3.98426445e-03 -1.43922621e-02 5.27603013e+00] [-3.99680559e-03 9.99991658e-01 -8.42722932e-04 -3.65759533e-01] [ 1.43887844e-02 9.00152032e-04 9.99896071e-01 -1.25853078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.646296757 meters Centerline goodness [0,1] 0.8137845406033708 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99883515e-01 3.38482219e-03 -1.48828803e-02 5.27754625e+00] [-3.39798004e-03 9.99993858e-01 -8.58894309e-04 -3.66666782e-01] [ 1.48798817e-02 9.09365990e-04 9.99888875e-01 -1.25887898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.676296757 meters Centerline goodness [0,1] 0.8154118548664148 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99879422e-01 2.90057272e-03 -1.52554057e-02 5.27865124e+00] [-2.91233047e-03 9.99995479e-01 -7.48568031e-04 -3.67698472e-01] [ 1.52531655e-02 7.92906554e-04 9.99883349e-01 -1.25895507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.706296757 meters Centerline goodness [0,1] 0.8146287285804951 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99878069e-01 1.75070565e-03 -1.55171315e-02 5.27979124e+00] [-1.75758843e-03 9.99998363e-01 -4.29933986e-04 -3.69938401e-01] [ 1.55163534e-02 4.57154294e-04 9.99879510e-01 -1.25845462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.736296757 meters Centerline goodness [0,1] 0.8160834543773934 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99871765e-01 1.22514099e-03 -1.59672610e-02 5.28096975e+00] [-1.22751863e-03 9.99999237e-01 -1.39107575e-04 -3.71439579e-01] [ 1.59670784e-02 1.58689847e-04 9.99872505e-01 -1.25820222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.766296757 meters Centerline goodness [0,1] 0.8175254174298532 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99872440e-01 -2.54960009e-03 -1.57671749e-02 5.28032367e+00] [ 2.49366520e-03 9.99990532e-01 -3.56619609e-03 -3.72765183e-01] [ 1.57761180e-02 3.52642313e-03 9.99869331e-01 -1.25782519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79629675700001 meters Centerline goodness [0,1] 0.8155030528271834 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.37, Z:-1.26 [[ 9.99867948e-01 -2.58954668e-03 -1.60430863e-02 5.28083753e+00] [ 2.54262186e-03 9.99992432e-01 -2.94463197e-03 -3.74537216e-01] [ 1.60505902e-02 2.90345162e-03 9.99866965e-01 -1.25734598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82629675700001 meters Centerline goodness [0,1] 0.8152502070586978 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99862136e-01 -2.68160126e-03 -1.63865171e-02 5.28185049e+00] [ 2.64559231e-03 9.99994039e-01 -2.21875646e-03 -3.77062030e-01] [ 1.63923692e-02 2.17509853e-03 9.99863270e-01 -1.25730181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85629675700001 meters Centerline goodness [0,1] 0.8133012177171149 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99859603e-01 -2.66039995e-03 -1.65437963e-02 5.28231455e+00] [ 2.62611057e-03 9.99994359e-01 -2.09402198e-03 -3.77414177e-01] [ 1.65492739e-02 2.05028215e-03 9.99860949e-01 -1.25745696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88629675700001 meters Centerline goodness [0,1] 0.8140594430895398 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99861294e-01 -2.29435453e-03 -1.64963103e-02 5.28203878e+00] [ 2.26601424e-03 9.99995925e-01 -1.73646420e-03 -3.77910774e-01] [ 1.65002272e-02 1.69884247e-03 9.99862419e-01 -1.25730251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91629675700001 meters Centerline goodness [0,1] 0.8145725544862343 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99868995e-01 -1.41010798e-03 -1.61246468e-02 5.28057504e+00] [ 1.39328828e-03 9.99998474e-01 -1.05429159e-03 -3.78582436e-01] [ 1.61261088e-02 1.03168719e-03 9.99869434e-01 -1.25656112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94629675700001 meters Centerline goodness [0,1] 0.8162768292030188 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99867715e-01 -1.23865446e-03 -1.62178149e-02 5.28076676e+00] [ 1.22202625e-03 9.99998718e-01 -1.03517445e-03 -3.78561784e-01] [ 1.62190763e-02 1.01521892e-03 9.99867947e-01 -1.25673560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.976296757 meters Centerline goodness [0,1] 0.8197097020626433 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.38, Z:-1.26 [[ 9.99932897e-01 2.84027152e-03 -1.12309598e-02 5.29394491e+00] [-2.91904264e-03 9.99971214e-01 -7.00358706e-03 -3.77225313e-01] [ 1.12107444e-02 7.03590075e-03 9.99912404e-01 -1.26093434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.006296757 meters Centerline goodness [0,1] 0.8204024873402775 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.38, Z:-1.26 [[ 9.99910474e-01 6.08529135e-03 -1.19168879e-02 5.29596155e+00] [-6.11897134e-03 9.99977382e-01 -2.79182193e-03 -3.79086529e-01] [ 1.18996294e-02 2.86449108e-03 9.99925094e-01 -1.26077428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.036296757 meters Centerline goodness [0,1] 0.8224530038122781 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.38, Z:-1.26 [[ 9.99910215e-01 6.59882444e-03 -1.16626260e-02 5.29575533e+00] [-6.63652159e-03 9.99972869e-01 -3.19656376e-03 -3.77832311e-01] [ 1.16412161e-02 3.27367603e-03 9.99926880e-01 -1.26206082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.066296757 meters Centerline goodness [0,1] 0.8228178368121442 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.38, Z:-1.26 [[ 9.99909226e-01 6.55616572e-03 -1.17709743e-02 5.29637711e+00] [-6.59808751e-03 9.99972015e-01 -3.52615977e-03 -3.77120262e-01] [ 1.17475269e-02 3.60350561e-03 9.99924502e-01 -1.26281778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.096296757 meters Centerline goodness [0,1] 0.8219816325980986 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99866337e-01 4.95945360e-03 -1.55792120e-02 5.27789543e+00] [-4.94556224e-03 9.99987338e-01 9.30060386e-04 -3.78577063e-01] [ 1.55836273e-02 -8.52888109e-04 9.99878204e-01 -1.26109498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.126296757 meters Centerline goodness [0,1] 0.8207129354577369 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99865894e-01 5.20579785e-03 -1.55272008e-02 5.27749035e+00] [-5.18389594e-03 9.99985512e-01 1.45046609e-03 -3.79819561e-01] [ 1.55345266e-02 -1.36978018e-03 9.99878394e-01 -1.26050777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.156296757 meters Centerline goodness [0,1] 0.8230081300813008 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99863299e-01 5.17102296e-03 -1.57048859e-02 5.27764965e+00] [-5.14267584e-03 9.99985075e-01 1.84483711e-03 -3.81196580e-01] [ 1.57141912e-02 -1.76381979e-03 9.99874969e-01 -1.25994548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18629675700001 meters Centerline goodness [0,1] 0.8241913948608954 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99883880e-01 2.07200223e-03 -1.50974938e-02 5.27537108e+00] [-2.09384768e-03 9.99996784e-01 -1.43129567e-03 -3.81773165e-01] [ 1.50944796e-02 1.46274132e-03 9.99885002e-01 -1.25881743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21629675700001 meters Centerline goodness [0,1] 0.8237578276682436 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99883040e-01 2.10092040e-03 -1.51490377e-02 5.27533913e+00] [-2.11154338e-03 9.99997536e-01 -6.85270656e-04 -3.83606354e-01] [ 1.51475607e-02 7.17178356e-04 9.99885012e-01 -1.25808356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24629675700001 meters Centerline goodness [0,1] 0.8237267792356584 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99879994e-01 2.00732828e-03 -1.53612618e-02 5.27585753e+00] [-2.01542943e-03 9.99997838e-01 -5.11912571e-04 -3.84088452e-01] [ 1.53602010e-02 5.42810677e-04 9.99881878e-01 -1.25800807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27629675700001 meters Centerline goodness [0,1] 0.8248334013327894 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.38, Z:-1.26 [[ 9.99874442e-01 1.75081120e-03 -1.57491388e-02 5.27683817e+00] [-1.75961796e-03 9.99998303e-01 -5.45350069e-04 -3.84567640e-01] [ 1.57481573e-02 5.72994064e-04 9.99875826e-01 -1.25817961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30629675700001 meters Centerline goodness [0,1] 0.826261184607784 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99871988e-01 1.88827251e-03 -1.58884088e-02 5.27689674e+00] [-1.88812021e-03 9.99998217e-01 2.45862135e-05 -3.86001827e-01] [ 1.58884269e-02 5.41615958e-06 9.99873771e-01 -1.25756582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33629675700001 meters Centerline goodness [0,1] 0.8293682444511675 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99869648e-01 1.89843500e-03 -1.60338188e-02 5.27711213e+00] [-1.89696840e-03 9.99998195e-01 1.06677804e-04 -3.86090134e-01] [ 1.60339923e-02 -7.62482511e-05 9.99871444e-01 -1.25740466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.366296757 meters Centerline goodness [0,1] 0.8326492383129942 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99865184e-01 1.72976673e-03 -1.63285689e-02 5.27766341e+00] [-1.72431530e-03 9.99998453e-01 3.47931575e-04 -3.86874613e-01] [ 1.63291455e-02 -3.19729067e-04 9.99866619e-01 -1.25702515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.396296757 meters Centerline goodness [0,1] 0.8343183879924128 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99855450e-01 1.34119854e-03 -1.69493287e-02 5.27895863e+00] [-1.33332711e-03 9.99998998e-01 4.75701333e-04 -3.87786863e-01] [ 1.69499497e-02 -4.53033571e-04 9.99856237e-01 -1.25674160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.426296757 meters Centerline goodness [0,1] 0.8339728901526654 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99850272e-01 1.32351419e-03 -1.72534411e-02 5.27923614e+00] [-1.30550819e-03 9.99998591e-01 1.05483882e-03 -3.89377635e-01] [ 1.72548129e-02 -1.03215637e-03 9.99850592e-01 -1.25589239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.456296757 meters Centerline goodness [0,1] 0.8357002463804224 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.25 [[ 9.99845340e-01 1.13474898e-03 -1.75501883e-02 5.27955357e+00] [-1.10280796e-03 9.99997718e-01 1.82955220e-03 -3.91543146e-01] [ 1.75522243e-02 -1.80991475e-03 9.99844310e-01 -1.25476760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.486296757 meters Centerline goodness [0,1] 0.836205468102734 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99839051e-01 7.37804132e-04 -1.79256133e-02 5.28067069e+00] [-7.08081087e-04 9.99998364e-01 1.66442297e-03 -3.91500902e-01] [ 1.79268120e-02 -1.65146229e-03 9.99837938e-01 -1.25511216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.516296757 meters Centerline goodness [0,1] 0.8278761307508741 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99829964e-01 1.98841619e-04 -1.84391773e-02 5.28242338e+00] [-1.67450436e-04 9.99998534e-01 1.70394611e-03 -3.92291127e-01] [ 1.84394891e-02 -1.70056873e-03 9.99828532e-01 -1.25574530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54629675700001 meters Centerline goodness [0,1] 0.8395184448862381 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.39, Z:-1.26 [[ 9.99813263e-01 -6.26633681e-04 -1.93144130e-02 5.28499627e+00] [ 6.51001497e-04 9.99999000e-01 1.25537734e-03 -3.92377192e-01] [ 1.93136071e-02 -1.26771663e-03 9.99812671e-01 -1.25664414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57629675700001 meters Centerline goodness [0,1] 0.8319161942869846 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.39, Z:-1.26 [[ 9.99800640e-01 -1.14334449e-03 -1.99342071e-02 5.28685620e+00] [ 1.17285079e-03 9.99998234e-01 1.46855597e-03 -3.94014134e-01] [ 1.99324928e-02 -1.49164305e-03 9.99800215e-01 -1.25703531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60629675700001 meters Centerline goodness [0,1] 0.8421467605557217 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.39, Z:-1.26 [[ 9.99824156e-01 -2.18106263e-04 -1.87512291e-02 5.30953319e+00] [ 1.82855178e-04 9.99998213e-01 -1.88162861e-03 -3.93784464e-01] [ 1.87516060e-02 1.87786898e-03 9.99822410e-01 -1.25816474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63629675700001 meters Centerline goodness [0,1] 0.8400716340153036 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.39, Z:-1.26 [[ 9.99814785e-01 -5.73416300e-04 -1.92371013e-02 5.31094296e+00] [ 5.36745518e-04 9.99998029e-01 -1.91136202e-03 -3.94468433e-01] [ 1.92381594e-02 1.90068258e-03 9.99813123e-01 -1.25848602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66629675700001 meters Centerline goodness [0,1] 0.8423350891078301 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99814629e-01 -3.68784570e-04 -1.92502555e-02 5.31076456e+00] [ 3.39708241e-04 9.99998797e-01 -1.51368677e-03 -3.95376197e-01] [ 1.92507905e-02 1.50686670e-03 9.99813551e-01 -1.25805265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69629675700001 meters Centerline goodness [0,1] 0.8376918859649123 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99814868e-01 6.45083994e-06 -1.92413699e-02 5.31017726e+00] [-3.03459994e-05 9.99999229e-01 -1.24157202e-03 -3.95423510e-01] [ 1.92413470e-02 1.24192606e-03 9.99814097e-01 -1.25740396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.726296757 meters Centerline goodness [0,1] 0.8386368019395543 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99825920e-01 1.08172791e-03 -1.86268434e-02 5.30776463e+00] [-1.09295739e-03 9.99999227e-01 -5.92696130e-04 -3.95696800e-01] [ 1.86261879e-02 6.12951300e-04 9.99826330e-01 -1.25618910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.756296757 meters Centerline goodness [0,1] 0.8403610249531953 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99828863e-01 1.69512163e-03 -1.84220580e-02 5.30680143e+00] [-1.69921892e-03 9.99998535e-01 -2.06761492e-04 -3.95956321e-01] [ 1.84216805e-02 2.38029217e-04 9.99830278e-01 -1.25566134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.786296757 meters Centerline goodness [0,1] 0.8378567627370249 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99831810e-01 2.41888196e-03 -1.81796639e-02 5.30605848e+00] [-2.42338350e-03 9.99997038e-01 -2.25588256e-04 -3.95563847e-01] [ 1.81790643e-02 2.69606612e-04 9.99834711e-01 -1.25607443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.816296757 meters Centerline goodness [0,1] 0.8396066085309113 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99800063e-01 5.59565086e-03 -1.91969438e-02 5.30886745e+00] [-5.52367491e-03 9.99977523e-01 3.80032155e-03 -3.97220243e-01] [ 1.92177776e-02 -3.69352405e-03 9.99808499e-01 -1.25631134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.846296757 meters Centerline goodness [0,1] 0.8470571748878923 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99798693e-01 5.88035198e-03 -1.91831719e-02 5.30890043e+00] [-5.80997433e-03 9.99976194e-01 3.72238953e-03 -3.96947132e-01] [ 1.92046042e-02 -3.61018646e-03 9.99809057e-01 -1.25675898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.876296757 meters Centerline goodness [0,1] 0.8421407501053519 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99796200e-01 6.11306418e-03 -1.92403074e-02 5.30931655e+00] [-6.05041298e-03 9.99976209e-01 3.31277640e-03 -3.96221666e-01] [ 1.92601008e-02 -3.19568945e-03 9.99809400e-01 -1.25784891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.906296757 meters Centerline goodness [0,1] 0.8429133858267717 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99795704e-01 6.03308236e-03 -1.92912580e-02 5.30970908e+00] [-5.97551259e-03 9.99977524e-01 3.04049359e-03 -3.96171346e-01] [ 1.93091680e-02 -2.92459727e-03 9.99809283e-01 -1.25844787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93629675700001 meters Centerline goodness [0,1] 0.8488476925677579 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99788899e-01 6.02493905e-03 -1.96432656e-02 5.30999138e+00] [-5.95441253e-03 9.99975622e-01 3.64687983e-03 -3.98068276e-01] [ 1.96647590e-02 -3.52914586e-03 9.99800401e-01 -1.25736958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96629675700001 meters Centerline goodness [0,1] 0.845637205102156 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99783175e-01 5.82845881e-03 -1.99907915e-02 5.31044969e+00] [-5.74945743e-03 9.99975443e-01 4.00708858e-03 -3.99374463e-01] [ 2.00136558e-02 -3.89128354e-03 9.99792134e-01 -1.25659235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99629675700001 meters Centerline goodness [0,1] 0.8492287699870049 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.25 [[ 9.99772643e-01 5.44043241e-03 -2.06170586e-02 5.31130832e+00] [-5.33268058e-03 9.99971854e-01 5.27772315e-03 -4.02571985e-01] [ 2.06451914e-02 -5.16657903e-03 9.99773516e-01 -1.25454597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02629675700001 meters Centerline goodness [0,1] 0.8478193278498545 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.25 [[ 9.99764293e-01 4.72530409e-03 -2.11903269e-02 5.31298077e+00] [-4.61735695e-03 9.99976129e-01 5.14020791e-03 -4.03257433e-01] [ 2.12141101e-02 -5.04115303e-03 9.99762246e-01 -1.25481187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05629675700001 meters Centerline goodness [0,1] 0.8445176497316332 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99785276e-01 1.08364355e-03 -2.06936784e-02 5.31191503e+00] [-1.06455761e-03 9.99998998e-01 9.33301634e-04 -4.01846758e-01] [ 2.06946690e-02 -9.11071618e-04 9.99785427e-01 -1.25530280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08629675700001 meters Centerline goodness [0,1] 0.844793152639087 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99781000e-01 -3.08681347e-03 -2.06984004e-02 5.31213686e+00] [ 3.02714032e-03 9.99991173e-01 -2.91369629e-03 -4.02512210e-01] [ 2.07072117e-02 2.85040123e-03 9.99781519e-01 -1.25548231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.116296757 meters Centerline goodness [0,1] 0.8460948594149389 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.40, Z:-1.26 [[ 9.99764686e-01 -3.63022473e-03 -2.13867675e-02 5.31389083e+00] [ 3.57569437e-03 9.99990260e-01 -2.58741357e-03 -4.03906699e-01] [ 2.13959521e-02 2.51033217e-03 9.99767929e-01 -1.25529471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.146296757 meters Centerline goodness [0,1] 0.8471703936477653 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99735447e-01 -4.70744860e-03 -2.25139218e-02 5.31685508e+00] [ 4.66612148e-03 9.99987332e-01 -1.88780644e-03 -4.06241987e-01] [ 2.25225234e-02 1.78225432e-03 9.99744747e-01 -1.25461310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.176296757 meters Centerline goodness [0,1] 0.8448572314457254 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99728308e-01 -4.87165718e-03 -2.27942403e-02 5.31755467e+00] [ 4.84235488e-03 9.99987377e-01 -1.34053315e-03 -4.07813878e-01] [ 2.28004832e-02 1.22979113e-03 9.99739279e-01 -1.25418570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.206296757 meters Centerline goodness [0,1] 0.8429156660545275 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99721094e-01 -4.93467310e-03 -2.30951021e-02 5.31815271e+00] [ 4.91926792e-03 9.99987638e-01 -7.23798124e-04 -4.09494523e-01] [ 2.30983883e-02 6.09985257e-04 9.99733011e-01 -1.25363700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.236296757 meters Centerline goodness [0,1] 0.8462498581640758 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99712960e-01 -5.15795595e-03 -2.33964260e-02 5.31901838e+00] [ 5.15894732e-03 9.99986692e-01 -1.79863152e-05 -4.12000243e-01] [ 2.33962075e-02 -1.02719777e-04 9.99726266e-01 -1.25319845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.266296757 meters Centerline goodness [0,1] 0.8397166766629538 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99711098e-01 -5.03938171e-03 -2.35015933e-02 5.31909285e+00] [ 5.05056475e-03 9.99987159e-01 4.16509529e-04 -4.13000873e-01] [ 2.34991926e-02 -5.35085517e-04 9.99723713e-01 -1.25275059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29629675700001 meters Centerline goodness [0,1] 0.8467955470774137 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99707636e-01 -4.98220664e-03 -2.36605022e-02 5.31945334e+00] [ 4.99563030e-03 9.99987393e-01 5.08270375e-04 -4.13495820e-01] [ 2.36576716e-02 -6.26320897e-04 9.99719922e-01 -1.25277192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32629675700001 meters Centerline goodness [0,1] 0.8452442012879695 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99714460e-01 -4.53364594e-03 -2.34615367e-02 5.31871148e+00] [ 4.55205787e-03 9.99989372e-01 7.31423776e-04 -4.13662784e-01] [ 2.34579714e-02 -8.38013199e-04 9.99724473e-01 -1.25256891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35629675700001 meters Centerline goodness [0,1] 0.8509320283992872 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99826946e-01 -8.37476136e-04 -1.85843233e-02 5.33171136e+00] [ 7.18527322e-04 9.99979222e-01 -6.40624656e-03 -4.11146804e-01] [ 1.85893022e-02 6.39178459e-03 9.99806773e-01 -1.25731669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38629675700001 meters Centerline goodness [0,1] 0.8492806576844029 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99833712e-01 -7.23152924e-05 -1.82357408e-02 5.33036236e+00] [-4.09073496e-05 9.99980727e-01 -6.20838206e-03 -4.10574528e-01] [ 1.82358383e-02 6.20809566e-03 9.99814440e-01 -1.25691657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41629675700001 meters Centerline goodness [0,1] 0.8502618993395582 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99823176e-01 4.81582004e-03 -1.81775697e-02 5.32949439e+00] [-4.84319107e-03 9.99987203e-01 -1.46203639e-03 -4.11573393e-01] [ 1.81702962e-02 1.54981531e-03 9.99833705e-01 -1.25592322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44629675700001 meters Centerline goodness [0,1] 0.8520649387638849 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99825436e-01 5.49233871e-03 -1.78586699e-02 5.32858583e+00] [-5.52353458e-03 9.99983304e-01 -1.69796325e-03 -4.10547098e-01] [ 1.78490459e-02 1.79630983e-03 9.99839079e-01 -1.25635127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.476296757 meters Centerline goodness [0,1] 0.8520649387638849 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99825436e-01 5.49233871e-03 -1.78586699e-02 5.32858583e+00] [-5.52353458e-03 9.99983304e-01 -1.69796325e-03 -4.10547098e-01] [ 1.78490459e-02 1.79630983e-03 9.99839079e-01 -1.25635127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.506296757 meters Centerline goodness [0,1] 0.8528299741308241 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99825254e-01 6.14119277e-03 -1.76563627e-02 5.32783288e+00] [-6.17616260e-03 9.99979071e-01 -1.92673313e-03 -4.09347809e-01] [ 1.76441607e-02 2.03544501e-03 9.99842258e-01 -1.25671129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.536296757 meters Centerline goodness [0,1] 0.8491301995843179 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99828402e-01 7.56927773e-03 -1.69077589e-02 5.32587691e+00] [-7.60800778e-03 9.99968578e-01 -2.22752034e-03 -4.07515869e-01] [ 1.68903669e-02 2.35577246e-03 9.99854572e-01 -1.25779071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.566296757 meters Centerline goodness [0,1] 0.8463197321377901 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99829148e-01 7.77910271e-03 -1.67678416e-02 5.32579023e+00] [-7.82097582e-03 9.99966456e-01 -2.43309911e-03 -4.06966388e-01] [ 1.67483518e-02 2.56382429e-03 9.99856449e-01 -1.25841131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.596296757 meters Centerline goodness [0,1] 0.8463797582740313 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99829182e-01 7.88244335e-03 -1.67174755e-02 5.32585008e+00] [-7.92388982e-03 9.99965691e-01 -2.41444126e-03 -4.07264748e-01] [ 1.66978703e-02 2.54649627e-03 9.99857338e-01 -1.25872987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.626296757 meters Centerline goodness [0,1] 0.8463841807909604 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99829571e-01 7.99084603e-03 -1.66425889e-02 5.32550517e+00] [-8.02605720e-03 9.99965689e-01 -2.05000951e-03 -4.08142222e-01] [ 1.66256365e-02 2.18323450e-03 9.99859401e-01 -1.25821994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.656296757 meters Centerline goodness [0,1] 0.8459287603398795 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.41, Z:-1.26 [[ 9.99826347e-01 7.86191830e-03 -1.68957131e-02 5.32582448e+00] [-7.88911524e-03 9.99967689e-01 -1.54364649e-03 -4.09290387e-01] [ 1.68830311e-02 1.67667066e-03 9.99856066e-01 -1.25734194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68629675700001 meters Centerline goodness [0,1] 0.8498287719695469 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99858461e-01 4.33108390e-03 -1.62572815e-02 5.32376758e+00] [-4.40948186e-03 9.99978808e-01 -4.78958478e-03 -4.10626878e-01] [ 1.62361929e-02 4.86059306e-03 9.99856370e-01 -1.25618741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71629675700001 meters Centerline goodness [0,1] 0.8524199045671439 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99873047e-01 3.94938729e-04 -1.59290410e-02 5.32293052e+00] [-5.23508398e-04 9.99967316e-01 -8.06803850e-03 -4.12382630e-01] [ 1.59253340e-02 8.07535322e-03 9.99840573e-01 -1.25548142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74629675700001 meters Centerline goodness [0,1] 0.8496328342915694 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99871121e-01 2.41252472e-04 -1.60524966e-02 5.32311182e+00] [-3.59568703e-04 9.99972791e-01 -7.36810338e-03 -4.13902288e-01] [ 1.60502823e-02 7.37292576e-03 9.99844002e-01 -1.25460102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77629675700001 meters Centerline goodness [0,1] 0.8496355747142735 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99868918e-01 3.45370092e-05 -1.61909238e-02 5.32354373e+00] [-1.45429509e-04 9.99976542e-01 -6.84792595e-03 -4.14865035e-01] [ 1.61903075e-02 6.84938295e-03 9.99845468e-01 -1.25410939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80629675700001 meters Centerline goodness [0,1] 0.8473697628962352 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99867616e-01 -1.94822038e-05 -1.62711622e-02 5.32373420e+00] [-8.40973000e-05 9.99979739e-01 -6.36512466e-03 -4.15735167e-01] [ 1.62709566e-02 6.36565037e-03 9.99847356e-01 -1.25365284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83629675700001 meters Centerline goodness [0,1] 0.8474850350364549 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99870293e-01 1.76670159e-05 -1.61057728e-02 5.32326426e+00] [-1.03836799e-04 9.99985686e-01 -5.34942155e-03 -4.18176694e-01] [ 1.61054477e-02 5.35040007e-03 9.99855984e-01 -1.25254168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.866296757 meters Centerline goodness [0,1] 0.8474085019322574 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99870918e-01 3.03512254e-04 -1.60640699e-02 5.32274777e+00] [-3.78214492e-04 9.99989129e-01 -4.64743478e-03 -4.19486269e-01] [ 1.60624848e-02 4.65291055e-03 9.99860164e-01 -1.25162222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.896296757 meters Centerline goodness [0,1] 0.8457445302991707 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99873346e-01 5.68300738e-04 -1.59049849e-02 5.32232477e+00] [-6.36274808e-04 9.99990685e-01 -4.26902498e-03 -4.20033319e-01] [ 1.59024107e-02 4.27860423e-03 9.99864394e-01 -1.25141442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.926296757 meters Centerline goodness [0,1] 0.846700708099416 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99871551e-01 6.01235715e-04 -1.60162209e-02 5.32273685e+00] [-6.73657125e-04 9.99989573e-01 -4.51674271e-03 -4.19099113e-01] [ 1.60133383e-02 4.52695198e-03 9.99861530e-01 -1.25191178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.956296757 meters Centerline goodness [0,1] 0.8400214319957136 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99857354e-01 4.17733054e-03 -1.63652656e-02 5.32450815e+00] [-4.19387871e-03 9.99990728e-01 -9.76987684e-04 -4.18471174e-01] [ 1.63610327e-02 1.04548226e-03 9.99865603e-01 -1.25317321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.986296757 meters Centerline goodness [0,1] 0.842497748761819 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.42, Z:-1.25 [[ 9.99858330e-01 4.30330323e-03 -1.62727025e-02 5.32467948e+00] [-4.33100693e-03 9.99989231e-01 -1.66760718e-03 -4.16806026e-01] [ 1.62653511e-02 1.73784812e-03 9.99866200e-01 -1.25438598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.016296757 meters Centerline goodness [0,1] 0.8465134507180248 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99856518e-01 5.27402081e-03 -1.60974840e-02 5.32379356e+00] [-5.30888879e-03 9.99983652e-01 -2.12408782e-03 -4.14791549e-01] [ 1.60860183e-02 2.20924281e-03 9.99868171e-01 -1.25511854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04629675700001 meters Centerline goodness [0,1] 0.8453375038400313 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99857934e-01 5.52477059e-03 -1.59244469e-02 5.32345426e+00] [-5.56590942e-03 9.99981284e-01 -2.54021456e-03 -4.13650280e-01] [ 1.59101148e-02 2.62848772e-03 9.99869971e-01 -1.25567847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07629675700001 meters Centerline goodness [0,1] 0.8410527493427309 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99858478e-01 5.85561299e-03 -1.57713776e-02 5.32286506e+00] [-5.89876667e-03 9.99978981e-01 -2.69107411e-03 -4.12624415e-01] [ 1.57552882e-02 2.78372494e-03 9.99872003e-01 -1.25569872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10629675700001 meters Centerline goodness [0,1] 0.8404104446483691 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99859207e-01 6.88541091e-03 -1.53021864e-02 5.32099051e+00] [-6.92808886e-03 9.99972253e-01 -2.73775068e-03 -4.10456633e-01] [ 1.52829113e-02 2.84338013e-03 9.99879167e-01 -1.25542058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13629675700001 meters Centerline goodness [0,1] 0.8398468920755554 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.26 [[ 9.99860668e-01 7.43591696e-03 -1.49449367e-02 5.31963324e+00] [-7.47950148e-03 9.99967931e-01 -2.86256536e-03 -4.09177597e-01] [ 1.49231716e-02 2.97394719e-03 9.99884221e-01 -1.25514794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16629675700001 meters Centerline goodness [0,1] 0.8243359277622359 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99858883e-01 8.75495890e-03 -1.43375466e-02 5.31708736e+00] [-8.79659121e-03 9.99957267e-01 -2.84324027e-03 -4.06904835e-01] [ 1.43120415e-02 2.96896058e-03 9.99893170e-01 -1.25454085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19629675700001 meters Centerline goodness [0,1] 0.8195706028075971 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.41, Z:-1.25 [[ 9.99855100e-01 9.00808970e-03 -1.44441593e-02 5.31700299e+00] [-9.05258249e-03 9.99954470e-01 -3.01791218e-03 -4.05866382e-01] [ 1.44163160e-02 3.14823182e-03 9.99891123e-01 -1.25449568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22629675700001 meters Centerline goodness [0,1] 0.8187793427230047 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99855546e-01 9.19421615e-03 -1.42951934e-02 5.31670605e+00] [-9.24351796e-03 9.99951543e-01 -3.38659829e-03 -4.04707943e-01] [ 1.42633636e-02 3.51824697e-03 9.99892083e-01 -1.25494567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.256296757 meters Centerline goodness [0,1] 0.8124879711858348 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.26 [[ 9.99856541e-01 9.30964143e-03 -1.41501969e-02 5.31674190e+00] [-9.36945362e-03 9.99947425e-01 -4.16655055e-03 -4.01816286e-01] [ 1.41106639e-02 4.29853244e-03 9.99891200e-01 -1.25609542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.286296757 meters Centerline goodness [0,1] 0.8079925241864556 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.26 [[ 9.99856008e-01 9.19664453e-03 -1.42613264e-02 5.31708466e+00] [-9.26242004e-03 9.99946738e-01 -4.55298667e-03 -4.00327293e-01] [ 1.42186946e-02 4.68442547e-03 9.99887936e-01 -1.25638649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.316296757 meters Centerline goodness [0,1] 0.8007209487906222 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.26 [[ 9.99857459e-01 9.39596058e-03 -1.40277771e-02 5.31627815e+00] [-9.45956075e-03 9.99945247e-01 -4.47442603e-03 -3.99649997e-01] [ 1.39849675e-02 4.60648484e-03 9.99891595e-01 -1.25589911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.346296757 meters Centerline goodness [0,1] 0.8047808764940239 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.26 [[ 9.99855830e-01 9.38949123e-03 -1.41476993e-02 5.31624808e+00] [-9.45195287e-03 9.99945848e-01 -4.35458822e-03 -3.99559956e-01] [ 1.41060458e-02 4.48768381e-03 9.99890434e-01 -1.25532815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.376296757 meters Centerline goodness [0,1] 0.8003192250536628 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99856602e-01 9.39363152e-03 -1.40902360e-02 5.31591058e+00] [-9.45472609e-03 9.99946162e-01 -4.27562142e-03 -3.99461918e-01] [ 1.40493138e-02 4.40822763e-03 9.99891586e-01 -1.25487868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.406296757 meters Centerline goodness [0,1] 0.8137575142049354 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99857670e-01 8.83959786e-03 -1.43701432e-02 5.31634701e+00] [-8.89897486e-03 9.99952107e-01 -4.07329016e-03 -3.99248329e-01] [ 1.43334487e-02 4.20058995e-03 9.99888447e-01 -1.25371904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43629675700001 meters Centerline goodness [0,1] 0.8302382908792112 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99861398e-01 8.06646815e-03 -1.45642496e-02 5.31727426e+00] [-8.13213840e-03 9.99957008e-01 -4.45542414e-03 -3.98607239e-01] [ 1.45276840e-02 4.57324510e-03 9.99884009e-01 -1.25386005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46629675700001 meters Centerline goodness [0,1] 0.8300419074748693 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99860866e-01 7.70962863e-03 -1.47922183e-02 5.31797383e+00] [-7.77688177e-03 9.99959659e-01 -4.49439843e-03 -3.98744749e-01] [ 1.47569715e-02 4.60881044e-03 9.99880488e-01 -1.25384877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49629675700001 meters Centerline goodness [0,1] 0.8313678277286781 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99859780e-01 7.40636196e-03 -1.50188417e-02 5.31848757e+00] [-7.47404060e-03 9.99962145e-01 -4.45513713e-03 -3.98753740e-01] [ 1.49852768e-02 4.56676386e-03 9.99877286e-01 -1.25354848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52629675700001 meters Centerline goodness [0,1] 0.8278375279794726 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99863434e-01 6.89697292e-03 -1.50181900e-02 5.31883951e+00] [-6.96940144e-03 9.99964309e-01 -4.77573470e-03 -3.97855263e-01] [ 1.49847159e-02 4.87975029e-03 9.99875815e-01 -1.25361584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55629675700001 meters Centerline goodness [0,1] 0.8253296568292883 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99864514e-01 6.56844143e-03 -1.50933740e-02 5.31924828e+00] [-6.64597988e-03 9.99964946e-01 -5.09284826e-03 -3.96825072e-01] [ 1.50593928e-02 5.19246850e-03 9.99873118e-01 -1.25380345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58629675700001 meters Centerline goodness [0,1] 0.8252979414951246 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99841851e-01 8.26351583e-03 -1.57476380e-02 5.32208571e+00] [-8.29306784e-03 9.99963970e-01 -1.81222098e-03 -3.97081751e-01] [ 1.57320953e-02 1.94253061e-03 9.99874356e-01 -1.25365529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.616296757 meters Centerline goodness [0,1] 0.8240889202924151 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99840926e-01 8.20354901e-03 -1.58374567e-02 5.32214513e+00] [-8.23296200e-03 9.99964501e-01 -1.79287307e-03 -3.96854198e-01] [ 1.58221865e-02 1.92297705e-03 9.99872972e-01 -1.25334902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.646296757 meters Centerline goodness [0,1] 0.8255334165807047 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.40, Z:-1.25 [[ 9.99840017e-01 7.94081184e-03 -1.60275903e-02 5.32267148e+00] [-7.97512219e-03 9.99966039e-01 -2.07792539e-03 -3.96463420e-01] [ 1.60105455e-02 2.20541495e-03 9.99869391e-01 -1.25347068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.676296757 meters Centerline goodness [0,1] 0.8250047449906456 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.39, Z:-1.25 [[ 9.99839661e-01 7.79862911e-03 -1.61193679e-02 5.32321739e+00] [-7.84442120e-03 9.99965369e-01 -2.77953861e-03 -3.94713547e-01] [ 1.60971331e-02 2.90554005e-03 9.99866211e-01 -1.25432410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.706296757 meters Centerline goodness [0,1] 0.8229732285166275 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.39, Z:-1.26 [[ 9.99840922e-01 8.45103395e-03 -1.57070322e-02 5.32368356e+00] [-8.49122715e-03 9.99960839e-01 -2.49400289e-03 -3.90521821e-01] [ 1.56853402e-02 2.62697813e-03 9.99873527e-01 -1.25572184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.736296757 meters Centerline goodness [0,1] 0.8228776318982018 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.39, Z:-1.26 [[ 9.99840929e-01 8.38852984e-03 -1.57400580e-02 5.32396397e+00] [-8.44046647e-03 9.99959142e-01 -3.23612141e-03 -3.88031451e-01] [ 1.57122686e-02 3.36846007e-03 9.99870881e-01 -1.25642620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.766296757 meters Centerline goodness [0,1] 0.8225918969680708 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.39, Z:-1.26 [[ 9.99838566e-01 8.44691202e-03 -1.58585007e-02 5.32407621e+00] [-8.50631830e-03 9.99957041e-01 -3.68231195e-03 -3.86264390e-01] [ 1.58267152e-02 3.81661495e-03 9.99867465e-01 -1.25658059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79629675700001 meters Centerline goodness [0,1] 0.8229568854568854 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.39, Z:-1.26 [[ 9.99838616e-01 8.87524072e-03 -1.56195889e-02 5.32286319e+00] [-8.93407765e-03 9.99953241e-01 -3.70112887e-03 -3.85298225e-01] [ 1.55860101e-02 3.84007819e-03 9.99871157e-01 -1.25585676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82629675700001 meters Centerline goodness [0,1] 0.8225344573799009 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.38, Z:-1.25 [[ 9.99833969e-01 9.79391308e-03 -1.53659798e-02 5.32071922e+00] [-9.84602696e-03 9.99946017e-01 -3.31953055e-03 -3.84447111e-01] [ 1.53326391e-02 3.47027326e-03 9.99876426e-01 -1.25397858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85629675700001 meters Centerline goodness [0,1] 0.8182837015690041 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.38, Z:-1.25 [[ 9.99828527e-01 1.05558003e-02 -1.52148738e-02 5.31953046e+00] [-1.06124561e-02 9.99937033e-01 -3.64778991e-03 -3.80927140e-01] [ 1.51754104e-02 3.80863159e-03 9.99877593e-01 -1.25357009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88629675700001 meters Centerline goodness [0,1] 0.8223304329315345 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.38, Z:-1.25 [[ 9.99826900e-01 1.08096888e-02 -1.51433486e-02 5.31926976e+00] [-1.08728332e-02 9.99932509e-01 -4.09366742e-03 -3.78239743e-01] [ 1.50980753e-02 4.25760991e-03 9.99876953e-01 -1.25384495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91629675700001 meters Centerline goodness [0,1] 0.8189648339454146 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.38, Z:-1.25 [[ 9.99779272e-01 1.38176924e-02 -1.58265143e-02 5.32173272e+00] [-1.38316074e-02 9.99904042e-01 -7.70094817e-04 -3.77370422e-01] [ 1.58143547e-02 9.88830968e-04 9.99874456e-01 -1.25459769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94629675700001 meters Centerline goodness [0,1] 0.8167269654316424 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99768975e-01 1.44500572e-02 -1.59120427e-02 5.32164836e+00] [-1.44747089e-02 9.99894206e-01 -1.43516159e-03 -3.73449176e-01] [ 1.58896211e-02 1.66515221e-03 9.99872365e-01 -1.25526944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97629675700001 meters Centerline goodness [0,1] 0.8123979134833237 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99768509e-01 1.41528253e-02 -1.62057678e-02 5.32281429e+00] [-1.41910991e-02 9.99896772e-01 -2.24918025e-03 -3.71968148e-01] [ 1.61722627e-02 2.47863724e-03 9.99866148e-01 -1.25639330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.006296757 meters Centerline goodness [0,1] 0.8112106083419183 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99768458e-01 1.40822483e-02 -1.62702104e-02 5.32312036e+00] [-1.41277870e-02 9.99896587e-01 -2.68735366e-03 -3.70959746e-01] [ 1.62306839e-02 2.91659349e-03 9.99864020e-01 -1.25683738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03629675700003 meters Centerline goodness [0,1] 0.8096319374768971 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99767227e-01 1.39977270e-02 -1.64181420e-02 5.32339633e+00] [-1.40470184e-02 9.99897157e-01 -2.89077868e-03 -3.70073254e-01] [ 1.63759892e-02 3.12073173e-03 9.99861034e-01 -1.25682153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06629675700003 meters Centerline goodness [0,1] 0.8137454142363219 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99767536e-01 1.39624748e-02 -1.64293354e-02 5.32342187e+00] [-1.40159617e-02 9.99896826e-01 -3.14493569e-03 -3.68883676e-01] [ 1.63837292e-02 3.37447754e-03 9.99860083e-01 -1.25692756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09629675700003 meters Centerline goodness [0,1] 0.8101000576248101 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99713169e-01 1.69751288e-02 -1.68945003e-02 5.32484272e+00] [-1.69670927e-02 9.99855857e-01 6.18891161e-04 -3.68219260e-01] [ 1.69025709e-02 -3.32063090e-04 9.99857086e-01 -1.25627958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12629675700003 meters Centerline goodness [0,1] 0.805537296558252 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.37, Z:-1.26 [[ 9.99712268e-01 1.71306589e-02 -1.67905490e-02 5.32415981e+00] [-1.71251484e-02 9.99853243e-01 4.71925548e-04 -3.66977427e-01] [ 1.67961692e-02 -1.84249117e-04 9.99858917e-01 -1.25572673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15629675700004 meters Centerline goodness [0,1] 0.8082996694821888 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-1.25 [[ 9.99710691e-01 1.72768808e-02 -1.67344922e-02 5.32326056e+00] [-1.72778758e-02 9.99850723e-01 8.51286283e-05 -3.64827082e-01] [ 1.67334649e-02 2.04032479e-04 9.99859965e-01 -1.25489567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186296757 meters Centerline goodness [0,1] 0.8055860662168524 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-1.26 [[ 9.99712295e-01 1.69341294e-02 -1.69871041e-02 5.32386888e+00] [-1.69441905e-02 9.99856336e-01 -4.48518266e-04 -3.63550944e-01] [ 1.69770684e-02 7.36221954e-04 9.99855608e-01 -1.25505718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.216296757 meters Centerline goodness [0,1] 0.8108547030934856 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-1.25 [[ 9.99712314e-01 1.68555037e-02 -1.70640399e-02 5.32389357e+00] [-1.68681710e-02 9.99857543e-01 -5.98668973e-04 -3.62899941e-01] [ 1.70515181e-02 8.86335886e-04 9.99854219e-01 -1.25482703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246296757 meters Centerline goodness [0,1] 0.8097306917218456 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-1.26 [[ 9.99715283e-01 1.66655408e-02 -1.70766844e-02 5.32405032e+00] [-1.66917098e-02 9.99859716e-01 -1.39104552e-03 -3.60476069e-01] [ 1.70511063e-02 1.67568853e-03 9.99853215e-01 -1.25524923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.276296757 meters Centerline goodness [0,1] 0.8122963851025568 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.36, Z:-1.26 [[ 9.99716165e-01 1.65601867e-02 -1.71274272e-02 5.32429821e+00] [-1.65978241e-02 9.99860129e-01 -2.05767269e-03 -3.58141939e-01] [ 1.70909561e-02 2.34136668e-03 9.99851198e-01 -1.25570986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.306296757 meters Centerline goodness [0,1] 0.8053143227478937 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.36, Z:-1.26 [[ 9.99649469e-01 1.98352705e-02 -1.75357361e-02 5.32568297e+00] [-1.98183213e-02 9.99802948e-01 1.13982068e-03 -3.55466878e-01] [ 1.75548893e-02 -7.91892283e-04 9.99845587e-01 -1.25588996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.336296757 meters Centerline goodness [0,1] 0.8048660794999613 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-1.26 [[ 9.99651957e-01 1.96960088e-02 -1.75508695e-02 5.32580851e+00] [-1.96923883e-02 9.99806014e-01 3.79102216e-04 -3.53056364e-01] [ 1.75549317e-02 -3.33517340e-05 9.99845900e-01 -1.25630892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36629675700001 meters Centerline goodness [0,1] 0.8062189826302729 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-1.26 [[ 9.99652011e-01 1.97473128e-02 -1.74900208e-02 5.32563866e+00] [-1.97533621e-02 9.99804868e-01 -1.73165576e-04 -3.51130301e-01] [ 1.74831884e-02 5.18592030e-04 9.99847023e-01 -1.25654409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39629675700002 meters Centerline goodness [0,1] 0.7974044700793079 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-1.26 [[ 9.99654710e-01 1.94757622e-02 -1.76396147e-02 5.32624016e+00] [-1.95022207e-02 9.99808930e-01 -1.32916130e-03 -3.47854965e-01] [ 1.76103579e-02 1.67271401e-03 9.99843526e-01 -1.25743974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42629675700002 meters Centerline goodness [0,1] 0.7974044700793079 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-1.26 [[ 9.99654710e-01 1.94757622e-02 -1.76396147e-02 5.32624016e+00] [-1.95022207e-02 9.99808930e-01 -1.32916130e-03 -3.47854965e-01] [ 1.76103579e-02 1.67271401e-03 9.99843526e-01 -1.25743974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45629675700002 meters Centerline goodness [0,1] 0.8001437999126929 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.35, Z:-1.26 [[ 9.99659515e-01 1.88755858e-02 -1.80157279e-02 5.32760494e+00] [-1.89179083e-02 9.99818660e-01 -2.18165927e-03 -3.46033802e-01] [ 1.79712808e-02 2.52173633e-03 9.99835323e-01 -1.25830103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48629675700002 meters Centerline goodness [0,1] 0.8029767394200226 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 9.99669670e-01 1.80250247e-02 -1.83207312e-02 5.32898920e+00] [-1.80885584e-02 9.99830916e-01 -3.30807138e-03 -3.43229542e-01] [ 1.82580054e-02 3.63837425e-03 9.99826689e-01 -1.25934766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51629675700002 meters Centerline goodness [0,1] 0.8043472695153486 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 9.99673676e-01 1.75744415e-02 -1.85386451e-02 5.32957496e+00] [-1.76459454e-02 9.99837450e-01 -3.70050669e-03 -3.42091479e-01] [ 1.84705973e-02 4.02643105e-03 9.99821296e-01 -1.25935053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54629675700002 meters Centerline goodness [0,1] 0.8063044697008308 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 9.99687178e-01 1.62271336e-02 -1.90322341e-02 5.33132579e+00] [-1.63133182e-02 9.99857327e-01 -4.38186388e-03 -3.41056633e-01] [ 1.89584136e-02 4.69097203e-03 9.99809268e-01 -1.25953905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57629675700002 meters Centerline goodness [0,1] 0.8070148528772656 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 9.99690253e-01 1.55759557e-02 -1.94110068e-02 5.33248982e+00] [-1.56715826e-02 9.99865748e-01 -4.78407614e-03 -3.40507244e-01] [ 1.93338843e-02 5.08679548e-03 9.99800143e-01 -1.25978609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60629675700002 meters Centerline goodness [0,1] 0.8057660415869371 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 9.99690926e-01 1.50846693e-02 -1.97612054e-02 5.33339206e+00] [-1.51873748e-02 9.99871874e-01 -5.05759687e-03 -3.39945859e-01] [ 1.96823813e-02 5.35615453e-03 9.99791936e-01 -1.25981087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63629675700003 meters Centerline goodness [0,1] 0.80408360455655 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 0.9996981 0.01439849 -0.01990951 5.33422346] [-0.01451352 0.99987874 -0.00564535 -0.33859519] [ 0.01982581 0.0059326 0.99978585 -1.26025281] [ 0. 0. 0. 1. ]] SLAMing on 128.66629675700003 meters Centerline goodness [0,1] 0.8047089302042061 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 0.99969916 0.01425579 -0.01995885 5.33428985] [-0.01437177 0.99988059 -0.00567992 -0.33822655] [ 0.01987549 0.00596506 0.99978467 -1.26003476] [ 0. 0. 0. 1. ]] SLAMing on 128.69629675700003 meters Centerline goodness [0,1] 0.8034579652178315 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 0.99970335 0.01403943 -0.01990228 5.33409564] [-0.01416196 0.99988154 -0.00602929 -0.33671959] [ 0.01981528 0.00630936 0.99978375 -1.25981057] [ 0. 0. 0. 1. ]] SLAMing on 128.72629675700003 meters Centerline goodness [0,1] 0.8051567979413174 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.34, Z:-1.26 [[ 0.99970215 0.01404585 -0.01995833 5.33410613] [-0.01417034 0.99988093 -0.00610955 -0.33574411] [ 0.01987014 0.00639055 0.99978215 -1.2596348 ] [ 0. 0. 0. 1. ]] SLAMing on 128.75629675700003 meters Centerline goodness [0,1] 0.8026053871544838 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 0.99970176 0.01397453 -0.02002752 5.3343714 ] [-0.01410453 0.99988027 -0.00636453 -0.33469559] [ 0.01993618 0.00664511 0.99977917 -1.25986084] [ 0. 0. 0. 1. ]] SLAMing on 128.78629675700003 meters Centerline goodness [0,1] 0.8052902093518867 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99652352e-01 1.64886947e-02 -2.05741990e-02 5.33740381e+00] [-1.65610519e-02 9.99857239e-01 -3.35146344e-03 -3.33993339e-01] [ 2.05160006e-02 3.69102869e-03 9.99782711e-01 -1.26161230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81629675700003 meters Centerline goodness [0,1] 0.8055936728125546 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99646138e-01 1.67097910e-02 -2.06973651e-02 5.33809281e+00] [-1.67987020e-02 9.99850365e-01 -4.12936487e-03 -3.31175740e-01] [ 2.06252672e-02 4.47559252e-03 9.99777259e-01 -1.26294086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84629675700003 meters Centerline goodness [0,1] 0.805852784551834 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99642622e-01 1.66841459e-02 -2.08870379e-02 5.33863723e+00] [-1.67827042e-02 9.99848797e-01 -4.55225896e-03 -3.30009186e-01] [ 2.08079292e-02 4.90117306e-03 9.99771478e-01 -1.26339365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87629675700003 meters Centerline goodness [0,1] 0.8050933870526499 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99639032e-01 1.68120378e-02 -2.09561781e-02 5.33867473e+00] [-1.69153515e-02 9.99845583e-01 -4.76250342e-03 -3.29151525e-01] [ 2.08728747e-02 5.11526542e-03 9.99769052e-01 -1.26346394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90629675700004 meters Centerline goodness [0,1] 0.8019468456641815 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99635994e-01 1.73090056e-02 -2.06948604e-02 5.33759161e+00] [-1.74153536e-02 9.99835990e-01 -4.96971511e-03 -3.27163802e-01] [ 2.06054454e-02 5.32831442e-03 9.99773487e-01 -1.26310848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.936296757 meters Centerline goodness [0,1] 0.8038538402704103 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99633468e-01 1.75411089e-02 -2.06213474e-02 5.33709576e+00] [-1.76507083e-02 9.99830977e-01 -5.14489727e-03 -3.25847817e-01] [ 2.05276148e-02 5.50699288e-03 9.99774120e-01 -1.26282266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.966296757 meters Centerline goodness [0,1] 0.8031090635855239 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 9.99625452e-01 1.84106081e-02 -2.02486097e-02 5.33535326e+00] [-1.85174709e-02 9.99815516e-01 -5.10275233e-03 -3.23676719e-01] [ 2.01509294e-02 5.47579415e-03 9.99781954e-01 -1.26193864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.996296757 meters Centerline goodness [0,1] 0.8031641365056713 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 9.99619786e-01 1.88643708e-02 -2.01101733e-02 5.33450766e+00] [-1.89702797e-02 9.99807098e-01 -5.08872619e-03 -3.22558227e-01] [ 2.00102984e-02 5.46828700e-03 9.99784820e-01 -1.26137044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.026296757 meters Centerline goodness [0,1] 0.8042886233715253 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 9.99610240e-01 1.94528474e-02 -2.00238498e-02 5.33357028e+00] [-1.95559735e-02 9.99796424e-01 -4.96728409e-03 -3.21449409e-01] [ 1.99231457e-02 5.35693392e-03 9.99787163e-01 -1.26061198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.056296757 meters Centerline goodness [0,1] 0.8022435583423141 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 9.99598266e-01 2.01185947e-02 -1.99636973e-02 5.33281034e+00] [-2.02237585e-02 9.99782573e-01 -5.07989788e-03 -3.19384078e-01] [ 1.98571562e-02 5.48159811e-03 9.99787800e-01 -1.26021721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.086296757 meters Centerline goodness [0,1] 0.8008901496625257 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 0.99959783 0.01995252 -0.02015113 5.33342126] [-0.02006595 0.99978385 -0.00544247 -0.31836312] [ 0.02003818 0.00584463 0.99978213 -1.26058533] [ 0. 0. 0. 1. ]] SLAMing on 129.11629675700001 meters Centerline goodness [0,1] 0.804492735929679 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 0.99960259 0.01953189 -0.02032665 5.33417348] [-0.01965339 0.99979006 -0.00579495 -0.31746392] [ 0.0202092 0.00619213 0.9997766 -1.2609663 ] [ 0. 0. 0. 1. ]] SLAMing on 129.14629675700002 meters Centerline goodness [0,1] 0.8007228680277425 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 0.99960355 0.01930368 -0.0204968 5.33464048] [-0.0194239 0.99979519 -0.00568248 -0.31799685] [ 0.02038291 0.00607836 0.99977377 -1.26085866] [ 0. 0. 0. 1. ]] SLAMing on 129.17629675700002 meters Centerline goodness [0,1] 0.8079407248531527 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99960562 0.01882162 -0.02084095 5.33559143] [-0.01894191 0.99980496 -0.00558971 -0.31907242] [ 0.02073168 0.00598227 0.99976718 -1.26076271] [ 0. 0. 0. 1. ]] SLAMing on 129.20629675700002 meters Centerline goodness [0,1] 0.8088465680994811 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99967482 0.01472447 -0.02081939 5.33502649] [-0.01492496 0.99984342 -0.00950728 -0.31910689] [ 0.02067614 0.00981492 0.99973805 -1.26015956] [ 0. 0. 0. 1. ]] SLAMing on 129.23629675700002 meters Centerline goodness [0,1] 0.8101005148320667 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99968872 0.01377745 -0.02079997 5.33534434] [-0.01397285 0.99985933 -0.00927799 -0.32093488] [ 0.02066922 0.00956574 0.99974061 -1.25955894] [ 0. 0. 0. 1. ]] SLAMing on 129.26629675700002 meters Centerline goodness [0,1] 0.8108134652687407 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99968869 0.0134255 -0.0210305 5.33594391] [-0.01361957 0.99986573 -0.0091121 -0.3216307 ] [ 0.02090534 0.00939569 0.99973731 -1.25933691] [ 0. 0. 0. 1. ]] SLAMing on 129.29629675700002 meters Centerline goodness [0,1] 0.8091571228879024 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99968862 0.01319955 -0.02117607 5.33642728] [-0.01339222 0.99986997 -0.00898255 -0.32217843] [ 0.02105475 0.00926335 0.99973541 -1.2593425 ] [ 0. 0. 0. 1. ]] SLAMing on 129.32629675700002 meters Centerline goodness [0,1] 0.812059514487079 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99968267 0.01296956 -0.02159532 5.33741154] [-0.01316081 0.99987521 -0.00873787 -0.32282395] [ 0.0214793 0.00901931 0.99972861 -1.25921262] [ 0. 0. 0. 1. ]] SLAMing on 129.35629675700002 meters Centerline goodness [0,1] 0.8128233419149197 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99968523 0.01281285 -0.02157022 5.33761076] [-0.01299333 0.99988157 -0.00824797 -0.32473259] [ 0.02146198 0.00852564 0.99973331 -1.25907733] [ 0. 0. 0. 1. ]] SLAMing on 129.38629675700003 meters Centerline goodness [0,1] 0.8173441734417344 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99968601 0.01282383 -0.02152728 5.33760289] [-0.01298747 0.99988769 -0.00747908 -0.32736606] [ 0.02142895 0.00775632 0.99974029 -1.25869327] [ 0. 0. 0. 1. ]] SLAMing on 129.41629675700003 meters Centerline goodness [0,1] 0.8137689962069564 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99968453 0.01273224 -0.0216503 5.33814504] [-0.01289305 0.9998902 -0.00730421 -0.32813213] [ 0.02155493 0.00758104 0.99973892 -1.25895153] [ 0. 0. 0. 1. ]] SLAMing on 129.44629675700003 meters Centerline goodness [0,1] 0.8131402068503684 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99968182 0.01277119 -0.02175232 5.33864084] [-0.01292727 0.99989158 -0.0070503 -0.32873191] [ 0.02165992 0.00732926 0.99973853 -1.25922371] [ 0. 0. 0. 1. ]] SLAMing on 129.47629675700003 meters Centerline goodness [0,1] 0.8141597317103465 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99967917 0.01286226 -0.02182009 5.33932969] [-0.01301538 0.99989156 -0.00688984 -0.32924781] [ 0.0217291 0.00717162 0.99973817 -1.26001035] [ 0. 0. 0. 1. ]] SLAMing on 129.50629675700003 meters Centerline goodness [0,1] 0.8160599198745864 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99967451 0.01303299 -0.02193207 5.33969062] [-0.01318242 0.99989078 -0.00668259 -0.32995731] [ 0.02184258 0.00696954 0.99973713 -1.26026119] [ 0. 0. 0. 1. ]] SLAMing on 129.53629675700003 meters Centerline goodness [0,1] 0.8181659519297896 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99966721 0.01361679 -0.02190988 5.33951032] [-0.0137508 0.99988759 -0.0059774 -0.33209971] [ 0.02182602 0.00627669 0.99974208 -1.26018066] [ 0. 0. 0. 1. ]] SLAMing on 129.56629675700003 meters Centerline goodness [0,1] 0.8178958406151695 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 0.99966613 0.01401528 -0.02170698 5.33899862] [-0.01414284 0.99988354 -0.00573392 -0.33238885] [ 0.02162409 0.00603901 0.99974793 -1.26017425] [ 0. 0. 0. 1. ]] SLAMing on 129.59629675700003 meters Centerline goodness [0,1] 0.8171377433067343 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99607155e-01 1.72170781e-02 -2.21157764e-02 5.34075761e+00] [-1.72647571e-02 9.99849019e-01 -1.96674614e-03 -3.33651965e-01] [ 2.20785758e-02 2.34779702e-03 9.99753482e-01 -1.26066031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62629675700003 meters Centerline goodness [0,1] 0.8195723195723196 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99584810e-01 1.90252331e-02 -2.16390255e-02 5.33865111e+00] [-1.90517160e-02 9.99817981e-01 -1.01833460e-03 -3.31436665e-01] [ 2.16157127e-02 1.43017237e-03 9.99765330e-01 -1.25970126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65629675700004 meters Centerline goodness [0,1] 0.8226106820947037 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99577503e-01 1.96669624e-02 -2.14015260e-02 5.33752911e+00] [-1.96894732e-02 9.99805789e-01 -8.41605866e-04 -3.30895631e-01] [ 2.13808177e-02 1.26263506e-03 9.99770607e-01 -1.25914794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.686296757 meters Centerline goodness [0,1] 0.8237540292586164 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99564026e-01 2.06351206e-02 -2.11175146e-02 5.33619619e+00] [-2.06519005e-02 9.99786560e-01 -5.76797913e-04 -3.31071169e-01] [ 2.11011050e-02 1.01266325e-03 9.99776834e-01 -1.25868554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.716296757 meters Centerline goodness [0,1] 0.8267120226448825 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99557717e-01 2.09312871e-02 -2.11246819e-02 5.33596268e+00] [-2.09461702e-02 9.99780488e-01 -4.83493495e-04 -3.30973425e-01] [ 2.11099246e-02 9.25760836e-04 9.99776732e-01 -1.25850226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.746296757 meters Centerline goodness [0,1] 0.8266156882091762 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99552277e-01 2.11715563e-02 -2.11426104e-02 5.33601983e+00] [-2.11957213e-02 9.99774923e-01 -9.19487466e-04 -3.29132930e-01] [ 2.11183847e-02 1.36720867e-03 9.99776047e-01 -1.25898753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.776296757 meters Centerline goodness [0,1] 0.8285926476049016 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99549139e-01 2.13607603e-02 -2.11006406e-02 5.33586770e+00] [-2.13867780e-02 9.99770768e-01 -1.00811184e-03 -3.28484902e-01] [ 2.10742696e-02 1.45893203e-03 9.99776848e-01 -1.25908427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.806296757 meters Centerline goodness [0,1] 0.8234040972032995 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99542849e-01 2.16796397e-02 -2.10733454e-02 5.33536910e+00] [-2.16970582e-02 9.99764412e-01 -5.98248902e-04 -3.29180091e-01] [ 2.10554109e-02 1.05520501e-03 9.99777753e-01 -1.25841439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.836296757 meters Centerline goodness [0,1] 0.8269534722908229 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99540804e-01 2.15378849e-02 -2.13143457e-02 5.33607298e+00] [-2.15560883e-02 9.99767445e-01 -6.24633504e-04 -3.29748839e-01] [ 2.12959356e-02 1.08380059e-03 9.99772628e-01 -1.25866257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86629675700001 meters Centerline goodness [0,1] 0.8257298367144977 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99537148e-01 2.15532214e-02 -2.14697304e-02 5.33630191e+00] [-2.15658534e-02 9.99767366e-01 -3.56979880e-04 -3.30564977e-01] [ 2.14570417e-02 8.19827709e-04 9.99769435e-01 -1.25839076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89629675700002 meters Centerline goodness [0,1] 0.8312372620171994 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99540018e-01 2.11958117e-02 -2.16907621e-02 5.33719113e+00] [-2.12091260e-02 9.99774987e-01 -3.83932754e-04 -3.31155038e-01] [ 2.16777437e-02 8.43798259e-04 9.99764654e-01 -1.25872261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92629675700002 meters Centerline goodness [0,1] 0.833457322819025 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99543064e-01 2.09498521e-02 -2.17891261e-02 5.33782302e+00] [-2.09697002e-02 9.99779878e-01 -6.82808681e-04 -3.30859015e-01] [ 2.17700251e-02 1.13940812e-03 9.99762356e-01 -1.25930833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95629675700002 meters Centerline goodness [0,1] 0.8319419598489366 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99545694e-01 2.06407671e-02 -2.19627817e-02 5.33839538e+00] [-2.06586527e-02 9.99786414e-01 -5.87756383e-04 -3.31886868e-01] [ 2.19459590e-02 1.04121084e-03 9.99758616e-01 -1.25929555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98629675700002 meters Centerline goodness [0,1] 0.8324254408874959 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99612143e-01 1.73938391e-02 -2.17489639e-02 5.33689889e+00] [-1.74855743e-02 9.99838974e-01 -4.03486740e-03 -3.32490657e-01] [ 2.16752799e-02 4.41359557e-03 9.99755321e-01 -1.25842413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01629675700002 meters Centerline goodness [0,1] 0.8339307941249688 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99609449e-01 1.75591072e-02 -2.17399758e-02 5.33660021e+00] [-1.76404968e-02 9.99838065e-01 -3.55766312e-03 -3.33641285e-01] [ 2.16739860e-02 3.93977765e-03 9.99757329e-01 -1.25786863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04629675700002 meters Centerline goodness [0,1] 0.8335779497002413 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99607574e-01 1.75701160e-02 -2.18171708e-02 5.33652390e+00] [-1.76468932e-02 9.99838731e-01 -3.33157918e-03 -3.33928713e-01] [ 2.17551161e-02 3.71527707e-03 9.99756426e-01 -1.25739943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07629675700002 meters Centerline goodness [0,1] 0.8313231996012957 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99608372e-01 1.78102850e-02 -2.15846523e-02 5.33580117e+00] [-1.78830488e-02 9.99835020e-01 -3.18275428e-03 -3.33413090e-01] [ 2.15244055e-02 3.56750721e-03 9.99761958e-01 -1.25706020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10629675700002 meters Centerline goodness [0,1] 0.8332379079435414 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99606165e-01 1.78485445e-02 -2.16551094e-02 5.33595579e+00] [-1.79234519e-02 9.99834015e-01 -3.26994780e-03 -3.32926350e-01] [ 2.15931512e-02 3.65679429e-03 9.99760153e-01 -1.25715574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13629675700003 meters Centerline goodness [0,1] 0.8333871248044887 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99599758e-01 1.80935710e-02 -2.17473429e-02 5.33614364e+00] [-1.81715789e-02 9.99829120e-01 -3.39474466e-03 -3.32485280e-01] [ 2.16822036e-02 3.78856949e-03 9.99757735e-01 -1.25742810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16629675700003 meters Centerline goodness [0,1] 0.8174906832298137 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99596497e-01 1.81660014e-02 -2.18366720e-02 5.33635967e+00] [-1.82467478e-02 9.99827374e-01 -3.50418459e-03 -3.32293803e-01] [ 2.17692454e-02 3.90121889e-03 9.99755410e-01 -1.25760398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19629675700003 meters Centerline goodness [0,1] 0.8297946052957189 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99595221e-01 1.79826125e-02 -2.20458535e-02 5.33719227e+00] [-1.80758570e-02 9.99828466e-01 -4.03760269e-03 -3.31262755e-01] [ 2.19694652e-02 4.43446605e-03 9.99748808e-01 -1.25833217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22629675700003 meters Centerline goodness [0,1] 0.8288529135105698 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99595927e-01 1.78915480e-02 -2.20878868e-02 5.33767153e+00] [-1.79954283e-02 9.99827883e-01 -4.51325848e-03 -3.29938421e-01] [ 2.20033360e-02 4.90891578e-03 9.99745846e-01 -1.25904691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25629675700003 meters Centerline goodness [0,1] 0.8259914612176402 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99597141e-01 1.79327840e-02 -2.19993440e-02 5.33765635e+00] [-1.80470543e-02 9.99824603e-01 -5.00674949e-03 -3.27938519e-01] [ 2.19057005e-02 5.40175583e-03 9.99745448e-01 -1.25952118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28629675700003 meters Centerline goodness [0,1] 0.831571668477724 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99595987e-01 1.81286349e-02 -2.18909802e-02 5.33715008e+00] [-1.82406016e-02 9.99821492e-01 -4.92592393e-03 -3.27679726e-01] [ 2.17977722e-02 5.32323844e-03 9.99748228e-01 -1.25918461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31629675700003 meters Centerline goodness [0,1] 0.831571668477724 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99595987e-01 1.81286349e-02 -2.18909802e-02 5.33715008e+00] [-1.82406016e-02 9.99821492e-01 -4.92592393e-03 -3.27679726e-01] [ 2.17977722e-02 5.32323844e-03 9.99748228e-01 -1.25918461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34629675700003 meters Centerline goodness [0,1] 0.8323275118851147 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99594068e-01 1.84965980e-02 -2.16696886e-02 5.33594850e+00] [-1.86009155e-02 9.99816303e-01 -4.62233454e-03 -3.27589392e-01] [ 2.15802105e-02 5.02353424e-03 9.99754499e-01 -1.25809196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37629675700003 meters Centerline goodness [0,1] 0.8292412091301665 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99590307e-01 1.89447143e-02 -2.14549522e-02 5.33487822e+00] [-1.90408994e-02 9.99809512e-01 -4.28772523e-03 -3.27819568e-01] [ 2.13696355e-02 4.69449017e-03 9.99760622e-01 -1.25729330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40629675700004 meters Centerline goodness [0,1] 0.8293936025688526 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99585667e-01 1.95360471e-02 -2.11385125e-02 5.33345865e+00] [-1.96259653e-02 9.99799170e-01 -4.05467958e-03 -3.27441696e-01] [ 2.10550549e-02 4.46786330e-03 9.99768335e-01 -1.25640424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.436296757 meters Centerline goodness [0,1] 0.8303978322453505 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99584593e-01 1.95718021e-02 -2.11562232e-02 5.33362431e+00] [-1.96677346e-02 9.99797169e-01 -4.33594068e-03 -3.26513947e-01] [ 2.10670699e-02 4.75023448e-03 9.99766780e-01 -1.25674479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.466296757 meters Centerline goodness [0,1] 0.8311207619799634 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99582321e-01 1.95975872e-02 -2.12395252e-02 5.33395037e+00] [-1.96990196e-02 9.99795479e-01 -4.57696906e-03 -3.25633488e-01] [ 2.11454838e-02 4.99345518e-03 9.99763939e-01 -1.25711476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.496296757 meters Centerline goodness [0,1] 0.7862518196846702 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 9.99579408e-01 1.96770058e-02 -2.13031067e-02 5.33415023e+00] [-1.97819047e-02 9.99793156e-01 -4.72460948e-03 -3.24964757e-01] [ 2.12057341e-02 5.14403838e-03 9.99761900e-01 -1.25734756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.526296757 meters Centerline goodness [0,1] 0.8240797886785001 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99574800e-01 1.98159315e-02 -2.13903738e-02 5.33425079e+00] [-1.99164877e-02 9.99791528e-01 -4.49822937e-03 -3.25650491e-01] [ 2.12967779e-02 4.92233784e-03 9.99761080e-01 -1.25722442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.556296757 meters Centerline goodness [0,1] 0.8178137651821862 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99573194e-01 1.98612289e-02 -2.14233737e-02 5.33444053e+00] [-1.99542161e-02 9.99792342e-01 -4.13543449e-03 -3.27400086e-01] [ 2.13367901e-02 4.56115610e-03 9.99761940e-01 -1.25724779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.586296757 meters Centerline goodness [0,1] 0.8200804609118904 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99571514e-01 1.98634525e-02 -2.14995578e-02 5.33477040e+00] [-1.99545558e-02 9.99792761e-01 -4.03122545e-03 -3.27935059e-01] [ 2.14150282e-02 4.45851225e-03 9.99760730e-01 -1.25743279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61629675700001 meters Centerline goodness [0,1] 0.8347156692326794 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99569242e-01 1.99465713e-02 -2.15282283e-02 5.33478415e+00] [-2.00339590e-02 9.99791883e-01 -3.85118044e-03 -3.28279520e-01] [ 2.14469300e-02 4.28081716e-03 9.99760823e-01 -1.25732499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64629675700002 meters Centerline goodness [0,1] 0.8333457627961319 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99566965e-01 2.04087599e-02 -2.11982284e-02 5.33357508e+00] [-2.04836185e-02 9.99784676e-01 -3.32022974e-03 -3.29233791e-01] [ 2.11259022e-02 3.75300839e-03 9.99769779e-01 -1.25656860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67629675700002 meters Centerline goodness [0,1] 0.8295395048492857 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99564601e-01 2.07492450e-02 -2.09780392e-02 5.33277417e+00] [-2.08144099e-02 9.99779172e-01 -2.89275364e-03 -3.29971985e-01] [ 2.09133842e-02 3.32813964e-03 9.99775752e-01 -1.25602367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70629675700002 meters Centerline goodness [0,1] 0.8172672261374107 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99561326e-01 2.10577929e-02 -2.08260779e-02 5.33201523e+00] [-2.11152245e-02 9.99773818e-01 -2.54160848e-03 -3.30609084e-01] [ 2.07678468e-02 2.98024085e-03 9.99779883e-01 -1.25539395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73629675700002 meters Centerline goodness [0,1] 0.8264337163223089 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99558105e-01 2.13469908e-02 -2.06857677e-02 5.33142998e+00] [-2.14013224e-02 9.99768064e-01 -2.40868951e-03 -3.30509381e-01] [ 2.06295516e-02 2.85032790e-03 9.99783125e-01 -1.25508926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76629675700002 meters Centerline goodness [0,1] 0.8244341409911258 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.25 [[ 9.99556757e-01 2.17455830e-02 -2.03327330e-02 5.33036996e+00] [-2.17938628e-02 9.99760161e-01 -2.15589807e-03 -3.30511912e-01] [ 2.02809752e-02 2.59807128e-03 9.99790944e-01 -1.25468448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79629675700002 meters Centerline goodness [0,1] 0.8222084058691868 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.25 [[ 9.99555518e-01 2.16589478e-02 -2.04855022e-02 5.33080703e+00] [-2.17100781e-02 9.99761716e-01 -2.27680926e-03 -3.30373542e-01] [ 2.04313076e-02 2.72053911e-03 9.99787558e-01 -1.25486568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82629675700002 meters Centerline goodness [0,1] 0.8359642591213701 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99555435e-01 2.15594396e-02 -2.05942316e-02 5.33119101e+00] [-2.16145762e-02 9.99763355e-01 -2.45843033e-03 -3.29952250e-01] [ 2.05363557e-02 2.90247299e-03 9.99784894e-01 -1.25513722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85629675700002 meters Centerline goodness [0,1] 0.7782839035500322 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99558850e-01 2.13331495e-02 -2.06640521e-02 5.33160024e+00] [-2.13936144e-02 9.99767459e-01 -2.70943770e-03 -3.29440259e-01] [ 2.06014460e-02 3.15032119e-03 9.99782804e-01 -1.25543017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88629675700003 meters Centerline goodness [0,1] 0.8304528386342724 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99558444e-01 2.12845756e-02 -2.07336258e-02 5.33171560e+00] [-2.13452603e-02 9.99768491e-01 -2.70995484e-03 -3.29467359e-01] [ 2.06711456e-02 3.15132289e-03 9.99781363e-01 -1.25536015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91629675700003 meters Centerline goodness [0,1] 0.8349244232299124 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99562411e-01 2.09283962e-02 -2.09042674e-02 5.33249145e+00] [-2.09966986e-02 9.99774883e-01 -3.05324547e-03 -3.29081600e-01] [ 2.08356619e-02 3.49083000e-03 9.99776820e-01 -1.25585568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94629675700003 meters Centerline goodness [0,1] 0.8333291990176865 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99566498e-01 2.06224456e-02 -2.10126411e-02 5.33314347e+00] [-2.07000082e-02 9.99779674e-01 -3.48041787e-03 -3.28415798e-01] [ 2.09362367e-02 3.91387095e-03 9.99773152e-01 -1.25646174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97629675700003 meters Centerline goodness [0,1] 0.8325574484944532 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99569656e-01 2.03527111e-02 -2.11251079e-02 5.33376234e+00] [-2.04401793e-02 9.99783343e-01 -3.93282716e-03 -3.27341997e-01] [ 2.10404872e-02 4.36293568e-03 9.99769105e-01 -1.25702549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00629675700003 meters Centerline goodness [0,1] 0.8345590049849465 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99581676e-01 1.97165163e-02 -2.11596807e-02 5.33471582e+00] [-1.98235572e-02 9.99791677e-01 -4.86092616e-03 -3.25164877e-01] [ 2.10594321e-02 5.27835286e-03 9.99764292e-01 -1.25825052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03629675700003 meters Centerline goodness [0,1] 0.8363743958970313 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 9.99587954e-01 1.95895931e-02 -2.09802376e-02 5.33427214e+00] [-1.96964005e-02 9.99794018e-01 -4.89635437e-03 -3.24971783e-01] [ 2.08799985e-02 5.30757201e-03 9.99767901e-01 -1.25797565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06629675700003 meters Centerline goodness [0,1] 0.8332100409330769 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.26 [[ 9.99587471e-01 1.95193595e-02 -2.10685097e-02 5.33428885e+00] [-1.96267355e-02 9.99795361e-01 -4.90180842e-03 -3.24787942e-01] [ 2.09685181e-02 5.31329235e-03 9.99766018e-01 -1.25766085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09629675700003 meters Centerline goodness [0,1] 0.8352265727028558 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99588237e-01 1.95032832e-02 -2.10470655e-02 5.33411264e+00] [-1.96079004e-02 9.99796340e-01 -4.77574770e-03 -3.25053060e-01] [ 2.09496363e-02 5.18646999e-03 9.99767080e-01 -1.25736444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12629675700003 meters Centerline goodness [0,1] 0.8350291951021213 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99594262e-01 1.91600787e-02 -2.10761195e-02 5.33415362e+00] [-1.92587612e-02 9.99804454e-01 -4.48921178e-03 -3.25961618e-01] [ 2.09859845e-02 4.89329028e-03 9.99767795e-01 -1.25681088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15629675700004 meters Centerline goodness [0,1] 0.8367714998641204 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99593735e-01 1.90897338e-02 -2.11647709e-02 5.33413223e+00] [-1.91851791e-02 9.99806633e-01 -4.31577157e-03 -3.26330188e-01] [ 2.10782914e-02 4.72006814e-03 9.99766686e-01 -1.25635862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.186296757 meters Centerline goodness [0,1] 0.838136869921711 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.33, Z:-1.26 [[ 9.99592795e-01 1.89802659e-02 -2.13071381e-02 5.33433220e+00] [-1.90746732e-02 9.99809087e-01 -4.23630450e-03 -3.26491839e-01] [ 2.12226641e-02 4.64100615e-03 9.99764002e-01 -1.25609358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.216296757 meters Centerline goodness [0,1] 0.8394131836754788 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99594238e-01 1.86522169e-02 -2.15279711e-02 5.33528678e+00] [-1.87495449e-02 9.99814844e-01 -4.32803027e-03 -3.26886894e-01] [ 2.14432577e-02 4.72991378e-03 9.99758878e-01 -1.25657821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.246296757 meters Centerline goodness [0,1] 0.8418231225296443 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99592096e-01 1.86531299e-02 -2.16264315e-02 5.33549757e+00] [-1.87486463e-02 9.99815313e-01 -4.22232184e-03 -3.27318787e-01] [ 2.15436779e-02 4.62606586e-03 9.99757205e-01 -1.25654586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.276296757 meters Centerline goodness [0,1] 0.8399237850143522 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99594696e-01 1.84863300e-02 -2.16494534e-02 5.33583469e+00] [-1.85784327e-02 9.99819159e-01 -4.06088435e-03 -3.28560914e-01] [ 2.15704674e-02 4.46145137e-03 9.99757376e-01 -1.25674784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.306296757 meters Centerline goodness [0,1] 0.8384209090683661 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99591987e-01 1.83898784e-02 -2.18556880e-02 5.33627954e+00] [-1.84791988e-02 9.99821670e-01 -3.89189819e-03 -3.29004696e-01] [ 2.17802190e-02 4.29418585e-03 9.99753561e-01 -1.25661935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.336296757 meters Centerline goodness [0,1] 0.8380457637600495 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99593242e-01 1.82418644e-02 -2.19222630e-02 5.33667504e+00] [-1.83298895e-02 9.99824692e-01 -3.82109982e-03 -3.29364299e-01] [ 2.18487158e-02 4.22137821e-03 9.99752376e-01 -1.25679385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36629675700001 meters Centerline goodness [0,1] 0.8378257853532851 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99597966e-01 1.75493544e-02 -2.22694219e-02 5.33805488e+00] [-1.76379976e-02 9.99837254e-01 -3.79031901e-03 -3.30458251e-01] [ 2.21992800e-02 4.18158318e-03 9.99744821e-01 -1.25714161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39629675700002 meters Centerline goodness [0,1] 0.8383835875018628 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99595621e-01 1.74651234e-02 -2.24402514e-02 5.33846784e+00] [-1.75482678e-02 9.99839844e-01 -3.51356997e-03 -3.31535573e-01] [ 2.23752925e-02 3.90593669e-03 9.99742012e-01 -1.25701630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42629675700002 meters Centerline goodness [0,1] 0.8388723298559364 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99598237e-01 1.71783055e-02 -2.25448713e-02 5.33868848e+00] [-1.72596061e-02 9.99845205e-01 -3.41654115e-03 -3.32015198e-01] [ 2.24826910e-02 3.80428411e-03 9.99739994e-01 -1.25666017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45629675700002 meters Centerline goodness [0,1] 0.8386303208011331 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99597715e-01 1.71116404e-02 -2.26185751e-02 5.33874520e+00] [-1.71959689e-02 9.99845875e-01 -3.53904093e-03 -3.31477451e-01] [ 2.25545302e-02 3.92656554e-03 9.99737903e-01 -1.25650572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48629675700002 meters Centerline goodness [0,1] 0.8395952682092106 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99599054e-01 1.70634807e-02 -2.25957539e-02 5.33863851e+00] [-1.71514808e-02 9.99846033e-01 -3.70647106e-03 -3.30734484e-01] [ 2.25290296e-02 4.09253561e-03 9.99737813e-01 -1.25642334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51629675700002 meters Centerline goodness [0,1] 0.8399376669634906 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99602169e-01 1.73213909e-02 -2.22592139e-02 5.33727387e+00] [-1.74118258e-02 9.99840892e-01 -3.87542808e-03 -3.28559309e-01] [ 2.21885444e-02 4.26145987e-03 9.99744722e-01 -1.25556092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54629675700002 meters Centerline goodness [0,1] 0.8386462022825659 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.26 [[ 9.99601555e-01 1.75144764e-02 -2.21353795e-02 5.33662800e+00] [-1.76075135e-02 9.99836914e-01 -4.01519340e-03 -3.27176059e-01] [ 2.20614455e-02 4.40334256e-03 9.99746920e-01 -1.25508624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57629675700002 meters Centerline goodness [0,1] 0.8387390491190078 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.25 [[ 9.99600780e-01 1.80145196e-02 -2.17659740e-02 5.33485241e+00] [-1.81120379e-02 9.99826754e-01 -4.29149863e-03 -3.24483399e-01] [ 2.16848938e-02 4.68401153e-03 9.99753882e-01 -1.25399528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60629675700002 meters Centerline goodness [0,1] 0.8375468968392143 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.25 [[ 9.99597555e-01 1.82443240e-02 -2.17226298e-02 5.33431630e+00] [-1.83448014e-02 9.99821883e-01 -4.43520258e-03 -3.23201163e-01] [ 2.16378433e-02 4.83191498e-03 9.99754198e-01 -1.25353616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63629675700003 meters Centerline goodness [0,1] 0.8396890583748899 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.25 [[ 9.99600048e-01 1.82598220e-02 -2.15944897e-02 5.33397762e+00] [-1.83690687e-02 9.99819407e-01 -4.87150249e-03 -3.21583162e-01] [ 2.15016371e-02 5.26622479e-03 9.99754943e-01 -1.25361046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66629675700003 meters Centerline goodness [0,1] 0.8389615459691587 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.32, Z:-1.25 [[ 0.99960252 0.01789912 -0.02178148 5.33470549] [-0.01803121 0.99982012 -0.00588294 -0.31804486] [ 0.02167226 0.00627335 0.99974545 -1.25432645] [ 0. 0. 0. 1. ]] SLAMing on 131.69629675700003 meters Centerline goodness [0,1] 0.8378371810449574 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.26 [[ 0.99960662 0.01755241 -0.02187522 5.33544653] [-0.01770095 0.99982144 -0.0066151 -0.31590912] [ 0.0217552 0.00699971 0.99973882 -1.25515351] [ 0. 0. 0. 1. ]] SLAMing on 131.72629675700003 meters Centerline goodness [0,1] 0.8362829712955779 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.26 [[ 0.99961232 0.0170166 -0.0220373 5.33602527] [-0.01718551 0.9998242 -0.00749813 -0.31321596] [ 0.02190583 0.00787394 0.99972903 -1.25547604] [ 0. 0. 0. 1. ]] SLAMing on 131.75629675700003 meters Centerline goodness [0,1] 0.8343331236998695 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.26 [[ 0.99961421 0.01697149 -0.02198621 5.3356989 ] [-0.01713956 0.99982514 -0.00747872 -0.31306756] [ 0.02185544 0.00785267 0.9997303 -1.255037 ] [ 0. 0. 0. 1. ]] SLAMing on 131.78629675700003 meters Centerline goodness [0,1] 0.8346196517292943 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.9996115 0.01694729 -0.02212755 5.33557403] [-0.01711406 0.99982639 -0.00736912 -0.31307279] [ 0.02199883 0.00774495 0.999728 -1.2543414 ] [ 0. 0. 0. 1. ]] SLAMing on 131.81629675700003 meters Centerline goodness [0,1] 0.8370035580344264 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99961873 0.01646412 -0.02216577 5.3357431 ] [-0.01664514 0.9998294 -0.00800748 -0.3112575 ] [ 0.02203015 0.00837337 0.99972224 -1.25436006] [ 0. 0. 0. 1. ]] SLAMing on 131.84629675700003 meters Centerline goodness [0,1] 0.8362994452049859 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99961946 0.01608373 -0.02241073 5.33654685] [-0.01627993 0.99983049 -0.00859973 -0.30963362] [ 0.02226861 0.00896131 0.99971186 -1.25479738] [ 0. 0. 0. 1. ]] SLAMing on 131.87629675700003 meters Centerline goodness [0,1] 0.8373224082991926 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.26 [[ 0.99962222 0.01552649 -0.02267926 5.33770934] [-0.01574781 0.99982978 -0.0096131 -0.3069114 ] [ 0.02252615 0.00996662 0.99969657 -1.25582996] [ 0. 0. 0. 1. ]] SLAMing on 131.90629675700004 meters Centerline goodness [0,1] 0.839481364528013 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.26 [[ 0.99962064 0.01554502 -0.02273626 5.33761821] [-0.01576661 0.99982962 -0.00959919 -0.30653968] [ 0.02258316 0.00995403 0.99969541 -1.25552756] [ 0. 0. 0. 1. ]] SLAMing on 131.936296757 meters Centerline goodness [0,1] 0.8385399224991628 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99961745 0.01567267 -0.02278854 5.33728861] [-0.01589034 0.99982953 -0.00940224 -0.30663499] [ 0.0226373 0.00976076 0.99969609 -1.25487828] [ 0. 0. 0. 1. ]] SLAMing on 131.966296757 meters Centerline goodness [0,1] 0.8415327978580991 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99961919 0.01581651 -0.02261221 5.3365966 ] [-0.01603098 0.99982792 -0.00933529 -0.30610556] [ 0.02246067 0.00969423 0.99970073 -1.25436316] [ 0. 0. 0. 1. ]] SLAMing on 131.996296757 meters Centerline goodness [0,1] 0.8433131351686627 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99961865 0.01591654 -0.02256566 5.3363759 ] [-0.0161324 0.99982552 -0.00941631 -0.30521067] [ 0.02241185 0.00977676 0.99970102 -1.25426487] [ 0. 0. 0. 1. ]] SLAMing on 132.026296757 meters Centerline goodness [0,1] 0.8419715567796007 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99961772 0.01619417 -0.02240889 5.33569174] [-0.01641397 0.99981862 -0.00965979 -0.30274307] [ 0.02224839 0.01002392 0.99970222 -1.25399199] [ 0. 0. 0. 1. ]] SLAMing on 132.056296757 meters Centerline goodness [0,1] 0.8411084245958375 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99961542 0.01640258 -0.02236 5.33531494] [-0.01662525 0.99981367 -0.00980929 -0.30140985] [ 0.02219494 0.01017726 0.99970186 -1.25376973] [ 0. 0. 0. 1. ]] SLAMing on 132.086296757 meters Centerline goodness [0,1] 0.8402677578825366 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.30, Z:-1.25 [[ 0.99961355 0.01667996 -0.02223814 5.33483027] [-0.01690402 0.99980785 -0.00992562 -0.30023915] [ 0.02206831 0.0102977 0.99970343 -1.25361451] [ 0. 0. 0. 1. ]] SLAMing on 132.11629675700001 meters Centerline goodness [0,1] 0.8415392251873213 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.30, Z:-1.25 [[ 0.99960849 0.01711731 -0.02213292 5.33391912] [-0.01734376 0.99979877 -0.01008013 -0.29854794] [ 0.02195592 0.01046005 0.99970422 -1.25296168] [ 0. 0. 0. 1. ]] SLAMing on 132.14629675700002 meters Centerline goodness [0,1] 0.8424252460257381 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.30, Z:-1.25 [[ 0.99960737 0.01736181 -0.02199266 5.33337117] [-0.01758571 0.99979506 -0.01002868 -0.29796408] [ 0.02181404 0.0104115 0.99970783 -1.25268077] [ 0. 0. 0. 1. ]] SLAMing on 132.17629675700002 meters Centerline goodness [0,1] 0.8400405976349518 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.30, Z:-1.25 [[ 0.99960694 0.01726024 -0.02209201 5.33361132] [-0.01749143 0.99979381 -0.01031461 -0.29688521] [ 0.02190942 0.01069697 0.99970273 -1.25275462] [ 0. 0. 0. 1. ]] SLAMing on 132.20629675700002 meters Centerline goodness [0,1] 0.8402967498822421 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 0.9996114 0.01678126 -0.02225828 5.33441402] [-0.01702962 0.9997943 -0.01101601 -0.29491527] [ 0.02206884 0.01139078 0.99969156 -1.25342156] [ 0. 0. 0. 1. ]] SLAMing on 132.23629675700002 meters Centerline goodness [0,1] 0.8402967498822421 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 0.9996114 0.01678126 -0.02225828 5.33441402] [-0.01702962 0.9997943 -0.01101601 -0.29491527] [ 0.02206884 0.01139078 0.99969156 -1.25342156] [ 0. 0. 0. 1. ]] SLAMing on 132.26629675700002 meters Centerline goodness [0,1] 0.8410136617824024 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 0.9996116 0.01653452 -0.0224334 5.33497012] [-0.01678773 0.99979694 -0.01114639 -0.29467644] [ 0.02224454 0.01151867 0.9996862 -1.25358409] [ 0. 0. 0. 1. ]] SLAMing on 132.29629675700002 meters Centerline goodness [0,1] 0.8449616066154755 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 0.99961655 0.01597901 -0.0226148 5.33574271] [-0.01623838 0.99980393 -0.01133212 -0.2947661 ] [ 0.02242929 0.01169501 0.99968003 -1.25384039] [ 0. 0. 0. 1. ]] SLAMing on 132.32629675700002 meters Centerline goodness [0,1] 0.8416389026724321 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 0.99961485 0.01587317 -0.02276395 5.33611985] [-0.01613235 0.9998066 -0.01124762 -0.29498371] [ 0.02258101 0.01161053 0.99967759 -1.25382558] [ 0. 0. 0. 1. ]] SLAMing on 132.35629675700002 meters Centerline goodness [0,1] 0.8403198334595003 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99961286 0.01581139 -0.02289396 5.336369 ] [-0.01606931 0.99980897 -0.01112621 -0.29532063] [ 0.02271366 0.01148979 0.99967598 -1.25373391] [ 0. 0. 0. 1. ]] SLAMing on 132.38629675700003 meters Centerline goodness [0,1] 0.8428325105699506 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99961412 0.01547202 -0.02307014 5.33695201] [-0.01573371 0.99981343 -0.01120531 -0.29513254] [ 0.02289247 0.01156396 0.99967105 -1.25380029] [ 0. 0. 0. 1. ]] SLAMing on 132.41629675700003 meters Centerline goodness [0,1] 0.8392389225938953 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99961302 0.01549602 -0.02310142 5.33686464] [-0.01575554 0.99981432 -0.01109444 -0.29503764] [ 0.02292522 0.01145412 0.99967156 -1.25354155] [ 0. 0. 0. 1. ]] SLAMing on 132.44629675700003 meters Centerline goodness [0,1] 0.8383864640688139 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.9996125 0.01555183 -0.02308669 5.33644566] [-0.01580583 0.99981609 -0.01086068 -0.29520136] [ 0.02291354 0.01122138 0.99967447 -1.25281353] [ 0. 0. 0. 1. ]] SLAMing on 132.47629675700003 meters Centerline goodness [0,1] 0.8397166469893742 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99960835 0.01569278 -0.0231707 5.33627962] [-0.01593899 0.99981804 -0.01048002 -0.29583538] [ 0.02300203 0.01084524 0.99967659 -1.25221192] [ 0. 0. 0. 1. ]] SLAMing on 132.50629675700003 meters Centerline goodness [0,1] 0.8410848130896366 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99960465 0.01575805 -0.02328569 5.33629661] [-0.01599935 0.99981984 -0.01021284 -0.29643884] [ 0.02312056 0.01058135 0.99967669 -1.25180779] [ 0. 0. 0. 1. ]] SLAMing on 132.53629675700003 meters Centerline goodness [0,1] 0.8407527364713114 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99960249 0.01584236 -0.02332108 5.33620081] [-0.0160787 0.9998209 -0.00998196 -0.29685504] [ 0.02315876 0.01035297 0.99967819 -1.2515131 ] [ 0. 0. 0. 1. ]] SLAMing on 132.56629675700003 meters Centerline goodness [0,1] 0.8400886562448422 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99959621 0.01574472 -0.02365399 5.33686745] [-0.01597959 0.99982455 -0.00977346 -0.29715544] [ 0.02349596 0.01014749 0.99967243 -1.25130786] [ 0. 0. 0. 1. ]] SLAMing on 132.59629675700003 meters Centerline goodness [0,1] 0.8396132518128822 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99959287 0.01568939 -0.02383152 5.33734809] [-0.01592126 0.99982744 -0.00957121 -0.29773872] [ 0.02367724 0.00994674 0.99967017 -1.25130542] [ 0. 0. 0. 1. ]] SLAMing on 132.62629675700003 meters Centerline goodness [0,1] 0.8388883650763719 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99958817 0.01557914 -0.02409929 5.33817133] [-0.01581316 0.99982935 -0.00955057 -0.29819414] [ 0.02394638 0.00992772 0.99966395 -1.25163598] [ 0. 0. 0. 1. ]] SLAMing on 132.65629675700004 meters Centerline goodness [0,1] 0.839334656459692 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.9995833 0.01571617 -0.02421217 5.33844523] [-0.01594665 0.99982908 -0.00935539 -0.29867309] [ 0.024061 0.00973759 0.99966307 -1.25168911] [ 0. 0. 0. 1. ]] SLAMing on 132.686296757 meters Centerline goodness [0,1] 0.8380401416765053 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99957637 0.01589952 -0.02437779 5.33875361] [-0.01612704 0.99982794 -0.00916512 -0.29888149] [ 0.02422788 0.00955437 0.9996608 -1.2516882 ] [ 0. 0. 0. 1. ]] SLAMing on 132.716296757 meters Centerline goodness [0,1] 0.8366631947732223 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99956864 0.01656645 -0.02425069 5.33828037] [-0.01678811 0.99981887 -0.00896552 -0.29792017] [ 0.02409777 0.00936878 0.99966571 -1.25170594] [ 0. 0. 0. 1. ]] SLAMing on 132.746296757 meters Centerline goodness [0,1] 0.8369560081273921 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99495532e-01 2.00042540e-02 -2.46680337e-02 5.33972240e+00] [-2.01356145e-02 9.99784310e-01 -5.08826233e-03 -2.99345843e-01] [ 2.45609262e-02 5.58240148e-03 9.99682749e-01 -1.25183398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.776296757 meters Centerline goodness [0,1] 0.8353570498710029 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99487112e-01 2.04796187e-02 -2.46190486e-02 5.33914289e+00] [-2.06028320e-02 9.99776400e-01 -4.76157880e-03 -2.99441821e-01] [ 2.45160285e-02 5.26635877e-03 9.99685565e-01 -1.25129049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806296757 meters Centerline goodness [0,1] 0.8348077014049861 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99481255e-01 2.07503253e-02 -2.46301451e-02 5.33900218e+00] [-2.08730476e-02 9.99770917e-01 -4.73598897e-03 -2.99125350e-01] [ 2.45262295e-02 5.24763839e-03 9.99685414e-01 -1.25120385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.836296757 meters Centerline goodness [0,1] 0.8340387298134443 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99467869e-01 2.18734351e-02 -2.41977444e-02 5.33708993e+00] [-2.19830897e-02 9.99749203e-01 -4.27488147e-03 -2.97903953e-01] [ 2.40981693e-02 4.80454786e-03 9.99698052e-01 -1.25011626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86629675700001 meters Centerline goodness [0,1] 0.8336868901145524 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99462637e-01 2.21449126e-02 -2.41669022e-02 5.33661038e+00] [-2.22606039e-02 9.99741945e-01 -4.52866563e-03 -2.96312372e-01] [ 2.40603789e-02 5.06420193e-03 9.99697680e-01 -1.24977880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89629675700002 meters Centerline goodness [0,1] 0.8330315784523501 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 9.99443365e-01 2.33358016e-02 -2.38411357e-02 5.33429194e+00] [-2.34415752e-02 9.99716525e-01 -4.16675776e-03 -2.93900762e-01] [ 2.37371427e-02 4.72331217e-03 9.99707076e-01 -1.24785750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92629675700002 meters Centerline goodness [0,1] 0.832809125903671 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 9.99441341e-01 2.35120185e-02 -2.37527199e-02 5.33367926e+00] [-2.36231347e-02 9.99711216e-01 -4.40829043e-03 -2.92671053e-01] [ 2.36422127e-02 4.96694140e-03 9.99708145e-01 -1.24738908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95629675700002 meters Centerline goodness [0,1] 0.8320655491383763 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 9.99437948e-01 2.37549735e-02 -2.36535142e-02 5.33297560e+00] [-2.38685428e-02 9.99704839e-01 -4.53063826e-03 -2.91657601e-01] [ 2.35389074e-02 5.09266672e-03 9.99709950e-01 -1.24683562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98629675700002 meters Centerline goodness [0,1] 0.8348423719271909 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 9.99434469e-01 2.40043806e-02 -2.35485070e-02 5.33209686e+00] [-2.41252438e-02 9.99697121e-01 -4.86188191e-03 -2.89799631e-01] [ 2.34246682e-02 5.42724584e-03 9.99710873e-01 -1.24609236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01629675700002 meters Centerline goodness [0,1] 0.8312146562602234 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 9.99435135e-01 2.38257197e-02 -2.37011679e-02 5.33257124e+00] [-2.39577379e-02 9.99698914e-01 -5.30180482e-03 -2.88538844e-01] [ 2.35677125e-02 5.86663639e-03 9.99705029e-01 -1.24637776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04629675700002 meters Centerline goodness [0,1] 0.832428021913976 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.29, Z:-1.25 [[ 0.99943534 0.02365254 -0.02386538 5.33304236] [-0.02380472 0.99969794 -0.00611242 -0.28524286] [ 0.0237136 0.00667708 0.99969649 -1.24676588] [ 0. 0. 0. 1. ]] SLAMing on 133.07629675700002 meters Centerline goodness [0,1] 0.8325916260863487 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.28, Z:-1.25 [[ 0.99943586 0.02352269 -0.02397183 5.33331209] [-0.02368584 0.99969803 -0.00654461 -0.28361701] [ 0.02381064 0.00710871 0.99969121 -1.24690132] [ 0. 0. 0. 1. ]] SLAMing on 133.10629675700002 meters Centerline goodness [0,1] 0.8343514276458883 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99375023e-01 2.54131108e-02 -2.45710452e-02 5.33622848e+00] [-2.55200303e-02 9.99666117e-01 -4.04765560e-03 -2.83959108e-01] [ 2.44599778e-02 4.67217973e-03 9.99689892e-01 -1.24815977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13629675700003 meters Centerline goodness [0,1] 0.8299359212481426 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99377533e-01 2.51127346e-02 -2.47769355e-02 5.33653416e+00] [-2.52307108e-02 9.99671704e-01 -4.46041369e-03 -2.82808093e-01] [ 2.46567881e-02 5.08277692e-03 9.99683054e-01 -1.24794090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16629675700003 meters Centerline goodness [0,1] 0.8302583025830258 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99381299e-01 2.49214048e-02 -2.48181932e-02 5.33683506e+00] [-2.50457358e-02 9.99675204e-01 -4.71144824e-03 -2.82314279e-01] [ 2.46927164e-02 5.33012317e-03 9.99680879e-01 -1.24820909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19629675700003 meters Centerline goodness [0,1] 0.8308473868565729 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99938779 0.02447126 -0.02500425 5.33755299] [-0.0246137 0.99968243 -0.00540494 -0.28041354] [ 0.02486404 0.00601707 0.99967273 -1.24867914] [ 0. 0. 0. 1. ]] SLAMing on 133.22629675700003 meters Centerline goodness [0,1] 0.8297142592292184 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99938943 0.02429583 -0.02510935 5.33786958] [-0.0244476 0.99968455 -0.00575516 -0.27929051] [ 0.0249616 0.00636551 0.99966814 -1.24884207] [ 0. 0. 0. 1. ]] SLAMing on 133.25629675700003 meters Centerline goodness [0,1] 0.8303058387395736 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99938773 0.02422759 -0.02524244 5.3379913 ] [-0.02438397 0.99968522 -0.00590593 -0.27848491] [ 0.02509141 0.00651782 0.99966391 -1.24865114] [ 0. 0. 0. 1. ]] SLAMing on 133.28629675700003 meters Centerline goodness [0,1] 0.8300985507246377 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.9993877 0.02429689 -0.02517729 5.33713303] [-0.02444345 0.99968592 -0.00552976 -0.27901392] [ 0.02503502 0.00614179 0.99966771 -1.24737178] [ 0. 0. 0. 1. ]] SLAMing on 133.31629675700003 meters Centerline goodness [0,1] 0.8332907896874202 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99385433e-01 2.43210293e-02 -2.52436843e-02 5.33686742e+00] [-2.44601760e-02 9.99687187e-01 -5.21802742e-03 -2.79757878e-01] [ 2.51088799e-02 5.83228556e-03 9.99667709e-01 -1.24661797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34629675700003 meters Centerline goodness [0,1] 0.8318941504178273 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99387610e-01 2.40154114e-02 -2.54492637e-02 5.33736772e+00] [-2.41548142e-02 9.99694787e-01 -5.18445189e-03 -2.80198929e-01] [ 2.53169895e-02 5.79599922e-03 9.99662671e-01 -1.24649891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37629675700003 meters Centerline goodness [0,1] 0.8318620977271147 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.9993862 0.02386091 -0.02564925 5.33817061] [-0.02400803 0.99969695 -0.00544333 -0.27974899] [ 0.02551159 0.00605578 0.99965618 -1.24710222] [ 0. 0. 0. 1. ]] SLAMing on 133.40629675700004 meters Centerline goodness [0,1] 0.8296028546271839 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99938514 0.02381118 -0.02573656 5.33866705] [-0.02396487 0.99969667 -0.00567976 -0.2789808 ] [ 0.02559351 0.00629305 0.99965262 -1.24763394] [ 0. 0. 0. 1. ]] SLAMing on 133.436296757 meters Centerline goodness [0,1] 0.8325819056206794 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99937637 0.02414678 -0.02576423 5.33868385] [-0.02430415 0.99968771 -0.00581266 -0.27757969] [ 0.02561583 0.00643522 0.99965115 -1.2478409 ] [ 0. 0. 0. 1. ]] SLAMing on 133.466296757 meters Centerline goodness [0,1] 0.8308027034533839 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99937031 0.0243746 -0.02578484 5.33842738] [-0.02452983 0.99968273 -0.00572099 -0.27726192] [ 0.02563722 0.00634988 0.99965115 -1.247533 ] [ 0. 0. 0. 1. ]] SLAMing on 133.496296757 meters Centerline goodness [0,1] 0.8354450755398165 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99936602 0.02440183 -0.02592509 5.33882748] [-0.02455474 0.99968282 -0.00559608 -0.27774715] [ 0.02578031 0.00622912 0.99964822 -1.24761506] [ 0. 0. 0. 1. ]] SLAMing on 133.526296757 meters Centerline goodness [0,1] 0.8366136735965297 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.9993633 0.02449745 -0.02593991 5.33867615] [-0.0246461 0.99968151 -0.00542657 -0.27802737] [ 0.02579871 0.00606243 0.99964878 -1.24731374] [ 0. 0. 0. 1. ]] SLAMing on 133.556296757 meters Centerline goodness [0,1] 0.8352135095854385 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99936727 0.02440591 -0.02587295 5.3386124 ] [-0.02455612 0.9996833 -0.00550385 -0.27794712] [ 0.02573043 0.00613571 0.99965009 -1.24734457] [ 0. 0. 0. 1. ]] SLAMing on 133.586296757 meters Centerline goodness [0,1] 0.8358453548759377 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99365928e-01 2.44657083e-02 -2.58683543e-02 5.33850306e+00] [-2.46110498e-02 9.99682973e-01 -5.31508930e-03 -2.78329748e-01] [ 2.57301159e-02 5.94836651e-03 9.99651228e-01 -1.24713373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61629675700001 meters Centerline goodness [0,1] 0.8339996764576737 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99363728e-01 2.44645897e-02 -2.59542476e-02 5.33845951e+00] [-2.46031755e-02 9.99684623e-01 -5.03374452e-03 -2.79155397e-01] [ 2.58229137e-02 5.66909860e-03 9.99650458e-01 -1.24672357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64629675700002 meters Centerline goodness [0,1] 0.838272376061258 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99368566e-01 2.42973806e-02 -2.59250338e-02 5.33808978e+00] [-2.44191633e-02 9.99692163e-01 -4.39124624e-03 -2.81137301e-01] [ 2.58103573e-02 5.02154108e-03 9.99654245e-01 -1.24576353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67629675700002 meters Centerline goodness [0,1] 0.836881891948124 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99365853e-01 2.41636252e-02 -2.61536146e-02 5.33849961e+00] [-2.42808353e-02 9.99696466e-01 -4.17330248e-03 -2.81992746e-01] [ 2.60448339e-02 4.80568760e-03 9.99649224e-01 -1.24550075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70629675700002 meters Centerline goodness [0,1] 0.8397158525580212 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99363958e-01 2.39284352e-02 -2.64406742e-02 5.33924944e+00] [-2.40392736e-02 9.99703478e-01 -3.88203908e-03 -2.83500805e-01] [ 2.63399428e-02 4.51518455e-03 9.99642846e-01 -1.24543746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73629675700002 meters Centerline goodness [0,1] 0.8388899193174442 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99358303e-01 2.40054154e-02 -2.65842327e-02 5.33948051e+00] [-2.41088221e-02 9.99702944e-01 -3.57607071e-03 -2.84476825e-01] [ 2.64904906e-02 4.21469050e-03 9.99640180e-01 -1.24530374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76629675700002 meters Centerline goodness [0,1] 0.8372071423595793 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99355383e-01 2.39295729e-02 -2.67617927e-02 5.34010755e+00] [-2.40333827e-02 9.99704803e-01 -3.56408738e-03 -2.84914884e-01] [ 2.66686057e-02 4.20496632e-03 9.99635485e-01 -1.24563661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79629675700002 meters Centerline goodness [0,1] 0.8360808419484027 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 9.99354279e-01 2.38498315e-02 -2.68739783e-02 5.34070743e+00] [-2.39546453e-02 9.99706618e-01 -3.58499078e-03 -2.84985199e-01] [ 2.67805925e-02 4.22643249e-03 9.99632401e-01 -1.24615351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82629675700002 meters Centerline goodness [0,1] 0.8378416094894755 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99355290e-01 2.37551103e-02 -2.69202314e-02 5.34108352e+00] [-2.38623938e-02 9.99708513e-01 -3.67097436e-03 -2.85051209e-01] [ 2.68251801e-02 4.31098881e-03 9.99630844e-01 -1.24651756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85629675700002 meters Centerline goodness [0,1] 0.8412257567624337 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99357186e-01 2.33147412e-02 -2.72330423e-02 5.34214884e+00] [-2.34206031e-02 9.99719309e-01 -3.57473868e-03 -2.86330535e-01] [ 2.71420541e-02 4.21025506e-03 9.99622720e-01 -1.24677756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88629675700003 meters Centerline goodness [0,1] 0.8376705288731079 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99358485e-01 2.30305126e-02 -2.74265338e-02 5.34280012e+00] [-2.31350134e-02 9.99726227e-01 -3.49896464e-03 -2.87555462e-01] [ 2.73384422e-02 4.13123323e-03 9.99617698e-01 -1.24694221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91629675700003 meters Centerline goodness [0,1] 0.8394601813453293 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99357153e-01 2.28957686e-02 -2.75873924e-02 5.34320103e+00] [-2.29898429e-02 9.99730900e-01 -3.09766588e-03 -2.89348588e-01] [ 2.75090452e-02 3.72990437e-03 9.99614596e-01 -1.24678018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94629675700003 meters Centerline goodness [0,1] 0.8390531150630078 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99364592e-01 2.20516562e-02 -2.80024419e-02 5.34472835e+00] [-2.21449984e-02 9.99750185e-01 -3.02759297e-03 -2.91775819e-01] [ 2.79286830e-02 3.64578325e-03 9.99603270e-01 -1.24712762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97629675700003 meters Centerline goodness [0,1] 0.8409487845173471 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99361532e-01 2.18972536e-02 -2.82318632e-02 5.34537556e+00] [-2.19862775e-02 9.99754220e-01 -2.84672190e-03 -2.92700758e-01] [ 2.81625890e-02 3.46561794e-03 9.99597348e-01 -1.24723084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00629675700003 meters Centerline goodness [0,1] 0.8455812630381188 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99357176e-01 2.18255956e-02 -2.84407931e-02 5.34605509e+00] [-2.19052860e-02 9.99756941e-01 -2.49339287e-03 -2.93972731e-01] [ 2.83794606e-02 3.11479377e-03 9.99592369e-01 -1.24736456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03629675700003 meters Centerline goodness [0,1] 0.8431915548297001 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99347075e-01 2.18964018e-02 -2.87397299e-02 5.34669184e+00] [-2.19742385e-02 9.99755668e-01 -2.39526229e-03 -2.94304245e-01] [ 2.86802603e-02 3.02523204e-03 9.99584059e-01 -1.24746404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06629675700003 meters Centerline goodness [0,1] 0.844962899543379 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99334434e-01 2.27058550e-02 -2.85505509e-02 5.34568627e+00] [-2.27651344e-02 9.99739304e-01 -1.75292616e-03 -2.94936541e-01] [ 2.85033062e-02 2.40171659e-03 9.99590813e-01 -1.24680789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09629675700003 meters Centerline goodness [0,1] 0.8403165624925731 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99326837e-01 2.29340675e-02 -2.86339284e-02 5.34551548e+00] [-2.29885800e-02 9.99734485e-01 -1.57599006e-03 -2.95243294e-01] [ 2.85901818e-02 2.23318251e-03 9.99588723e-01 -1.24640039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12629675700003 meters Centerline goodness [0,1] 0.8403165624925731 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99326837e-01 2.29340675e-02 -2.86339284e-02 5.34551548e+00] [-2.29885800e-02 9.99734485e-01 -1.57599006e-03 -2.95243294e-01] [ 2.85901818e-02 2.23318251e-03 9.99588723e-01 -1.24640039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15629675700004 meters Centerline goodness [0,1] 0.8406912991656734 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99593552e-01 2.26382863e-02 -1.73273809e-02 5.34615804e+00] [-2.26597213e-02 9.99742693e-01 -1.04170039e-03 -2.95917330e-01] [ 1.72993401e-02 1.43391061e-03 9.99849327e-01 -1.25210939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186296757 meters Centerline goodness [0,1] 0.8380984281168504 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99586430e-01 2.30663852e-02 -1.71729809e-02 5.34551614e+00] [-2.30836201e-02 9.99733213e-01 -8.06035059e-04 -2.96058384e-01] [ 1.71498071e-02 1.20211627e-03 9.99852209e-01 -1.25178663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.216296757 meters Centerline goodness [0,1] 0.835423684273394 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99581634e-01 2.32459539e-02 -1.72099735e-02 5.34555457e+00] [-2.32662255e-02 9.99728826e-01 -9.78592091e-04 -2.95534442e-01] [ 1.71825583e-02 1.37859381e-03 9.99851419e-01 -1.25197338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246296757 meters Centerline goodness [0,1] 0.8367137294249744 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99574257e-01 2.36948851e-02 -1.70252039e-02 5.34524877e+00] [-2.37197717e-02 9.99717851e-01 -1.26128444e-03 -2.94417876e-01] [ 1.69905143e-02 1.66458141e-03 9.99854265e-01 -1.25255694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.276296757 meters Centerline goodness [0,1] 0.8376356422391128 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99569922e-01 2.38861407e-02 -1.70124633e-02 5.34526524e+00] [-2.39108558e-02 9.99713312e-01 -1.25080924e-03 -2.94363219e-01] [ 1.69777090e-02 1.65705385e-03 9.99854495e-01 -1.25274139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306296757 meters Centerline goodness [0,1] 0.8342958472119049 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99561405e-01 2.43091391e-02 -1.69133885e-02 5.34490329e+00] [-2.43332155e-02 9.99703160e-01 -1.21914374e-03 -2.94143779e-01] [ 1.68787316e-02 1.63016616e-03 9.99856215e-01 -1.25278519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.336296757 meters Centerline goodness [0,1] 0.8324215857241823 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.29, Z:-1.25 [[ 9.99560077e-01 2.42507771e-02 -1.70749275e-02 5.34532207e+00] [-2.42790389e-02 9.99704169e-01 -1.44978607e-03 -2.93923107e-01] [ 1.70347178e-02 1.86371110e-03 9.99853162e-01 -1.25302796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36629675700001 meters Centerline goodness [0,1] 0.829406966701852 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99551024e-01 2.48217910e-02 -1.67818199e-02 5.34390961e+00] [-2.48412100e-02 9.99690958e-01 -9.49647686e-04 -2.94509184e-01] [ 1.67530617e-02 1.36610203e-03 9.99858724e-01 -1.25188215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39629675700002 meters Centerline goodness [0,1] 0.8277648526131485 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99548205e-01 2.49432571e-02 -1.67696257e-02 5.34370059e+00] [-2.49622250e-02 9.99687969e-01 -9.22683826e-04 -2.94493290e-01] [ 1.67413783e-02 1.34087413e-03 9.99858954e-01 -1.25168515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42629675700002 meters Centerline goodness [0,1] 0.8269148174659986 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99549080e-01 2.47766527e-02 -1.69633059e-02 5.34415808e+00] [-2.48001218e-02 9.99691740e-01 -1.17452677e-03 -2.93896900e-01] [ 1.69289759e-02 1.59468920e-03 9.99855423e-01 -1.25178393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45629675700002 meters Centerline goodness [0,1] 0.8256735720273021 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99548336e-01 2.47277283e-02 -1.70781539e-02 5.34418871e+00] [-2.47480186e-02 9.99693243e-01 -9.77738403e-04 -2.94392339e-01] [ 1.70487378e-02 1.39994727e-03 9.99853680e-01 -1.25131494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48629675700002 meters Centerline goodness [0,1] 0.8230986454793472 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99551567e-01 2.43461575e-02 -1.74335617e-02 5.34522154e+00] [-2.43689944e-02 9.99702428e-01 -1.09867513e-03 -2.95068351e-01] [ 1.74016255e-02 1.52302082e-03 9.99847420e-01 -1.25164033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51629675700002 meters Centerline goodness [0,1] 0.8225406978142208 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99636083e-01 2.06280310e-02 -1.73834889e-02 5.34481783e+00] [-2.07182236e-02 9.99772730e-01 -5.02437088e-03 -2.95165861e-01] [ 1.72758952e-02 5.38269744e-03 9.99836272e-01 -1.25182216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54629675700002 meters Centerline goodness [0,1] 0.8233211292031988 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99635770e-01 2.05694268e-02 -1.74707395e-02 5.34506111e+00] [-2.06537291e-02 9.99775835e-01 -4.65867664e-03 -2.96571656e-01] [ 1.73709968e-02 5.01781573e-03 9.99836522e-01 -1.25174113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57629675700002 meters Centerline goodness [0,1] 0.8248862350420147 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99638477e-01 2.03521608e-02 -1.75700184e-02 5.34540532e+00] [-2.04343839e-02 9.99781011e-01 -4.51294325e-03 -2.97487914e-01] [ 1.74743226e-02 4.87034422e-03 9.99835450e-01 -1.25172490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60629675700002 meters Centerline goodness [0,1] 0.822367311537813 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99642498e-01 2.02595354e-02 -1.74478450e-02 5.34540070e+00] [-2.03386158e-02 9.99783612e-01 -4.36691744e-03 -2.97786157e-01] [ 1.73555978e-02 4.72022127e-03 9.99838238e-01 -1.25189947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63629675700003 meters Centerline goodness [0,1] 0.8195116083243114 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 9.99640935e-01 2.02947625e-02 -1.74963767e-02 5.34534206e+00] [-2.03721564e-02 9.99783405e-01 -4.25657900e-03 -2.97733394e-01] [ 1.74062008e-02 4.61148954e-03 9.99837866e-01 -1.25165060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66629675700003 meters Centerline goodness [0,1] 0.8192968111201963 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99640406e-01 2.04645574e-02 -1.73280325e-02 5.34454022e+00] [-2.05367956e-02 9.99781091e-01 -4.00121301e-03 -2.98316932e-01] [ 1.72423562e-02 4.35563646e-03 9.99841852e-01 -1.25088152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69629675700003 meters Centerline goodness [0,1] 0.8232070755623918 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99637617e-01 2.05987912e-02 -1.73299004e-02 5.34418763e+00] [-2.06670677e-02 9.99779305e-01 -3.76996647e-03 -2.98853186e-01] [ 1.72484191e-02 4.12675852e-03 9.99842719e-01 -1.25031628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72629675700003 meters Centerline goodness [0,1] 0.8206798730647178 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99635220e-01 2.07448494e-02 -1.72938823e-02 5.34372414e+00] [-2.08097789e-02 9.99777033e-01 -3.58299625e-03 -2.99201286e-01] [ 1.72156976e-02 3.94157111e-03 9.99844030e-01 -1.24973140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75629675700003 meters Centerline goodness [0,1] 0.8220465250408536 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99631524e-01 2.10338713e-02 -1.71578553e-02 5.34303409e+00] [-2.10985810e-02 9.99770922e-01 -3.59915956e-03 -2.98598377e-01] [ 1.70782205e-02 3.95983976e-03 9.99846315e-01 -1.24930285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78629675700003 meters Centerline goodness [0,1] 0.8251536688436419 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99628775e-01 2.12603781e-02 -1.70384670e-02 5.34267801e+00] [-2.13278448e-02 9.99765360e-01 -3.78776870e-03 -2.97460803e-01] [ 1.69539397e-02 4.14975637e-03 9.99847660e-01 -1.24934133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81629675700003 meters Centerline goodness [0,1] 0.825 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 9.99624275e-01 2.14890268e-02 -1.70155953e-02 5.34251215e+00] [-2.15611311e-02 9.99759266e-01 -4.06546436e-03 -2.96007302e-01] [ 1.69241362e-02 4.43081234e-03 9.99846959e-01 -1.24941372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84629675700003 meters Centerline goodness [0,1] 0.8242971887550201 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99606300e-01 2.23708979e-02 -1.69348265e-02 5.34201722e+00] [-2.24460154e-02 9.99738986e-01 -4.25865783e-03 -2.93589603e-01] [ 1.68351363e-02 4.63710058e-03 9.99847526e-01 -1.24958696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87629675700003 meters Centerline goodness [0,1] 0.830268336314848 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99591311e-01 2.30103292e-02 -1.69627562e-02 5.34196543e+00] [-2.30934665e-02 9.99722160e-01 -4.72166521e-03 -2.91712062e-01] [ 1.68493962e-02 5.11146436e-03 9.99844973e-01 -1.25015838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90629675700004 meters Centerline goodness [0,1] 0.8303190602139776 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99587446e-01 2.31787425e-02 -1.69612259e-02 5.34204620e+00] [-2.32651980e-02 9.99717233e-01 -4.91777716e-03 -2.90968182e-01] [ 1.68424420e-02 5.31035459e-03 9.99844054e-01 -1.25046502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.936296757 meters Centerline goodness [0,1] 0.831704176997902 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99586467e-01 2.31639125e-02 -1.70390132e-02 5.34252081e+00] [-2.32559966e-02 9.99715883e-01 -5.22613666e-03 -2.90068634e-01] [ 1.69131143e-02 5.62023471e-03 9.99841167e-01 -1.25103863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.966296757 meters Centerline goodness [0,1] 0.8295470747588043 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 0.9995869 0.02308783 -0.01711683 5.34306418] [-0.02318897 0.99971465 -0.00573429 -0.28861701] [ 0.01697955 0.00612884 0.99983705 -1.25176401] [ 0. 0. 0. 1. ]] SLAMing on 134.996296757 meters Centerline goodness [0,1] 0.8277728757780268 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 0.99958734 0.02303146 -0.01716704 5.34302009] [-0.023132 0.99971628 -0.00568083 -0.2886118 ] [ 0.01703133 0.00607559 0.9998365 -1.25143109] [ 0. 0. 0. 1. ]] SLAMing on 135.026296757 meters Centerline goodness [0,1] 0.8264409531540996 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99594464e-01 2.24734970e-02 -1.74885650e-02 5.34308151e+00] [-2.25593171e-02 9.99734338e-01 -4.72548012e-03 -2.91181117e-01] [ 1.73777209e-02 5.11809385e-03 9.99835897e-01 -1.24939079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.056296757 meters Centerline goodness [0,1] 0.829179535061888 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 0.99964585 0.02058797 -0.01686169 5.34173104] [-0.02068947 0.99976873 -0.00586746 -0.29169486] [ 0.01673699 0.00621424 0.99984062 -1.24848353] [ 0. 0. 0. 1. ]] SLAMing on 135.086296757 meters Centerline goodness [0,1] 0.8294621905081174 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 9.99649241e-01 2.01563623e-02 -1.71789162e-02 5.34213191e+00] [-2.02481427e-02 9.99781538e-01 -5.18551720e-03 -2.93690617e-01] [ 1.70706421e-02 5.53153948e-03 9.99838985e-01 -1.24738273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11629675700001 meters Centerline goodness [0,1] 0.8265119853965509 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.25 [[ 0.99973041 0.0157762 -0.01703576 5.34136771] [-0.01592762 0.99983451 -0.00878979 -0.2945357 ] [ 0.01689427 0.00905876 0.99981624 -1.24641621] [ 0. 0. 0. 1. ]] SLAMing on 135.14629675700002 meters Centerline goodness [0,1] 0.8225239539698589 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99973699 0.01528905 -0.01709365 5.34152695] [-0.01543338 0.99984609 -0.00834322 -0.29620329] [ 0.01696346 0.00860483 0.99981908 -1.24576392] [ 0. 0. 0. 1. ]] SLAMing on 135.17629675700002 meters Centerline goodness [0,1] 0.8244922630560929 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.25 [[ 0.99979404 0.01074082 -0.01721937 5.34146224] [-0.01095119 0.99986597 -0.01216984 -0.29662243] [ 0.01708635 0.01235591 0.99977767 -1.24503446] [ 0. 0. 0. 1. ]] SLAMing on 135.20629675700002 meters Centerline goodness [0,1] 0.8254830185934886 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 0.99979554 0.01025577 -0.01742696 5.34212644] [-0.01046465 0.99987399 -0.0119374 -0.29778656] [ 0.01730234 0.01211732 0.99977687 -1.24491929] [ 0. 0. 0. 1. ]] SLAMing on 135.23629675700002 meters Centerline goodness [0,1] 0.8273803746481607 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 0.99979579 0.00981632 -0.01766389 5.34291493] [-0.01002416 0.99988111 -0.0117167 -0.29877944] [ 0.01754677 0.01189137 0.99977533 -1.24487558] [ 0. 0. 0. 1. ]] SLAMing on 135.26629675700002 meters Centerline goodness [0,1] 0.8245979461344701 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 0.99979666 0.00811923 -0.01845856 5.34603173] [-0.0083445 0.99989125 -0.01215957 -0.29968006] [ 0.01835783 0.01231112 0.99975568 -1.24599367] [ 0. 0. 0. 1. ]] SLAMing on 135.29629675700002 meters Centerline goodness [0,1] 0.8252977054893988 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 0.9997926 0.00769617 -0.01885522 5.34717764] [-0.00792391 0.9998962 -0.01203356 -0.30061142] [ 0.01876065 0.01218047 0.99974981 -1.24613765] [ 0. 0. 0. 1. ]] SLAMing on 135.32629675700002 meters Centerline goodness [0,1] 0.8231927123928293 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 0.99979207 0.00669344 -0.0192619 5.34877272] [-0.00692758 0.99990262 -0.01211465 -0.30254015] [ 0.01917894 0.01224557 0.99974107 -1.24653251] [ 0. 0. 0. 1. ]] SLAMing on 135.35629675700002 meters Centerline goodness [0,1] 0.8268551236749117 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 0.99978809 0.00665643 -0.01948004 5.34915628] [-0.00688719 0.99990662 -0.01180294 -0.30348597] [ 0.01939965 0.0119346 0.99974058 -1.24629797] [ 0. 0. 0. 1. ]] SLAMing on 135.38629675700003 meters Centerline goodness [0,1] 0.8230655375730959 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.31, Z:-1.25 [[ 0.99975946 0.00912927 -0.01994189 5.35130516] [-0.00929311 0.9999237 -0.00813863 -0.30565048] [ 0.01986607 0.008322 0.99976801 -1.24675393] [ 0. 0. 0. 1. ]] SLAMing on 135.41629675700003 meters Centerline goodness [0,1] 0.8239836309161328 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 0.99975665 0.00933342 -0.01998811 5.35132572] [-0.00949898 0.99992123 -0.00820418 -0.30425975] [ 0.01990996 0.00839205 0.99976656 -1.24681795] [ 0. 0. 0. 1. ]] SLAMing on 135.44629675700003 meters Centerline goodness [0,1] 0.8262878824731235 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.25 [[ 0.99975189 0.00979914 -0.02000327 5.35085292] [-0.00995961 0.99991889 -0.00793878 -0.3038256 ] [ 0.01992386 0.00813603 0.9997684 -1.24628437] [ 0. 0. 0. 1. ]] SLAMing on 135.47629675700003 meters Centerline goodness [0,1] 0.8231769691655706 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.24 [[ 0.99973947 0.011704 -0.01959633 5.34836315] [-0.01183959 0.99990667 -0.00681747 -0.30332289] [ 0.01951471 0.00704771 0.99978473 -1.24468546] [ 0. 0. 0. 1. ]] SLAMing on 135.50629675700003 meters Centerline goodness [0,1] 0.8244449308139393 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.24 [[ 0.99973133 0.01263052 -0.01943529 5.34702632] [-0.01275805 0.9998978 -0.00645166 -0.30226548] [ 0.01935182 0.00669788 0.9997903 -1.24368855] [ 0. 0. 0. 1. ]] SLAMing on 135.53629675700003 meters Centerline goodness [0,1] 0.8242397788447549 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.24 [[ 9.99663346e-01 1.74172824e-02 -1.92310661e-02 5.34610531e+00] [-1.74636406e-02 9.99844978e-01 -2.24527393e-03 -3.01203720e-01] [ 1.91889783e-02 2.58036248e-03 9.99812545e-01 -1.24304858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56629675700003 meters Centerline goodness [0,1] 0.8258910183412885 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.24 [[ 9.99656782e-01 1.78939400e-02 -1.91343951e-02 5.34574524e+00] [-1.79452327e-02 9.99835815e-01 -2.51231000e-03 -2.99399980e-01] [ 1.90862984e-02 2.85481890e-03 9.99813764e-01 -1.24327033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59629675700003 meters Centerline goodness [0,1] 0.8250218086653097 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.30, Z:-1.24 [[ 9.99637856e-01 1.90766520e-02 -1.89799189e-02 5.34500580e+00] [-1.91263955e-02 9.99814090e-01 -2.44277053e-03 -2.98145199e-01] [ 1.89297905e-02 2.80490334e-03 9.99816881e-01 -1.24355484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62629675700003 meters Centerline goodness [0,1] 0.8296080572746026 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99633597e-01 1.93393545e-02 -1.89383480e-02 5.34491898e+00] [-1.93911818e-02 9.99808704e-01 -2.55681098e-03 -2.98066915e-01] [ 1.88852781e-02 2.92311110e-03 9.99817384e-01 -1.24380271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65629675700004 meters Centerline goodness [0,1] 0.8327071769639092 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99627413e-01 1.97452668e-02 -1.88456634e-02 5.34443907e+00] [-1.97951977e-02 9.99801013e-01 -2.46658934e-03 -2.98209950e-01] [ 1.87932099e-02 2.83872396e-03 9.99819362e-01 -1.24360148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.686296757 meters Centerline goodness [0,1] 0.834231478784348 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99610614e-01 2.10917764e-02 -1.82690193e-02 5.34207094e+00] [-2.11283165e-02 9.99775135e-01 -1.80939234e-03 -2.97679760e-01] [ 1.82267479e-02 2.19468141e-03 9.99831470e-01 -1.24242480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.716296757 meters Centerline goodness [0,1] 0.8345536536876303 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99604143e-01 2.15376713e-02 -1.81020856e-02 5.34147975e+00] [-2.15754171e-02 9.99765433e-01 -1.89243345e-03 -2.96671179e-01] [ 1.80570808e-02 2.28224436e-03 9.99834353e-01 -1.24241305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.746296757 meters Centerline goodness [0,1] 0.8393439455059301 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99587144e-01 2.25964487e-02 -1.77465869e-02 5.34017654e+00] [-2.26308833e-02 9.99742371e-01 -1.74190266e-03 -2.94965837e-01] [ 1.77026541e-02 2.14280444e-03 9.99841000e-01 -1.24218603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.776296757 meters Centerline goodness [0,1] 0.831918178309533 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99580971e-01 2.29201176e-02 -1.76791235e-02 5.33991861e+00] [-2.29552430e-02 9.99734898e-01 -1.78643911e-03 -2.94744177e-01] [ 1.76334913e-02 2.19151911e-03 9.99842116e-01 -1.24227421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.806296757 meters Centerline goodness [0,1] 0.8309423755011351 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99573285e-01 2.33236735e-02 -1.75856139e-02 5.33930700e+00] [-2.33546815e-02 9.99726025e-01 -1.55993191e-03 -2.95079439e-01] [ 1.75444126e-02 1.96997268e-03 9.99844144e-01 -1.24183422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.836296757 meters Centerline goodness [0,1] 0.8354872932439601 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99559298e-01 2.43414485e-02 -1.69912786e-02 5.33709357e+00] [-2.43597479e-02 9.99702878e-01 -8.70821953e-04 -2.95749756e-01] [ 1.69650331e-02 1.28434144e-03 9.99855259e-01 -1.24061766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86629675700001 meters Centerline goodness [0,1] 0.8360908783946747 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 9.99553895e-01 2.46474470e-02 -1.68675394e-02 5.33651533e+00] [-2.46634138e-02 9.99695538e-01 -7.39204121e-04 -2.95539005e-01] [ 1.68441844e-02 1.15488546e-03 9.99857460e-01 -1.24026448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89629675700002 meters Centerline goodness [0,1] 0.8334897149043666 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99547340e-01 2.51224507e-02 -1.65522724e-02 5.33553967e+00] [-2.51362956e-02 9.99683836e-01 -6.28884247e-04 -2.94864074e-01] [ 1.65312400e-02 1.04466239e-03 9.99862804e-01 -1.23998097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92629675700002 meters Centerline goodness [0,1] 0.8321644730521665 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99543862e-01 2.53068914e-02 -1.64811816e-02 5.33527831e+00] [-2.53201921e-02 9.99679213e-01 -5.98819077e-04 -2.94672646e-01] [ 1.64607405e-02 1.01585262e-03 9.99863997e-01 -1.23990514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95629675700002 meters Centerline goodness [0,1] 0.8318443804034582 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99543385e-01 2.53064526e-02 -1.65107608e-02 5.33536630e+00] [-2.53220591e-02 9.99679074e-01 -7.36828451e-04 -2.94420787e-01] [ 1.64868156e-02 1.15457847e-03 9.99863417e-01 -1.24000641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98629675700002 meters Centerline goodness [0,1] 0.8305941542884523 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99540839e-01 2.54408767e-02 -1.64581985e-02 5.33514826e+00] [-2.54569554e-02 9.99675624e-01 -7.68145489e-04 -2.94285209e-01] [ 1.64333175e-02 1.18676841e-03 9.99864260e-01 -1.23993531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01629675700002 meters Centerline goodness [0,1] 0.8323556875044892 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99543472e-01 2.52990327e-02 -1.65168622e-02 5.33543347e+00] [-2.53198066e-02 9.99678851e-01 -1.04980522e-03 -2.93736824e-01] [ 1.64849988e-02 1.46752971e-03 9.99863036e-01 -1.24022046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04629675700002 meters Centerline goodness [0,1] 0.8323556875044892 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99543472e-01 2.52990327e-02 -1.65168622e-02 5.33543347e+00] [-2.53198066e-02 9.99678851e-01 -1.04980522e-03 -2.93736824e-01] [ 1.64849988e-02 1.46752971e-03 9.99863036e-01 -1.24022046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07629675700002 meters Centerline goodness [0,1] 0.831357552581262 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99548487e-01 2.50714869e-02 -1.65602833e-02 5.33591804e+00] [-2.50995581e-02 9.99683847e-01 -1.48939882e-03 -2.92699154e-01] [ 1.65177063e-02 1.90438213e-03 9.99861760e-01 -1.24082519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10629675700002 meters Centerline goodness [0,1] 0.8301404548060386 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99551408e-01 2.48144047e-02 -1.67698365e-02 5.33659703e+00] [-2.48479448e-02 9.99689631e-01 -1.79459983e-03 -2.92248096e-01] [ 1.67200998e-02 2.21049076e-03 9.99857766e-01 -1.24116046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13629675700003 meters Centerline goodness [0,1] 0.8276980304258668 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99554900e-01 2.45475026e-02 -1.69535249e-02 5.33726120e+00] [-2.45862034e-02 9.99695554e-01 -2.07808423e-03 -2.92112436e-01] [ 1.68973516e-02 2.49398209e-03 9.99854119e-01 -1.24156136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16629675700003 meters Centerline goodness [0,1] 0.8292532351893624 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99565726e-01 2.38796179e-02 -1.72662189e-02 5.33868266e+00] [-2.39297567e-02 9.99709988e-01 -2.70308833e-03 -2.91951296e-01] [ 1.71966628e-02 3.11509087e-03 9.99847274e-01 -1.24257519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19629675700003 meters Centerline goodness [0,1] 0.8301351576839646 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99569631e-01 2.37463138e-02 -1.72239772e-02 5.33852419e+00] [-2.37957677e-02 9.99713270e-01 -2.67195956e-03 -2.91855667e-01] [ 1.71555894e-02 3.08066739e-03 9.99848086e-01 -1.24227709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22629675700003 meters Centerline goodness [0,1] 0.8299381247025226 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99574361e-01 2.34374801e-02 -1.73718811e-02 5.33914492e+00] [-2.34910394e-02 9.99719883e-01 -2.88545570e-03 -2.91888353e-01] [ 1.72993871e-02 3.29231108e-03 9.99844934e-01 -1.24262735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25629675700003 meters Centerline goodness [0,1] 0.8290803586292184 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99575557e-01 2.32226622e-02 -1.75901733e-02 5.33963478e+00] [-2.32775717e-02 9.99724767e-01 -2.92329204e-03 -2.92359466e-01] [ 1.75174453e-02 3.33150778e-03 9.99841007e-01 -1.24257941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28629675700003 meters Centerline goodness [0,1] 0.8313737623762376 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99571388e-01 2.34413673e-02 -1.75368833e-02 5.33898062e+00] [-2.34849594e-02 9.99721581e-01 -2.28391284e-03 -2.93893212e-01] [ 1.74784627e-02 2.69478692e-03 9.99843609e-01 -1.24161616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31629675700003 meters Centerline goodness [0,1] 0.8307597282273008 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99568352e-01 2.35277807e-02 -1.75941107e-02 5.33881849e+00] [-2.35685068e-02 9.99719995e-01 -2.11097081e-03 -2.94052959e-01] [ 1.75395178e-02 2.52472653e-03 9.99842983e-01 -1.24116043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34629675700003 meters Centerline goodness [0,1] 0.8341570695485611 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99570727e-01 2.35860344e-02 -1.73798960e-02 5.33855394e+00] [-2.36299232e-02 9.99718073e-01 -2.32421663e-03 -2.93075887e-01] [ 1.73201771e-02 2.73390451e-03 9.99846257e-01 -1.24149462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37629675700003 meters Centerline goodness [0,1] 0.8310802812566586 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99573988e-01 2.35077967e-02 -1.72981492e-02 5.33864141e+00] [-2.35571652e-02 9.99718964e-01 -2.65574449e-03 -2.92129048e-01] [ 1.72308571e-02 3.06210847e-03 9.99846849e-01 -1.24190206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40629675700004 meters Centerline goodness [0,1] 0.8333807424263974 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99569978e-01 2.36768313e-02 -1.72993340e-02 5.33850942e+00] [-2.37262352e-02 9.99714965e-01 -2.65616070e-03 -2.91805420e-01] [ 1.72315136e-02 3.06546656e-03 9.99846827e-01 -1.24181966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.436296757 meters Centerline goodness [0,1] 0.8352014755959137 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99566824e-01 2.36927065e-02 -1.74591061e-02 5.33902289e+00] [-2.37496057e-02 9.99713259e-01 -3.05887159e-03 -2.91462771e-01] [ 1.73816269e-02 3.47219345e-03 9.99842899e-01 -1.24234888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.466296757 meters Centerline goodness [0,1] 0.8341782000801641 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99565820e-01 2.37391265e-02 -1.74535144e-02 5.33908426e+00] [-2.37975595e-02 9.99711842e-01 -3.14785644e-03 -2.91662967e-01] [ 1.73737576e-02 3.56184075e-03 9.99842721e-01 -1.24254179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.496296757 meters Centerline goodness [0,1] 0.8356339528826803 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99558258e-01 2.42592461e-02 -1.71690877e-02 5.33819717e+00] [-2.43134198e-02 9.99700022e-01 -2.95360819e-03 -2.91679541e-01] [ 1.70922850e-02 3.36974270e-03 9.99848238e-01 -1.24233828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526296757 meters Centerline goodness [0,1] 0.8334904770884405 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99559765e-01 2.41950719e-02 -1.71719203e-02 5.33840062e+00] [-2.42569243e-02 9.99699966e-01 -3.40282299e-03 -2.90378558e-01] [ 1.70844366e-02 3.81786292e-03 9.99846761e-01 -1.24281324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.556296757 meters Centerline goodness [0,1] 0.8329000236350744 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99554412e-01 2.45731104e-02 -1.69451746e-02 5.33798492e+00] [-2.46383562e-02 9.99689757e-01 -3.65242301e-03 -2.88967411e-01] [ 1.68501661e-02 4.06829679e-03 9.99849749e-01 -1.24322264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586296757 meters Centerline goodness [0,1] 0.8365264522210439 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99552195e-01 2.44763972e-02 -1.72138296e-02 5.33867059e+00] [-2.45472501e-02 9.99690998e-01 -3.91684304e-03 -2.88731071e-01] [ 1.71126403e-02 4.33764123e-03 9.99844159e-01 -1.24353408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61629675700001 meters Centerline goodness [0,1] 0.8356400160328201 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99545362e-01 2.47449248e-02 -1.72266556e-02 5.33838170e+00] [-2.48116696e-02 9.99685401e-01 -3.67159354e-03 -2.89125746e-01] [ 1.71303828e-02 4.09734638e-03 9.99844869e-01 -1.24317258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64629675700002 meters Centerline goodness [0,1] 0.8351365397335349 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99541464e-01 2.51061795e-02 -1.69275463e-02 5.33739710e+00] [-2.51679146e-02 9.99677306e-01 -3.44387107e-03 -2.89379070e-01] [ 1.68356214e-02 3.86832297e-03 9.99850788e-01 -1.24270967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67629675700002 meters Centerline goodness [0,1] 0.8341507332906863 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99539301e-01 2.52401591e-02 -1.68558552e-02 5.33714810e+00] [-2.53010838e-02 9.99674057e-01 -3.41100114e-03 -2.89217654e-01] [ 1.67642669e-02 3.83590110e-03 9.99852112e-01 -1.24264010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70629675700002 meters Centerline goodness [0,1] 0.8352969008753253 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99538937e-01 2.52574491e-02 -1.68515318e-02 5.33726699e+00] [-2.53211250e-02 9.99672973e-01 -3.57600146e-03 -2.88371077e-01] [ 1.67557002e-02 4.00105244e-03 9.99851608e-01 -1.24287443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73629675700002 meters Centerline goodness [0,1] 0.8336998935792834 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99539717e-01 2.51692591e-02 -1.69369887e-02 5.33752404e+00] [-2.52359578e-02 9.99674542e-01 -3.73588323e-03 -2.87890814e-01] [ 1.68374470e-02 4.16158480e-03 9.99849579e-01 -1.24302522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76629675700002 meters Centerline goodness [0,1] 0.8360051071073911 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99538760e-01 2.53470752e-02 -1.67270383e-02 5.33666014e+00] [-2.54108537e-02 9.99670569e-01 -3.61140411e-03 -2.87751514e-01] [ 1.66299893e-02 4.03478670e-03 9.99853571e-01 -1.24234030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79629675700002 meters Centerline goodness [0,1] 0.8327106781424383 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99538266e-01 2.54337677e-02 -1.66246298e-02 5.33623262e+00] [-2.54962791e-02 9.99668581e-01 -3.55906574e-03 -2.87818228e-01] [ 1.65285996e-02 3.98128860e-03 9.99855467e-01 -1.24199484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82629675700002 meters Centerline goodness [0,1] 0.8351042430839861 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99536854e-01 2.55279431e-02 -1.65650737e-02 5.33576457e+00] [-2.55878773e-02 9.99666739e-01 -3.41626967e-03 -2.87958521e-01] [ 1.64723429e-02 3.83855251e-03 9.99856953e-01 -1.24143519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85629675700002 meters Centerline goodness [0,1] 0.8348812477844736 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99537576e-01 2.55600414e-02 -1.64717335e-02 5.33525767e+00] [-2.56211281e-02 9.99665569e-01 -3.50824490e-03 -2.87298913e-01] [ 1.63765539e-02 3.92864700e-03 9.99858177e-01 -1.24095685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88629675700003 meters Centerline goodness [0,1] 0.8373049645390072 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 9.99541116e-01 2.54368502e-02 -1.64476060e-02 5.33523939e+00] [-2.55032544e-02 9.99667363e-01 -3.84021992e-03 -2.86105594e-01] [ 1.63444518e-02 4.25792519e-03 9.99857354e-01 -1.24100647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91629675700003 meters Centerline goodness [0,1] 0.8349042118441877 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 9.99547805e-01 2.51806727e-02 -1.64352953e-02 5.33568886e+00] [-2.52606901e-02 9.99669946e-01 -4.67930135e-03 -2.83519848e-01] [ 1.63120428e-02 5.09235230e-03 9.99853982e-01 -1.24186008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94629675700003 meters Centerline goodness [0,1] 0.8345076230647783 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 9.99549031e-01 2.50345046e-02 -1.65833514e-02 5.33627355e+00] [-2.51205413e-02 9.99671924e-01 -5.00027734e-03 -2.82806206e-01] [ 1.64527314e-02 5.41460514e-03 9.99849984e-01 -1.24230427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97629675700003 meters Centerline goodness [0,1] 0.8383260326880505 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99955657 0.02459424 -0.01678646 5.33714257] [-0.02468937 0.99968013 -0.00548401 -0.28255881] [ 0.01664621 0.00589602 0.99984406 -1.24286481] [ 0. 0. 0. 1. ]] SLAMing on 137.00629675700003 meters Centerline goodness [0,1] 0.8379294915573559 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99955869 0.02436114 -0.01699877 5.33787336] [-0.02446181 0.99968429 -0.00573967 -0.2822763 ] [ 0.01685358 0.00615296 0.99983904 -1.2432835 ] [ 0. 0. 0. 1. ]] SLAMing on 137.03629675700003 meters Centerline goodness [0,1] 0.8369465433232116 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956789 0.02388319 -0.01713563 5.33910599] [-0.02399646 0.99969133 -0.00643544 -0.28086956] [ 0.01697665 0.00684385 0.99983246 -1.24463598] [ 0. 0. 0. 1. ]] SLAMing on 137.06629675700003 meters Centerline goodness [0,1] 0.8369360902255639 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956877 0.02383149 -0.01715629 5.33934746] [-0.02394892 0.99969092 -0.00667238 -0.28000672] [ 0.01699198 0.00708038 0.99983056 -1.24494413] [ 0. 0. 0. 1. ]] SLAMing on 137.09629675700003 meters Centerline goodness [0,1] 0.8362184380504991 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.25 [[ 0.99956836 0.02383502 -0.01717542 5.33942424] [-0.02395543 0.99968963 -0.00683979 -0.27915963] [ 0.01700706 0.00724829 0.9998291 -1.24505563] [ 0. 0. 0. 1. ]] SLAMing on 137.12629675700003 meters Centerline goodness [0,1] 0.8363751524819367 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956509 0.02414247 -0.01693426 5.33852851] [-0.02425678 0.99968412 -0.00657788 -0.27916355] [ 0.01677011 0.00698578 0.99983497 -1.24444944] [ 0. 0. 0. 1. ]] SLAMing on 137.15629675700004 meters Centerline goodness [0,1] 0.8374958922116332 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956365 0.0240985 -0.01708133 5.33861688] [-0.02421143 0.99968614 -0.00643588 -0.27964315] [ 0.01692087 0.00684663 0.99983339 -1.24406819] [ 0. 0. 0. 1. ]] SLAMing on 137.186296757 meters Centerline goodness [0,1] 0.8365968623220693 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956349 0.02423625 -0.01689485 5.33777494] [-0.02434036 0.99968582 -0.00598382 -0.28047712] [ 0.01674452 0.00639243 0.99983937 -1.24316286] [ 0. 0. 0. 1. ]] SLAMing on 137.216296757 meters Centerline goodness [0,1] 0.8362487966376294 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956272 0.02433692 -0.01679522 5.33729317] [-0.02443932 0.99968379 -0.00591922 -0.28014109] [ 0.01664585 0.0063271 0.99984143 -1.24274574] [ 0. 0. 0. 1. ]] SLAMing on 137.246296757 meters Centerline goodness [0,1] 0.8364794603962715 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99956245 0.02445876 -0.01663338 5.33661647] [-0.02455982 0.99968096 -0.00589832 -0.27935708] [ 0.01648381 0.00630425 0.99984426 -1.24216484] [ 0. 0. 0. 1. ]] SLAMing on 137.276296757 meters Centerline goodness [0,1] 0.836196189628102 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99955806 0.02455124 -0.01676057 5.33656721] [-0.02465245 0.99967891 -0.00585905 -0.27909029] [ 0.01661134 0.00626965 0.99984237 -1.24177003] [ 0. 0. 0. 1. ]] SLAMing on 137.306296757 meters Centerline goodness [0,1] 0.8336110785119117 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99955338 0.02474145 -0.01675997 5.33622043] [-0.0248405 0.99967502 -0.00572759 -0.27909695] [ 0.01661281 0.00614136 0.99984314 -1.24132313] [ 0. 0. 0. 1. ]] SLAMing on 137.336296757 meters Centerline goodness [0,1] 0.8359664338287001 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99954849 0.02507314 -0.0165577 5.33546584] [-0.02517035 0.99966699 -0.00568922 -0.27852656] [ 0.01640954 0.00610341 0.99984673 -1.24090113] [ 0. 0. 0. 1. ]] SLAMing on 137.36629675700001 meters Centerline goodness [0,1] 0.8376904533433192 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99954624 0.02520524 -0.01649291 5.33533706] [-0.02530439 0.99966279 -0.0058306 -0.2778546 ] [ 0.01634039 0.0062453 0.99984698 -1.24101394] [ 0. 0. 0. 1. ]] SLAMing on 137.39629675700002 meters Centerline goodness [0,1] 0.8368878911182827 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99954155 0.02550559 -0.01631424 5.33514647] [-0.0256086 0.99965321 -0.00613706 -0.27658487] [ 0.01615205 0.00655203 0.99984808 -1.24153976] [ 0. 0. 0. 1. ]] SLAMing on 137.42629675700002 meters Centerline goodness [0,1] 0.8356189986683177 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99953972 0.02560488 -0.01627058 5.33514262] [-0.02570916 0.99965003 -0.00623312 -0.27603081] [ 0.01610528 0.00664855 0.9998482 -1.24169896] [ 0. 0. 0. 1. ]] SLAMing on 137.45629675700002 meters Centerline goodness [0,1] 0.8340999836551708 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99954198 0.02552938 -0.01625088 5.33540041] [-0.02563735 0.99965037 -0.00647077 -0.2754752 ] [ 0.01608001 0.00688443 0.99984701 -1.24212643] [ 0. 0. 0. 1. ]] SLAMing on 137.48629675700002 meters Centerline goodness [0,1] 0.8337259475218659 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.9995451 0.02533282 -0.01636561 5.33596873] [-0.02544285 0.99965482 -0.0065504 -0.27582287] [ 0.01619402 0.00696381 0.99984462 -1.24249218] [ 0. 0. 0. 1. ]] SLAMing on 137.51629675700002 meters Centerline goodness [0,1] 0.8340454343816395 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99954584 0.0251798 -0.01655569 5.33651919] [-0.02528806 0.99965996 -0.00636291 -0.2767669 ] [ 0.01638985 0.00677868 0.9998427 -1.24254073] [ 0. 0. 0. 1. ]] SLAMing on 137.54629675700002 meters Centerline goodness [0,1] 0.8339668684593364 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99963833 0.0213136 -0.01639948 5.33614381] [-0.02148025 0.99971872 -0.01005376 -0.27745772] [ 0.01618058 0.01040239 0.99981497 -1.2427481 ] [ 0. 0. 0. 1. ]] SLAMing on 137.57629675700002 meters Centerline goodness [0,1] 0.8338415349251771 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99964365 0.0209481 -0.01654559 5.33672541] [-0.02110968 0.99973057 -0.00965205 -0.27923624] [ 0.01633894 0.00999788 0.99981652 -1.24268934] [ 0. 0. 0. 1. ]] SLAMing on 137.60629675700002 meters Centerline goodness [0,1] 0.8370490952414655 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99972449 0.01670085 -0.01649294 5.33679507] [-0.01691593 0.99977254 -0.01298891 -0.2814909 ] [ 0.01627226 0.01326433 0.99977961 -1.24279296] [ 0. 0. 0. 1. ]] SLAMing on 137.63629675700003 meters Centerline goodness [0,1] 0.8356601233080576 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.28, Z:-1.24 [[ 0.99972738 0.01636049 -0.01665842 5.33729495] [-0.01656536 0.99978792 -0.0122355 -0.28422603] [ 0.01645471 0.01250812 0.99978637 -1.24241459] [ 0. 0. 0. 1. ]] SLAMing on 137.66629675700003 meters Centerline goodness [0,1] 0.8373143505817804 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 0.99973151 0.01593198 -0.01682524 5.33792687] [-0.01612677 0.99980375 -0.01150562 -0.28702433] [ 0.01663863 0.01177387 0.99979224 -1.24216414] [ 0. 0. 0. 1. ]] SLAMing on 137.69629675700003 meters Centerline goodness [0,1] 0.8371893948400904 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 0.99978756 0.01161354 -0.01702837 5.33878076] [-0.01186569 0.99982033 -0.014782 -0.29004914] [ 0.01685364 0.01498091 0.99974573 -1.24258814] [ 0. 0. 0. 1. ]] SLAMing on 137.72629675700003 meters Centerline goodness [0,1] 0.8370060880983645 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.29, Z:-1.24 [[ 0.99978609 0.01140482 -0.01725414 5.33942226] [-0.01164649 0.99983456 -0.01397163 -0.29289481] [ 0.01709194 0.01416959 0.99975351 -1.2423574 ] [ 0. 0. 0. 1. ]] SLAMing on 137.75629675700003 meters Centerline goodness [0,1] 0.8369194563181404 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 0.99979993 0.01004595 -0.01729687 5.34068148] [-0.01028534 0.99985178 -0.01380721 -0.29706913] [ 0.0171556 0.01398235 0.99975506 -1.24295636] [ 0. 0. 0. 1. ]] SLAMing on 137.78629675700003 meters Centerline goodness [0,1] 0.8384435947382344 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 0.99979839 0.01009518 -0.01735719 5.34082761] [-0.01032208 0.99986179 -0.01303311 -0.29946436] [ 0.01722322 0.01320964 0.99976441 -1.24268995] [ 0. 0. 0. 1. ]] SLAMing on 137.81629675700003 meters Centerline goodness [0,1] 0.8375701472492685 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 0.99979387 0.01005123 -0.01764057 5.34149797] [-0.01027188 0.99986958 -0.01246252 -0.30128056] [ 0.01751301 0.01264115 0.99976672 -1.24255599] [ 0. 0. 0. 1. ]] SLAMing on 137.84629675700003 meters Centerline goodness [0,1] 0.8348216440604335 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.30, Z:-1.24 [[ 0.9997942 0.01035328 -0.01744623 5.34158674] [-0.01055806 0.99987596 -0.01168727 -0.30401318] [ 0.01732307 0.01186907 0.99977949 -1.24307157] [ 0. 0. 0. 1. ]] SLAMing on 137.87629675700003 meters Centerline goodness [0,1] 0.8325571294129003 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.24 [[ 0.99978837 0.01077055 -0.01752724 5.34248915] [-0.01096822 0.99987689 -0.011221 -0.30546998] [ 0.01740422 0.01141087 0.99978342 -1.24422418] [ 0. 0. 0. 1. ]] SLAMing on 137.90629675700004 meters Centerline goodness [0,1] 0.8317463386340568 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.24 [[ 0.99978537 0.01114682 -0.01746333 5.34250903] [-0.01133834 0.99987624 -0.01090644 -0.30594821] [ 0.0173396 0.0111021 0.99978802 -1.2445416 ] [ 0. 0. 0. 1. ]] SLAMing on 137.93629675700004 meters Centerline goodness [0,1] 0.8317463386340568 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.24 [[ 0.99978537 0.01114682 -0.01746333 5.34250903] [-0.01133834 0.99987624 -0.01090644 -0.30594821] [ 0.0173396 0.0111021 0.99978802 -1.2445416 ] [ 0. 0. 0. 1. ]] SLAMing on 137.966296757 meters Centerline goodness [0,1] 0.8324332143890443 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99973658 0.01448637 -0.01780207 5.34407634] [-0.01460866 0.99987045 -0.00675829 -0.30842433] [ 0.01770186 0.00701658 0.99981869 -1.24503182] [ 0. 0. 0. 1. ]] SLAMing on 137.996296757 meters Centerline goodness [0,1] 0.8313317450284436 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99973128 0.01533717 -0.01738211 5.34335072] [-0.01544843 0.99986091 -0.00628469 -0.3090916 ] [ 0.01728331 0.00655152 0.99982917 -1.24552384] [ 0. 0. 0. 1. ]] SLAMing on 138.026296757 meters Centerline goodness [0,1] 0.8312883435582822 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 0.99972595 0.01586441 -0.01721453 5.3428342 ] [-0.01596752 0.99985529 -0.00586887 -0.30975818] [ 0.01711893 0.00614213 0.99983459 -1.24543807] [ 0. 0. 0. 1. ]] SLAMing on 138.056296757 meters Centerline goodness [0,1] 0.8326447285276819 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 9.99681309e-01 1.82889974e-02 -1.74009244e-02 5.34441922e+00] [-1.83518085e-02 9.99825616e-01 -3.45681950e-03 -3.12436837e-01] [ 1.73346682e-02 3.77505628e-03 9.99842617e-01 -1.24700036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086296757 meters Centerline goodness [0,1] 0.8306461418739817 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 9.99673622e-01 1.88138505e-02 -1.72825860e-02 5.34403848e+00] [-1.88700134e-02 9.99817163e-01 -3.09236602e-03 -3.13023640e-01] [ 1.72212468e-02 3.41747937e-03 9.99845863e-01 -1.24701871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11629675700001 meters Centerline goodness [0,1] 0.8325370514820593 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.31, Z:-1.25 [[ 9.99667973e-01 1.93025966e-02 -1.70691051e-02 5.34354944e+00] [-1.93514332e-02 9.99809096e-01 -2.70056846e-03 -3.13881015e-01] [ 1.70137185e-02 3.02998344e-03 9.99850665e-01 -1.24710031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14629675700002 meters Centerline goodness [0,1] 0.8297955304267297 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.25 [[ 9.99659103e-01 1.99853046e-02 -1.68007385e-02 5.34282011e+00] [-2.00201277e-02 9.99797758e-01 -1.90707304e-03 -3.15997939e-01] [ 1.67592272e-02 2.24277585e-03 9.99857039e-01 -1.24694307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17629675700002 meters Centerline goodness [0,1] 0.8311310135565018 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.25 [[ 9.99653246e-01 2.02906744e-02 -1.67831948e-02 5.34258191e+00] [-2.03152438e-02 9.99792786e-01 -1.29471803e-03 -3.17689545e-01] [ 1.67534464e-02 1.63522377e-03 9.99858314e-01 -1.24659898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20629675700002 meters Centerline goodness [0,1] 0.8280289241969601 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.25 [[ 9.99651713e-01 2.03051690e-02 -1.68568170e-02 5.34317339e+00] [-2.03154003e-02 9.99793526e-01 -4.35914628e-04 -3.21596140e-01] [ 1.68444852e-02 7.78215790e-04 9.99857819e-01 -1.24682196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23629675700002 meters Centerline goodness [0,1] 0.8282791017978799 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.32, Z:-1.25 [[ 9.99651850e-01 2.01092934e-02 -1.70819937e-02 5.34415207e+00] [-2.01155277e-02 9.99797644e-01 -1.93202479e-04 -3.23260506e-01] [ 1.70746518e-02 5.36748532e-04 9.99854073e-01 -1.24734323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26629675700002 meters Centerline goodness [0,1] 0.8287110146071852 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99656501e-01 1.97506104e-02 -1.72276708e-02 5.34549103e+00] [-1.97473932e-02 9.99804938e-01 3.56857221e-04 -3.26572728e-01] [ 1.72313585e-02 -1.65330512e-05 9.99851529e-01 -1.24826187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29629675700002 meters Centerline goodness [0,1] 0.8258842204474428 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99653502e-01 1.98100753e-02 -1.73331271e-02 5.34557593e+00] [-1.97971849e-02 9.99803598e-01 9.14977077e-04 -3.28198846e-01] [ 1.73478486e-02 -5.71512917e-04 9.99849351e-01 -1.24783859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32629675700002 meters Centerline goodness [0,1] 0.8262016121007065 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99655667e-01 1.97312059e-02 -1.72982038e-02 5.34570771e+00] [-1.97136352e-02 9.99804964e-01 1.18570254e-03 -3.29719587e-01] [ 1.73182253e-02 -8.44283785e-04 9.99849672e-01 -1.24793010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35629675700002 meters Centerline goodness [0,1] 0.8280600750938674 Centerline is valid? [False, False] Translation: X:5.34, Y:-0.33, Z:-1.25 [[ 9.99722519e-01 1.62876271e-02 -1.70175860e-02 5.34498312e+00] [-1.63312499e-02 9.99863689e-01 -2.42757039e-03 -3.30649523e-01] [ 1.69757270e-02 2.70481523e-03 9.99852243e-01 -1.24825239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38629675700003 meters Centerline goodness [0,1] 0.8306627548333709 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99719307e-01 1.62039606e-02 -1.72840442e-02 5.34563882e+00] [-1.62420729e-02 9.99865952e-01 -2.06695482e-03 -3.32253568e-01] [ 1.72482344e-02 2.34710335e-03 9.99848483e-01 -1.24820575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41629675700003 meters Centerline goodness [0,1] 0.8310752958952405 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99723235e-01 1.55173190e-02 -1.76823872e-02 5.34763675e+00] [-1.55549392e-02 9.99877030e-01 -1.99200090e-03 -3.34747267e-01] [ 1.76493022e-02 2.26649804e-03 9.99841670e-01 -1.24937121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44629675700003 meters Centerline goodness [0,1] 0.8314042918022039 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99721722e-01 1.53634712e-02 -1.79008794e-02 5.34840297e+00] [-1.53986926e-02 9.99879756e-01 -1.83139760e-03 -3.35734709e-01] [ 1.78705903e-02 2.10653810e-03 9.99838089e-01 -1.24966348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47629675700003 meters Centerline goodness [0,1] 0.829483695652174 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99721799e-01 1.50449160e-02 -1.81652198e-02 5.34954759e+00] [-1.50844159e-02 9.99884144e-01 -2.03941941e-03 -3.36182055e-01] [ 1.81324323e-02 2.31286378e-03 9.99832919e-01 -1.25045161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50629675700003 meters Centerline goodness [0,1] 0.8333756216380798 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99719530e-01 1.50401634e-02 -1.82935943e-02 5.35026342e+00] [-1.50771963e-02 9.99884550e-01 -1.88812390e-03 -3.37248023e-01] [ 1.82630846e-02 2.16341045e-03 9.99830875e-01 -1.25103454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53629675700003 meters Centerline goodness [0,1] 0.8292343152402422 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99719137e-01 1.49762540e-02 -1.83673560e-02 5.35080933e+00] [-1.50159630e-02 9.99885202e-01 -2.02591747e-03 -3.37466637e-01] [ 1.83349068e-02 2.30115200e-03 9.99829253e-01 -1.25165178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56629675700003 meters Centerline goodness [0,1] 0.8340202796672314 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99714346e-01 1.50734426e-02 -1.85476916e-02 5.35146956e+00] [-1.51173924e-02 9.99883235e-01 -2.23162586e-03 -3.37300314e-01] [ 1.85118876e-02 2.51138112e-03 9.99825486e-01 -1.25233983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59629675700003 meters Centerline goodness [0,1] 0.834443822796399 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99711630e-01 1.53197218e-02 -1.84922586e-02 5.35130313e+00] [-1.53608159e-02 9.99879848e-01 -2.08223567e-03 -3.37436734e-01] [ 1.84581375e-02 2.36569140e-03 9.99826835e-01 -1.25237637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62629675700003 meters Centerline goodness [0,1] 0.8325547148733052 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99708658e-01 1.55256956e-02 -1.84811019e-02 5.35130684e+00] [-1.55663731e-02 9.99876716e-01 -2.05920817e-03 -3.37447916e-01] [ 1.84468528e-02 2.34629196e-03 9.99827089e-01 -1.25255905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65629675700004 meters Centerline goodness [0,1] 0.8348447236435483 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99702352e-01 1.60783907e-02 -1.83491878e-02 5.35106237e+00] [-1.61173901e-02 9.99868147e-01 -1.97949177e-03 -3.37515225e-01] [ 1.83149414e-02 2.27464360e-03 9.99829680e-01 -1.25299322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68629675700004 meters Centerline goodness [0,1] 0.8334222764351604 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99696704e-01 1.64603096e-02 -1.83182513e-02 5.35080645e+00] [-1.64958307e-02 9.99862333e-01 -1.78968973e-03 -3.37646627e-01] [ 1.82862706e-02 2.09132170e-03 9.99830605e-01 -1.25289669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.716296757 meters Centerline goodness [0,1] 0.8309540168460696 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99687937e-01 1.70573759e-02 -1.82503099e-02 5.35051063e+00] [-1.70889832e-02 9.99852729e-01 -1.57731348e-03 -3.37960567e-01] [ 1.82207173e-02 1.88870050e-03 9.99832205e-01 -1.25300850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.746296757 meters Centerline goodness [0,1] 0.8305564769218994 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99683783e-01 1.71489999e-02 -1.83914815e-02 5.35092100e+00] [-1.71792937e-02 9.99851314e-01 -1.49042693e-03 -3.38542350e-01] [ 1.83631876e-02 1.80590829e-03 9.99829752e-01 -1.25320456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.776296757 meters Centerline goodness [0,1] 0.8284408821727588 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99680352e-01 1.71250519e-02 -1.85991075e-02 5.35152498e+00] [-1.71554978e-02 9.99851740e-01 -1.47862620e-03 -3.39142526e-01] [ 1.85710285e-02 1.79723051e-03 9.99825928e-01 -1.25347559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.806296757 meters Centerline goodness [0,1] 0.8294950943976227 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99675273e-01 1.74998578e-02 -1.85230609e-02 5.35120869e+00] [-1.75210862e-02 9.99846009e-01 -9.84377717e-04 -3.40533325e-01] [ 1.85029821e-02 1.30860221e-03 9.99827949e-01 -1.25322098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.836296757 meters Centerline goodness [0,1] 0.8298973032499296 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99675451e-01 1.75753644e-02 -1.84417698e-02 5.35113202e+00] [-1.75979807e-02 9.99844577e-01 -1.06478464e-03 -3.40490467e-01] [ 1.84201896e-02 1.38897697e-03 9.99829369e-01 -1.25343411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86629675700001 meters Centerline goodness [0,1] 0.8298242917883305 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99672565e-01 1.80969972e-02 -1.80903766e-02 5.35007263e+00] [-1.81158785e-02 9.99835506e-01 -8.80379034e-04 -3.40194711e-01] [ 1.80714686e-02 1.20781383e-03 9.99835968e-01 -1.25319562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89629675700002 meters Centerline goodness [0,1] 0.8220720720720721 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99671727e-01 1.83162277e-02 -1.79151714e-02 5.34968516e+00] [-1.83357414e-02 9.99831458e-01 -9.25565270e-04 -3.39746980e-01] [ 1.78951991e-02 1.25374938e-03 9.99839082e-01 -1.25328719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92629675700002 meters Centerline goodness [0,1] 0.8162733014549824 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99668934e-01 1.85614169e-02 -1.78184370e-02 5.34932183e+00] [-1.85821146e-02 9.99826841e-01 -9.96715051e-04 -3.39153535e-01] [ 1.77968512e-02 1.32748931e-03 9.99840742e-01 -1.25324401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95629675700002 meters Centerline goodness [0,1] 0.8224368309445339 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99660408e-01 1.92914701e-02 -1.75187593e-02 5.34820033e+00] [-1.93106993e-02 9.99813099e-01 -9.29116552e-04 -3.38207533e-01] [ 1.74975610e-02 1.26710052e-03 9.99846103e-01 -1.25298279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98629675700002 meters Centerline goodness [0,1] 0.8073892756062113 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99659267e-01 1.92868107e-02 -1.75888562e-02 5.34850289e+00] [-1.93108372e-02 9.99812812e-01 -1.19717355e-03 -3.37511338e-01] [ 1.75624741e-02 1.53642117e-03 9.99844587e-01 -1.25333477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01629675700002 meters Centerline goodness [0,1] 0.7989203778677463 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99658122e-01 1.92579159e-02 -1.76853512e-02 5.34905046e+00] [-1.92900698e-02 9.99812569e-01 -1.64930377e-03 -3.36405502e-01] [ 1.76502743e-02 1.98989156e-03 9.99842242e-01 -1.25400868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04629675700002 meters Centerline goodness [0,1] 0.8225404415505138 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99657581e-01 1.90858086e-02 -1.79012057e-02 5.34969502e+00] [-1.91237228e-02 9.99815225e-01 -1.94916863e-03 -3.35789486e-01] [ 1.78606966e-02 2.29083889e-03 9.99837861e-01 -1.25435021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07629675700002 meters Centerline goodness [0,1] 0.8289165222709204 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99658781e-01 1.87433351e-02 -1.81936334e-02 5.35032495e+00] [-1.87861977e-02 9.99821130e-01 -2.18785530e-03 -3.35341715e-01] [ 1.81493714e-02 2.52889795e-03 9.99832088e-01 -1.25422069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10629675700002 meters Centerline goodness [0,1] 0.8275466795730697 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99656663e-01 1.86129859e-02 -1.84421489e-02 5.35069534e+00] [-1.86550738e-02 9.99823747e-01 -2.11274357e-03 -3.35566761e-01] [ 1.83995740e-02 2.45605784e-03 9.99827697e-01 -1.25389858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13629675700003 meters Centerline goodness [0,1] 0.8271658242958373 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99662975e-01 1.79607488e-02 -1.87442527e-02 5.35176055e+00] [-1.80100696e-02 9.99834765e-01 -2.46575530e-03 -3.35363195e-01] [ 1.86968687e-02 2.80250958e-03 9.99821271e-01 -1.25414024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16629675700003 meters Centerline goodness [0,1] 0.827419273077508 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99665057e-01 1.77097925e-02 -1.88715764e-02 5.35206635e+00] [-1.77611083e-02 9.99838994e-01 -2.55507088e-03 -3.35260359e-01] [ 1.88232881e-02 2.88939519e-03 9.99818651e-01 -1.25399393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19629675700003 meters Centerline goodness [0,1] 0.8278998856562063 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.34, Z:-1.25 [[ 9.99663590e-01 1.74548749e-02 -1.91842200e-02 5.35274859e+00] [-1.75084048e-02 9.99843268e-01 -2.62588678e-03 -3.35262515e-01] [ 1.91353787e-02 2.96088849e-03 9.99812518e-01 -1.25389966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22629675700003 meters Centerline goodness [0,1] 0.8268357641090678 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99667104e-01 1.69358945e-02 -1.94642189e-02 5.35364200e+00] [-1.69960065e-02 9.99851273e-01 -2.92705951e-03 -3.34807748e-01] [ 1.94117516e-02 3.25689909e-03 9.99806269e-01 -1.25400867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25629675700003 meters Centerline goodness [0,1] 0.8257959845873049 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.33, Z:-1.25 [[ 9.99666736e-01 1.66868702e-02 -1.96968514e-02 5.35440415e+00] [-1.67519998e-02 9.99854725e-01 -3.14623647e-03 -3.34298224e-01] [ 1.96414891e-02 3.47514960e-03 9.99801048e-01 -1.25428850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28629675700003 meters Centerline goodness [0,1] 0.8244714440880042 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99664993e-01 1.64471900e-02 -1.99847849e-02 5.35521260e+00] [-1.65221499e-02 9.99857050e-01 -3.59153008e-03 -3.32901690e-01] [ 1.99228575e-02 3.92051850e-03 9.99793833e-01 -1.25456791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31629675700003 meters Centerline goodness [0,1] 0.8210081267880199 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99664617e-01 1.64175353e-02 -2.00279418e-02 5.35536536e+00] [-1.64962474e-02 9.99856816e-01 -3.77124501e-03 -3.32208669e-01] [ 1.99631596e-02 4.10036608e-03 9.99792308e-01 -1.25467394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34629675700003 meters Centerline goodness [0,1] 0.8201424314359311 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99662652e-01 1.62542385e-02 -2.02578807e-02 5.35596576e+00] [-1.63396114e-02 9.99858273e-01 -4.05592413e-03 -3.31478122e-01] [ 2.01890837e-02 4.38556177e-03 9.99786561e-01 -1.25484584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37629675700003 meters Centerline goodness [0,1] 0.8196688155732524 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99662488e-01 1.63851584e-02 -2.01602637e-02 5.35541010e+00] [-1.64684079e-02 9.99856504e-01 -3.97030232e-03 -3.31251208e-01] [ 2.00923167e-02 4.30096974e-03 9.99788878e-01 -1.25425131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40629675700004 meters Centerline goodness [0,1] 0.8191344652123533 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99661514e-01 1.62217594e-02 -2.03398875e-02 5.35573627e+00] [-1.63086901e-02 9.99858535e-01 -4.11532746e-03 -3.30947957e-01] [ 2.02702522e-02 4.44565141e-03 9.99784653e-01 -1.25401259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43629675700004 meters Centerline goodness [0,1] 0.8246847842467474 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99661058e-01 1.62965616e-02 -2.03024702e-02 5.35572337e+00] [-1.63850433e-02 9.99856937e-01 -4.19946981e-03 -3.30476048e-01] [ 2.02311288e-02 4.53070329e-03 9.99785064e-01 -1.25415168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.466296757 meters Centerline goodness [0,1] 0.8212322750658803 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99662416e-01 1.62493790e-02 -2.02734176e-02 5.35598859e+00] [-1.63433868e-02 9.99856402e-01 -4.47995225e-03 -3.29473625e-01] [ 2.01977099e-02 4.80977620e-03 9.99784436e-01 -1.25466896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.496296757 meters Centerline goodness [0,1] 0.8219846793170781 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99660348e-01 1.63893545e-02 -2.02627029e-02 5.35626260e+00] [-1.64910494e-02 9.99852192e-01 -4.86194637e-03 -3.27727238e-01] [ 2.01800238e-02 5.19444823e-03 9.99782869e-01 -1.25528675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.526296757 meters Centerline goodness [0,1] 0.8218599184816584 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99655770e-01 1.65152106e-02 -2.03860184e-02 5.35640342e+00] [-1.66180487e-02 9.99849975e-01 -4.88546926e-03 -3.27456882e-01] [ 2.03022755e-02 5.22256338e-03 9.99780247e-01 -1.25520267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.556296757 meters Centerline goodness [0,1] 0.8200916443398353 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99651076e-01 1.69344818e-02 -2.02718735e-02 5.35576139e+00] [-1.70324003e-02 9.99844044e-01 -4.66737886e-03 -3.27450949e-01] [ 2.01896724e-02 5.01102897e-03 9.99783610e-01 -1.25469133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.586296757 meters Centerline goodness [0,1] 0.8216138978717004 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.25 [[ 9.99648728e-01 1.69383920e-02 -2.03840896e-02 5.35608856e+00] [-1.70396667e-02 9.99843269e-01 -4.80492183e-03 -3.26887685e-01] [ 2.02995071e-02 5.15057209e-03 9.99780677e-01 -1.25485307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61629675700001 meters Centerline goodness [0,1] 0.8196506770020637 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99648183e-01 1.67624489e-02 -2.05555459e-02 5.35706661e+00] [-1.68711357e-02 9.99844535e-01 -5.12549081e-03 -3.26029761e-01] [ 2.04664344e-02 5.47048298e-03 9.99775574e-01 -1.25568881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64629675700002 meters Centerline goodness [0,1] 0.8222707752580427 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99648515e-01 1.64401738e-02 -2.07982707e-02 5.35801787e+00] [-1.65539965e-02 9.99848860e-01 -5.31241307e-03 -3.25962469e-01] [ 2.07077903e-02 5.65484034e-03 9.99769579e-01 -1.25614139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67629675700002 meters Centerline goodness [0,1] 0.8219629340910806 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99648063e-01 1.62356173e-02 -2.09798691e-02 5.35873516e+00] [-1.63478389e-02 9.99852902e-01 -5.18861516e-03 -3.26822824e-01] [ 2.08925426e-02 5.52976461e-03 9.99766434e-01 -1.25637796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70629675700002 meters Centerline goodness [0,1] 0.825205922482187 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 0.99966443 0.01469657 -0.02133166 5.36078693] [-0.01481581 0.99987543 -0.00544226 -0.32934934] [ 0.02124902 0.00575648 0.99975764 -1.25702389] [ 0. 0. 0. 1. ]] SLAMing on 139.73629675700002 meters Centerline goodness [0,1] 0.8243215825513568 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99666200e-01 1.42700661e-02 -2.15372608e-02 5.36153368e+00] [-1.43827853e-02 9.99883618e-01 -5.08787865e-03 -3.31223443e-01] [ 2.14621499e-02 5.39594612e-03 9.99755100e-01 -1.25693063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76629675700002 meters Centerline goodness [0,1] 0.8264361972547026 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.33, Z:-1.26 [[ 9.99678316e-01 1.23143402e-02 -2.21725457e-02 5.36434595e+00] [-1.24262154e-02 9.99910712e-01 -4.91497029e-03 -3.34149409e-01] [ 2.21100414e-02 5.18891005e-03 9.99742077e-01 -1.25691889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79629675700002 meters Centerline goodness [0,1] 0.8283115695340684 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99677467e-01 1.19073123e-02 -2.24316483e-02 5.36520121e+00] [-1.20120571e-02 9.99917543e-01 -4.54056633e-03 -3.35749801e-01] [ 2.23757327e-02 4.80855209e-03 9.99738068e-01 -1.25675829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82629675700002 meters Centerline goodness [0,1] 0.8262745398381456 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99675068e-01 1.16252435e-02 -2.26850571e-02 5.36584114e+00] [-1.17212041e-02 9.99922892e-01 -4.10175169e-03 -3.37400697e-01] [ 2.26356241e-02 4.36631508e-03 9.99734247e-01 -1.25647407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85629675700002 meters Centerline goodness [0,1] 0.8262745398381456 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99675068e-01 1.16252435e-02 -2.26850571e-02 5.36584114e+00] [-1.17212041e-02 9.99922892e-01 -4.10175169e-03 -3.37400697e-01] [ 2.26356241e-02 4.36631508e-03 9.99734247e-01 -1.25647407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88629675700003 meters Centerline goodness [0,1] 0.8279075705349164 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99675507e-01 1.06922033e-02 -2.31205017e-02 5.36720464e+00] [-1.07692112e-02 9.99936862e-01 -3.20877157e-03 -3.40551233e-01] [ 2.30847331e-02 3.45671991e-03 9.99727536e-01 -1.25539855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91629675700003 meters Centerline goodness [0,1] 0.828701687882591 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.25 [[ 9.99680782e-01 9.99238351e-03 -2.32052908e-02 5.36790972e+00] [-1.00559598e-02 9.99945993e-01 -2.62465695e-03 -3.43375992e-01] [ 2.31778110e-02 2.85717059e-03 9.99727276e-01 -1.25493797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94629675700003 meters Centerline goodness [0,1] 0.8298777518644763 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.25 [[ 9.99679814e-01 9.88009376e-03 -2.32949165e-02 5.36825089e+00] [-9.93896157e-03 9.99947697e-01 -2.41264036e-03 -3.44223852e-01] [ 2.32698609e-02 2.64339514e-03 9.99725725e-01 -1.25489160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97629675700003 meters Centerline goodness [0,1] 0.828085368040788 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99680963e-01 9.83440507e-03 -2.32649347e-02 5.36852581e+00] [-9.89107613e-03 9.99948386e-01 -2.32207954e-03 -3.44724609e-01] [ 2.32408976e-02 2.55145395e-03 9.99726638e-01 -1.25522436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00629675700003 meters Centerline goodness [0,1] 0.8249425580801634 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99682034e-01 9.75450149e-03 -2.32525200e-02 5.36932904e+00] [-9.81944423e-03 9.99948196e-01 -2.68039017e-03 -3.43956178e-01] [ 2.32251695e-02 2.90786472e-03 9.99726030e-01 -1.25651524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03629675700003 meters Centerline goodness [0,1] 0.8246087975941689 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99682001e-01 9.51443360e-03 -2.33532092e-02 5.37020085e+00] [-9.59146017e-03 9.99948917e-01 -3.18853449e-03 -3.42751413e-01] [ 2.33216792e-02 3.41151191e-03 9.99722192e-01 -1.25751795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06629675700003 meters Centerline goodness [0,1] 0.8249827889543333 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99682579e-01 9.76702931e-03 -2.32238474e-02 5.37046510e+00] [-9.85458289e-03 9.99944750e-01 -3.65853096e-03 -3.40833390e-01] [ 2.31868313e-02 3.88623100e-03 9.99723596e-01 -1.25870099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09629675700003 meters Centerline goodness [0,1] 0.8271982857580163 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99683030e-01 9.86388327e-03 -2.31634134e-02 5.37066265e+00] [-9.95812605e-03 9.99942588e-01 -3.95678530e-03 -3.40057875e-01] [ 2.31230542e-02 4.18619531e-03 9.99723862e-01 -1.25934268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12629675700003 meters Centerline goodness [0,1] 0.8291008396927082 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99677986e-01 1.03468327e-02 -2.31704064e-02 5.37106435e+00] [-1.04524437e-02 9.99935507e-01 -4.44155118e-03 -3.38761937e-01] [ 2.31229561e-02 4.68230830e-03 9.99721664e-01 -1.26065457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15629675700004 meters Centerline goodness [0,1] 0.8273030928886509 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99675071e-01 1.04691162e-02 -2.32411474e-02 5.37142769e+00] [-1.05849535e-02 9.99932135e-01 -4.86673231e-03 -3.37453097e-01] [ 2.31886197e-02 5.11115743e-03 9.99718042e-01 -1.26128226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18629675700004 meters Centerline goodness [0,1] 0.8329050805200091 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99673031e-01 1.06640409e-02 -2.32402646e-02 5.37162320e+00] [-1.07884730e-02 9.99928097e-01 -5.23537209e-03 -3.35943395e-01] [ 2.31827633e-02 5.48438725e-03 9.99716200e-01 -1.26189664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.216296757 meters Centerline goodness [0,1] 0.8277638895974695 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99617812e-01 1.50149173e-02 -2.32116689e-02 5.37154600e+00] [-1.50415403e-02 9.99886396e-01 -9.72788296e-04 -3.35952348e-01] [ 2.31944257e-02 1.32155576e-03 9.99730100e-01 -1.26158594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.246296757 meters Centerline goodness [0,1] 0.8249240742158589 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99615201e-01 1.52843591e-02 -2.31481613e-02 5.37123884e+00] [-1.53115580e-02 9.99882273e-01 -9.98195113e-04 -3.35457745e-01] [ 2.31301793e-02 1.35224542e-03 9.99731547e-01 -1.26150867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.276296757 meters Centerline goodness [0,1] 0.8219335997540731 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99607829e-01 1.58272527e-02 -2.31016400e-02 5.37065555e+00] [-1.58400614e-02 9.99874469e-01 -3.71551798e-04 -3.36850117e-01] [ 2.30928594e-02 7.37337481e-04 9.99733052e-01 -1.26081149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.306296757 meters Centerline goodness [0,1] 0.8208131083545214 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99603824e-01 1.59301573e-02 -2.32039763e-02 5.37080275e+00] [-1.59349356e-02 9.99873031e-01 -2.10273212e-05 -3.38097375e-01] [ 2.32006951e-02 3.90772859e-04 9.99730751e-01 -1.26061152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.336296757 meters Centerline goodness [0,1] 0.8206947980148628 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99598192e-01 1.56856316e-02 -2.36096469e-02 5.37217880e+00] [-1.56903704e-02 9.99876898e-01 -1.54654345e-05 -3.39005427e-01] [ 2.36064980e-02 3.85903325e-04 9.99721253e-01 -1.26116489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36629675700001 meters Centerline goodness [0,1] 0.8189579797356374 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99595563e-01 1.58565159e-02 -2.36067965e-02 5.37206656e+00] [-1.58554415e-02 9.99874268e-01 2.32699071e-04 -3.39224514e-01] [ 2.36075181e-02 1.41691221e-04 9.99721294e-01 -1.26093944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39629675700002 meters Centerline goodness [0,1] 0.8186975383114716 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99589606e-01 1.52955377e-02 -2.42211870e-02 5.37371386e+00] [-1.52899662e-02 9.99883015e-01 4.15218873e-04 -3.40356701e-01] [ 2.42247045e-02 -4.47073393e-05 9.99706538e-01 -1.26080956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42629675700002 meters Centerline goodness [0,1] 0.8196067328975137 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99587606e-01 1.51888118e-02 -2.43704130e-02 5.37395568e+00] [-1.51734336e-02 9.99884544e-01 8.15822014e-04 -3.41734506e-01] [ 2.43799907e-02 -4.45702730e-04 9.99702664e-01 -1.26036569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45629675700002 meters Centerline goodness [0,1] 0.8205465326114978 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.34, Z:-1.26 [[ 9.99586797e-01 1.47938514e-02 -2.46450292e-02 5.37466783e+00] [-1.47714239e-02 9.99890300e-01 1.09183402e-03 -3.43276460e-01] [ 2.46584781e-02 -7.27340700e-04 9.99695669e-01 -1.26010090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48629675700002 meters Centerline goodness [0,1] 0.817840205250473 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.34, Z:-1.26 [[ 9.99638576e-01 1.04010967e-02 -2.47897942e-02 5.37528735e+00] [-1.04676732e-02 9.99941942e-01 -2.55738866e-03 -3.44651487e-01] [ 2.47617553e-02 2.81595582e-03 9.99689415e-01 -1.26016621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51629675700002 meters Centerline goodness [0,1] 0.8212493825876725 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-1.26 [[ 9.99645440e-01 7.73071689e-03 -2.54800125e-02 5.37922194e+00] [-7.81953426e-03 9.99963688e-01 -3.38797290e-03 -3.46873946e-01] [ 2.54528958e-02 3.58601349e-03 9.99669591e-01 -1.26167696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54629675700002 meters Centerline goodness [0,1] 0.8179893903363211 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-1.26 [[ 9.99638244e-01 7.12577281e-03 -2.59346067e-02 5.38086275e+00] [-7.21351352e-03 9.99968566e-01 -3.29116863e-03 -3.48029591e-01] [ 2.59103394e-02 3.47705767e-03 9.99658224e-01 -1.26209395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57629675700002 meters Centerline goodness [0,1] 0.8194542552913168 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-1.26 [[ 9.99631899e-01 6.60261138e-03 -2.63148561e-02 5.38226081e+00] [-6.68758120e-03 9.99972701e-01 -3.14226928e-03 -3.49104510e-01] [ 2.62933905e-02 3.31709534e-03 9.99648766e-01 -1.26242905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60629675700002 meters Centerline goodness [0,1] 0.8153688685930242 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.35, Z:-1.26 [[ 9.99631942e-01 5.72101146e-03 -2.65188621e-02 5.38374320e+00] [-5.80041641e-03 9.99978919e-01 -2.91832536e-03 -3.51088807e-01] [ 2.65016073e-02 3.07107169e-03 9.99644053e-01 -1.26279637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63629675700003 meters Centerline goodness [0,1] 0.8145922073849531 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.26 [[ 9.99620126e-01 5.31407987e-03 -2.70437596e-02 5.38518216e+00] [-5.38952707e-03 9.99981783e-01 -2.71769388e-03 -3.51986706e-01] [ 2.70288249e-02 2.86241457e-03 9.99630556e-01 -1.26276390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66629675700003 meters Centerline goodness [0,1] 0.8087381446549142 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.26 [[ 9.99612879e-01 5.14174650e-03 -2.73432615e-02 5.38588021e+00] [-5.19863988e-03 9.99984467e-01 -2.01002896e-03 -3.54459436e-01] [ 2.73325018e-02 2.15139861e-03 9.99624082e-01 -1.26212952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69629675700003 meters Centerline goodness [0,1] 0.8070536680657849 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.36, Z:-1.26 [[ 9.99608956e-01 5.17273906e-03 -2.74804862e-02 5.38613293e+00] [-5.22151749e-03 9.99984917e-01 -1.70355846e-03 -3.55369854e-01] [ 2.74712596e-02 1.84638214e-03 9.99620889e-01 -1.26186808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72629675700003 meters Centerline goodness [0,1] 0.8071594141818565 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.26 [[ 9.99594596e-01 5.13555667e-03 -2.80048192e-02 5.38755595e+00] [-5.18729153e-03 9.99984971e-01 -1.77501899e-03 -3.54840992e-01] [ 2.79952826e-02 1.91956855e-03 9.99606212e-01 -1.26237295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75629675700003 meters Centerline goodness [0,1] 0.8090966486031462 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.26 [[ 9.99593014e-01 5.32300192e-03 -2.80262759e-02 5.38771411e+00] [-5.38025056e-03 9.99983590e-01 -1.96766446e-03 -3.53546163e-01] [ 2.80153421e-02 2.11765204e-03 9.99605250e-01 -1.26273255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78629675700003 meters Centerline goodness [0,1] 0.8108705374759938 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.26 [[ 9.99553020e-01 9.22988528e-03 -2.84353696e-02 5.38903104e+00] [-9.18004823e-03 9.99956090e-01 1.88269294e-03 -3.53298690e-01] [ 2.84514980e-02 -1.62081335e-03 9.99593860e-01 -1.26310450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81629675700003 meters Centerline goodness [0,1] 0.8103851101252199 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.26 [[ 9.99549182e-01 9.06960751e-03 -2.86212267e-02 5.38989796e+00] [-9.04151916e-03 9.99958508e-01 1.11064805e-03 -3.51447043e-01] [ 2.86301122e-02 -8.51367982e-04 9.99589712e-01 -1.26408886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84629675700003 meters Centerline goodness [0,1] 0.8116647051131163 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.27 [[ 9.99489289e-01 1.23059495e-02 -2.94911125e-02 5.39291647e+00] [-1.21828538e-02 9.99916324e-01 4.35005118e-03 -3.51195851e-01] [ 2.95421764e-02 -3.98854365e-03 9.99555577e-01 -1.26537029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87629675700003 meters Centerline goodness [0,1] 0.8121370651320952 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.27 [[ 9.99489062e-01 1.23374051e-02 -2.94856340e-02 5.39325386e+00] [-1.22336146e-02 9.99918329e-01 3.69785214e-03 -3.49419469e-01] [ 2.95288478e-02 -3.33524689e-03 9.99558364e-01 -1.26625847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90629675700004 meters Centerline goodness [0,1] 0.812486960150219 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.35, Z:-1.27 [[ 9.99488837e-01 1.23965893e-02 -2.94684456e-02 5.39361416e+00] [-1.23167947e-02 9.99919975e-01 2.88778068e-03 -3.47126102e-01] [ 2.95018860e-02 -2.52334776e-03 9.99561540e-01 -1.26733546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93629675700004 meters Centerline goodness [0,1] 0.8089768464622946 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 9.99541742e-01 1.77507839e-02 -2.45196819e-02 5.40608338e+00] [-1.78476809e-02 9.99833728e-01 -3.73861492e-03 -3.41999354e-01] [ 2.44492417e-02 4.17452113e-03 9.99692357e-01 -1.27256337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.966296757 meters Centerline goodness [0,1] 0.8067994222038795 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 9.99535455e-01 1.83595961e-02 -2.43269377e-02 5.40526756e+00] [-1.84613610e-02 9.99821712e-01 -3.96523864e-03 -3.40120273e-01] [ 2.42498003e-02 4.41250499e-03 9.99696192e-01 -1.27252202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.996296757 meters Centerline goodness [0,1] 0.8085626124967857 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.34, Z:-1.27 [[ 9.99522231e-01 1.90034631e-02 -2.43757644e-02 5.40476876e+00] [-1.91073173e-02 9.99809298e-01 -4.03472019e-03 -3.38780759e-01] [ 2.42944422e-02 4.49854799e-03 9.99694725e-01 -1.27216974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.026296757 meters Centerline goodness [0,1] 0.8055754842677052 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 9.99512044e-01 1.89468215e-02 -2.48332916e-02 5.40570236e+00] [-1.90564278e-02 9.99809653e-01 -4.18446900e-03 -3.38075751e-01] [ 2.47492823e-02 4.65566099e-03 9.99682849e-01 -1.27209482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.056296757 meters Centerline goodness [0,1] 0.809199887054958 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 9.99506349e-01 1.89770926e-02 -2.50385280e-02 5.40605623e+00] [-1.90823199e-02 9.99810033e-01 -3.97037358e-03 -3.38326326e-01] [ 2.49584254e-02 4.44620680e-03 9.99678602e-01 -1.27184578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.086296757 meters Centerline goodness [0,1] 0.8065899635317685 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 9.99503977e-01 1.87752278e-02 -2.52842064e-02 5.40662629e+00] [-1.88776873e-02 9.99814504e-01 -3.81971625e-03 -3.38685696e-01] [ 2.52078002e-02 4.29512893e-03 9.99673006e-01 -1.27159257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11629675700001 meters Centerline goodness [0,1] 0.8069405971068021 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 9.99505119e-01 1.82064747e-02 -2.56523208e-02 5.40765604e+00] [-1.82931976e-02 9.99827703e-01 -3.15008002e-03 -3.40497150e-01] [ 2.55905492e-02 3.61778408e-03 9.99665962e-01 -1.27082306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14629675700002 meters Centerline goodness [0,1] 0.8082860092927207 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 0.99956767 0.01382385 -0.0259495 5.40840404] [-0.01400946 0.99987747 -0.00698465 -0.34080952] [ 0.02584977 0.00734517 0.99963885 -1.27083217] [ 0. 0. 0. 1. ]] SLAMing on 141.17629675700002 meters Centerline goodness [0,1] 0.8081548387096774 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 0.9995619 0.01318989 -0.02649597 5.40976724] [-0.01336815 0.99988911 -0.00656208 -0.34276436] [ 0.02640647 0.00691341 0.99962738 -1.27033178] [ 0. 0. 0. 1. ]] SLAMing on 141.20629675700002 meters Centerline goodness [0,1] 0.8099432627788284 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.34, Z:-1.27 [[ 0.99955582 0.01269926 -0.02696106 5.41093266] [-0.01286914 0.99989836 -0.00613653 -0.34487839] [ 0.02688039 0.00648077 0.99961765 -1.27000348] [ 0. 0. 0. 1. ]] SLAMing on 141.23629675700002 meters Centerline goodness [0,1] 0.809268140116764 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.35, Z:-1.27 [[ 0.99958719 0.00848381 -0.02744934 5.41163348] [-0.00874491 0.99991752 -0.00940598 -0.34699051] [ 0.02736728 0.00964214 0.99957894 -1.26912018] [ 0. 0. 0. 1. ]] SLAMing on 141.26629675700002 meters Centerline goodness [0,1] 0.8095698531333299 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.35, Z:-1.27 [[ 0.99958021 0.00828736 -0.0277618 5.41231401] [-0.00853339 0.99992526 -0.0087554 -0.34929874] [ 0.02768717 0.00898863 0.99957622 -1.26858611] [ 0. 0. 0. 1. ]] SLAMing on 141.29629675700002 meters Centerline goodness [0,1] 0.8090121497515415 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.35, Z:-1.27 [[ 0.99956479 0.00758977 -0.02850657 5.41414528] [-0.00782171 0.99993714 -0.00803375 -0.35168054] [ 0.0284438 0.00825323 0.99956132 -1.2677297 ] [ 0. 0. 0. 1. ]] SLAMing on 141.32629675700002 meters Centerline goodness [0,1] 0.8085823234433765 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.35, Z:-1.27 [[ 0.99955947 0.00755085 -0.02870275 5.41466129] [-0.00777779 0.99993931 -0.00780302 -0.35221232] [ 0.02864209 0.00802282 0.99955753 -1.26767361] [ 0. 0. 0. 1. ]] SLAMing on 141.35629675700002 meters Centerline goodness [0,1] 0.8082460219998433 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 0.99955249 0.00748296 -0.02896261 5.41533687] [-0.00770852 0.99994076 -0.00768431 -0.35239102] [ 0.0289034 0.00790413 0.99955096 -1.26771881] [ 0. 0. 0. 1. ]] SLAMing on 141.38629675700003 meters Centerline goodness [0,1] 0.8078274090384817 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 0.9995517 0.00790422 -0.02887772 5.41514331] [-0.0081153 0.99994115 -0.00719957 -0.35287446] [ 0.02881912 0.0074307 0.99955702 -1.26762226] [ 0. 0. 0. 1. ]] SLAMing on 141.41629675700003 meters Centerline goodness [0,1] 0.8080298834961601 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99505687e-01 1.07932022e-02 -2.95277613e-02 5.41730843e+00] [-1.08984923e-02 9.99934805e-01 -3.40718099e-03 -3.54679865e-01] [ 2.94890618e-02 3.72730486e-03 9.99558154e-01 -1.26761826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44629675700003 meters Centerline goodness [0,1] 0.8079334680064013 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99499667e-01 1.13922896e-02 -2.95064780e-02 5.41704931e+00] [-1.15001444e-02 9.99927787e-01 -3.48816938e-03 -3.53694372e-01] [ 2.94646090e-02 3.82575289e-03 9.99558503e-01 -1.26782133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47629675700003 meters Centerline goodness [0,1] 0.8135832853327748 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99492997e-01 1.12952109e-02 -2.97685675e-02 5.41804879e+00] [-1.14188480e-02 9.99926856e-01 -3.98654931e-03 -3.52436090e-01] [ 2.97213611e-02 4.32445086e-03 9.99548868e-01 -1.26862212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50629675700003 meters Centerline goodness [0,1] 0.8087878234080881 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99427393e-01 1.52513029e-02 -3.02040520e-02 5.41926540e+00] [-1.52657954e-02 9.99883440e-01 -2.49267710e-04 -3.51711852e-01] [ 3.01967297e-02 7.10213854e-04 9.99543722e-01 -1.26878466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53629675700003 meters Centerline goodness [0,1] 0.8105795816161511 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99420904e-01 1.54645380e-02 -3.03101396e-02 5.41934633e+00] [-1.54924615e-02 9.99879749e-01 -6.86618858e-04 -3.49888026e-01] [ 3.02958765e-02 1.15579991e-03 9.99540306e-01 -1.26901408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56629675700003 meters Centerline goodness [0,1] 0.8134363295880149 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99396909e-01 1.70093952e-02 -3.02737388e-02 5.41814351e+00] [-1.70367327e-02 9.99854656e-01 -6.45279052e-04 -3.47302011e-01] [ 3.02583629e-02 1.16065548e-03 9.99541437e-01 -1.26871440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59629675700003 meters Centerline goodness [0,1] 0.814809041309431 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.35, Z:-1.27 [[ 9.99389875e-01 1.73774368e-02 -3.02969177e-02 5.41806863e+00] [-1.74166816e-02 9.99847786e-01 -1.03190413e-03 -3.45591924e-01] [ 3.02743742e-02 1.55894630e-03 9.99540410e-01 -1.26901395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62629675700003 meters Centerline goodness [0,1] 0.8133236484383106 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99359008e-01 1.91783361e-02 -3.02285327e-02 5.41668530e+00] [-1.91988858e-02 9.99815608e-01 -3.89687620e-04 -3.43348308e-01] [ 3.02154852e-02 9.69791980e-04 9.99542938e-01 -1.26822092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65629675700004 meters Centerline goodness [0,1] 0.8095929855508573 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99355885e-01 1.96077263e-02 -3.00558237e-02 5.41610496e+00] [-1.96300082e-02 9.99807213e-01 -4.46436497e-04 -3.42449397e-01] [ 3.00412757e-02 1.03614501e-03 9.99548122e-01 -1.26818515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68629675700004 meters Centerline goodness [0,1] 0.7988505747126436 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99339309e-01 2.01891731e-02 -3.02215449e-02 5.41611322e+00] [-2.02151208e-02 9.99795500e-01 -5.53264549e-04 -3.40961549e-01] [ 3.02041947e-02 1.16383120e-03 9.99543072e-01 -1.26819115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.716296757 meters Centerline goodness [0,1] 0.8024181047845407 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99333059e-01 2.02621225e-02 -3.03790017e-02 5.41644342e+00] [-2.02940512e-02 9.99793778e-01 -7.43019161e-04 -3.40224254e-01] [ 3.03576817e-02 1.35903662e-03 9.99538175e-01 -1.26830359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.746296757 meters Centerline goodness [0,1] 0.8024181047845407 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99333059e-01 2.02621225e-02 -3.03790017e-02 5.41644342e+00] [-2.02940512e-02 9.99793778e-01 -7.43019161e-04 -3.40224254e-01] [ 3.03576817e-02 1.35903662e-03 9.99538175e-01 -1.26830359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.776296757 meters Centerline goodness [0,1] 0.7991876439086228 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99328264e-01 2.07360035e-02 -3.02165205e-02 5.41547151e+00] [-2.07577433e-02 9.99784452e-01 -4.05927357e-04 -3.39872046e-01] [ 3.02015901e-02 1.03288146e-03 9.99543294e-01 -1.26738432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.806296757 meters Centerline goodness [0,1] 0.8028550777014818 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99321200e-01 2.05868798e-02 -3.05502767e-02 5.41598013e+00] [-2.06094398e-02 9.99787513e-01 -4.23719603e-04 -3.39605671e-01] [ 3.05350621e-02 1.05305607e-03 9.99533142e-01 -1.26695849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.836296757 meters Centerline goodness [0,1] 0.8019483029662655 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99318729e-01 2.01615016e-02 -3.09126484e-02 5.41638084e+00] [-2.01717763e-02 9.99796529e-01 -2.05274508e-05 -3.40387696e-01] [ 3.09059447e-02 6.44076493e-04 9.99522090e-01 -1.26558642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86629675700001 meters Centerline goodness [0,1] 0.810786295547608 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.26 [[ 9.99314072e-01 1.99351130e-02 -3.12086066e-02 5.41665502e+00] [-1.99334075e-02 9.99801243e-01 3.65798576e-04 -3.41339048e-01] [ 3.12096959e-02 2.56546210e-04 9.99512826e-01 -1.26466819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89629675700002 meters Centerline goodness [0,1] 0.8197864289046706 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.26 [[ 9.99329390e-01 1.86431934e-02 -3.15151089e-02 5.41800995e+00] [-1.86478921e-02 9.99826102e-01 1.44842456e-04 -3.41866846e-01] [ 3.15123288e-02 4.42945028e-04 9.99503265e-01 -1.26444288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92629675700002 meters Centerline goodness [0,1] 0.8229169371381092 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.26 [[ 9.99327943e-01 1.80980067e-02 -3.18766934e-02 5.41931080e+00] [-1.81075096e-02 9.99836046e-01 -9.43798705e-06 -3.42103065e-01] [ 3.18712963e-02 5.86639175e-04 9.99491809e-01 -1.26484354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95629675700002 meters Centerline goodness [0,1] 0.8226332970620239 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99334083e-01 1.67701058e-02 -3.24060811e-02 5.42162338e+00] [-1.67998711e-02 9.99858663e-01 -6.46428543e-04 -3.42122034e-01] [ 3.23906602e-02 1.19041606e-03 9.99474576e-01 -1.26569387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98629675700002 meters Centerline goodness [0,1] 0.8250608776747319 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99334178e-01 1.63337529e-02 -3.26252717e-02 5.42252696e+00] [-1.63680032e-02 9.99865729e-01 -7.82990865e-04 -3.42222708e-01] [ 3.26081019e-02 1.31648008e-03 9.99467347e-01 -1.26599096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01629675700002 meters Centerline goodness [0,1] 0.824203689807747 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99329419e-01 1.59356085e-02 -3.29661783e-02 5.42339371e+00] [-1.59723733e-02 9.99872070e-01 -8.52165325e-04 -3.42274156e-01] [ 3.29483812e-02 1.37814199e-03 9.99456105e-01 -1.26592168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04629675700002 meters Centerline goodness [0,1] 0.8232125747727684 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.34, Z:-1.27 [[ 9.99331407e-01 1.48785289e-02 -3.33971448e-02 5.42495157e+00] [-1.49255024e-02 9.99887938e-01 -1.15763587e-03 -3.42451840e-01] [ 3.33761784e-02 1.65533105e-03 9.99441489e-01 -1.26604529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07629675700002 meters Centerline goodness [0,1] 0.8249405438941164 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.34, Z:-1.27 [[ 9.99319303e-01 1.41966221e-02 -3.40497600e-02 5.42664609e+00] [-1.42536366e-02 9.99897386e-01 -1.43228071e-03 -3.42312896e-01] [ 3.40259324e-02 1.91663866e-03 9.99419112e-01 -1.26611571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10629675700002 meters Centerline goodness [0,1] 0.8239880214787279 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.34, Z:-1.27 [[ 9.99313881e-01 1.36277433e-02 -3.44391155e-02 5.42762867e+00] [-1.36950039e-02 9.99904743e-01 -1.71788010e-03 -3.41584882e-01] [ 3.44124241e-02 2.18834525e-03 9.99405321e-01 -1.26592711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13629675700003 meters Centerline goodness [0,1] 0.8247666555244144 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.34, Z:-1.27 [[ 9.99305620e-01 1.32851236e-02 -3.48106825e-02 5.42874284e+00] [-1.33686066e-02 9.99908289e-01 -2.16653113e-03 -3.40421785e-01] [ 3.47787074e-02 2.63039705e-03 9.99391576e-01 -1.26634362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16629675700003 meters Centerline goodness [0,1] 0.8260824980131771 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.34, Z:-1.27 [[ 9.99304414e-01 1.37566136e-02 -3.46618515e-02 5.42776503e+00] [-1.38442941e-02 9.99901539e-01 -2.29085000e-03 -3.38317715e-01] [ 3.46269244e-02 2.76912538e-03 9.99396472e-01 -1.26571815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19629675700003 meters Centerline goodness [0,1] 0.8250632717232916 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.34, Z:-1.27 [[ 9.99302979e-01 1.38671306e-02 -3.46591873e-02 5.42755039e+00] [-1.39638216e-02 9.99899251e-01 -2.54925182e-03 -3.36862566e-01] [ 3.46203447e-02 3.03144964e-03 9.99395939e-01 -1.26554740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22629675700003 meters Centerline goodness [0,1] 0.8264366357985539 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.34, Z:-1.27 [[ 9.99232112e-01 1.73160714e-02 -3.51473989e-02 5.42902424e+00] [-1.72961552e-02 9.99850031e-01 8.70642882e-04 -3.35918421e-01] [ 3.51572040e-02 -2.62059458e-04 9.99381760e-01 -1.26559299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25629675700003 meters Centerline goodness [0,1] 0.822866426359344 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.33, Z:-1.27 [[ 9.99234268e-01 1.75901023e-02 -3.49494693e-02 5.42851954e+00] [-1.75840044e-02 9.99845273e-01 4.81863056e-04 -3.34105549e-01] [ 3.49525377e-02 1.33057545e-04 9.99388965e-01 -1.26580981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28629675700003 meters Centerline goodness [0,1] 0.8253996224040276 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.33, Z:-1.27 [[ 9.99153870e-01 2.14495409e-02 -3.50921782e-02 5.42941765e+00] [-2.13286760e-02 9.99765239e-01 3.81498824e-03 -3.32300281e-01] [ 3.51657697e-02 -3.06329057e-03 9.99376798e-01 -1.26638291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31629675700003 meters Centerline goodness [0,1] 0.8259417378201909 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.33, Z:-1.27 [[ 9.99154247e-01 2.17151839e-02 -3.49176445e-02 5.42930396e+00] [-2.16190320e-02 9.99761385e-01 3.12892557e-03 -3.29933676e-01] [ 3.49772579e-02 -2.37139359e-03 9.99385295e-01 -1.26724956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34629675700003 meters Centerline goodness [0,1] 0.8257363253856942 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.33, Z:-1.27 [[ 0.99906358 0.02580581 -0.03472775 5.42959532] [-0.02559637 0.99965147 0.00646212 -0.32773844] [ 0.03488241 -0.00556716 0.99937592 -1.26806944] [ 0. 0. 0. 1. ]] SLAMing on 142.37629675700003 meters Centerline goodness [0,1] 0.8247774813632851 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.33, Z:-1.27 [[ 9.99066031e-01 2.59650589e-02 -3.45381252e-02 5.42950599e+00] [-2.57838901e-02 9.99651400e-01 5.68064074e-03 -3.25206710e-01] [ 3.46735834e-02 -4.78480797e-03 9.99387236e-01 -1.26897126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40629675700004 meters Centerline goodness [0,1] 0.8203769286015008 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99139931e-01 2.98348518e-02 -2.87972216e-02 5.44013916e+00] [-2.99092710e-02 9.99550291e-01 -2.15688280e-03 -3.20337827e-01] [ 2.87199210e-02 3.01633164e-03 9.99582947e-01 -1.27330550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43629675700004 meters Centerline goodness [0,1] 0.8234624709316709 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99135569e-01 3.01475266e-02 -2.86224016e-02 5.43930483e+00] [-3.02212007e-02 9.99540934e-01 -2.14481091e-03 -3.19578759e-01] [ 2.85446013e-02 3.00796022e-03 9.99587994e-01 -1.27276560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.466296757 meters Centerline goodness [0,1] 0.8199291605776138 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99135147e-01 3.06040246e-02 -2.81487376e-02 5.43786404e+00] [-3.06739831e-02 9.99527327e-01 -2.05677906e-03 -3.18576905e-01] [ 2.80724867e-02 2.91843415e-03 9.99601630e-01 -1.27224693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.496296757 meters Centerline goodness [0,1] 0.8170565326321534 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99136137e-01 3.06885940e-02 -2.80212487e-02 5.43739101e+00] [-3.07573156e-02 9.99524831e-01 -2.02466825e-03 -3.17903653e-01] [ 2.79457997e-02 2.88477761e-03 9.99605277e-01 -1.27187009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.526296757 meters Centerline goodness [0,1] 0.8174470942232611 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99138672e-01 3.06853642e-02 -2.79342501e-02 5.43703296e+00] [-3.07537973e-02 9.99524942e-01 -2.02336908e-03 -3.17334379e-01] [ 2.78588919e-02 2.88071057e-03 9.99607715e-01 -1.27149558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.556296757 meters Centerline goodness [0,1] 0.8234958158476323 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99155151e-01 3.03354491e-02 -2.77262401e-02 5.43629895e+00] [-3.03906513e-02 9.99536862e-01 -1.57165739e-03 -3.17811274e-01] [ 2.76657221e-02 2.41294807e-03 9.99614318e-01 -1.27009602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.586296757 meters Centerline goodness [0,1] 0.8223537015860389 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 9.99163529e-01 2.97087905e-02 -2.81003421e-02 5.43719206e+00] [-2.97643207e-02 9.99555727e-01 -1.55983960e-03 -3.18632864e-01] [ 2.80415170e-02 2.39492243e-03 9.99603890e-01 -1.26977647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61629675700001 meters Centerline goodness [0,1] 0.8241738999924957 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 0.99928679 0.02526783 -0.02806166 5.43722944] [-0.0254323 0.99966131 -0.00551978 -0.31926312] [ 0.02791268 0.00622952 0.99959095 -1.26985976] [ 0. 0. 0. 1. ]] SLAMing on 142.64629675700002 meters Centerline goodness [0,1] 0.8245841866040657 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 0.99933776 0.02267056 -0.0284622 5.44041065] [-0.02287158 0.99971558 -0.00675712 -0.31981065] [ 0.02830092 0.00740362 0.99957203 -1.27160949] [ 0. 0. 0. 1. ]] SLAMing on 142.67629675700002 meters Centerline goodness [0,1] 0.8239080344620316 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 0.99934308 0.02187589 -0.02889376 5.44208373] [-0.02208861 0.99973107 -0.00706336 -0.31971392] [ 0.02873148 0.00769694 0.99955753 -1.27225949] [ 0. 0. 0. 1. ]] SLAMing on 142.70629675700002 meters Centerline goodness [0,1] 0.8230573692867468 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 0.99934474 0.0208786 -0.02956645 5.4446506 ] [-0.02111334 0.99974783 -0.00764926 -0.31963339] [ 0.02939929 0.0082685 0.99953355 -1.27352337] [ 0. 0. 0. 1. ]] SLAMing on 142.73629675700002 meters Centerline goodness [0,1] 0.8210970040648367 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 0.99942182 0.01662465 -0.0296587 5.44497382] [-0.01698554 0.99978423 -0.01195784 -0.3187119 ] [ 0.0294535 0.0124547 0.99948856 -1.27392995] [ 0. 0. 0. 1. ]] SLAMing on 142.76629675700002 meters Centerline goodness [0,1] 0.8209870338727511 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 0.99942615 0.01630783 -0.02968885 5.44508652] [-0.01666558 0.99979098 -0.01184272 -0.31948752] [ 0.02948951 0.01233071 0.99948903 -1.27349095] [ 0. 0. 0. 1. ]] SLAMing on 142.79629675700002 meters Centerline goodness [0,1] 0.8235397386702781 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 0.99942672 0.01634953 -0.02964657 5.44503252] [-0.01670709 0.99979016 -0.01185351 -0.31889066] [ 0.02944655 0.01234203 0.99949016 -1.27345466] [ 0. 0. 0. 1. ]] SLAMing on 142.82629675700002 meters Centerline goodness [0,1] 0.8187115490421648 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.27 [[ 0.99942974 0.01656995 -0.0294216 5.44472907] [-0.01693788 0.99978088 -0.01230053 -0.31604056] [ 0.02921133 0.01279185 0.9994914 -1.27387053] [ 0. 0. 0. 1. ]] SLAMing on 142.85629675700002 meters Centerline goodness [0,1] 0.8192088986432562 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 0.99935822 0.01986295 -0.02980956 5.44621421] [-0.02012154 0.99976225 -0.00839988 -0.31707193] [ 0.02963563 0.00899431 0.9995203 -1.2739242 ] [ 0. 0. 0. 1. ]] SLAMing on 142.88629675700003 meters Centerline goodness [0,1] 0.8221818724505024 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 0.99935379 0.02030222 -0.02966167 5.4454375 ] [-0.02055626 0.99975437 -0.008285 -0.31645808] [ 0.02948618 0.00888938 0.99952566 -1.27342182] [ 0. 0. 0. 1. ]] SLAMing on 142.91629675700003 meters Centerline goodness [0,1] 0.8217215654199816 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 9.99261942e-01 2.43277392e-02 -2.97276394e-02 5.44567690e+00] [-2.44613684e-02 9.99692205e-01 -4.13969023e-03 -3.17704690e-01] [ 2.96177801e-02 4.86381364e-03 9.99549464e-01 -1.27298664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94629675700003 meters Centerline goodness [0,1] 0.8184963669615936 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 9.99152068e-01 2.81112657e-02 -3.00815769e-02 5.44709697e+00] [-2.81404322e-02 9.99603830e-01 -5.46586148e-04 -3.17094413e-01] [ 3.00542942e-02 1.39263126e-03 9.99547298e-01 -1.27354001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97629675700003 meters Centerline goodness [0,1] 0.8201878744544984 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.27 [[ 9.99148215e-01 2.84360213e-02 -2.99038105e-02 5.44699376e+00] [-2.84760613e-02 9.99594057e-01 -9.13861053e-04 -3.15343682e-01] [ 2.98656847e-02 1.76462538e-03 9.99552363e-01 -1.27424444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00629675700003 meters Centerline goodness [0,1] 0.8182512503387618 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.27 [[ 9.99141097e-01 2.87753735e-02 -2.98168793e-02 5.44696720e+00] [-2.88257658e-02 9.99583655e-01 -1.26150745e-03 -3.13675178e-01] [ 2.97681648e-02 2.11991832e-03 9.99554582e-01 -1.27483603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03629675700003 meters Centerline goodness [0,1] 0.8179802955665024 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99114644e-01 3.00077670e-02 -2.94866506e-02 5.44602463e+00] [-3.00552172e-02 9.99547558e-01 -1.16721884e-03 -3.11803062e-01] [ 2.94382840e-02 2.05241313e-03 9.99564493e-01 -1.27529989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06629675700003 meters Centerline goodness [0,1] 0.8163395799517977 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99116192e-01 3.00777191e-02 -2.93626545e-02 5.44624630e+00] [-3.01357022e-02 9.99544639e-01 -1.53409721e-03 -3.11034787e-01] [ 2.93031418e-02 2.41760558e-03 9.99567647e-01 -1.27610460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09629675700003 meters Centerline goodness [0,1] 0.818979757883577 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99116248e-01 3.03234813e-02 -2.91068468e-02 5.44584875e+00] [-3.03823655e-02 9.99537096e-01 -1.58281000e-03 -3.11013153e-01] [ 2.90453769e-02 2.46574605e-03 9.99575053e-01 -1.27642091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12629675700003 meters Centerline goodness [0,1] 0.8186442770712434 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99118064e-01 3.02735717e-02 -2.90964673e-02 5.44606374e+00] [-3.03349438e-02 9.99538394e-01 -1.67006771e-03 -3.11142634e-01] [ 2.90324773e-02 2.55123452e-03 9.99575213e-01 -1.27675007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15629675700004 meters Centerline goodness [0,1] 0.8186980677516102 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99125614e-01 3.02318332e-02 -2.88798321e-02 5.44575831e+00] [-3.02868932e-02 9.99540165e-01 -1.47089546e-03 -3.11658248e-01] [ 2.88220843e-02 2.34428972e-03 9.99581808e-01 -1.27665292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18629675700004 meters Centerline goodness [0,1] 0.8165702236171047 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99134806e-01 2.98145118e-02 -2.89954189e-02 5.44619973e+00] [-2.98734675e-02 9.99552404e-01 -1.60212167e-03 -3.11935833e-01] [ 2.89346742e-02 2.46692923e-03 9.99578261e-01 -1.27663249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.216296757 meters Centerline goodness [0,1] 0.8149154887812593 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.31, Z:-1.28 [[ 9.99245708e-01 2.63460084e-02 -2.85289918e-02 5.44443082e+00] [-2.64995401e-02 9.99636236e-01 -5.01689612e-03 -3.12758933e-01] [ 2.83864389e-02 5.76911708e-03 9.99580376e-01 -1.27589797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.246296757 meters Centerline goodness [0,1] 0.8162383667826902 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.31, Z:-1.28 [[ 9.99251062e-01 2.59660896e-02 -2.86893079e-02 5.44487014e+00] [-2.61136157e-02 9.99647556e-01 -4.77948691e-03 -3.14135670e-01] [ 2.85550920e-02 5.52508893e-03 9.99576951e-01 -1.27553029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.276296757 meters Centerline goodness [0,1] 0.8144732613049175 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.32, Z:-1.28 [[ 9.99258391e-01 2.56883446e-02 -2.86841064e-02 5.44490946e+00] [-2.58255127e-02 9.99656686e-01 -4.42178320e-03 -3.15428115e-01] [ 2.85606705e-02 5.15928572e-03 9.99578746e-01 -1.27511958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.306296757 meters Centerline goodness [0,1] 0.8140720934838582 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.28 [[ 9.99261721e-01 2.55602522e-02 -2.86825028e-02 5.44518384e+00] [-2.56985276e-02 9.99659778e-01 -4.46261403e-03 -3.15163009e-01] [ 2.85586788e-02 5.19641747e-03 9.99578611e-01 -1.27536759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.336296757 meters Centerline goodness [0,1] 0.8164467658489492 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99263865e-01 2.53417305e-02 -2.88014827e-02 5.44588981e+00] [-2.54863578e-02 9.99664283e-01 -4.66550779e-03 -3.14588348e-01] [ 2.86735815e-02 5.39611823e-03 9.99574263e-01 -1.27593390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36629675700001 meters Centerline goodness [0,1] 0.8153373929402445 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99260981e-01 2.54174925e-02 -2.88347644e-02 5.44617473e+00] [-2.55607217e-02 9.99662644e-01 -4.60951058e-03 -3.14884446e-01] [ 2.87078746e-02 5.34314146e-03 9.99573563e-01 -1.27627369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39629675700002 meters Centerline goodness [0,1] 0.8188685787883291 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.28 [[ 9.99256971e-01 2.52315153e-02 -2.91354947e-02 5.44715404e+00] [-2.53798128e-02 9.99666684e-01 -4.73132846e-03 -3.15398375e-01] [ 2.90064048e-02 5.46726635e-03 9.99564274e-01 -1.27673591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42629675700002 meters Centerline goodness [0,1] 0.8177787685143905 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.32, Z:-1.28 [[ 9.99255449e-01 2.51482986e-02 -2.92593740e-02 5.44766555e+00] [-2.53018132e-02 9.99667906e-01 -4.88826861e-03 -3.15270672e-01] [ 2.91267255e-02 5.62494426e-03 9.99559900e-01 -1.27714019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45629675700002 meters Centerline goodness [0,1] 0.8196725353849189 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99250521e-01 2.53142427e-02 -2.92845697e-02 5.44779930e+00] [-2.54766152e-02 9.99661973e-01 -5.18481965e-03 -3.13772424e-01] [ 2.91434210e-02 5.92700545e-03 9.99557668e-01 -1.27751812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48629675700002 meters Centerline goodness [0,1] 0.8206579238737298 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99924855 0.02542894 -0.02925247 5.44799158] [-0.02560264 0.99965663 -0.00557887 -0.31236552] [ 0.02910056 0.00632361 0.99955649 -1.2781028 ] [ 0. 0. 0. 1. ]] SLAMing on 143.51629675700002 meters Centerline goodness [0,1] 0.8225933009661125 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99923082 0.02598952 -0.02936523 5.44804839] [-0.02617517 0.99963963 -0.00595547 -0.31006712] [ 0.02919987 0.00671953 0.99955101 -1.27847006] [ 0. 0. 0. 1. ]] SLAMing on 143.54629675700002 meters Centerline goodness [0,1] 0.8210168163904732 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99922204 0.02625156 -0.02943061 5.44812161] [-0.02644056 0.99963207 -0.00605119 -0.30933048] [ 0.02926093 0.00682465 0.99954851 -1.27861016] [ 0. 0. 0. 1. ]] SLAMing on 143.57629675700002 meters Centerline goodness [0,1] 0.8227387149595522 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99921031 0.02657607 -0.0295376 5.44834156] [-0.02677789 0.99962055 -0.00645793 -0.30724593] [ 0.02935476 0.00724378 0.99954281 -1.279019 ] [ 0. 0. 0. 1. ]] SLAMing on 143.60629675700002 meters Centerline goodness [0,1] 0.820608075080653 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99920493 0.02675617 -0.02955683 5.44848107] [-0.02696363 0.99961434 -0.0066427 -0.30636016] [ 0.0293677 0.00743438 0.99954103 -1.27938809] [ 0. 0. 0. 1. ]] SLAMing on 143.63629675700003 meters Centerline goodness [0,1] 0.8190794285435663 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99919411 0.02715826 -0.02955588 5.44863751] [-0.0273687 0.99960269 -0.00673878 -0.30550049] [ 0.02936112 0.00754225 0.99954041 -1.27990796] [ 0. 0. 0. 1. ]] SLAMing on 143.66629675700003 meters Centerline goodness [0,1] 0.8190794285435663 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99919411 0.02715826 -0.02955588 5.44863751] [-0.0273687 0.99960269 -0.00673878 -0.30550049] [ 0.02936112 0.00754225 0.99954041 -1.27990796] [ 0. 0. 0. 1. ]] SLAMing on 143.69629675700003 meters Centerline goodness [0,1] 0.8210267998153412 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99918697 0.02732892 -0.02963991 5.44880455] [-0.02754085 0.99959778 -0.0067656 -0.30510616] [ 0.02944309 0.00757641 0.99953774 -1.27999004] [ 0. 0. 0. 1. ]] SLAMing on 143.72629675700003 meters Centerline goodness [0,1] 0.8187073170731707 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99917365 0.02798582 -0.02947565 5.44793816] [-0.02818633 0.99958214 -0.0064091 -0.30509745] [ 0.02928397 0.00723462 0.99954495 -1.2794865 ] [ 0. 0. 0. 1. ]] SLAMing on 143.75629675700003 meters Centerline goodness [0,1] 0.820564712766995 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99916268 0.02820465 -0.02963855 5.44801427] [-0.02840049 0.99957735 -0.00620748 -0.30514566] [ 0.02945094 0.00704404 0.99954141 -1.27915345] [ 0. 0. 0. 1. ]] SLAMing on 143.78629675700003 meters Centerline goodness [0,1] 0.8200746032133018 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99915278 0.0284371 -0.02974984 5.44857363] [-0.02863337 0.9995708 -0.0061921 -0.30492781] [ 0.02956098 0.00703869 0.9995382 -1.27977356] [ 0. 0. 0. 1. ]] SLAMing on 143.81629675700003 meters Centerline goodness [0,1] 0.8182657947832851 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99914519 0.02835662 -0.03007959 5.44964353] [-0.02856225 0.99957134 -0.00642871 -0.30430029] [ 0.0298844 0.00728235 0.99952683 -1.28035033] [ 0. 0. 0. 1. ]] SLAMing on 143.84629675700003 meters Centerline goodness [0,1] 0.8170219990783186 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99914011 0.02848034 -0.03013168 5.44980479] [-0.02868617 0.99956784 -0.00642099 -0.30405803] [ 0.02993579 0.00727983 0.99952531 -1.2804414 ] [ 0. 0. 0. 1. ]] SLAMing on 143.87629675700003 meters Centerline goodness [0,1] 0.8180621572212066 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 0.99912972 0.02898913 -0.02999058 5.44887367] [-0.02917433 0.99955777 -0.00575602 -0.30540921] [ 0.02981045 0.00662596 0.99953361 -1.27948744] [ 0. 0. 0. 1. ]] SLAMing on 143.90629675700004 meters Centerline goodness [0,1] 0.8173686896920497 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99114315e-01 2.91056583e-02 -3.03882460e-02 5.44886018e+00] [-2.92729891e-02 9.99558565e-01 -5.07605514e-03 -3.06546976e-01] [ 3.02270896e-02 5.96111415e-03 9.99525281e-01 -1.27787286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93629675700004 meters Centerline goodness [0,1] 0.8189808389939863 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99105773e-01 2.94319553e-02 -3.03548172e-02 5.44827413e+00] [-2.95905107e-02 9.99550640e-01 -4.78738568e-03 -3.06624571e-01] [ 3.02002749e-02 5.68131921e-03 9.99527721e-01 -1.27718237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.966296757 meters Centerline goodness [0,1] 0.819819600787727 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.31, Z:-1.28 [[ 9.99104183e-01 2.93230583e-02 -3.05121177e-02 5.44878774e+00] [-2.94911962e-02 9.99552156e-01 -5.07507696e-03 -3.05824176e-01] [ 3.03496362e-02 5.97036947e-03 9.99521513e-01 -1.27744503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.996296757 meters Centerline goodness [0,1] 0.8178037212696097 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.9990976 0.02942577 -0.0306285 5.44932931] [-0.02960716 0.99954656 -0.00548579 -0.30444665] [ 0.03045319 0.00638766 0.99951578 -1.27809992] [ 0. 0. 0. 1. ]] SLAMing on 144.026296757 meters Centerline goodness [0,1] 0.8137986537898741 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99909928 0.02909067 -0.03089278 5.4505658 ] [-0.02928913 0.99955303 -0.00599102 -0.30402082] [ 0.03070469 0.00689045 0.99950475 -1.27910004] [ 0. 0. 0. 1. ]] SLAMing on 144.056296757 meters Centerline goodness [0,1] 0.8142944112991599 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.9990953 0.02899812 -0.03110779 5.45120086] [-0.02919976 0.9995553 -0.00604707 -0.30409255] [ 0.0309186 0.00694994 0.99949774 -1.2793146 ] [ 0. 0. 0. 1. ]] SLAMing on 144.086296757 meters Centerline goodness [0,1] 0.815460134626133 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99909438 0.02886619 -0.03125951 5.45158229] [-0.02907435 0.99955787 -0.00622501 -0.30356595] [ 0.03106599 0.00712822 0.99949192 -1.27936332] [ 0. 0. 0. 1. ]] SLAMing on 144.11629675700001 meters Centerline goodness [0,1] 0.7971448027627803 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99909843 0.02886459 -0.03113138 5.45104195] [-0.02907151 0.99955802 -0.00621454 -0.30279511] [ 0.03093824 0.00711397 0.99949598 -1.27881339] [ 0. 0. 0. 1. ]] SLAMing on 144.14629675700002 meters Centerline goodness [0,1] 0.8193938510855311 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99909966 0.02861941 -0.03131769 5.45136118] [-0.02883005 0.9995645 -0.00629514 -0.3023145 ] [ 0.03112389 0.00719236 0.99948966 -1.2784805 ] [ 0. 0. 0. 1. ]] SLAMing on 144.17629675700002 meters Centerline goodness [0,1] 0.8195730483765684 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99909376 0.02809621 -0.03197274 5.45309219] [-0.02832552 0.99957602 -0.00674182 -0.30176398] [ 0.03176977 0.00764135 0.999466 -1.27888802] [ 0. 0. 0. 1. ]] SLAMing on 144.20629675700002 meters Centerline goodness [0,1] 0.8204405799917421 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99908884 0.0279576 -0.03224699 5.45366635] [-0.02818866 0.99957994 -0.00673304 -0.30199043] [ 0.03204521 0.00763591 0.99945725 -1.27877541] [ 0. 0. 0. 1. ]] SLAMing on 144.23629675700002 meters Centerline goodness [0,1] 0.8239537538558694 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.30, Z:-1.28 [[ 0.99908657 0.02759508 -0.03262727 5.45475049] [-0.02783202 0.99958928 -0.00683027 -0.30257612] [ 0.03242538 0.00773212 0.99944425 -1.2789936 ] [ 0. 0. 0. 1. ]] SLAMing on 144.26629675700002 meters Centerline goodness [0,1] 0.8250735187774189 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99908413 0.02693833 -0.03324509 5.4568649 ] [-0.02719599 0.9996033 -0.00732259 -0.30209417] [ 0.03303464 0.00822002 0.9994204 -1.27991757] [ 0. 0. 0. 1. ]] SLAMing on 144.29629675700002 meters Centerline goodness [0,1] 0.8271290776016674 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99908375 0.02683231 -0.03334197 5.45722971] [-0.02708962 0.99960643 -0.00728955 -0.30213562] [ 0.03313325 0.00818609 0.99941742 -1.27999214] [ 0. 0. 0. 1. ]] SLAMing on 144.32629675700002 meters Centerline goodness [0,1] 0.8278722320584027 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99909302 0.02630438 -0.03348456 5.45799374] [-0.02655922 0.99962139 -0.00718884 -0.30301526] [ 0.03328279 0.00807165 0.99941338 -1.28012878] [ 0. 0. 0. 1. ]] SLAMing on 144.35629675700002 meters Centerline goodness [0,1] 0.8269909673021206 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99909139 0.02615623 -0.03364897 5.45841651] [-0.02640149 0.99962785 -0.00686508 -0.3041391 ] [ 0.03345688 0.00774722 0.99941013 -1.27993231] [ 0. 0. 0. 1. ]] SLAMing on 144.38629675700003 meters Centerline goodness [0,1] 0.8274396463787828 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 0.99908757 0.02586218 -0.03398777 5.45951351] [-0.02610219 0.99963725 -0.00663703 -0.30545664] [ 0.03380379 0.00751813 0.99940021 -1.28013315] [ 0. 0. 0. 1. ]] SLAMing on 144.41629675700003 meters Centerline goodness [0,1] 0.8281059162636182 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 0.99908809 0.02532439 -0.0343754 5.46094342] [-0.02555674 0.99965329 -0.00633687 -0.30791264] [ 0.034203 0.00720962 0.9993889 -1.28048469] [ 0. 0. 0. 1. ]] SLAMing on 144.44629675700003 meters Centerline goodness [0,1] 0.8299970705985744 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 0.99908971 0.02513734 -0.03446539 5.46170881] [-0.02536197 0.99965975 -0.00609572 -0.3093935 ] [ 0.03430043 0.00696428 0.9993873 -1.28099824] [ 0. 0. 0. 1. ]] SLAMing on 144.47629675700003 meters Centerline goodness [0,1] 0.8275009788566954 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 0.99908579 0.02515426 -0.03456647 5.46191761] [-0.02537347 0.99966053 -0.0059175 -0.30994262] [ 0.03440589 0.00678916 0.99938488 -1.28093456] [ 0. 0. 0. 1. ]] SLAMing on 144.50629675700003 meters Centerline goodness [0,1] 0.8262825842421871 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99080104e-01 2.55686437e-02 -3.44265923e-02 5.46147217e+00] [-2.57688807e-02 9.99653422e-01 -5.38519467e-03 -3.10716890e-01] [ 3.42769686e-02 6.26737560e-03 9.99392720e-01 -1.28059679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53629675700003 meters Centerline goodness [0,1] 0.8289257616234896 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99075097e-01 2.60375563e-02 -3.42198124e-02 5.46054960e+00] [-2.62231578e-02 9.99643679e-01 -4.98615506e-03 -3.11035290e-01] [ 3.40777919e-02 5.87889489e-03 9.99401892e-01 -1.28001620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56629675700003 meters Centerline goodness [0,1] 0.8266428274020916 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99063794e-01 2.68527740e-02 -3.39184965e-02 5.45915110e+00] [-2.70137356e-02 9.99625831e-01 -4.29614236e-03 -3.11435737e-01] [ 3.37904418e-02 5.20838558e-03 9.99415368e-01 -1.27899892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59629675700003 meters Centerline goodness [0,1] 0.8276933617167046 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99061897e-01 2.71285421e-02 -3.37545361e-02 5.45852728e+00] [-2.72840088e-02 9.99619092e-01 -4.15366526e-03 -3.11212189e-01] [ 3.36289959e-02 5.07072775e-03 9.99421522e-01 -1.27868503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62629675700003 meters Centerline goodness [0,1] 0.8308933154099963 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99060824e-01 2.72664481e-02 -3.36750829e-02 5.45850106e+00] [-2.74234695e-02 9.99615042e-01 -4.20971222e-03 -3.10792573e-01] [ 3.35473355e-02 5.12924617e-03 9.99423968e-01 -1.27893826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65629675700004 meters Centerline goodness [0,1] 0.8315352697095435 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99057518e-01 2.76411442e-02 -3.34670529e-02 5.45826725e+00] [-2.78048079e-02 9.99603534e-01 -4.43471871e-03 -3.09448097e-01] [ 3.33312037e-02 5.36108404e-03 9.99429982e-01 -1.27954970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68629675700004 meters Centerline goodness [0,1] 0.8304032336612448 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99055304e-01 2.80561235e-02 -3.31866357e-02 5.45757911e+00] [-2.82194509e-02 9.99591788e-01 -4.46328557e-03 -3.08363220e-01] [ 3.30478660e-02 5.39557776e-03 9.99439206e-01 -1.27953703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.716296757 meters Centerline goodness [0,1] 0.8284971323029066 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99051441e-01 2.83686053e-02 -3.30369484e-02 5.45700161e+00] [-2.85312260e-02 9.99582946e-01 -4.46132166e-03 -3.07571974e-01] [ 3.28966087e-02 5.39967447e-03 9.99444174e-01 -1.27933412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.746296757 meters Centerline goodness [0,1] 0.8249338158501931 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.31, Z:-1.28 [[ 9.99046758e-01 2.85615908e-02 -3.30122957e-02 5.45678415e+00] [-2.87262800e-02 9.99577072e-01 -4.52515080e-03 -3.06806592e-01] [ 3.28690884e-02 5.46915769e-03 9.99444701e-01 -1.27923106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.776296757 meters Centerline goodness [0,1] 0.8242387480286304 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.99040526e-01 2.87989903e-02 -3.29946361e-02 5.45694403e+00] [-2.89758151e-02 9.99568134e-01 -4.89353991e-03 -3.04829322e-01] [ 3.28394578e-02 5.84489116e-03 9.99443549e-01 -1.27977371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.806296757 meters Centerline goodness [0,1] 0.824883788495061 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99903182 0.02878745 -0.03326722 5.45800928] [-0.02898671 0.99956454 -0.00552299 -0.30263622] [ 0.03309374 0.00648195 0.99943123 -1.28081709] [ 0. 0. 0. 1. ]] SLAMing on 144.836296757 meters Centerline goodness [0,1] 0.8275219138941353 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99903004 0.0287039 -0.03339256 5.45854692] [-0.02891338 0.99956505 -0.00580733 -0.30186036] [ 0.03321134 0.00676719 0.99942544 -1.28126742] [ 0. 0. 0. 1. ]] SLAMing on 144.86629675700001 meters Centerline goodness [0,1] 0.8261552211406072 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99903203 0.02855162 -0.03346358 5.45902487] [-0.02876922 0.99956784 -0.00603904 -0.30143383] [ 0.0332767 0.00699592 0.99942169 -1.28168518] [ 0. 0. 0. 1. ]] SLAMing on 144.89629675700002 meters Centerline goodness [0,1] 0.8231953406317214 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99903784 0.02814579 -0.03363342 5.45978464] [-0.02837032 0.99957815 -0.00621708 -0.30141705] [ 0.03344424 0.00716529 0.9994149 -1.28194122] [ 0. 0. 0. 1. ]] SLAMing on 144.92629675700002 meters Centerline goodness [0,1] 0.8225128105965387 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99904052 0.02787462 -0.03377931 5.46025442] [-0.02810308 0.99958513 -0.00630748 -0.30156539] [ 0.03358947 0.00725073 0.99940941 -1.28201051] [ 0. 0. 0. 1. ]] SLAMing on 144.95629675700002 meters Centerline goodness [0,1] 0.8171406480295745 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99905056 0.02712687 -0.03408973 5.4614539 ] [-0.02736438 0.99960426 -0.00651988 -0.30155382] [ 0.03389937 0.00744653 0.99939751 -1.2822754 ] [ 0. 0. 0. 1. ]] SLAMing on 144.98629675700002 meters Centerline goodness [0,1] 0.8242784380305603 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99905519 0.02671736 -0.03427702 5.46182563] [-0.02695533 0.99961551 -0.00649916 -0.30157489] [ 0.0340902 0.00741697 0.99939124 -1.28183395] [ 0. 0. 0. 1. ]] SLAMing on 145.01629675700002 meters Centerline goodness [0,1] 0.8244562050883667 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99905249 0.02672172 -0.03435208 5.46162779] [-0.02695063 0.99961743 -0.00621771 -0.30200444] [ 0.03417279 0.00713763 0.99939045 -1.2811271 ] [ 0. 0. 0. 1. ]] SLAMing on 145.04629675700002 meters Centerline goodness [0,1] 0.8252674477840041 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99904918 0.02662378 -0.03452407 5.46169379] [-0.0268455 0.99962174 -0.00597452 -0.30259298] [ 0.03435194 0.00689565 0.99938601 -1.2805228 ] [ 0. 0. 0. 1. ]] SLAMing on 145.07629675700002 meters Centerline goodness [0,1] 0.8210454622850332 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99905492 0.02608414 -0.03476911 5.46217045] [-0.02630296 0.99963689 -0.00585094 -0.30311594] [ 0.03460387 0.00675994 0.99937824 -1.27986426] [ 0. 0. 0. 1. ]] SLAMing on 145.10629675700002 meters Centerline goodness [0,1] 0.8251663052218621 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99905035 0.02586487 -0.03506304 5.46273881] [-0.02608618 0.99964247 -0.00586913 -0.30303446] [ 0.0348987 0.00677822 0.99936787 -1.27967273] [ 0. 0. 0. 1. ]] SLAMing on 145.13629675700003 meters Centerline goodness [0,1] 0.8233973498621245 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99904739 0.0255059 -0.03540852 5.46339872] [-0.02572742 0.99965209 -0.00581437 -0.30302934] [ 0.0352479 0.0067198 0.99935601 -1.2792674 ] [ 0. 0. 0. 1. ]] SLAMing on 145.16629675700003 meters Centerline goodness [0,1] 0.8230801041134544 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99904185 0.02512169 -0.03583682 5.46473707] [-0.02535522 0.99966003 -0.00607694 -0.302904 ] [ 0.03567198 0.00697977 0.99933918 -1.27975008] [ 0. 0. 0. 1. ]] SLAMing on 145.19629675700003 meters Centerline goodness [0,1] 0.8287357442245833 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99903721 0.02467846 -0.03627155 5.46587773] [-0.0249295 0.99966818 -0.00648507 -0.30172281] [ 0.03609948 0.00738306 0.99932093 -1.27993324] [ 0. 0. 0. 1. ]] SLAMing on 145.22629675700003 meters Centerline goodness [0,1] 0.8277340609545155 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99903529 0.02461281 -0.03636894 5.46616542] [-0.02487024 0.99966862 -0.00664298 -0.30114114] [ 0.03619339 0.00754108 0.99931635 -1.28003188] [ 0. 0. 0. 1. ]] SLAMing on 145.25629675700003 meters Centerline goodness [0,1] 0.8298017272837854 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99902896 0.02445101 -0.03665074 5.46700235] [-0.0247207 0.99967042 -0.00692331 -0.30051735] [ 0.03646938 0.00782262 0.99930415 -1.28040154] [ 0. 0. 0. 1. ]] SLAMing on 145.28629675700003 meters Centerline goodness [0,1] 0.8324035955275145 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99902522 0.02441951 -0.03677346 5.46720505] [-0.02469285 0.9996706 -0.00699735 -0.30018494] [ 0.03659048 0.00789857 0.99929913 -1.28030943] [ 0. 0. 0. 1. ]] SLAMing on 145.31629675700003 meters Centerline goodness [0,1] 0.8327796775769418 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.9990179 0.02464974 -0.03681884 5.46685399] [-0.02492321 0.99966495 -0.00698711 -0.29948277] [ 0.03663427 0.00789789 0.99929753 -1.27977429] [ 0. 0. 0. 1. ]] SLAMing on 145.34629675700003 meters Centerline goodness [0,1] 0.8332153924989629 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99901393 0.02479317 -0.03683028 5.46669368] [-0.02506782 0.99966115 -0.00701414 -0.29901066] [ 0.0366439 0.00793048 0.99929692 -1.2795663 ] [ 0. 0. 0. 1. ]] SLAMing on 145.37629675700003 meters Centerline goodness [0,1] 0.8337960933313848 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99899528 0.02519401 -0.03706328 5.46680137] [-0.02547089 0.99965094 -0.00701715 -0.29806743] [ 0.03687355 0.00795414 0.99928828 -1.2792884 ] [ 0. 0. 0. 1. ]] SLAMing on 145.40629675700004 meters Centerline goodness [0,1] 0.831946105592033 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99898911 0.02555175 -0.03698459 5.4663154 ] [-0.02582419 0.99964264 -0.0069073 -0.29760387] [ 0.03679488 0.00785542 0.99929196 -1.27898452] [ 0. 0. 0. 1. ]] SLAMing on 145.43629675700004 meters Centerline goodness [0,1] 0.8299692847740237 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 0.99898044 0.02590456 -0.03697341 5.46599615] [-0.02617041 0.99963488 -0.0067245 -0.29727233] [ 0.03678571 0.00768525 0.99929362 -1.27865635] [ 0. 0. 0. 1. ]] SLAMing on 145.466296757 meters Centerline goodness [0,1] 0.8286587602396381 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 0.99896325 0.02658482 -0.03695494 5.46478273] [-0.02682417 0.99962219 -0.00599589 -0.29766653] [ 0.03678158 0.00698096 0.99929895 -1.27698015] [ 0. 0. 0. 1. ]] SLAMing on 145.496296757 meters Centerline goodness [0,1] 0.8284116550573923 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.98954950e-01 2.68207510e-02 -3.70088452e-02 5.46451491e+00] [-2.70389152e-02 9.99619759e-01 -5.40696756e-03 -2.99135371e-01] [ 3.68497539e-02 6.40199604e-03 9.99300310e-01 -1.27620977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.526296757 meters Centerline goodness [0,1] 0.8283048975082853 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.98954275e-01 2.67619477e-02 -3.70695871e-02 5.46489418e+00] [-2.69748909e-02 9.99622293e-01 -5.25614611e-03 -2.99990313e-01] [ 3.69149209e-02 6.25059769e-03 9.99298864e-01 -1.27641325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.556296757 meters Centerline goodness [0,1] 0.8283048975082853 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.98954275e-01 2.67619477e-02 -3.70695871e-02 5.46489418e+00] [-2.69748909e-02 9.99622293e-01 -5.25614611e-03 -2.99990313e-01] [ 3.69149209e-02 6.25059769e-03 9.99298864e-01 -1.27641325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.586296757 meters Centerline goodness [0,1] 0.8298301251321385 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98947618e-01 2.67482746e-02 -3.72583654e-02 5.46543012e+00] [-2.69543829e-02 9.99623957e-01 -5.04049167e-03 -3.00821006e-01] [ 3.71095302e-02 6.03946339e-03 9.99292954e-01 -1.27647969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61629675700001 meters Centerline goodness [0,1] 0.8282624227045404 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98949075e-01 2.66601558e-02 -3.72824678e-02 5.46603260e+00] [-2.68600908e-02 9.99627330e-01 -4.87205934e-03 -3.01808646e-01] [ 3.71386838e-02 5.86834964e-03 9.99292890e-01 -1.27704160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64629675700002 meters Centerline goodness [0,1] 0.8279871889627988 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98945168e-01 2.67483845e-02 -3.73239126e-02 5.46612362e+00] [-2.69453130e-02 9.99625466e-01 -4.78309519e-03 -3.01714755e-01] [ 3.71819934e-02 5.78375433e-03 9.99291773e-01 -1.27701642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67629675700002 meters Centerline goodness [0,1] 0.8269534722908229 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98940411e-01 2.73553098e-02 -3.70100316e-02 5.46503467e+00] [-2.75374263e-02 9.99611002e-01 -4.41986364e-03 -3.01460938e-01] [ 3.68747280e-02 5.43434142e-03 9.99305120e-01 -1.27649465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70629675700002 meters Centerline goodness [0,1] 0.8226295921640225 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.98937943e-01 2.75127498e-02 -3.69598993e-02 5.46487164e+00] [-2.76906964e-02 9.99607242e-01 -4.31125026e-03 -3.01597686e-01] [ 3.68267686e-02 5.33011682e-03 9.99307450e-01 -1.27638692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73629675700002 meters Centerline goodness [0,1] 0.8213755566551212 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.98934172e-01 2.77254024e-02 -3.69028621e-02 5.46434907e+00] [-2.78837587e-02 9.99604013e-01 -3.78333737e-03 -3.03031508e-01] [ 3.67833545e-02 4.80829549e-03 9.99311696e-01 -1.27564121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76629675700002 meters Centerline goodness [0,1] 0.8224855004213553 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.28 [[ 9.98929988e-01 2.77453250e-02 -3.70010361e-02 5.46451033e+00] [-2.78968621e-02 9.99604377e-01 -3.58540737e-03 -3.03773824e-01] [ 3.68869193e-02 4.61378374e-03 9.99308795e-01 -1.27551273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79629675700002 meters Centerline goodness [0,1] 0.8207126948775055 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98931960e-01 2.73337165e-02 -3.72532802e-02 5.46561805e+00] [-2.74958393e-02 9.99614518e-01 -3.84644726e-03 -3.03465685e-01] [ 3.71337820e-02 4.86664931e-03 9.99298453e-01 -1.27615898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82629675700002 meters Centerline goodness [0,1] 0.8213372396156615 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98931977e-01 2.71713559e-02 -3.73714178e-02 5.46620168e+00] [-2.73410302e-02 9.99618014e-01 -4.03657501e-03 -3.02960751e-01] [ 3.72474632e-02 5.05403692e-03 9.99293292e-01 -1.27659782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85629675700002 meters Centerline goodness [0,1] 0.8204701735223295 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98930408e-01 2.71502240e-02 -3.74286726e-02 5.46644153e+00] [-2.73206089e-02 9.99618525e-01 -4.04823824e-03 -3.02757969e-01] [ 3.73044840e-02 5.06648241e-03 9.99291102e-01 -1.27669692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88629675700003 meters Centerline goodness [0,1] 0.8227571659014766 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98930260e-01 2.69960623e-02 -3.75439528e-02 5.46648359e+00] [-2.71608108e-02 9.99623528e-01 -3.88496000e-03 -3.03250816e-01] [ 3.74249400e-02 4.90052830e-03 9.99287425e-01 -1.27615389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91629675700003 meters Centerline goodness [0,1] 0.8207967890590159 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98933942e-01 2.66795086e-02 -3.76720453e-02 5.46660466e+00] [-2.68421171e-02 9.99632397e-01 -3.81717450e-03 -3.03625491e-01] [ 3.75563566e-02 4.82430262e-03 9.99282866e-01 -1.27556602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94629675700003 meters Centerline goodness [0,1] 0.8190263842437755 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98936496e-01 2.65379248e-02 -3.77043172e-02 5.46670401e+00] [-2.67031498e-02 9.99635857e-01 -3.88522473e-03 -3.03263246e-01] [ 3.75874816e-02 4.88791681e-03 9.99281387e-01 -1.27546364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97629675700003 meters Centerline goodness [0,1] 0.8191531362582046 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98935895e-01 2.64371463e-02 -3.77909304e-02 5.46669793e+00] [-2.66081448e-02 9.99637821e-01 -4.02899717e-03 -3.02382419e-01] [ 3.76707282e-02 5.03025644e-03 9.99277545e-01 -1.27511788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00629675700003 meters Centerline goodness [0,1] 0.8175787728026533 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98931847e-01 2.62583827e-02 -3.80218710e-02 5.46717030e+00] [-2.64382136e-02 9.99641481e-01 -4.23453710e-03 -3.01239454e-01] [ 3.78970473e-02 5.23524432e-03 9.99267935e-01 -1.27499538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03629675700003 meters Centerline goodness [0,1] 0.8181840636269327 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98926113e-01 2.59940095e-02 -3.83527365e-02 5.46823734e+00] [-2.61869930e-02 9.99646762e-01 -4.53797403e-03 -3.00926624e-01] [ 3.82212287e-02 5.53744360e-03 9.99253959e-01 -1.27545272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06629675700003 meters Centerline goodness [0,1] 0.8186433542187771 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98922906e-01 2.62291890e-02 -3.82760744e-02 5.46815899e+00] [-2.64201905e-02 9.99640830e-01 -4.49275891e-03 -3.01061299e-01] [ 3.81444853e-02 5.49918096e-03 9.99257103e-01 -1.27562549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09629675700003 meters Centerline goodness [0,1] 0.8215087727956962 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98916093e-01 2.65815615e-02 -3.82107409e-02 5.46808193e+00] [-2.67741429e-02 9.99631212e-01 -4.53704037e-03 -2.99799061e-01] [ 3.80760476e-02 5.55518248e-03 9.99259403e-01 -1.27588443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12629675700003 meters Centerline goodness [0,1] 0.8203098021804549 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98914413e-01 2.69700416e-02 -3.79817455e-02 5.46745529e+00] [-2.71571647e-02 9.99621407e-01 -4.41928725e-03 -2.98993105e-01] [ 3.78481776e-02 5.44596625e-03 9.99268661e-01 -1.27575014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15629675700004 meters Centerline goodness [0,1] 0.8227636274147903 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.28 [[ 9.98903730e-01 2.74921281e-02 -3.78882739e-02 5.46678199e+00] [-2.76679499e-02 9.99608662e-01 -4.12394013e-03 -2.98602964e-01] [ 3.77600709e-02 5.16771005e-03 9.99273472e-01 -1.27525160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18629675700004 meters Centerline goodness [0,1] 0.8201212001773661 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98894549e-01 2.82023530e-02 -3.76072797e-02 5.46555918e+00] [-2.83541529e-02 9.99591781e-01 -3.50912126e-03 -2.98986466e-01] [ 3.74929622e-02 4.57156466e-03 9.99286435e-01 -1.27437881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.216296757 meters Centerline goodness [0,1] 0.8185361521572884 Centerline is valid? [False, False] Translation: X:5.46, Y:-0.30, Z:-1.27 [[ 9.98880953e-01 2.87707249e-02 -3.75378072e-02 5.46498616e+00] [-2.89056726e-02 9.99577469e-01 -3.05711649e-03 -2.99745189e-01] [ 3.74339908e-02 4.13875099e-03 9.99290532e-01 -1.27387424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.246296757 meters Centerline goodness [0,1] 0.8170524710339229 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98871492e-01 2.88148086e-02 -3.77551137e-02 5.46547956e+00] [-2.89503058e-02 9.99576208e-01 -3.04695065e-03 -2.99571765e-01] [ 3.76513161e-02 4.13653423e-03 9.99282376e-01 -1.27391457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.276296757 meters Centerline goodness [0,1] 0.8192429177771198 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98864790e-01 2.90306171e-02 -3.77671097e-02 5.46526935e+00] [-2.91585609e-02 9.99570761e-01 -2.84119665e-03 -2.99418516e-01] [ 3.76684169e-02 3.93920587e-03 9.99282529e-01 -1.27355578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.306296757 meters Centerline goodness [0,1] 0.8193430656934306 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98853906e-01 2.91182022e-02 -3.79869017e-02 5.46556111e+00] [-2.92432404e-02 9.99568569e-01 -2.74002967e-03 -2.99022163e-01] [ 3.78907283e-02 3.84774944e-03 9.99274481e-01 -1.27329489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.336296757 meters Centerline goodness [0,1] 0.8197624163394335 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98846289e-01 2.91137511e-02 -3.81900463e-02 5.46594152e+00] [-2.92363711e-02 9.99568997e-01 -2.65613281e-03 -2.99339957e-01] [ 3.80962563e-02 3.76960677e-03 9.99266964e-01 -1.27319489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36629675700001 meters Centerline goodness [0,1] 0.8224084235503485 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98838875e-01 2.89178525e-02 -3.85312743e-02 5.46723228e+00] [-2.90537660e-02 9.99573432e-01 -2.97197072e-03 -2.99530557e-01] [ 3.84288951e-02 4.08799852e-03 9.99252975e-01 -1.27404927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39629675700002 meters Centerline goodness [0,1] 0.821376606081531 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98834483e-01 2.91561100e-02 -3.84655363e-02 5.46693237e+00] [-2.92922644e-02 9.99566445e-01 -2.98070672e-03 -2.98891519e-01] [ 3.83619536e-02 4.10397531e-03 9.99255482e-01 -1.27385328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42629675700002 meters Centerline goodness [0,1] 0.8180405122005379 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98835090e-01 2.92940010e-02 -3.83448183e-02 5.46657000e+00] [-2.94309360e-02 9.99562280e-01 -3.01144062e-03 -2.98272077e-01] [ 3.82398169e-02 4.13645646e-03 9.99260029e-01 -1.27367744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45629675700002 meters Centerline goodness [0,1] 0.8197003616325125 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98830999e-01 2.95280011e-02 -3.82718325e-02 5.46593992e+00] [-2.96594867e-02 9.99555934e-01 -2.87224364e-03 -2.97880937e-01] [ 3.81700257e-02 4.00400889e-03 9.99263237e-01 -1.27302857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48629675700002 meters Centerline goodness [0,1] 0.8164323633503736 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98824022e-01 2.95904630e-02 -3.84054424e-02 5.46552709e+00] [-2.97183899e-02 9.99554489e-01 -2.76423474e-03 -2.97403237e-01] [ 3.83065374e-02 3.90233197e-03 9.99258416e-01 -1.27188548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51629675700002 meters Centerline goodness [0,1] 0.8166666666666667 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98819740e-01 2.95752016e-02 -3.85283713e-02 5.46555110e+00] [-2.97015169e-02 9.99555139e-01 -2.71012414e-03 -2.97349056e-01] [ 3.84310791e-02 3.85127656e-03 9.99253832e-01 -1.27147411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54629675700002 meters Centerline goodness [0,1] 0.8189001575423395 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98830761e-01 2.93200719e-02 -3.84375462e-02 5.46566437e+00] [-2.94583397e-02 9.99561399e-01 -3.03567134e-03 -2.96356622e-01] [ 3.83316814e-02 4.16442821e-03 9.99256393e-01 -1.27160183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57629675700002 meters Centerline goodness [0,1] 0.81711306229863 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98831352e-01 2.91819664e-02 -3.85271657e-02 5.46599103e+00] [-2.93298855e-02 9.99564406e-01 -3.27961330e-03 -2.95374869e-01] [ 3.84146780e-02 4.40577794e-03 9.99252171e-01 -1.27172940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60629675700002 meters Centerline goodness [0,1] 0.8182663371908105 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.29, Z:-1.27 [[ 9.98834642e-01 2.84970663e-02 -3.89522209e-02 5.46766136e+00] [-2.86731880e-02 9.99580955e-01 -3.97021727e-03 -2.93759295e-01] [ 3.88227586e-02 5.08247490e-03 9.99233187e-01 -1.27258802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63629675700003 meters Centerline goodness [0,1] 0.8188668167139642 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.29, Z:-1.27 [[ 9.98835649e-01 2.81752185e-02 -3.91599678e-02 5.46834010e+00] [-2.83597658e-02 9.99589104e-01 -4.16506236e-03 -2.93431740e-01] [ 3.90265256e-02 5.27078028e-03 9.99224274e-01 -1.27275652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66629675700003 meters Centerline goodness [0,1] 0.8195235756385069 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.29, Z:-1.27 [[ 9.98853504e-01 2.72928940e-02 -3.93290779e-02 5.46956803e+00] [-2.74909790e-02 9.99611902e-01 -4.50452766e-03 -2.94098280e-01] [ 3.91908727e-02 5.58055808e-03 9.99216159e-01 -1.27338028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69629675700003 meters Centerline goodness [0,1] 0.8194823390605412 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.29, Z:-1.27 [[ 9.98855239e-01 2.69801336e-02 -3.95004256e-02 5.47032650e+00] [-2.71804921e-02 9.99620214e-01 -4.54400330e-03 -2.94818856e-01] [ 3.93628261e-02 5.61244251e-03 9.99209222e-01 -1.27372021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72629675700003 meters Centerline goodness [0,1] 0.8211827745551077 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98853860e-01 2.66574170e-02 -3.97535873e-02 5.47120770e+00] [-2.68608248e-02 9.99628639e-01 -4.59131124e-03 -2.95315167e-01] [ 3.96164319e-02 5.65386310e-03 9.99198965e-01 -1.27397205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75629675700003 meters Centerline goodness [0,1] 0.8224402478607259 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.29, Z:-1.27 [[ 9.98855559e-01 2.62845281e-02 -3.99586847e-02 5.47218239e+00] [-2.64986423e-02 9.99637141e-01 -4.83813607e-03 -2.94794459e-01] [ 3.98170173e-02 5.89145000e-03 9.99189620e-01 -1.27452308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78629675700003 meters Centerline goodness [0,1] 0.821676087490784 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.29, Z:-1.27 [[ 9.98852477e-01 2.64908658e-02 -3.98994194e-02 5.47187100e+00] [-2.66947522e-02 9.99633113e-01 -4.58584984e-03 -2.94494111e-01] [ 3.97632977e-02 5.64569259e-03 9.99193178e-01 -1.27405306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81629675700003 meters Centerline goodness [0,1] 0.8226756363815579 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98849573e-01 2.68922766e-02 -3.97030855e-02 5.47107469e+00] [-2.70778228e-02 9.99624743e-01 -4.14291811e-03 -2.95212985e-01] [ 3.95767742e-02 5.21322511e-03 9.99202933e-01 -1.27348776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84629675700003 meters Centerline goodness [0,1] 0.8209131655420381 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98846193e-01 2.72165022e-02 -3.95669553e-02 5.47047352e+00] [-2.73885034e-02 9.99617598e-01 -3.81146011e-03 -2.95664509e-01] [ 3.94480903e-02 4.89074212e-03 9.99209652e-01 -1.27302646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87629675700003 meters Centerline goodness [0,1] 0.8231473936340964 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98842709e-01 2.76433338e-02 -3.93584741e-02 5.46982827e+00] [-2.77958351e-02 9.99608066e-01 -3.33264416e-03 -2.96625206e-01] [ 3.92509228e-02 4.42278897e-03 9.99219597e-01 -1.27265877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90629675700004 meters Centerline goodness [0,1] 0.8235948665957815 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98833566e-01 2.78807542e-02 -3.94229661e-02 5.46982806e+00] [-2.80222492e-02 9.99602674e-01 -3.04103610e-03 -2.97220128e-01] [ 3.93225159e-02 4.14220911e-03 9.99217985e-01 -1.27248345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93629675700004 meters Centerline goodness [0,1] 0.8257781285453559 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98836489e-01 2.83333883e-02 -3.90241808e-02 5.46924385e+00] [-2.84610510e-02 9.99591203e-01 -2.71961039e-03 -2.98029956e-01] [ 3.89311720e-02 3.82711529e-03 9.99234566e-01 -1.27286844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.966296757 meters Centerline goodness [0,1] 0.8254277402494946 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98836612e-01 2.86024789e-02 -3.88242359e-02 5.46891383e+00] [-2.87246728e-02 9.99583998e-01 -2.59308864e-03 -2.97965783e-01] [ 3.87339162e-02 3.70528534e-03 9.99242691e-01 -1.27300899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.996296757 meters Centerline goodness [0,1] 0.8210288075967429 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98835490e-01 2.93408009e-02 -3.82985780e-02 5.46768712e+00] [-2.94480992e-02 9.99563800e-01 -2.24040083e-03 -2.97758594e-01] [ 3.82161370e-02 3.36561219e-03 9.99263829e-01 -1.27298178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.026296757 meters Centerline goodness [0,1] 0.821717791411043 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98830901e-01 2.95671302e-02 -3.82441503e-02 5.46756140e+00] [-2.96715243e-02 9.99557359e-01 -2.16484836e-03 -2.97548931e-01] [ 3.81632135e-02 3.29707967e-03 9.99266080e-01 -1.27299348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.056296757 meters Centerline goodness [0,1] 0.8219968568902858 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.30, Z:-1.27 [[ 9.98829253e-01 3.01481399e-02 -3.78313776e-02 5.46648557e+00] [-3.02348805e-02 9.99541337e-01 -1.72267334e-03 -2.98149690e-01] [ 3.77620904e-02 2.86448371e-03 9.99282652e-01 -1.27261547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.086296757 meters Centerline goodness [0,1] 0.8164644032820714 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99897341 0.03231529 -0.03174655 5.47684468] [-0.03265324 0.99941484 -0.01018503 -0.29732047] [ 0.03139884 0.01121121 0.99944406 -1.27641235] [ 0. 0. 0. 1. ]] SLAMing on 147.11629675700001 meters Centerline goodness [0,1] 0.8200360520532385 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99897077 0.03243368 -0.03170881 5.47695232] [-0.03276884 0.99941184 -0.01010793 -0.29726987] [ 0.03136232 0.01113659 0.99944604 -1.27667675] [ 0. 0. 0. 1. ]] SLAMing on 147.14629675700002 meters Centerline goodness [0,1] 0.8209443665264142 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99896597 0.0324917 -0.03180054 5.47745954] [-0.03283174 0.99940854 -0.01022968 -0.29650725] [ 0.03144935 0.01126317 0.99944188 -1.27718684] [ 0. 0. 0. 1. ]] SLAMing on 147.17629675700002 meters Centerline goodness [0,1] 0.817947332219711 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99885017 0.03573043 -0.03196362 5.4793762 ] [-0.0359567 0.999332 -0.00653203 -0.29739951] [ 0.03170888 0.00767383 0.99946769 -1.27837566] [ 0. 0. 0. 1. ]] SLAMing on 147.20629675700002 meters Centerline goodness [0,1] 0.8153453062427831 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99885021 0.03574371 -0.03194765 5.47965147] [-0.03596911 0.99933171 -0.00650843 -0.29763202] [ 0.03169366 0.00765007 0.99946835 -1.27874894] [ 0. 0. 0. 1. ]] SLAMing on 147.23629675700002 meters Centerline goodness [0,1] 0.8170566669127236 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99885951 0.03561644 -0.03179842 5.47979388] [-0.03583183 0.99933842 -0.00622945 -0.29972499] [ 0.03155551 0.00736174 0.99947489 -1.27902913] [ 0. 0. 0. 1. ]] SLAMing on 147.26629675700002 meters Centerline goodness [0,1] 0.8164727389510611 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 0.99885654 0.03562629 -0.03188064 5.47988307] [-0.03582993 0.99934084 -0.00583889 -0.30091984] [ 0.03165161 0.0069745 0.99947463 -1.27868937] [ 0. 0. 0. 1. ]] SLAMing on 147.29629675700002 meters Centerline goodness [0,1] 0.8176432838031298 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98859429e-01 3.55863387e-02 -3.18347906e-02 5.47978644e+00] [-3.57729079e-02 9.99345837e-01 -5.31013164e-03 -3.02081555e-01] [ 3.16249973e-02 6.44289809e-03 9.99479039e-01 -1.27811081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32629675700002 meters Centerline goodness [0,1] 0.8194238561122641 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98860703e-01 3.55577544e-02 -3.18267489e-02 5.47978393e+00] [-3.57361171e-02 9.99348487e-01 -5.05282440e-03 -3.02691622e-01] [ 3.16263463e-02 6.18443216e-03 9.99480629e-01 -1.27791287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35629675700002 meters Centerline goodness [0,1] 0.8239936466967787 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98864102e-01 3.56319932e-02 -3.16364904e-02 5.47944869e+00] [-3.57873701e-02 9.99349922e-01 -4.35856403e-03 -3.04580472e-01] [ 3.14606199e-02 5.48579994e-03 9.99489938e-01 -1.27753137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38629675700003 meters Centerline goodness [0,1] 0.8257195799876467 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98861709e-01 3.55095924e-02 -3.18489542e-02 5.48007492e+00] [-3.56604729e-02 9.99355214e-01 -4.18175752e-03 -3.05324934e-01] [ 3.16799259e-02 5.31274623e-03 9.99483945e-01 -1.27756190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41629675700003 meters Centerline goodness [0,1] 0.8266789009026883 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98849685e-01 3.56365356e-02 -3.20833811e-02 5.48083433e+00] [-3.57783989e-02 9.99352300e-01 -3.85834319e-03 -3.06578667e-01] [ 3.19251027e-02 5.00179690e-03 9.99477749e-01 -1.27792949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44629675700003 meters Centerline goodness [0,1] 0.8263816475495307 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98842546e-01 3.57015660e-02 -3.22330022e-02 5.48200976e+00] [-3.58536275e-02 9.99348428e-01 -4.15179061e-03 -3.06132690e-01] [ 3.20637746e-02 5.30265515e-03 9.99471759e-01 -1.27942763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47629675700003 meters Centerline goodness [0,1] 0.8263816475495307 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98842546e-01 3.57015660e-02 -3.22330022e-02 5.48200976e+00] [-3.58536275e-02 9.99348428e-01 -4.15179061e-03 -3.06132690e-01] [ 3.20637746e-02 5.30265515e-03 9.99471759e-01 -1.27942763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50629675700003 meters Centerline goodness [0,1] 0.8265561813084576 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98834822e-01 3.57729930e-02 -3.23927736e-02 5.48273163e+00] [-3.59305354e-02 9.99345063e-01 -4.29435055e-03 -3.05619448e-01] [ 3.22179366e-02 5.45323656e-03 9.99465991e-01 -1.28009352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53629675700003 meters Centerline goodness [0,1] 0.8263139661486687 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98828212e-01 3.57402833e-02 -3.26318218e-02 5.48376729e+00] [-3.59085412e-02 9.99344564e-01 -4.58466904e-03 -3.05067910e-01] [ 3.24465763e-02 5.75105790e-03 9.99456925e-01 -1.28100588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56629675700003 meters Centerline goodness [0,1] 0.820721769499418 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98814869e-01 3.62944839e-02 -3.24278887e-02 5.48381457e+00] [-3.64660752e-02 9.99323765e-01 -4.71562579e-03 -3.04591809e-01] [ 3.22348086e-02 5.89255498e-03 9.99462953e-01 -1.28210195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59629675700003 meters Centerline goodness [0,1] 0.8211557006156813 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98812472e-01 3.63543181e-02 -3.24347020e-02 5.48412401e+00] [-3.65314377e-02 9.99320565e-01 -4.88482547e-03 -3.04267440e-01] [ 3.22350803e-02 6.06391090e-03 9.99461920e-01 -1.28259969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62629675700003 meters Centerline goodness [0,1] 0.8160128696943447 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98802292e-01 3.68501839e-02 -3.21876505e-02 5.48360563e+00] [-3.70209239e-02 9.99303322e-01 -4.72455725e-03 -3.04012930e-01] [ 3.19911253e-02 5.91051518e-03 9.99470677e-01 -1.28267034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65629675700004 meters Centerline goodness [0,1] 0.8057354758961681 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98796516e-01 3.71165913e-02 -3.20605387e-02 5.48332710e+00] [-3.72835782e-02 9.99294017e-01 -4.62626227e-03 -3.03973877e-01] [ 3.18661935e-02 5.81602624e-03 9.99475222e-01 -1.28271242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68629675700004 meters Centerline goodness [0,1] 0.8075367783869607 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98777461e-01 3.77102201e-02 -3.19612767e-02 5.48279313e+00] [-3.78677557e-02 9.99273344e-01 -4.33784772e-03 -3.03957690e-01] [ 3.17744707e-02 5.54284634e-03 9.99479695e-01 -1.28239648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.716296757 meters Centerline goodness [0,1] 0.8057193834564107 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.30, Z:-1.28 [[ 9.98770647e-01 3.79123176e-02 -3.19350948e-02 5.48262320e+00] [-3.80632810e-02 9.99266786e-01 -4.13238253e-03 -3.04332729e-01] [ 3.17550113e-02 5.34285686e-03 9.99481402e-01 -1.28217747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.746296757 meters Centerline goodness [0,1] 0.8011983789562667 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98759553e-01 3.82815581e-02 -3.18414464e-02 5.48213935e+00] [-3.84083373e-02 9.99256414e-01 -3.37928367e-03 -3.06274186e-01] [ 3.16884053e-02 4.59806887e-03 9.99487220e-01 -1.28150606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.776296757 meters Centerline goodness [0,1] 0.7935077543501531 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98758564e-01 3.81073793e-02 -3.20804926e-02 5.48287853e+00] [-3.82345185e-02 9.99263148e-01 -3.35883268e-03 -3.06971512e-01] [ 3.19288577e-02 4.58124509e-03 9.99479645e-01 -1.28169766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.806296757 meters Centerline goodness [0,1] 0.7941484585453458 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98760866e-01 3.80982746e-02 -3.20195978e-02 5.48282894e+00] [-3.82077489e-02 9.99265856e-01 -2.81388565e-03 -3.08848751e-01] [ 3.18888866e-02 4.03379562e-03 9.99483280e-01 -1.28137111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.836296757 meters Centerline goodness [0,1] 0.7945450925741588 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 9.98767242e-01 3.75769151e-02 -3.24341192e-02 5.48427764e+00] [-3.76958374e-02 9.99284566e-01 -3.06270897e-03 -3.09558884e-01] [ 3.22958275e-02 4.28156467e-03 9.99469183e-01 -1.28198897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86629675700001 meters Centerline goodness [0,1] 0.79555018015975 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 0.99890036 0.03398356 -0.03229831 5.48379249] [-0.03421553 0.99939231 -0.0066567 -0.31005147] [ 0.03205246 0.00775448 0.99945611 -1.28226557] [ 0. 0. 0. 1. ]] SLAMing on 147.89629675700002 meters Centerline goodness [0,1] 0.8137522079232904 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.31, Z:-1.28 [[ 0.99890207 0.03366587 -0.03257714 5.48484604] [-0.0338957 0.99940405 -0.00652873 -0.31125053] [ 0.03233793 0.00762578 0.9994479 -1.28268443] [ 0. 0. 0. 1. ]] SLAMing on 147.92629675700002 meters Centerline goodness [0,1] 0.8034305143234123 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.31, Z:-1.28 [[ 0.99892369 0.03267269 -0.03292352 5.48685734] [-0.03290366 0.9994374 -0.00649796 -0.31385072] [ 0.03269269 0.00757427 0.99943675 -1.28369444] [ 0. 0. 0. 1. ]] SLAMing on 147.95629675700002 meters Centerline goodness [0,1] 0.8210325534079349 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 0.9989222 0.0324902 -0.03314853 5.48759233] [-0.03271017 0.99944617 -0.00611495 -0.31533068] [ 0.0329315 0.00719266 0.99943173 -1.28369445] [ 0. 0. 0. 1. ]] SLAMing on 147.98629675700002 meters Centerline goodness [0,1] 0.8179684111147968 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 0.99891837 0.03235046 -0.03339956 5.48836474] [-0.03255959 0.99945333 -0.0057365 -0.31691309] [ 0.03319572 0.00681777 0.99942562 -1.28376954] [ 0. 0. 0. 1. ]] SLAMing on 148.01629675700002 meters Centerline goodness [0,1] 0.8221498872257536 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 9.98920130e-01 3.20234819e-02 -3.36610982e-02 5.48932612e+00] [-3.22124196e-02 9.99468107e-01 -5.08556070e-03 -3.20164905e-01] [ 3.34803367e-02 6.16437438e-03 9.99420366e-01 -1.28370609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04629675700002 meters Centerline goodness [0,1] 0.8216926445961613 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 9.98910801e-01 3.22745715e-02 -3.36981396e-02 5.48916838e+00] [-3.24256914e-02 9.99466353e-01 -3.94755094e-03 -3.23393782e-01] [ 3.35527511e-02 5.03593675e-03 9.99424260e-01 -1.28283221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07629675700002 meters Centerline goodness [0,1] 0.8229395815214611 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 9.98902914e-01 3.21460609e-02 -3.40529009e-02 5.49033128e+00] [-3.22958566e-02 9.99470907e-01 -3.85789770e-03 -3.24022131e-01] [ 3.39108675e-02 4.95343286e-03 9.99412586e-01 -1.28332442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10629675700002 meters Centerline goodness [0,1] 0.8234854729033587 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 9.98894497e-01 3.22339287e-02 -3.42163468e-02 5.49142916e+00] [-3.23873357e-02 9.99467632e-01 -3.93855570e-03 -3.24191537e-01] [ 3.40711760e-02 5.04237793e-03 9.99406689e-01 -1.28453478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13629675700003 meters Centerline goodness [0,1] 0.8233563835277118 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.28 [[ 9.98886951e-01 3.24530188e-02 -3.42295324e-02 5.49167002e+00] [-3.26068283e-02 9.99460471e-01 -3.94471810e-03 -3.24126468e-01] [ 3.40830466e-02 5.05644392e-03 9.99406213e-01 -1.28499011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16629675700003 meters Centerline goodness [0,1] 0.819303544231911 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98864508e-01 3.30565974e-02 -3.43067928e-02 5.49178497e+00] [-3.32090653e-02 9.99440881e-01 -3.88383367e-03 -3.24189806e-01] [ 3.41592249e-02 5.01872013e-03 9.99403802e-01 -1.28539563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19629675700003 meters Centerline goodness [0,1] 0.8126850874256432 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98851501e-01 3.33595511e-02 -3.43921318e-02 5.49185863e+00] [-3.35076017e-02 9.99431475e-01 -3.73727554e-03 -3.24179954e-01] [ 3.42479052e-02 4.88538114e-03 9.99401428e-01 -1.28535029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22629675700003 meters Centerline goodness [0,1] 0.8067594331129916 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98841443e-01 3.38743602e-02 -3.41804080e-02 5.49116841e+00] [-3.40161724e-02 9.99414886e-01 -3.57581754e-03 -3.24039204e-01] [ 3.40392800e-02 4.73436140e-03 9.99409282e-01 -1.28523739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25629675700003 meters Centerline goodness [0,1] 0.7945422895760803 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.33, Z:-1.29 [[ 9.98687087e-01 3.78003984e-02 -3.45721234e-02 5.49249959e+00] [-3.78047294e-02 9.99285006e-01 5.28640567e-04 -3.25137145e-01] [ 3.45673874e-02 7.79043265e-04 9.99402066e-01 -1.28526611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28629675700003 meters Centerline goodness [0,1] 0.7764030612244898 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98657125e-01 3.85365933e-02 -3.46248245e-02 5.49262616e+00] [-3.85491745e-02 9.99256658e-01 3.04396087e-04 -3.23556342e-01] [ 3.46108168e-02 1.03077108e-03 9.99400335e-01 -1.28598650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31629675700003 meters Centerline goodness [0,1] 0.7558056448731689 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98650009e-01 3.88170779e-02 -3.45165661e-02 5.49261702e+00] [-3.88352752e-02 9.99245616e-01 1.43322454e-04 -3.23107167e-01] [ 3.44960907e-02 1.19733137e-03 9.99404116e-01 -1.28652516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34629675700003 meters Centerline goodness [0,1] 0.734336287706572 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98640444e-01 3.90532111e-02 -3.45269558e-02 5.49287371e+00] [-3.90730132e-02 9.99236353e-01 1.01281455e-04 -3.23229702e-01] [ 3.45045447e-02 1.24792844e-03 9.99403762e-01 -1.28701354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37629675700003 meters Centerline goodness [0,1] 0.7386127966817728 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.32, Z:-1.29 [[ 9.98639759e-01 3.88793741e-02 -3.47422877e-02 5.49365961e+00] [-3.89018322e-02 9.99243037e-01 2.95774984e-05 -3.23427548e-01] [ 3.47171391e-02 1.32200138e-03 9.99396304e-01 -1.28737738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40629675700004 meters Centerline goodness [0,1] 0.7615711144069963 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.32, Z:-1.29 [[ 9.98648673e-01 3.82616630e-02 -3.51692052e-02 5.49533570e+00] [-3.82918156e-02 9.99266583e-01 -1.83955404e-04 -3.23903236e-01] [ 3.51363730e-02 1.53039954e-03 9.99381355e-01 -1.28802023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43629675700004 meters Centerline goodness [0,1] 0.7833162743091096 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.32, Z:-1.29 [[ 9.98649076e-01 3.80271501e-02 -3.54112880e-02 5.49601766e+00] [-3.80537142e-02 9.99275692e-01 -7.62403618e-05 -3.24702744e-01] [ 3.53827401e-02 1.42366840e-03 9.99372821e-01 -1.28801146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.466296757 meters Centerline goodness [0,1] 0.7875577219086711 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.33, Z:-1.29 [[ 9.98672627e-01 3.70455750e-02 -3.57855995e-02 5.49723817e+00] [-3.70608991e-02 9.99312981e-01 2.35249194e-04 -3.26981492e-01] [ 3.57697291e-02 1.09130956e-03 9.99359463e-01 -1.28746756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.496296757 meters Centerline goodness [0,1] 0.8047163995067818 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.33, Z:-1.29 [[ 9.98679496e-01 3.64067902e-02 -3.62465234e-02 5.49863571e+00] [-3.64185344e-02 9.99336569e-01 3.36397525e-04 -3.28388102e-01] [ 3.62347235e-02 9.84091950e-04 9.99342822e-01 -1.28749423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.526296757 meters Centerline goodness [0,1] 0.8143337525990194 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.33, Z:-1.29 [[ 9.98826144e-01 3.13490629e-02 -3.69265399e-02 5.50061585e+00] [-3.15131613e-02 9.99495844e-01 -3.87015225e-03 -3.29085118e-01] [ 3.67865975e-02 5.02928126e-03 9.99310489e-01 -1.28807151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.556296757 meters Centerline goodness [0,1] 0.8220744612041085 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.33, Z:-1.29 [[ 0.99895253 0.02615359 -0.03754779 5.50283433] [-0.02647681 0.99961631 -0.00813683 -0.33002732] [ 0.03732057 0.00912245 0.99926171 -1.28903118] [ 0. 0. 0. 1. ]] SLAMing on 148.586296757 meters Centerline goodness [0,1] 0.8236605985166745 Centerline is valid? [False, False] Translation: X:5.50, Y:-0.33, Z:-1.29 [[ 0.99894981 0.0253629 -0.03815756 5.50471762] [-0.02568191 0.999639 -0.00789357 -0.33201327] [ 0.03794358 0.00886524 0.99924056 -1.28910248] [ 0. 0. 0. 1. ]] SLAMing on 148.61629675700001 meters Centerline goodness [0,1] 0.8277831131414333 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.33, Z:-1.29 [[ 0.99894752 0.0246822 -0.03866062 5.50631119] [-0.02498962 0.99965966 -0.00748853 -0.33441864] [ 0.03846263 0.00844677 0.99922434 -1.28905329] [ 0. 0. 0. 1. ]] SLAMing on 148.64629675700002 meters Centerline goodness [0,1] 0.8325633596951426 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.34, Z:-1.29 [[ 0.99903037 0.02033088 -0.03905089 5.50719217] [-0.02077473 0.99972373 -0.01099388 -0.33569954] [ 0.03881659 0.01179449 0.99917674 -1.28895246] [ 0. 0. 0. 1. ]] SLAMing on 148.67629675700002 meters Centerline goodness [0,1] 0.8349986921266022 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.34, Z:-1.29 [[ 0.99903801 0.01872515 -0.03965387 5.5100256 ] [-0.01917431 0.99975589 -0.01097715 -0.33797884] [ 0.03943865 0.01172693 0.99915318 -1.2896237 ] [ 0. 0. 0. 1. ]] SLAMing on 148.70629675700002 meters Centerline goodness [0,1] 0.8341968911917098 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.34, Z:-1.29 [[ 0.99902009 0.0183658 -0.04026856 5.511509 ] [-0.01880452 0.99976759 -0.01054307 -0.33948526] [ 0.04006557 0.01128997 0.99913327 -1.28937501] [ 0. 0. 0. 1. ]] SLAMing on 148.73629675700002 meters Centerline goodness [0,1] 0.8371018146484939 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.34, Z:-1.29 [[ 0.99901334 0.01777916 -0.0406971 5.51296551] [-0.01820404 0.99978334 -0.01009353 -0.34265507] [ 0.04050883 0.01082442 0.99912055 -1.2893253 ] [ 0. 0. 0. 1. ]] SLAMing on 148.76629675700002 meters Centerline goodness [0,1] 0.8405101987034207 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.34, Z:-1.29 [[ 0.99900408 0.01799339 -0.04082994 5.51301047] [-0.01839695 0.99978534 -0.00952976 -0.34429926] [ 0.04064971 0.01027141 0.99912066 -1.28881017] [ 0. 0. 0. 1. ]] SLAMing on 148.79629675700002 meters Centerline goodness [0,1] 0.8386180785612872 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.35, Z:-1.29 [[ 0.99898927 0.01818662 -0.04110573 5.51337443] [-0.01857378 0.99978648 -0.00905636 -0.34557874] [ 0.04093225 0.00981069 0.99911376 -1.28829496] [ 0. 0. 0. 1. ]] SLAMing on 148.82629675700002 meters Centerline goodness [0,1] 0.8397966173138732 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.35, Z:-1.29 [[ 0.99898463 0.01855122 -0.04105557 5.51292533] [-0.01892649 0.99978241 -0.0087707 -0.34543 ] [ 0.04088393 0.00953884 0.99911837 -1.28785507] [ 0. 0. 0. 1. ]] SLAMing on 148.85629675700002 meters Centerline goodness [0,1] 0.8369007187425954 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.35, Z:-1.29 [[ 9.98893615e-01 2.28540854e-02 -4.11003226e-02 5.51270050e+00] [-2.30400679e-02 9.99726310e-01 -4.05705342e-03 -3.46790541e-01] [ 4.09963536e-02 4.99951898e-03 9.99146788e-01 -1.28651837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88629675700003 meters Centerline goodness [0,1] 0.841017696791472 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.35, Z:-1.29 [[ 9.98888896e-01 2.32352578e-02 -4.10011664e-02 5.51243174e+00] [-2.34217094e-02 9.99717377e-01 -4.07291803e-03 -3.46005289e-01] [ 4.08949432e-02 5.02871000e-03 9.99150797e-01 -1.28661278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91629675700003 meters Centerline goodness [0,1] 0.8376975640290021 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.35, Z:-1.29 [[ 9.98770563e-01 2.70002732e-02 -4.15734116e-02 5.51431769e+00] [-2.70307260e-02 9.99634589e-01 -1.70456086e-04 -3.46966948e-01] [ 4.15536178e-02 1.29400602e-03 9.99135437e-01 -1.28687537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94629675700003 meters Centerline goodness [0,1] 0.8341995977747017 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.35, Z:-1.29 [[ 9.98764287e-01 2.71518022e-02 -4.16254554e-02 5.51465099e+00] [-2.71938098e-02 9.99630082e-01 -4.43184718e-04 -3.46158290e-01] [ 4.15980241e-02 1.57459178e-03 9.99133187e-01 -1.28741947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97629675700003 meters Centerline goodness [0,1] 0.8347387933060073 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.34, Z:-1.29 [[ 9.98758369e-01 2.72011142e-02 -4.17351188e-02 5.51575294e+00] [-2.72747269e-02 9.99627261e-01 -1.19531320e-03 -3.44287638e-01] [ 4.16870486e-02 2.33214303e-03 9.99127995e-01 -1.28902075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00629675700003 meters Centerline goodness [0,1] 0.8334637454355764 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.34, Z:-1.29 [[ 9.98753413e-01 2.70173262e-02 -4.19724259e-02 5.51681138e+00] [-2.71034421e-02 9.99631533e-01 -1.48392868e-03 -3.43668932e-01] [ 4.19168687e-02 2.61967604e-03 9.99117667e-01 -1.28970352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03629675700003 meters Centerline goodness [0,1] 0.8338484102456655 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.34, Z:-1.29 [[ 9.98759371e-01 2.64784836e-02 -4.21735662e-02 5.51826874e+00] [-2.65815130e-02 9.99644874e-01 -1.88399413e-03 -3.44092600e-01] [ 4.21087040e-02 3.00269398e-03 9.99108523e-01 -1.29071603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06629675700003 meters Centerline goodness [0,1] 0.8313117287993503 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98753480e-01 2.61960285e-02 -4.24882939e-02 5.51916288e+00] [-2.62929916e-02 9.99652792e-01 -1.72479898e-03 -3.45148404e-01] [ 4.24283587e-02 2.83979334e-03 9.99095476e-01 -1.29065765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09629675700003 meters Centerline goodness [0,1] 0.8355024927840462 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98766937e-01 2.54584130e-02 -4.26201191e-02 5.52020513e+00] [-2.55438689e-02 9.99672634e-01 -1.46158395e-03 -3.46944573e-01] [ 4.25689571e-02 2.54846446e-03 9.99090281e-01 -1.29059016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12629675700003 meters Centerline goodness [0,1] 0.836559253203945 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98766953e-01 2.53396327e-02 -4.26904788e-02 5.52033736e+00] [-2.54124240e-02 9.99676375e-01 -1.16319129e-03 -3.47646920e-01] [ 4.26471883e-02 2.24662557e-03 9.99087669e-01 -1.29017290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15629675700004 meters Centerline goodness [0,1] 0.836622691292876 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98763594e-01 2.50114241e-02 -4.29617592e-02 5.52109481e+00] [-2.50781781e-02 9.99684977e-01 -1.01546846e-03 -3.48147715e-01] [ 4.29228269e-02 2.09161557e-03 9.99076201e-01 -1.28996601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18629675700004 meters Centerline goodness [0,1] 0.8355519093868262 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98763822e-01 2.45905723e-02 -4.31987487e-02 5.52184566e+00] [-2.46367204e-02 9.99696326e-01 -5.36131778e-04 -3.49913524e-01] [ 4.31724466e-02 1.59974452e-03 9.99066354e-01 -1.28936162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.216296757 meters Centerline goodness [0,1] 0.8339459002088897 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98760736e-01 2.41116174e-02 -4.35387453e-02 5.52311374e+00] [-2.41491804e-02 9.99708309e-01 -3.36915170e-04 -3.51330154e-01] [ 4.35179218e-02 1.38792265e-03 9.99051682e-01 -1.28927583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.246296757 meters Centerline goodness [0,1] 0.8307386288290678 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98762076e-01 2.40933132e-02 -4.35181310e-02 5.52321158e+00] [-2.41276293e-02 9.99708852e-01 -2.63399676e-04 -3.51458550e-01] [ 4.34991146e-02 1.31306294e-03 9.99052603e-01 -1.28929266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.276296757 meters Centerline goodness [0,1] 0.8292818704768974 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98763044e-01 2.37541304e-02 -4.36820616e-02 5.52437654e+00] [-2.38110877e-02 9.99716168e-01 -7.83987013e-04 -3.49790783e-01] [ 4.36510403e-02 1.82313465e-03 9.99045176e-01 -1.29022369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.306296757 meters Centerline goodness [0,1] 0.828680941052075 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98766153e-01 2.37570150e-02 -4.36093595e-02 5.52458250e+00] [-2.38241573e-02 9.99715644e-01 -1.02047779e-03 -3.48676452e-01] [ 4.35727154e-02 2.05817492e-03 9.99048138e-01 -1.29070524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.336296757 meters Centerline goodness [0,1] 0.8241572440029589 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98769692e-01 2.38574464e-02 -4.34732735e-02 5.52448553e+00] [-2.39301195e-02 9.99712970e-01 -1.15195868e-03 -3.47689110e-01] [ 4.34333125e-02 2.19086204e-03 9.99053926e-01 -1.29093464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36629675700001 meters Centerline goodness [0,1] 0.8241572440029589 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98769692e-01 2.38574464e-02 -4.34732735e-02 5.52448553e+00] [-2.39301195e-02 9.99712970e-01 -1.15195868e-03 -3.47689110e-01] [ 4.34333125e-02 2.19086204e-03 9.99053926e-01 -1.29093464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39629675700002 meters Centerline goodness [0,1] 0.821796798776468 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98770856e-01 2.41807102e-02 -4.32674190e-02 5.52418561e+00] [-2.42677973e-02 9.99704385e-01 -1.48857097e-03 -3.45941857e-01] [ 4.32186338e-02 2.53674625e-03 9.99062418e-01 -1.29132530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42629675700002 meters Centerline goodness [0,1] 0.8203777362168427 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.35, Z:-1.29 [[ 9.98772402e-01 2.42931151e-02 -4.31686568e-02 5.52403465e+00] [-2.43865738e-02 9.99701259e-01 -1.63959660e-03 -3.45124611e-01] [ 4.31159297e-02 2.69031947e-03 9.99066454e-01 -1.29143188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45629675700002 meters Centerline goodness [0,1] 0.8202855865569201 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.29 [[ 9.98776313e-01 2.40426862e-02 -4.32183498e-02 5.52510023e+00] [-2.41615205e-02 9.99705582e-01 -2.22930052e-03 -3.42889586e-01] [ 4.31520272e-02 3.27079360e-03 9.99063163e-01 -1.29254794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48629675700002 meters Centerline goodness [0,1] 0.8165072524700442 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.29 [[ 9.98780921e-01 2.33531489e-02 -4.34891010e-02 5.52708999e+00] [-2.35098231e-02 9.99718816e-01 -3.09457732e-03 -3.41021252e-01] [ 4.34046044e-02 4.11322585e-03 9.99049109e-01 -1.29422166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51629675700002 meters Centerline goodness [0,1] 0.8181077529566361 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.29 [[ 9.98780318e-01 2.30168092e-02 -4.36818450e-02 5.52801576e+00] [-2.31851492e-02 9.99725572e-01 -3.35100245e-03 -3.40744420e-01] [ 4.35927281e-02 4.35968538e-03 9.99039873e-01 -1.29470056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54629675700002 meters Centerline goodness [0,1] 0.818881706868464 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.30 [[ 9.98775975e-01 2.28114573e-02 -4.38883649e-02 5.52889847e+00] [-2.29799489e-02 9.99730352e-01 -3.33834678e-03 -3.41121633e-01] [ 4.38003780e-02 4.34281294e-03 9.99030864e-01 -1.29504276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57629675700002 meters Centerline goodness [0,1] 0.8146679620828191 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.30 [[ 9.98781021e-01 2.22304126e-02 -4.40713201e-02 5.52991334e+00] [-2.24024563e-02 9.99743205e-01 -3.41365378e-03 -3.41546106e-01] [ 4.39841159e-02 4.39679843e-03 9.99022555e-01 -1.29526477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60629675700002 meters Centerline goodness [0,1] 0.8198741478762455 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.30 [[ 9.98782655e-01 2.16943280e-02 -4.43008470e-02 5.53095847e+00] [-2.18648512e-02 9.99755262e-01 -3.36823295e-03 -3.41489758e-01] [ 4.42169333e-02 4.33276408e-03 9.99012557e-01 -1.29522556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63629675700003 meters Centerline goodness [0,1] 0.8173849334065991 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.30 [[ 9.98779203e-01 2.15232293e-02 -4.44618208e-02 5.53145543e+00] [-2.16856637e-02 9.99759799e-01 -3.17419462e-03 -3.41687656e-01] [ 4.43828222e-02 4.13450366e-03 9.99006042e-01 -1.29501355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66629675700003 meters Centerline goodness [0,1] 0.8117942940976134 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.30 [[ 9.98782575e-01 2.09863413e-02 -4.46423628e-02 5.53266898e+00] [-2.11394779e-02 9.99772152e-01 -2.96092343e-03 -3.42508724e-01] [ 4.45700522e-02 3.90103497e-03 9.98998645e-01 -1.29522109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69629675700003 meters Centerline goodness [0,1] 0.8110356046493322 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.34, Z:-1.30 [[ 9.98785716e-01 2.07800365e-02 -4.46685892e-02 5.53314466e+00] [-2.09332249e-02 9.99776481e-01 -2.96436994e-03 -3.42945700e-01] [ 4.45970052e-02 3.89582797e-03 9.98997462e-01 -1.29552326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72629675700003 meters Centerline goodness [0,1] 0.8125443041298013 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98778891e-01 1.98825976e-02 -4.52262028e-02 5.53547942e+00] [-2.00569547e-02 9.99793042e-01 -3.40466709e-03 -3.43181445e-01] [ 4.51491493e-02 4.30760952e-03 9.98970970e-01 -1.29650170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75629675700003 meters Centerline goodness [0,1] 0.8131208555028439 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98772306e-01 1.98933633e-02 -4.53666655e-02 5.53591576e+00] [-2.00607413e-02 9.99793523e-01 -3.23711488e-03 -3.43492154e-01] [ 4.52929012e-02 4.14322964e-03 9.98965158e-01 -1.29646391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78629675700003 meters Centerline goodness [0,1] 0.8090918624161074 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98771421e-01 1.99133305e-02 -4.53773833e-02 5.53613215e+00] [-2.00832843e-02 9.99792889e-01 -3.29248143e-03 -3.42797939e-01] [ 4.53024209e-02 4.19976325e-03 9.98964490e-01 -1.29659857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81629675700003 meters Centerline goodness [0,1] 0.810999164752558 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98764943e-01 1.96508928e-02 -4.56336658e-02 5.53716882e+00] [-1.98363150e-02 9.99796709e-01 -3.61395622e-03 -3.42097666e-01] [ 4.55533715e-02 4.51469654e-03 9.98951704e-01 -1.29716397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84629675700003 meters Centerline goodness [0,1] 0.8081314470196068 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98759897e-01 1.98841798e-02 -4.56430423e-02 5.53743148e+00] [-2.00716151e-02 9.99791875e-01 -3.65187704e-03 -3.41325379e-01] [ 4.55609283e-02 4.56347792e-03 9.98951138e-01 -1.29755252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87629675700003 meters Centerline goodness [0,1] 0.8111456726873514 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98673437e-01 2.26230250e-02 -4.62554266e-02 5.54018569e+00] [-2.26587263e-02 9.99743227e-01 -2.47581803e-04 -3.42771586e-01] [ 4.62379484e-02 1.29534242e-03 9.98929614e-01 -1.29842364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90629675700004 meters Centerline goodness [0,1] 0.808512863417695 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98661724e-01 2.26411110e-02 -4.64988231e-02 5.54113484e+00] [-2.26938704e-02 9.99742277e-01 -6.06982689e-04 -3.41594409e-01] [ 4.64730965e-02 1.66140865e-03 9.98918160e-01 -1.29914625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93629675700004 meters Centerline goodness [0,1] 0.8076115485564305 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98655157e-01 2.27716733e-02 -4.65760476e-02 5.54126996e+00] [-2.28217722e-02 9.99739401e-01 -5.44086440e-04 -3.41497262e-01] [ 4.65515201e-02 1.60630267e-03 9.98914599e-01 -1.29911417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966296757 meters Centerline goodness [0,1] 0.8052559583311412 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98642524e-01 2.26754898e-02 -4.68927555e-02 5.54239602e+00] [-2.27396550e-02 9.99741072e-01 -8.35267155e-04 -3.41183616e-01] [ 4.68616735e-02 1.90045838e-03 9.98899580e-01 -1.29985398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.996296757 meters Centerline goodness [0,1] 0.8058074322553593 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98626047e-01 2.24369002e-02 -4.73561443e-02 5.54381632e+00] [-2.25169126e-02 9.99745793e-01 -1.15674132e-03 -3.40443028e-01] [ 4.73181523e-02 2.22146618e-03 9.98877399e-01 -1.30044295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026296757 meters Centerline goodness [0,1] 0.8038229903115999 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98611850e-01 2.29129626e-02 -4.74275073e-02 5.54394677e+00] [-2.29927728e-02 9.99734984e-01 -1.13784273e-03 -3.39357791e-01] [ 4.73888669e-02 2.22675313e-03 9.98874035e-01 -1.30069355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.056296757 meters Centerline goodness [0,1] 0.8052598458230636 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98604398e-01 2.31906802e-02 -4.74494282e-02 5.54382014e+00] [-2.32679258e-02 9.99728686e-01 -1.07619465e-03 -3.38967736e-01] [ 4.74115968e-02 2.17874249e-03 9.98873062e-01 -1.30058904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086296757 meters Centerline goodness [0,1] 0.8035709617546336 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.34, Z:-1.30 [[ 9.98494232e-01 2.65152370e-02 -4.80230255e-02 5.54559404e+00] [-2.64169501e-02 9.99647418e-01 2.68029692e-03 -3.39730400e-01] [ 4.80771622e-02 -1.40763914e-03 9.98842633e-01 -1.30039566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11629675700001 meters Centerline goodness [0,1] 0.8039108330074306 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.34, Z:-1.30 [[ 9.98488976e-01 2.65783851e-02 -4.80973408e-02 5.54580549e+00] [-2.64940741e-02 9.99646114e-01 2.38970488e-03 -3.38734138e-01] [ 4.81438343e-02 -1.11179947e-03 9.98839795e-01 -1.30063840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14629675700002 meters Centerline goodness [0,1] 0.8022535651087749 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98481290e-01 2.74516814e-02 -4.77652405e-02 5.54445971e+00] [-2.73647806e-02 9.99622457e-01 2.47242032e-03 -3.36649419e-01] [ 4.78150792e-02 -1.16158011e-03 9.98855530e-01 -1.30019443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17629675700002 meters Centerline goodness [0,1] 0.8012179887570269 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.34, Z:-1.30 [[ 9.98476766e-01 2.74860362e-02 -4.78400091e-02 5.54464429e+00] [-2.74178054e-02 9.99621893e-01 2.08197867e-03 -3.35321854e-01] [ 4.78791458e-02 -7.67139266e-04 9.98852841e-01 -1.30042247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20629675700002 meters Centerline goodness [0,1] 0.7972553081305023 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.33, Z:-1.30 [[ 9.98352288e-01 3.10506808e-02 -4.82551983e-02 5.54579724e+00] [-3.08115013e-02 9.99509002e-01 5.69269570e-03 -3.34809967e-01] [ 4.84082671e-02 -4.19650067e-03 9.98818817e-01 -1.29999694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23629675700002 meters Centerline goodness [0,1] 0.7951903704086377 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.33, Z:-1.30 [[ 9.98349228e-01 3.11807150e-02 -4.82346639e-02 5.54568849e+00] [-3.09587210e-02 9.99506384e-01 5.34280661e-03 -3.33321543e-01] [ 4.83774470e-02 -3.84070335e-03 9.98821742e-01 -1.30011850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26629675700002 meters Centerline goodness [0,1] 0.7935285053929122 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.33, Z:-1.30 [[ 9.98325510e-01 3.13121808e-02 -4.86387110e-02 5.54667363e+00] [-3.11319140e-02 9.99505336e-01 4.45957175e-03 -3.30020887e-01] [ 4.87542900e-02 -2.93788807e-03 9.98806482e-01 -1.30091266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29629675700002 meters Centerline goodness [0,1] 0.7944941888806218 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.33, Z:-1.30 [[ 9.98320846e-01 3.11749966e-02 -4.88221996e-02 5.54748064e+00] [-3.10292512e-02 9.99511478e-01 3.74048263e-03 -3.27834301e-01] [ 4.89149584e-02 -2.21928549e-03 9.98800481e-01 -1.30173573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32629675700002 meters Centerline goodness [0,1] 0.7906495761413543 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.33, Z:-1.30 [[ 9.98195462e-01 3.43184371e-02 -4.92753924e-02 5.55005222e+00] [-3.40384307e-02 9.99399318e-01 6.51066468e-03 -3.25745828e-01] [ 4.94692294e-02 -4.82165891e-03 9.98764010e-01 -1.30334706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35629675700002 meters Centerline goodness [0,1] 0.7926599429502852 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.32, Z:-1.30 [[ 9.98192312e-01 3.40593715e-02 -4.95183538e-02 5.55103595e+00] [-3.38157004e-02 9.99411542e-01 5.75053105e-03 -3.23819920e-01] [ 4.96850738e-02 -4.06563806e-03 9.98756659e-01 -1.30420206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38629675700003 meters Centerline goodness [0,1] 0.7906308779421484 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.32, Z:-1.30 [[ 9.98181774e-01 3.38829378e-02 -4.98506958e-02 5.55192106e+00] [-3.36795483e-02 9.99420600e-01 4.91456875e-03 -3.21377425e-01] [ 4.99883323e-02 -3.22668404e-03 9.98744590e-01 -1.30479758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41629675700003 meters Centerline goodness [0,1] 0.7903549049950531 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.32, Z:-1.30 [[ 9.98171776e-01 3.37459494e-02 -5.01429648e-02 5.55255839e+00] [-3.35606743e-02 9.99426404e-01 4.53254072e-03 -3.19880983e-01] [ 5.02671579e-02 -2.84142251e-03 9.98731765e-01 -1.30486755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44629675700003 meters Centerline goodness [0,1] 0.7903789644340865 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.32, Z:-1.31 [[ 9.98167697e-01 3.33651802e-02 -5.04778498e-02 5.55370184e+00] [-3.32013877e-02 9.99440354e-01 4.08010230e-03 -3.18885214e-01] [ 5.05857334e-02 -2.39669166e-03 9.98716846e-01 -1.30542768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47629675700003 meters Centerline goodness [0,1] 0.7925636999138848 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.32, Z:-1.31 [[ 9.98163365e-01 3.30799768e-02 -5.07504939e-02 5.55464091e+00] [-3.29325822e-02 9.99450585e-01 3.73799533e-03 -3.17966103e-01] [ 5.08462636e-02 -2.05978518e-03 9.98704368e-01 -1.30588339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50629675700003 meters Centerline goodness [0,1] 0.7916119915211467 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.32, Z:-1.31 [[ 9.98161983e-01 3.24996878e-02 -5.11510149e-02 5.55593836e+00] [-3.23726067e-02 9.99470385e-01 3.31118011e-03 -3.16641553e-01] [ 5.12315369e-02 -1.64920242e-03 9.98685441e-01 -1.30619297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53629675700003 meters Centerline goodness [0,1] 0.7926684363544432 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.32, Z:-1.31 [[ 9.98150897e-01 3.23998137e-02 -5.14299417e-02 5.55625732e+00] [-3.22638341e-02 9.99473356e-01 3.47220973e-03 -3.16925186e-01] [ 5.15153554e-02 -1.80646215e-03 9.98670569e-01 -1.30566261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56629675700003 meters Centerline goodness [0,1] 0.7928064459094238 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.32, Z:-1.30 [[ 9.98136034e-01 3.14342583e-02 -5.23100778e-02 5.55818835e+00] [-3.12916969e-02 9.99504018e-01 3.54228521e-03 -3.18001472e-01] [ 5.23954821e-02 -1.89881141e-03 9.98624608e-01 -1.30499499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59629675700003 meters Centerline goodness [0,1] 0.7896793385096299 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.32, Z:-1.31 [[ 9.98128386e-01 3.10162065e-02 -5.27040757e-02 5.55924243e+00] [-3.08789361e-02 9.99517291e-01 3.41704177e-03 -3.18305939e-01] [ 5.27846186e-02 -1.78320060e-03 9.98604328e-01 -1.30509999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62629675700003 meters Centerline goodness [0,1] 0.7931765418391037 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.32, Z:-1.31 [[ 9.98123129e-01 3.04188633e-02 -5.31499014e-02 5.56043349e+00] [-3.02970171e-02 9.99536142e-01 3.09689744e-03 -3.17718506e-01] [ 5.32194515e-02 -1.48080149e-03 9.98581743e-01 -1.30518026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65629675700004 meters Centerline goodness [0,1] 0.7941206055424231 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.32, Z:-1.31 [[ 9.98111271e-01 3.00490008e-02 -5.35812358e-02 5.56172763e+00] [-2.99499742e-02 9.99547885e-01 2.65033801e-03 -3.16618637e-01] [ 5.36366509e-02 -1.04057561e-03 9.98559977e-01 -1.30567736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68629675700004 meters Centerline goodness [0,1] 0.7950103009899 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.31, Z:-1.31 [[ 9.98091615e-01 3.03305765e-02 -5.37883227e-02 5.56199396e+00] [-3.02498398e-02 9.99539689e-01 2.31469580e-03 -3.14383644e-01] [ 5.38337694e-02 -6.83190331e-04 9.98549678e-01 -1.30578504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.716296757 meters Centerline goodness [0,1] 0.7970422358691566 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.31, Z:-1.31 [[ 9.98083002e-01 3.02390261e-02 -5.39992855e-02 5.56264251e+00] [-3.01828019e-02 9.99542671e-01 1.85660539e-03 -3.12917189e-01] [ 5.40307320e-02 -2.23196546e-04 9.98539248e-01 -1.30619600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.746296757 meters Centerline goodness [0,1] 0.7976623441771803 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.31, Z:-1.31 [[ 9.98073214e-01 3.03215405e-02 -5.41337576e-02 5.56282028e+00] [-3.02822683e-02 9.99540192e-01 1.54575502e-03 -3.11537554e-01] [ 5.41557361e-02 9.65162877e-05 9.98532497e-01 -1.30620270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.776296757 meters Centerline goodness [0,1] 0.7976817966076291 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.31, Z:-1.31 [[ 0.99824052 0.03375854 -0.04874653 5.57461543] [-0.03409276 0.99940041 -0.00604107 -0.30807171] [ 0.04851337 0.00769235 0.99879291 -1.31023779] [ 0. 0. 0. 1. ]] SLAMing on 150.806296757 meters Centerline goodness [0,1] 0.7976214171974523 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.31, Z:-1.31 [[ 9.98098399e-01 3.74781601e-02 -4.89384643e-02 5.57571031e+00] [-3.76516625e-02 9.99287469e-01 -2.62795930e-03 -3.06931691e-01] [ 4.88051031e-02 4.46557651e-03 9.98798338e-01 -1.31050022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.836296757 meters Centerline goodness [0,1] 0.7996236599074005 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.31, Z:-1.31 [[ 9.97940057e-01 4.10404877e-02 -4.93084352e-02 5.57721913e+00] [-4.10350365e-02 9.99157077e-01 1.12327940e-03 -3.07131252e-01] [ 4.93129719e-02 9.02407926e-04 9.98782968e-01 -1.31068390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86629675700001 meters Centerline goodness [0,1] 0.7984895296944731 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.31, Z:-1.31 [[ 9.97772332e-01 4.43821361e-02 -4.98056170e-02 5.57933191e+00] [-4.42264043e-02 9.99012600e-01 4.22503813e-03 -3.05525318e-01] [ 4.99439551e-02 -2.01290280e-03 9.98749994e-01 -1.31130646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89629675700002 meters Centerline goodness [0,1] 0.7955607762523554 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-1.31 [[ 9.97762817e-01 4.43892405e-02 -4.99895680e-02 5.57977189e+00] [-4.42529459e-02 9.99013015e-01 3.83049975e-03 -3.04161470e-01] [ 5.01102620e-02 -1.60974457e-03 9.98742394e-01 -1.31155696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92629675700002 meters Centerline goodness [0,1] 0.7937170474516696 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-1.31 [[ 9.97755734e-01 4.40594084e-02 -5.04208612e-02 5.58107462e+00] [-4.39644612e-02 9.99028618e-01 2.99115619e-03 -3.02017925e-01] [ 5.05036719e-02 -7.67717244e-04 9.98723580e-01 -1.31223517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95629675700002 meters Centerline goodness [0,1] 0.794417109173284 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-1.31 [[ 9.97740767e-01 4.36658732e-02 -5.10553867e-02 5.58247516e+00] [-4.35985833e-02 9.99046171e-01 2.43146613e-03 -3.00418170e-01] [ 5.11128607e-02 -2.00030346e-04 9.98692863e-01 -1.31230308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98629675700002 meters Centerline goodness [0,1] 0.7948180466522047 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-1.31 [[ 9.97735860e-01 4.36619992e-02 -5.11545120e-02 5.58269187e+00] [-4.36027491e-02 9.99046359e-01 2.27418841e-03 -2.99747753e-01] [ 5.12050246e-02 -3.85619736e-05 9.98688162e-01 -1.31235121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01629675700002 meters Centerline goodness [0,1] 0.7931034482758621 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-1.31 [[ 9.97736906e-01 4.33311842e-02 -5.14147339e-02 5.58375057e+00] [-4.32942391e-02 9.99060684e-01 1.83259454e-03 -2.98669776e-01] [ 5.14458477e-02 3.97514570e-04 9.98675706e-01 -1.31294537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04629675700002 meters Centerline goodness [0,1] 0.7924902620182421 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-1.31 [[ 9.97741823e-01 4.29109782e-02 -5.16711059e-02 5.58467945e+00] [-4.28996848e-02 9.99078502e-01 1.32813271e-03 -2.97011024e-01] [ 5.16804825e-02 8.91540599e-04 9.98663273e-01 -1.31326189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07629675700002 meters Centerline goodness [0,1] 0.7937459062128527 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.30, Z:-1.31 [[ 9.97736048e-01 4.27767067e-02 -5.18934583e-02 5.58503175e+00] [-4.27664487e-02 9.99084240e-01 1.30856407e-03 -2.96958486e-01] [ 5.19019124e-02 9.13697379e-04 9.98651769e-01 -1.31303516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10629675700002 meters Centerline goodness [0,1] 0.793398681682193 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.30, Z:-1.31 [[ 9.97748087e-01 4.21246118e-02 -5.21945578e-02 5.58552047e+00] [-4.21198966e-02 9.99111854e-01 1.19078947e-03 -2.97274744e-01] [ 5.21983630e-02 1.01032146e-03 9.98636225e-01 -1.31229921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13629675700003 meters Centerline goodness [0,1] 0.796965054351791 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.30, Z:-1.31 [[ 9.97752276e-01 4.18836482e-02 -5.23082716e-02 5.58565404e+00] [-4.18817974e-02 9.99121931e-01 1.13199620e-03 -2.97128448e-01] [ 5.23097535e-02 1.06131265e-03 9.98630344e-01 -1.31193279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16629675700003 meters Centerline goodness [0,1] 0.7971607373316775 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.30, Z:-1.31 [[ 9.97749230e-01 4.16569465e-02 -5.25468617e-02 5.58589690e+00] [-4.16572114e-02 9.99131366e-01 1.09066925e-03 -2.96773453e-01] [ 5.25466516e-02 1.10074132e-03 9.98617864e-01 -1.31140196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19629675700003 meters Centerline goodness [0,1] 0.8016422827245422 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97750774e-01 4.10278297e-02 -5.30104701e-02 5.58716856e+00] [-4.10584791e-02 9.99156614e-01 5.11183526e-04 -2.94981799e-01] [ 5.29867346e-02 1.66649552e-03 9.98593826e-01 -1.31148762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22629675700003 meters Centerline goodness [0,1] 0.8050349582443193 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97753610e-01 4.06994815e-02 -5.32098264e-02 5.58783752e+00] [-4.07684143e-02 9.99168600e-01 -2.10273576e-04 -2.91980100e-01] [ 5.31570297e-02 2.37908147e-03 9.98583332e-01 -1.31174995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25629675700003 meters Centerline goodness [0,1] 0.8040478823133503 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97675865e-01 4.19426505e-02 -5.36999280e-02 5.59083336e+00] [-4.19319103e-02 9.99119589e-01 1.32716707e-03 -2.91635487e-01] [ 5.37083149e-02 9.27658009e-04 9.98556236e-01 -1.31327044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28629675700003 meters Centerline goodness [0,1] 0.8040478823133503 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97675865e-01 4.19426505e-02 -5.36999280e-02 5.59083336e+00] [-4.19319103e-02 9.99119589e-01 1.32716707e-03 -2.91635487e-01] [ 5.37083149e-02 9.27658009e-04 9.98556236e-01 -1.31327044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31629675700003 meters Centerline goodness [0,1] 0.8061824845679012 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97668543e-01 4.19807373e-02 -5.38060875e-02 5.59079399e+00] [-4.19915653e-02 9.99117533e-01 9.29761644e-04 -2.89927038e-01] [ 5.37976375e-02 1.33180789e-03 9.98550970e-01 -1.31296978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34629675700003 meters Centerline goodness [0,1] 0.8045047437413997 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97665104e-01 4.19340237e-02 -5.39061977e-02 5.59099866e+00] [-4.19598500e-02 9.99119084e-01 6.53083891e-04 -2.88931670e-01] [ 5.38860973e-02 1.61033696e-03 9.98545790e-01 -1.31297372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37629675700003 meters Centerline goodness [0,1] 0.8056315057322396 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.29, Z:-1.31 [[ 9.97658397e-01 4.19147199e-02 -5.40451528e-02 5.59142567e+00] [-4.19757474e-02 9.99118630e-01 5.93203118e-06 -2.85575980e-01] [ 5.39977677e-02 2.26266754e-03 9.98538493e-01 -1.31315738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40629675700004 meters Centerline goodness [0,1] 0.8067341517696891 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.28, Z:-1.31 [[ 9.97659048e-01 4.17855279e-02 -5.41331040e-02 5.59188904e+00] [-4.18791078e-02 9.99122508e-01 -5.95004489e-04 -2.83250096e-01] [ 5.40607401e-02 2.86065771e-03 9.98533551e-01 -1.31355428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43629675700004 meters Centerline goodness [0,1] 0.8053426027332031 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.28, Z:-1.31 [[ 9.97503993e-01 4.48526766e-02 -5.45345812e-02 5.59387829e+00] [-4.47930084e-02 9.98993604e-01 2.31655435e-03 -2.81211565e-01] [ 5.45836015e-02 1.31995737e-04 9.98509195e-01 -1.31410077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.466296757 meters Centerline goodness [0,1] 0.8059173003802281 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.28, Z:-1.31 [[ 9.97508868e-01 4.46281273e-02 -5.46295584e-02 5.59429254e+00] [-4.46005191e-02 9.99003412e-01 1.72504048e-03 -2.79565600e-01] [ 5.46521006e-02 7.15763488e-04 9.98505201e-01 -1.31434158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.496296757 meters Centerline goodness [0,1] 0.8052651587150732 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.28, Z:-1.31 [[ 9.97503505e-01 4.45410768e-02 -5.47982653e-02 5.59457750e+00] [-4.45311239e-02 9.99007012e-01 1.40325451e-03 -2.78671867e-01] [ 5.48063537e-02 1.04047705e-03 9.98496460e-01 -1.31425092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.526296757 meters Centerline goodness [0,1] 0.8030493443672492 Centerline is valid? [False, False] Translation: X:5.59, Y:-0.28, Z:-1.31 [[ 9.97509012e-01 4.43444284e-02 -5.48574702e-02 5.59476063e+00] [-4.43596714e-02 9.99015183e-01 9.40348910e-04 -2.77107895e-01] [ 5.48451448e-02 1.49545284e-03 9.98493752e-01 -1.31411111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.556296757 meters Centerline goodness [0,1] 0.8042801189184088 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-1.31 [[ 9.97506687e-01 4.43422202e-02 -5.49015218e-02 5.59505086e+00] [-4.43764781e-02 9.99014701e-01 5.95542785e-04 -2.74648847e-01] [ 5.48738351e-02 1.84227827e-03 9.98491596e-01 -1.31420131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.586296757 meters Centerline goodness [0,1] 0.8045857953341651 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-1.31 [[ 9.97513645e-01 4.42387500e-02 -5.48585588e-02 5.59541316e+00] [-4.42983461e-02 9.99018338e-01 1.29749745e-04 -2.72922504e-01] [ 5.48104462e-02 2.30071628e-03 9.98494127e-01 -1.31474368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61629675700001 meters Centerline goodness [0,1] 0.8075394970552492 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-1.32 [[ 9.97369095e-01 4.67660787e-02 -5.53879250e-02 5.59828623e+00] [-4.66713449e-02 9.98905784e-01 3.00335417e-03 -2.73288198e-01] [ 5.54677737e-02 -4.10423681e-04 9.98460394e-01 -1.31603498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64629675700002 meters Centerline goodness [0,1] 0.8062659996711994 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-1.32 [[ 9.97366074e-01 4.70571700e-02 -5.51954504e-02 5.59777852e+00] [-4.69697309e-02 9.98892158e-01 2.88107001e-03 -2.71448834e-01] [ 5.52698776e-02 -2.80966029e-04 9.98471413e-01 -1.31577679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67629675700002 meters Centerline goodness [0,1] 0.806010032347288 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-1.32 [[ 9.97365065e-01 4.70869656e-02 -5.51882683e-02 5.59773992e+00] [-4.70111013e-02 9.98890791e-01 2.67278170e-03 -2.70608059e-01] [ 5.52529062e-02 -7.12778204e-05 9.98472389e-01 -1.31568943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70629675700002 meters Centerline goodness [0,1] 0.8086107681196562 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.27, Z:-1.32 [[ 9.97361902e-01 4.71232104e-02 -5.52144781e-02 5.59818342e+00] [-4.70769340e-02 9.98888976e-01 2.13920203e-03 -2.68091006e-01] [ 5.52539395e-02 4.65769740e-04 9.98472226e-01 -1.31616435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73629675700002 meters Centerline goodness [0,1] 0.8089066753530794 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-1.32 [[ 9.97343738e-01 4.80707769e-02 -5.47235652e-02 5.59824111e+00] [-4.79922203e-02 9.98843925e-01 2.74951161e-03 -2.64834481e-01] [ 5.47924719e-02 -1.15902786e-04 9.98497757e-01 -1.31688810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76629675700002 meters Centerline goodness [0,1] 0.8121594360841237 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-1.32 [[ 9.97339799e-01 4.80044914e-02 -5.48533821e-02 5.59888724e+00] [-4.79540051e-02 9.98847040e-01 2.23698623e-03 -2.62939544e-01] [ 5.48975237e-02 3.99403973e-04 9.98491914e-01 -1.31745506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79629675700002 meters Centerline goodness [0,1] 0.8125260284114572 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-1.32 [[ 9.97342125e-01 4.78597301e-02 -5.49375332e-02 5.59943996e+00] [-4.78401386e-02 9.98853605e-01 1.67241680e-03 -2.61309119e-01] [ 5.49545945e-02 9.60247477e-04 9.98488393e-01 -1.31800438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82629675700002 meters Centerline goodness [0,1] 0.8083204717698279 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-1.32 [[ 9.97334850e-01 4.78952200e-02 -5.50385824e-02 5.59997957e+00] [-4.79075304e-02 9.98851173e-01 1.09645014e-03 -2.59334674e-01] [ 5.50278673e-02 1.54323463e-03 9.98483626e-01 -1.31849444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85629675700002 meters Centerline goodness [0,1] 0.8062878927062282 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-1.32 [[ 9.97323819e-01 4.81281519e-02 -5.50352756e-02 5.60032391e+00] [-4.81699558e-02 9.98838993e-01 5.67463505e-04 -2.56894857e-01] [ 5.49986902e-02 2.08510192e-03 9.98484249e-01 -1.31905129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88629675700003 meters Centerline goodness [0,1] 0.8080986318949516 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.26, Z:-1.32 [[ 9.97324569e-01 4.80966192e-02 -5.50492419e-02 5.60071046e+00] [-4.81644738e-02 9.98839414e-01 9.42043846e-05 -2.55270791e-01] [ 5.49898834e-02 2.55746542e-03 9.98483636e-01 -1.31953790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91629675700003 meters Centerline goodness [0,1] 0.8024124460283737 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.25, Z:-1.32 [[ 9.97158764e-01 5.11266607e-02 -5.53214512e-02 5.60293585e+00] [-5.10363711e-02 9.98692154e-01 3.04457282e-03 -2.54430864e-01] [ 5.54047581e-02 -2.12516356e-04 9.98463954e-01 -1.32070128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94629675700003 meters Centerline goodness [0,1] 0.7802897228242271 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.25, Z:-1.32 [[ 9.97163221e-01 5.09673697e-02 -5.53880727e-02 5.60352446e+00] [-5.09030801e-02 9.98700286e-01 2.57180778e-03 -2.52991988e-01] [ 5.54471623e-02 2.54911369e-04 9.98461590e-01 -1.32128274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97629675700003 meters Centerline goodness [0,1] 0.7763820813860709 Centerline is valid? [False, False] Translation: X:5.60, Y:-0.25, Z:-1.32 [[ 9.97168503e-01 5.07404919e-02 -5.55011711e-02 5.60435067e+00] [-5.06993201e-02 9.98711647e-01 2.15049630e-03 -2.52046351e-01] [ 5.55387833e-02 6.69464465e-04 9.98456306e-01 -1.32198877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00629675700003 meters Centerline goodness [0,1] 0.7727883105355395 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.25, Z:-1.32 [[ 9.97189550e-01 4.99818872e-02 -5.58105126e-02 5.60597922e+00] [-4.99850080e-02 9.98749068e-01 1.34088703e-03 -2.51034686e-01] [ 5.58077175e-02 1.45257039e-03 9.98440478e-01 -1.32299369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03629675700003 meters Centerline goodness [0,1] 0.7968450806966354 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.25, Z:-1.32 [[ 9.97206508e-01 4.95771556e-02 -5.58684719e-02 5.60648599e+00] [-4.95877838e-02 9.98769052e-01 1.19688146e-03 -2.51385562e-01] [ 5.58590387e-02 1.57685572e-03 9.98437420e-01 -1.32318445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06629675700003 meters Centerline goodness [0,1] 0.8019627579265224 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.25, Z:-1.32 [[ 9.97292967e-01 4.78613681e-02 -5.58213879e-02 5.60761861e+00] [-4.79129559e-02 9.98851429e-01 4.14572166e-04 -2.53288147e-01] [ 5.57771151e-02 2.26111779e-03 9.98440685e-01 -1.32380577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09629675700003 meters Centerline goodness [0,1] 0.8013734571422053 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.25, Z:-1.32 [[ 9.97312326e-01 4.68574238e-02 -5.63250135e-02 5.60970443e+00] [-4.69371027e-02 9.98897843e-01 -9.18154981e-05 -2.54248825e-01] [ 5.62586323e-02 2.73530168e-03 9.98412482e-01 -1.32482729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12629675700003 meters Centerline goodness [0,1] 0.8085688031242821 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.25, Z:-1.33 [[ 9.97496163e-01 4.24854345e-02 -5.65366409e-02 5.61049938e+00] [-4.27818986e-02 9.99076254e-01 -4.04323667e-03 -2.54474663e-01] [ 5.63126367e-02 6.45185791e-03 9.98392338e-01 -1.32559375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15629675700004 meters Centerline goodness [0,1] 0.8072444423988585 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.26, Z:-1.33 [[ 9.97503693e-01 4.19574966e-02 -5.67974625e-02 5.61184892e+00] [-4.22556011e-02 9.99098595e-01 -4.05726334e-03 -2.55856450e-01] [ 5.65760324e-02 6.44714609e-03 9.98377477e-01 -1.32633542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18629675700004 meters Centerline goodness [0,1] 0.8093584311546387 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.26, Z:-1.33 [[ 9.97607125e-01 3.95674280e-02 -5.66960619e-02 5.61335070e+00] [-3.99344009e-02 9.99187960e-01 -5.35390271e-03 -2.58860856e-01] [ 5.64381823e-02 7.60521475e-03 9.98377129e-01 -1.32765819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21629675700004 meters Centerline goodness [0,1] 0.8093003809346837 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.26, Z:-1.33 [[ 9.97621130e-01 3.91252550e-02 -5.67564546e-02 5.61425317e+00] [-3.94792406e-02 9.99207229e-01 -5.12870343e-03 -2.61118964e-01] [ 5.65107979e-02 7.35720464e-03 9.98374880e-01 -1.32822212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.246296757 meters Centerline goodness [0,1] 0.80599808173673 Centerline is valid? [False, False] Translation: X:5.61, Y:-0.26, Z:-1.33 [[ 0.99777025 0.03513619 -0.05674485 5.61463582] [-0.03566443 0.99932916 -0.00832303 -0.26367941] [ 0.05641434 0.01032825 0.99835402 -1.32890412] [ 0. 0. 0. 1. ]] SLAMing on 152.276296757 meters Centerline goodness [0,1] 0.8024621746076497 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.27, Z:-1.33 [[ 0.99779358 0.03413635 -0.05694452 5.6167726 ] [-0.03465285 0.99936653 -0.00810725 -0.26715929] [ 0.05663169 0.01006265 0.99834443 -1.33033697] [ 0. 0. 0. 1. ]] SLAMing on 152.306296757 meters Centerline goodness [0,1] 0.8017249505137147 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.27, Z:-1.33 [[ 0.99778848 0.03400739 -0.05711087 5.61776837] [-0.03450475 0.99937452 -0.00774501 -0.26896357] [ 0.05681176 0.00969848 0.9983378 -1.33098768] [ 0. 0. 0. 1. ]] SLAMing on 152.336296757 meters Centerline goodness [0,1] 0.8009023053665911 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.27, Z:-1.33 [[ 0.99777911 0.03374618 -0.05742854 5.61911067] [-0.03423363 0.99938553 -0.00752515 -0.27059288] [ 0.05713931 0.00947442 0.99832126 -1.33167086] [ 0. 0. 0. 1. ]] SLAMing on 152.36629675700001 meters Centerline goodness [0,1] 0.796631138180434 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.27, Z:-1.33 [[ 0.99778471 0.03311099 -0.0577004 5.62084306] [-0.03357718 0.99941071 -0.0071285 -0.2748543 ] [ 0.05743037 0.00905012 0.99830849 -1.33266979] [ 0. 0. 0. 1. ]] SLAMing on 152.39629675700002 meters Centerline goodness [0,1] 0.7969616877396004 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-1.33 [[ 0.99777004 0.03314032 -0.05793671 5.62156428] [-0.03358351 0.99941351 -0.00669239 -0.27666192] [ 0.05768094 0.00862319 0.99829783 -1.33281055] [ 0. 0. 0. 1. ]] SLAMing on 152.42629675700002 meters Centerline goodness [0,1] 0.7944124189728993 Centerline is valid? [False, False] Translation: X:5.62, Y:-0.28, Z:-1.33 [[ 0.99775078 0.03343482 -0.05809898 5.62234203] [-0.03384734 0.99940821 -0.00613048 -0.27878934] [ 0.05785963 0.00808319 0.998292 -1.33330533] [ 0. 0. 0. 1. ]] SLAMing on 152.45629675700002 meters Centerline goodness [0,1] 0.7948565305393499 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.28, Z:-1.33 [[ 9.97616450e-01 3.63348266e-02 -5.86617337e-02 5.62512651e+00] [-3.65640084e-02 9.99327284e-01 -2.83784191e-03 -2.80644206e-01] [ 5.85191585e-02 4.97598590e-03 9.98273884e-01 -1.33461078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48629675700002 meters Centerline goodness [0,1] 0.7956310448330077 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.28, Z:-1.34 [[ 9.97451199e-01 4.01930375e-02 -5.89544418e-02 5.62682819e+00] [-4.01994062e-02 9.99191095e-01 1.07844671e-03 -2.81732011e-01] [ 5.89500993e-02 1.29423559e-03 9.98260092e-01 -1.33523333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51629675700002 meters Centerline goodness [0,1] 0.7935832456727551 Centerline is valid? [False, False] Translation: X:5.63, Y:-0.28, Z:-1.34 [[ 9.97433859e-01 4.07301489e-02 -5.88791279e-02 5.62653236e+00] [-4.07311303e-02 9.99169442e-01 1.18398017e-03 -2.81209241e-01] [ 5.88784491e-02 1.21727151e-03 9.98264417e-01 -1.33525239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54629675700002 meters Centerline goodness [0,1] 0.7886709720468031 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-1.34 [[ 9.97492690e-01 4.72499172e-02 -5.26856667e-02 5.63612874e+00] [-4.75138069e-02 9.98863479e-01 -3.76683858e-03 -2.80419800e-01] [ 5.24478055e-02 6.26069054e-03 9.98604041e-01 -1.33879466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57629675700002 meters Centerline goodness [0,1] 0.7872168092050409 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-1.34 [[ 9.97463932e-01 4.78941631e-02 -5.26483981e-02 5.63582947e+00] [-4.81503999e-02 9.98833578e-01 -3.60863606e-03 -2.79492812e-01] [ 5.24141552e-02 6.13452574e-03 9.98606591e-01 -1.33870038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60629675700002 meters Centerline goodness [0,1] 0.7829330292447676 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-1.34 [[ 9.97265925e-01 5.19786715e-02 -5.25251612e-02 5.63674290e+00] [-5.20428490e-02 9.98644842e-01 1.46068194e-04 -2.79391216e-01] [ 5.24615738e-02 2.58789020e-03 9.98619590e-01 -1.33942208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63629675700003 meters Centerline goodness [0,1] 0.7809044749205144 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-1.34 [[ 9.97252759e-01 5.22641069e-02 -5.24918812e-02 5.63685577e+00] [-5.23389918e-02 9.98629374e-01 -5.20397106e-05 -2.78095318e-01] [ 5.24172147e-02 2.79926889e-03 9.98621350e-01 -1.33980702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66629675700003 meters Centerline goodness [0,1] 0.7692892797718089 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-1.34 [[ 9.97212047e-01 5.32681890e-02 -5.22554670e-02 5.63613956e+00] [-5.33341459e-02 9.98576713e-01 1.32431535e-04 -2.76064549e-01] [ 5.21881468e-02 2.65493837e-03 9.98633741e-01 -1.33974910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69629675700003 meters Centerline goodness [0,1] 0.7798837623057763 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.28, Z:-1.34 [[ 9.97197885e-01 5.33529412e-02 -5.24389358e-02 5.63659152e+00] [-5.34310669e-02 9.98571536e-01 -8.80729666e-05 -2.75154989e-01] [ 5.23593298e-02 2.88969446e-03 9.98624129e-01 -1.33988677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72629675700003 meters Centerline goodness [0,1] 0.7815770116033505 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.27, Z:-1.34 [[ 9.97198453e-01 5.33996792e-02 -5.23805218e-02 5.63669728e+00] [-5.34863735e-02 9.98568547e-01 -2.53699736e-04 -2.74428941e-01] [ 5.22919941e-02 3.05463314e-03 9.98627166e-01 -1.34013073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75629675700003 meters Centerline goodness [0,1] 0.7798680964129816 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-1.34 [[ 0.9973425 0.0562425 -0.04631121 5.64788872] [-0.05662176 0.99837174 -0.00691772 -0.27219562] [ 0.04584673 0.00952156 0.99890311 -1.34261407] [ 0. 0. 0. 1. ]] SLAMing on 152.78629675700003 meters Centerline goodness [0,1] 0.7840968307357051 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-1.34 [[ 0.99735073 0.05607333 -0.04633902 5.64789884] [-0.05645184 0.99838148 -0.00689939 -0.27082044] [ 0.04587715 0.00949703 0.99890194 -1.34191192] [ 0. 0. 0. 1. ]] SLAMing on 152.81629675700003 meters Centerline goodness [0,1] 0.7866105820355885 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-1.34 [[ 0.99735911 0.05562527 -0.04669721 5.64902931] [-0.05601872 0.99840405 -0.00715865 -0.27027261] [ 0.04622448 0.00975566 0.99888344 -1.34213676] [ 0. 0. 0. 1. ]] SLAMing on 152.84629675700003 meters Centerline goodness [0,1] 0.7895658760592719 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-1.34 [[ 0.99737424 0.05505682 -0.0470465 5.65029387] [-0.05546395 0.99843333 -0.00739167 -0.27030563] [ 0.04656584 0.00998165 0.99886535 -1.34254609] [ 0. 0. 0. 1. ]] SLAMing on 152.87629675700003 meters Centerline goodness [0,1] 0.7888285309400095 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-1.34 [[ 0.99745299 0.05307908 -0.0476461 5.65311951] [-0.05352681 0.99853299 -0.00816988 -0.27125868] [ 0.04714255 0.01069942 0.99883087 -1.34352294] [ 0. 0. 0. 1. ]] SLAMing on 152.90629675700004 meters Centerline goodness [0,1] 0.7921251678880276 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.27, Z:-1.34 [[ 0.99746961 0.05240175 -0.04804612 5.65455582] [-0.05285821 0.99856771 -0.00827896 -0.27194173] [ 0.04754347 0.01079764 0.99881081 -1.34391131] [ 0. 0. 0. 1. ]] SLAMing on 152.93629675700004 meters Centerline goodness [0,1] 0.7936180797384692 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.34 [[ 0.99768779 0.04753093 -0.04857855 5.65608797] [-0.04820381 0.99875583 -0.01277423 -0.27047963] [ 0.04791094 0.01508637 0.99873767 -1.3446186 ] [ 0. 0. 0. 1. ]] SLAMing on 152.96629675700004 meters Centerline goodness [0,1] 0.7942822068509644 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.35 [[ 0.99769565 0.0466532 -0.0492633 5.65843894] [-0.04735132 0.99879239 -0.01309988 -0.27090654] [ 0.04859266 0.01540238 0.99869992 -1.34549243] [ 0. 0. 0. 1. ]] SLAMing on 152.996296757 meters Centerline goodness [0,1] 0.7952923886505321 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.35 [[ 0.99775317 0.04479524 -0.04981962 5.6613622 ] [-0.04555004 0.99886227 -0.01411938 -0.27065506] [ 0.04913046 0.01635694 0.99865842 -1.34696567] [ 0. 0. 0. 1. ]] SLAMing on 153.026296757 meters Centerline goodness [0,1] 0.7946732954545455 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.35 [[ 0.99775977 0.044309 -0.05012138 5.66251859] [-0.04507899 0.99888054 -0.01433725 -0.27044549] [ 0.04943001 0.01656455 0.99864022 -1.34740811] [ 0. 0. 0. 1. ]] SLAMing on 153.056296757 meters Centerline goodness [0,1] 0.7906767628963559 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.35 [[ 0.99778549 0.04358546 -0.0502437 5.66343051] [-0.04437415 0.99890698 -0.01468977 -0.26993461] [ 0.04954852 0.01688676 0.99862895 -1.34762888] [ 0. 0. 0. 1. ]] SLAMing on 153.086296757 meters Centerline goodness [0,1] 0.7920593306407804 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.35 [[ 0.99778227 0.04346011 -0.05041584 5.66388214] [-0.04425256 0.99891208 -0.01470947 -0.26969732] [ 0.04972171 0.01690788 0.99861999 -1.34758481] [ 0. 0. 0. 1. ]] SLAMing on 153.11629675700001 meters Centerline goodness [0,1] 0.7907778801407885 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.27, Z:-1.35 [[ 0.99778193 0.04337788 -0.05049329 5.66438394] [-0.04418499 0.99891106 -0.01497902 -0.26840598] [ 0.04978854 0.01717684 0.99861207 -1.34780846] [ 0. 0. 0. 1. ]] SLAMing on 153.14629675700002 meters Centerline goodness [0,1] 0.7919094155233979 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-1.35 [[ 0.99763028 0.04628497 -0.05090699 5.66664275] [-0.04693314 0.99883055 -0.01161089 -0.26917389] [ 0.05031005 0.0139726 0.9986359 -1.34862087] [ 0. 0. 0. 1. ]] SLAMing on 153.17629675700002 meters Centerline goodness [0,1] 0.7919094155233979 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-1.35 [[ 0.99763028 0.04628497 -0.05090699 5.66664275] [-0.04693314 0.99883055 -0.01161089 -0.26917389] [ 0.05031005 0.0139726 0.9986359 -1.34862087] [ 0. 0. 0. 1. ]] SLAMing on 153.20629675700002 meters Centerline goodness [0,1] 0.7897725939311445 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-1.35 [[ 0.99745403 0.04985631 -0.05098832 5.66844907] [-0.05034949 0.99869605 -0.00843331 -0.26723848] [ 0.05050138 0.01097907 0.99866364 -1.3499753 ] [ 0. 0. 0. 1. ]] SLAMing on 153.23629675700002 meters Centerline goodness [0,1] 0.7877610263133252 Centerline is valid? [False, False] Translation: X:5.67, Y:-0.27, Z:-1.35 [[ 9.97265475e-01 5.34271471e-02 -5.10598843e-02 5.66964486e+00] [-5.37350846e-02 9.98544277e-01 -4.67632683e-03 -2.67499470e-01] [ 5.07357124e-02 7.40724650e-03 9.98684645e-01 -1.35041242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26629675700002 meters Centerline goodness [0,1] 0.7853274823771066 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-1.35 [[ 0.99727292 0.05827533 -0.04528472 5.6806322 ] [-0.05882231 0.99820961 -0.01084019 -0.26489227] [ 0.04457192 0.01347437 0.9989153 -1.35393988] [ 0. 0. 0. 1. ]] SLAMing on 153.29629675700002 meters Centerline goodness [0,1] 0.7867983897089446 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.27, Z:-1.35 [[ 0.99705267 0.06156913 -0.04577343 5.68289608] [-0.06196962 0.99805074 -0.00738111 -0.26587307] [ 0.04522976 0.01019591 0.99892458 -1.35469876] [ 0. 0. 0. 1. ]] SLAMing on 153.32629675700002 meters Centerline goodness [0,1] 0.7845996893041804 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-1.35 [[ 0.99700484 0.06247634 -0.04558574 5.68207974] [-0.06285879 0.99799786 -0.00700351 -0.26491647] [ 0.04505692 0.009848 0.99893588 -1.35428468] [ 0. 0. 0. 1. ]] SLAMing on 153.35629675700002 meters Centerline goodness [0,1] 0.7856812077428915 Centerline is valid? [False, False] Translation: X:5.68, Y:-0.26, Z:-1.35 [[ 9.96738937e-01 6.65367860e-02 -4.56546454e-02 5.68343458e+00] [-6.67590337e-02 9.97763473e-01 -3.35899178e-03 -2.63874815e-01] [ 4.53290411e-02 6.39589790e-03 9.98951636e-01 -1.35498531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38629675700003 meters Centerline goodness [0,1] 0.7866231723116787 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96483532e-01 7.01349593e-02 -4.58438389e-02 5.68515720e+00] [-7.02023827e-02 9.97532759e-01 1.39629864e-04 -2.63292769e-01] [ 4.57405241e-02 3.07920787e-03 9.98948609e-01 -1.35569621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41629675700003 meters Centerline goodness [0,1] 0.7853211857744069 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96477420e-01 7.00423923e-02 -4.61174010e-02 5.68605829e+00] [-7.01232203e-02 9.97538328e-01 -1.35194612e-04 -2.62586526e-01] [ 4.59944057e-02 3.36861905e-03 9.98936017e-01 -1.35613837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44629675700003 meters Centerline goodness [0,1] 0.7844217151848938 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96479864e-01 6.96517146e-02 -4.66531806e-02 5.68750496e+00] [-6.97452612e-02 9.97564762e-01 -3.78371177e-04 -2.63150180e-01] [ 4.65132148e-02 3.63087752e-03 9.98911076e-01 -1.35646816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47629675700003 meters Centerline goodness [0,1] 0.7871602884082085 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96500174e-01 6.90493000e-02 -4.71125943e-02 5.68908287e+00] [-6.91595011e-02 9.97605362e-01 -7.11127293e-04 -2.63665416e-01] [ 4.69506738e-02 3.96692199e-03 9.98889332e-01 -1.35714479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50629675700003 meters Centerline goodness [0,1] 0.7910059607373823 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96562968e-01 6.77533905e-02 -4.76626568e-02 5.69134603e+00] [-6.78926761e-02 9.97691773e-01 -1.30765976e-03 -2.64501448e-01] [ 4.74640422e-02 4.53911061e-03 9.98862634e-01 -1.35811904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53629675700003 meters Centerline goodness [0,1] 0.7939787621219451 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96573349e-01 6.73115041e-02 -4.80699722e-02 5.69254265e+00] [-6.74595227e-02 9.97720941e-01 -1.46172799e-03 -2.64617994e-01] [ 4.78620268e-02 4.69949654e-03 9.98842901e-01 -1.35841812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56629675700003 meters Centerline goodness [0,1] 0.7916348754942082 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96592008e-01 6.68335513e-02 -4.83492111e-02 5.69341306e+00] [-6.69899412e-02 9.97752336e-01 -1.61963523e-03 -2.64321982e-01] [ 4.81322923e-02 4.85302633e-03 9.98829180e-01 -1.35846666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59629675700003 meters Centerline goodness [0,1] 0.794740129068073 Centerline is valid? [False, False] Translation: X:5.69, Y:-0.26, Z:-1.36 [[ 9.96605155e-01 6.64635355e-02 -4.85876948e-02 5.69421950e+00] [-6.66348506e-02 9.97775595e-01 -1.91287021e-03 -2.63828480e-01] [ 4.83524800e-02 5.14401010e-03 9.98817089e-01 -1.35868090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62629675700003 meters Centerline goodness [0,1] 0.7907282628761307 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96620888e-01 6.57977250e-02 -4.91677304e-02 5.69613284e+00] [-6.59955794e-02 9.97817005e-01 -2.40979165e-03 -2.63531693e-01] [ 4.89018387e-02 5.64650155e-03 9.98787629e-01 -1.35937120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65629675700004 meters Centerline goodness [0,1] 0.7920945508372652 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96621299e-01 6.55587577e-02 -4.94776187e-02 5.69709128e+00] [-6.57698689e-02 9.97831302e-01 -2.64910880e-03 -2.63251793e-01] [ 4.91966444e-02 5.89429474e-03 9.98771719e-01 -1.35972828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68629675700004 meters Centerline goodness [0,1] 0.7861070042506006 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96626074e-01 6.52424679e-02 -4.97984803e-02 5.69831570e+00] [-6.54714926e-02 9.97849990e-01 -2.98002402e-03 -2.62698044e-01] [ 4.94969890e-02 6.23035048e-03 9.98754840e-01 -1.36039186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71629675700004 meters Centerline goodness [0,1] 0.790080497367017 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96635944e-01 6.46854958e-02 -5.03247538e-02 5.70036264e+00] [-6.49514454e-02 9.97881693e-01 -3.66565266e-03 -2.61358218e-01] [ 4.99810360e-02 6.92198671e-03 9.98726180e-01 -1.36163784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.746296757 meters Centerline goodness [0,1] 0.7881269428849812 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96634175e-01 6.42373022e-02 -5.09302497e-02 5.70207895e+00] [-6.45231270e-02 9.97908250e-01 -3.98622711e-03 -2.61273791e-01] [ 5.05676519e-02 7.25898914e-03 9.98694257e-01 -1.36215670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.776296757 meters Centerline goodness [0,1] 0.7874637933032094 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96633893e-01 6.40048985e-02 -5.12274929e-02 5.70308921e+00] [-6.43039803e-02 9.97921477e-01 -4.20991516e-03 -2.61288947e-01] [ 5.08515602e-02 7.48987583e-03 9.98678137e-01 -1.36264520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.806296757 meters Centerline goodness [0,1] 0.7886963144169301 Centerline is valid? [False, False] Translation: X:5.70, Y:-0.26, Z:-1.36 [[ 9.96624106e-01 6.36840694e-02 -5.18143863e-02 5.70482942e+00] [-6.40005048e-02 9.97939858e-01 -4.46931331e-03 -2.61233281e-01] [ 5.14230172e-02 7.77037226e-03 9.98646732e-01 -1.36319257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.836296757 meters Centerline goodness [0,1] 0.7870099744838784 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.36 [[ 9.96609982e-01 6.37499588e-02 -5.20046786e-02 5.70523176e+00] [-6.40697076e-02 9.97935266e-01 -4.50301959e-03 -2.60849929e-01] [ 5.16102355e-02 7.81967883e-03 9.98636689e-01 -1.36319784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86629675700001 meters Centerline goodness [0,1] 0.7867195288771417 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.36 [[ 9.96575886e-01 6.40203371e-02 -5.23249476e-02 5.70607591e+00] [-6.43388528e-02 9.97918304e-01 -4.42395138e-03 -2.60279753e-01] [ 5.19328001e-02 7.77533036e-03 9.98620312e-01 -1.36341371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89629675700002 meters Centerline goodness [0,1] 0.7868578975416483 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.36 [[ 9.96567628e-01 6.40082806e-02 -5.24966898e-02 5.70685474e+00] [-6.43315029e-02 9.97918488e-01 -4.48879100e-03 -2.60085696e-01] [ 5.21000975e-02 7.85057475e-03 9.98611010e-01 -1.36392492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92629675700002 meters Centerline goodness [0,1] 0.7871217533589915 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96430630e-01 6.56803547e-02 -5.30291439e-02 5.71001362e+00] [-6.59050591e-02 9.97822771e-01 -2.49798462e-03 -2.61662347e-01] [ 5.27496189e-02 5.98395725e-03 9.98589841e-01 -1.36561991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95629675700002 meters Centerline goodness [0,1] 0.7849658841216607 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96413853e-01 6.59438507e-02 -5.30173801e-02 5.70982885e+00] [-6.61521041e-02 9.97807167e-01 -2.18090950e-03 -2.62025860e-01] [ 5.27573043e-02 5.68029968e-03 9.98591208e-01 -1.36534302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98629675700002 meters Centerline goodness [0,1] 0.7852352097691845 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96403380e-01 6.61018185e-02 -5.30174883e-02 5.71006063e+00] [-6.63036936e-02 9.97797371e-01 -2.05599470e-03 -2.62305287e-01] [ 5.27648055e-02 5.56385537e-03 9.98591467e-01 -1.36562816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01629675700002 meters Centerline goodness [0,1] 0.7845440280598117 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96368734e-01 6.64889926e-02 -5.31842013e-02 5.71051187e+00] [-6.66663728e-02 9.97774094e-01 -1.56616328e-03 -2.63150250e-01] [ 5.29616857e-02 5.10607392e-03 9.98583491e-01 -1.36563785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04629675700002 meters Centerline goodness [0,1] 0.7852745116192945 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96355486e-01 6.67119834e-02 -5.31531513e-02 5.71054889e+00] [-6.68806230e-02 9.97760005e-01 -1.39835219e-03 -2.63451891e-01] [ 5.29408016e-02 4.94817175e-03 9.98585393e-01 -1.36576215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07629675700002 meters Centerline goodness [0,1] 0.7828997660358128 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96322116e-01 6.72858168e-02 -5.30552558e-02 5.71058803e+00] [-6.74396002e-02 9.97722739e-01 -1.11158920e-03 -2.63537633e-01] [ 5.28596410e-02 4.68552614e-03 9.98590959e-01 -1.36612474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10629675700002 meters Centerline goodness [0,1] 0.7817934406568569 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96076869e-01 7.05915002e-02 -5.33639585e-02 5.71269651e+00] [-7.05605250e-02 9.97504450e-01 2.46662380e-03 -2.64824906e-01] [ 5.34049087e-02 1.30844202e-03 9.98572082e-01 -1.36687735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13629675700003 meters Centerline goodness [0,1] 0.7782023706008878 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96068269e-01 7.05738327e-02 -5.35475253e-02 5.71348204e+00] [-7.05561006e-02 9.97505334e-01 2.22384755e-03 -2.64282449e-01] [ 5.35708875e-02 1.56300060e-03 9.98562826e-01 -1.36746168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16629675700003 meters Centerline goodness [0,1] 0.7826594624295984 Centerline is valid? [False, False] Translation: X:5.71, Y:-0.26, Z:-1.37 [[ 9.96050076e-01 7.07621242e-02 -5.36373655e-02 5.71376220e+00] [-7.07399859e-02 9.97492106e-01 2.31353547e-03 -2.64426524e-01] [ 5.36665594e-02 1.48990930e-03 9.98557800e-01 -1.36762700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19629675700003 meters Centerline goodness [0,1] 0.784036488027366 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96046129e-01 7.04248476e-02 -5.41520947e-02 5.71611105e+00] [-7.04255599e-02 9.97515233e-01 1.89746967e-03 -2.65365584e-01] [ 5.41511683e-02 1.92372427e-03 9.98530896e-01 -1.36945651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22629675700003 meters Centerline goodness [0,1] 0.784933922722796 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96041886e-01 7.03153666e-02 -5.43719590e-02 5.71711186e+00] [-7.03198592e-02 9.97522811e-01 1.83287401e-03 -2.65980763e-01] [ 5.43661485e-02 1.99780921e-03 9.98519069e-01 -1.37019829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25629675700003 meters Centerline goodness [0,1] 0.783167296461697 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96036781e-01 7.00349398e-02 -5.48255266e-02 5.71915093e+00] [-7.00590962e-02 9.97541739e-01 1.48359816e-03 -2.66343186e-01] [ 5.47946549e-02 2.36330850e-03 9.98494848e-01 -1.37171427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28629675700003 meters Centerline goodness [0,1] 0.7750772399588053 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96031159e-01 7.00239667e-02 -5.49415577e-02 5.71968236e+00] [-7.00488545e-02 9.97542471e-01 1.47500516e-03 -2.66614666e-01] [ 5.49098230e-02 2.37944208e-03 9.98488482e-01 -1.37207763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31629675700003 meters Centerline goodness [0,1] 0.7794141261211662 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96032049e-01 6.96009424e-02 -5.54604904e-02 5.72136382e+00] [-6.96209398e-02 9.97572277e-01 1.57379198e-03 -2.68073301e-01] [ 5.54353851e-02 2.29366422e-03 9.98459642e-01 -1.37254024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34629675700003 meters Centerline goodness [0,1] 0.7824234047454504 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96028435e-01 6.93794104e-02 -5.58019178e-02 5.72230863e+00] [-6.93905358e-02 9.97588053e-01 1.74051752e-03 -2.69499517e-01] [ 5.57880827e-02 2.13852003e-03 9.98440342e-01 -1.37273803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37629675700003 meters Centerline goodness [0,1] 0.7785725860592171 Centerline is valid? [False, False] Translation: X:5.72, Y:-0.27, Z:-1.37 [[ 9.96095775e-01 6.80128804e-02 -5.62801433e-02 5.72450850e+00] [-6.80358807e-02 9.97681733e-01 1.50950386e-03 -2.72935038e-01] [ 5.62523366e-02 2.32545869e-03 9.98413876e-01 -1.37371165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40629675700004 meters Centerline goodness [0,1] 0.7853630113040438 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.37 [[ 9.96144851e-01 6.69235333e-02 -5.67157562e-02 5.72636259e+00] [-6.69361204e-02 9.97755849e-01 1.67986997e-03 -2.76064288e-01] [ 5.67009003e-02 2.12293886e-03 9.98388953e-01 -1.37409700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43629675700004 meters Centerline goodness [0,1] 0.7845597667638484 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.37 [[ 9.96153580e-01 6.63785895e-02 -5.72007708e-02 5.72788804e+00] [-6.63920761e-02 9.97792220e-01 1.66668956e-03 -2.77520731e-01] [ 5.71851165e-02 2.13739915e-03 9.98361304e-01 -1.37457500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46629675700004 meters Centerline goodness [0,1] 0.7831832534206525 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.37 [[ 9.96155063e-01 6.62284666e-02 -5.73487703e-02 5.72828756e+00] [-6.62219553e-02 9.97802880e-01 2.01606175e-03 -2.79037791e-01] [ 5.73562889e-02 1.78943759e-03 9.98352169e-01 -1.37443449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.496296757 meters Centerline goodness [0,1] 0.7813182939725062 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.37 [[ 9.96165963e-01 6.56964249e-02 -5.77698425e-02 5.72963991e+00] [-6.56779384e-02 9.97838402e-01 2.22069146e-03 -2.81486513e-01] [ 5.77908588e-02 1.58202691e-03 9.98327458e-01 -1.37470256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.526296757 meters Centerline goodness [0,1] 0.7820854040558682 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.38 [[ 9.96163257e-01 6.53885724e-02 -5.81644190e-02 5.73099006e+00] [-6.53740430e-02 9.97858503e-01 2.15464055e-03 -2.82508017e-01] [ 5.81807490e-02 1.65606948e-03 9.98304692e-01 -1.37530129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.556296757 meters Centerline goodness [0,1] 0.7772389648483702 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.38 [[ 9.96142823e-01 6.53070844e-02 -5.86042664e-02 5.73235165e+00] [-6.52960208e-02 9.97863716e-01 2.10577482e-03 -2.83435817e-01] [ 5.86165931e-02 1.72897292e-03 9.98279072e-01 -1.37591473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.586296757 meters Centerline goodness [0,1] 0.7747117747117747 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.38 [[ 9.96121121e-01 6.53852867e-02 -5.88852903e-02 5.73318398e+00] [-6.53823892e-02 9.97858322e-01 1.97797628e-03 -2.83549235e-01] [ 5.88885076e-02 1.87975702e-03 9.98262796e-01 -1.37640093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61629675700001 meters Centerline goodness [0,1] 0.7688913141474294 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.38 [[ 9.96074055e-01 6.61760306e-02 -5.87980473e-02 5.73303207e+00] [-6.61712513e-02 9.97806215e-01 2.03047580e-03 -2.82775414e-01] [ 5.88034258e-02 1.86823610e-03 9.98267833e-01 -1.37681414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64629675700002 meters Centerline goodness [0,1] 0.7666998530318115 Centerline is valid? [False, False] Translation: X:5.73, Y:-0.28, Z:-1.38 [[ 9.96049938e-01 6.65059187e-02 -5.88343737e-02 5.73334822e+00] [-6.65080720e-02 9.97784033e-01 1.92375218e-03 -2.81828672e-01] [ 5.88319395e-02 1.99680752e-03 9.98265904e-01 -1.37724751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67629675700002 meters Centerline goodness [0,1] 0.7572647955926513 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.38 [[ 9.95776845e-01 7.00827758e-02 -5.93032867e-02 5.73614655e+00] [-6.98904153e-02 9.97540520e-01 5.31423232e-03 -2.82297035e-01] [ 5.95298676e-02 -1.14705816e-03 9.98225866e-01 -1.37879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70629675700002 meters Centerline goodness [0,1] 0.7502787332463527 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.38 [[ 9.95755630e-01 7.02928378e-02 -5.94107900e-02 5.73650556e+00] [-7.01032515e-02 9.97525809e-01 5.27198122e-03 -2.81753801e-01] [ 5.96343789e-02 -1.08471543e-03 9.98219697e-01 -1.37902334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73629675700002 meters Centerline goodness [0,1] 0.7530303750534773 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.38 [[ 9.95727359e-01 7.03282931e-02 -5.98411092e-02 5.73820538e+00] [-7.01586539e-02 9.97523644e-01 4.93380075e-03 -2.81519858e-01] [ 6.00399071e-02 -7.14348717e-04 9.98195722e-01 -1.38035350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76629675700002 meters Centerline goodness [0,1] 0.7519927880053141 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.38 [[ 9.95732168e-01 6.98967519e-02 -6.02651988e-02 5.73991377e+00] [-6.97456309e-02 9.97554156e-01 4.61007521e-03 -2.81796632e-01] [ 6.04400288e-02 -3.87165870e-04 9.98171755e-01 -1.38134759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79629675700002 meters Centerline goodness [0,1] 0.753560268123375 Centerline is valid? [False, False] Translation: X:5.74, Y:-0.28, Z:-1.38 [[ 9.95762829e-01 6.88479823e-02 -6.09618289e-02 5.74258797e+00] [-6.87187295e-02 9.97627162e-01 4.21674966e-03 -2.83324152e-01] [ 6.11074911e-02 -9.66313991e-06 9.98131191e-01 -1.38264941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82629675700002 meters Centerline goodness [0,1] 0.7556096048835157 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.29, Z:-1.38 [[ 9.95806948e-01 6.74485500e-02 -6.17997947e-02 5.74504941e+00] [-6.73303820e-02 9.97722737e-01 3.99499112e-03 -2.86141034e-01] [ 6.19285167e-02 1.82763870e-04 9.98080571e-01 -1.38289788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85629675700002 meters Centerline goodness [0,1] 0.7590673575129534 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.29, Z:-1.38 [[ 9.95808550e-01 6.72515390e-02 -6.19884016e-02 5.74515413e+00] [-6.71083703e-02 9.97736030e-01 4.39105682e-03 -2.87996338e-01] [ 6.21433670e-02 -2.12711314e-04 9.98067211e-01 -1.38225112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88629675700003 meters Centerline goodness [0,1] 0.771872071509239 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.29, Z:-1.38 [[ 9.95806578e-01 6.69125983e-02 -6.23856036e-02 5.74570546e+00] [-6.67466493e-02 9.97758684e-01 4.74265854e-03 -2.89841167e-01] [ 6.25631213e-02 -5.58740568e-04 9.98040853e-01 -1.38153672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91629675700003 meters Centerline goodness [0,1] 0.7703598370731002 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.29, Z:-1.38 [[ 9.95826874e-01 6.59928395e-02 -6.30379395e-02 5.74704967e+00] [-6.57698063e-02 9.97819058e-01 5.60888085e-03 -2.93222311e-01] [ 6.32706034e-02 -1.43948121e-03 9.97995370e-01 -1.38023653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94629675700003 meters Centerline goodness [0,1] 0.77771595829604 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.29, Z:-1.38 [[ 9.95825161e-01 6.55898632e-02 -6.34840090e-02 5.74800090e+00] [-6.53486238e-02 9.97845222e-01 5.87120770e-03 -2.94708445e-01] [ 6.37323068e-02 -1.69810373e-03 9.97965585e-01 -1.37995465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97629675700003 meters Centerline goodness [0,1] 0.7797220667331889 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96051914e-01 6.16520060e-02 -6.38718577e-02 5.74805205e+00] [-6.16165794e-02 9.98096697e-01 2.52617676e-03 -2.96192885e-01] [ 6.39060340e-02 1.41936220e-03 9.97954911e-01 -1.37958399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00629675700003 meters Centerline goodness [0,1] 0.7835327302791557 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96053783e-01 6.11073338e-02 -6.43642426e-02 5.74942818e+00] [-6.10662380e-02 9.98130310e-01 2.60742036e-03 -2.97880125e-01] [ 6.44032340e-02 1.33335124e-03 9.97923066e-01 -1.37974611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03629675700003 meters Centerline goodness [0,1] 0.7829658240844863 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96262040e-01 5.71876554e-02 -6.47419540e-02 5.74949819e+00] [-5.73660166e-02 9.98352810e-01 -8.97843275e-04 -2.98835386e-01] [ 6.45839661e-02 4.60847518e-03 9.97901635e-01 -1.37954388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06629675700003 meters Centerline goodness [0,1] 0.7839578741121724 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96255685e-01 5.69052084e-02 -6.50876974e-02 5.75041566e+00] [-5.70717334e-02 9.98369835e-01 -7.00522593e-04 -3.00065387e-01] [ 6.49417303e-02 4.41256733e-03 9.97879302e-01 -1.37960177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09629675700003 meters Centerline goodness [0,1] 0.7839578741121724 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96255685e-01 5.69052084e-02 -6.50876974e-02 5.75041566e+00] [-5.70717334e-02 9.98369835e-01 -7.00522593e-04 -3.00065387e-01] [ 6.49417303e-02 4.41256733e-03 9.97879302e-01 -1.37960177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12629675700003 meters Centerline goodness [0,1] 0.7842920896473935 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96277776e-01 5.59830821e-02 -6.55475911e-02 5.75232277e+00] [-5.61507411e-02 9.98422045e-01 -7.16915701e-04 -3.02078978e-01] [ 6.54040248e-02 4.39479300e-03 9.97849187e-01 -1.38026381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15629675700004 meters Centerline goodness [0,1] 0.7869615545649337 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.30, Z:-1.38 [[ 9.96268316e-01 5.56554018e-02 -6.59690676e-02 5.75364884e+00] [-5.58195229e-02 9.98440666e-01 -6.45843156e-04 -3.03314932e-01] [ 6.58302551e-02 4.32579495e-03 9.97821459e-01 -1.38072032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18629675700004 meters Centerline goodness [0,1] 0.7850922764831032 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96280049e-01 5.48228458e-02 -6.64869888e-02 5.75590354e+00] [-5.50006166e-02 9.98485963e-01 -8.44903681e-04 -3.05155883e-01] [ 6.63400050e-02 4.49858606e-03 9.97786934e-01 -1.38193983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21629675700004 meters Centerline goodness [0,1] 0.7869911855006437 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96270516e-01 5.47528653e-02 -6.66872012e-02 5.75684758e+00] [-5.49222297e-02 9.98490385e-01 -7.07609780e-04 -3.06494571e-01] [ 6.65477856e-02 4.36758054e-03 9.97773680e-01 -1.38260344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.246296757 meters Centerline goodness [0,1] 0.7887776541836609 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96260119e-01 5.47154527e-02 -6.68729684e-02 5.75755465e+00] [-5.48909377e-02 9.98492045e-01 -7.88179378e-04 -3.06531374e-01] [ 6.67290013e-02 4.45595162e-03 9.97761186e-01 -1.38304275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.276296757 meters Centerline goodness [0,1] 0.7895569620253164 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96228415e-01 5.53400616e-02 -6.68312974e-02 5.75746316e+00] [-5.54912545e-02 9.98459090e-01 -4.06649623e-04 -3.06643276e-01] [ 6.67058124e-02 4.11366844e-03 9.97764207e-01 -1.38319604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.306296757 meters Centerline goodness [0,1] 0.7883855350261832 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96209509e-01 5.55358682e-02 -6.69505844e-02 5.75773202e+00] [-5.56770210e-02 9.98448802e-01 -2.42816932e-04 -3.06951858e-01] [ 6.68332457e-02 3.96950563e-03 9.97756263e-01 -1.38328332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.336296757 meters Centerline goodness [0,1] 0.7897407966726908 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96188012e-01 5.58123034e-02 -6.70405194e-02 5.75783143e+00] [-5.59394963e-02 9.98434160e-01 -2.00684986e-05 -3.07586487e-01] [ 6.69344246e-02 3.77020489e-03 9.97750253e-01 -1.38324632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36629675700001 meters Centerline goodness [0,1] 0.7892958306415545 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96151307e-01 5.60735500e-02 -6.73671255e-02 5.75834934e+00] [-5.61779770e-02 9.98420711e-01 3.44803574e-04 -3.09324982e-01] [ 6.72800677e-02 3.44107230e-03 9.97728195e-01 -1.38316030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39629675700002 meters Centerline goodness [0,1] 0.7888946832551094 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96128441e-01 5.60908476e-02 -6.76900785e-02 5.75901545e+00] [-5.61839565e-02 9.98420294e-01 5.28934076e-04 -3.10207630e-01] [ 6.76128164e-02 3.27621015e-03 9.97706256e-01 -1.38310316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42629675700002 meters Centerline goodness [0,1] 0.7907835020697223 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.31, Z:-1.38 [[ 9.96099125e-01 5.59670190e-02 -6.82218813e-02 5.76020571e+00] [-5.60317512e-02 9.98428520e-01 9.65813197e-04 -3.12529708e-01] [ 6.81687257e-02 2.86054580e-03 9.97669706e-01 -1.38302110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45629675700002 meters Centerline goodness [0,1] 0.792547482966032 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.32, Z:-1.38 [[ 9.96099062e-01 5.51310040e-02 -6.89001545e-02 5.76247262e+00] [-5.51869188e-02 9.98475442e-01 1.09311132e-03 -3.15073497e-01] [ 6.88553765e-02 2.71354007e-03 9.97622962e-01 -1.38352008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48629675700002 meters Centerline goodness [0,1] 0.7914858389985702 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.32, Z:-1.38 [[ 9.96086571e-01 5.48859348e-02 -6.92753731e-02 5.76351515e+00] [-5.49191186e-02 9.98489787e-01 1.42689694e-03 -3.16897980e-01] [ 6.92490691e-02 2.38322955e-03 9.97596555e-01 -1.38357419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51629675700002 meters Centerline goodness [0,1] 0.7908671423888651 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.32, Z:-1.38 [[ 9.96077756e-01 5.45827228e-02 -6.96407267e-02 5.76443037e+00] [-5.45915727e-02 9.98507186e-01 1.77754878e-03 -3.18758726e-01] [ 6.96337895e-02 2.03121999e-03 9.97570554e-01 -1.38343099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54629675700002 meters Centerline goodness [0,1] 0.7918987341772152 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.32, Z:-1.38 [[ 9.96114235e-01 5.28793499e-02 -7.04287285e-02 5.76723874e+00] [-5.28765494e-02 9.98599239e-01 1.90540200e-03 -3.21953266e-01] [ 7.04308311e-02 1.82603009e-03 9.97514994e-01 -1.38347665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57629675700002 meters Centerline goodness [0,1] 0.7926427340026366 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.32, Z:-1.38 [[ 9.96109446e-01 5.19689977e-02 -7.11701801e-02 5.76937104e+00] [-5.19651312e-02 9.98647079e-01 1.90711468e-03 -3.23628103e-01] [ 7.11730033e-02 1.79867280e-03 9.97462364e-01 -1.38357245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60629675700002 meters Centerline goodness [0,1] 0.7919555464926591 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96144334e-01 5.05717127e-02 -7.16865997e-02 5.77120556e+00] [-5.05382507e-02 9.98719520e-01 2.28166173e-03 -3.27487660e-01] [ 7.17101939e-02 1.35005094e-03 9.97424596e-01 -1.38313781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63629675700003 meters Centerline goodness [0,1] 0.7916262197925714 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96133041e-01 5.03497223e-02 -7.19990925e-02 5.77171624e+00] [-5.02828188e-02 9.98731253e-01 2.74259091e-03 -3.29146537e-01] [ 7.20458326e-02 8.88331897e-04 9.97400927e-01 -1.38253000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66629675700003 meters Centerline goodness [0,1] 0.7909774050421892 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96141136e-01 4.99444933e-02 -7.21691335e-02 5.77193252e+00] [-4.98301525e-02 9.98751970e-01 3.38505296e-03 -3.31385581e-01] [ 7.22481290e-02 2.24208428e-04 9.97386664e-01 -1.38152576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69629675700003 meters Centerline goodness [0,1] 0.7902081786290426 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96141070e-01 4.98532502e-02 -7.22331065e-02 5.77209233e+00] [-4.97208151e-02 9.98756553e-01 3.63149657e-03 -3.32260667e-01] [ 7.23243304e-02 -2.59939434e-05 9.97381166e-01 -1.38128428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72629675700003 meters Centerline goodness [0,1] 0.7890694995520287 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96126673e-01 4.96254391e-02 -7.25876509e-02 5.77308703e+00] [-4.94882595e-02 9.98767896e-01 3.68823156e-03 -3.32818202e-01] [ 7.26812455e-02 -8.17093248e-05 9.97355218e-01 -1.38131493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75629675700003 meters Centerline goodness [0,1] 0.7893367346938776 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96111925e-01 4.95966698e-02 -7.28093622e-02 5.77400381e+00] [-4.94821681e-02 9.98769299e-01 3.37667252e-03 -3.32050030e-01] [ 7.28872273e-02 2.39221338e-04 9.97340160e-01 -1.38201100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78629675700003 meters Centerline goodness [0,1] 0.7881685243889969 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96100664e-01 4.96668710e-02 -7.29154875e-02 5.77449023e+00] [-4.95676278e-02 9.98765736e-01 3.17109554e-03 -3.31343718e-01] [ 7.29829889e-02 4.55517372e-04 9.97333082e-01 -1.38246014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81629675700003 meters Centerline goodness [0,1] 0.7870104089786985 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.96090477e-01 4.94377344e-02 -7.32097779e-02 5.77564642e+00] [-4.93742493e-02 9.98776758e-01 2.67779168e-03 -3.30065679e-01] [ 7.32526086e-02 9.47355035e-04 9.97312969e-01 -1.38316579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84629675700003 meters Centerline goodness [0,1] 0.7869403555238629 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.96075616e-01 4.99136992e-02 -7.30889221e-02 5.77557480e+00] [-4.98702560e-02 9.98752772e-01 2.42033333e-03 -3.28487293e-01] [ 7.31185714e-02 1.23412824e-03 9.97322491e-01 -1.38374054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87629675700003 meters Centerline goodness [0,1] 0.7862855978399307 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.96062101e-01 5.01889890e-02 -7.30845860e-02 5.77537646e+00] [-5.01500758e-02 9.98738885e-01 2.36855851e-03 -3.27810816e-01] [ 7.31112934e-02 1.30596616e-03 9.97322933e-01 -1.38365734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90629675700004 meters Centerline goodness [0,1] 0.7861949869212992 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.96012893e-01 5.11372540e-02 -7.30978609e-02 5.77489552e+00] [-5.10898956e-02 9.98690882e-01 2.51874204e-03 -3.26701771e-01] [ 7.31309688e-02 1.22586253e-03 9.97321592e-01 -1.38354633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93629675700004 meters Centerline goodness [0,1] 0.78529262086514 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.95998298e-01 5.15014725e-02 -7.30410056e-02 5.77472712e+00] [-5.14609023e-02 9.98672033e-01 2.43848107e-03 -3.25711546e-01] [ 7.30695949e-02 1.33003305e-03 9.97325957e-01 -1.38369607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96629675700004 meters Centerline goodness [0,1] 0.7817623470889803 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.32, Z:-1.38 [[ 9.95973302e-01 5.19216089e-02 -7.30843849e-02 5.77484790e+00] [-5.18956846e-02 9.98649965e-01 2.25488107e-03 -3.23432342e-01] [ 7.31027955e-02 1.54696284e-03 9.97323212e-01 -1.38397525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.996296757 meters Centerline goodness [0,1] 0.7804214647042376 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.32, Z:-1.38 [[ 9.95956925e-01 5.20226200e-02 -7.32355805e-02 5.77510193e+00] [-5.19967582e-02 9.98644694e-01 2.26095086e-03 -3.22919271e-01] [ 7.32539445e-02 1.55620310e-03 9.97312107e-01 -1.38386637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.026296757 meters Centerline goodness [0,1] 0.7765894994767605 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.32, Z:-1.38 [[ 9.95942208e-01 5.20300977e-02 -7.34301481e-02 5.77532658e+00] [-5.19895992e-02 9.98644586e-01 2.46409816e-03 -3.23585688e-01] [ 7.34588272e-02 1.36350461e-03 9.97297319e-01 -1.38352188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.056296757 meters Centerline goodness [0,1] 0.7784947333520366 Centerline is valid? [False, False] Translation: X:5.77, Y:-0.33, Z:-1.38 [[ 9.95934621e-01 5.21266165e-02 -7.34645968e-02 5.77493487e+00] [-5.20326303e-02 9.98640278e-01 3.19392985e-03 -3.25359121e-01] [ 7.35311941e-02 6.41610898e-04 9.97292711e-01 -1.38242316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.086296757 meters Centerline goodness [0,1] 0.7772388440722966 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95923954e-01 5.20778047e-02 -7.36436002e-02 5.77530249e+00] [-5.19670494e-02 9.98642942e-01 3.42056669e-03 -3.25922949e-01] [ 7.37217971e-02 4.20416302e-04 9.97278757e-01 -1.38223841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11629675700001 meters Centerline goodness [0,1] 0.7760911785750793 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95918693e-01 5.19018967e-02 -7.38386762e-02 5.77590123e+00] [-5.17895164e-02 9.98652108e-01 3.43710272e-03 -3.25910511e-01] [ 7.39175418e-02 4.00994481e-04 9.97264276e-01 -1.38226452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14629675700002 meters Centerline goodness [0,1] 0.7783845859384969 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95907985e-01 5.17060493e-02 -7.41199760e-02 5.77664204e+00] [-5.15815674e-02 9.98662318e-01 3.59401450e-03 -3.26204464e-01] [ 7.42066593e-02 2.43916795e-04 9.97242855e-01 -1.38212745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17629675700002 meters Centerline goodness [0,1] 0.7832110839445803 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95885645e-01 5.12876339e-02 -7.47085006e-02 5.77780829e+00] [-5.11600107e-02 9.98683900e-01 3.62226465e-03 -3.26917646e-01] [ 7.47959542e-02 2.14726326e-04 9.97198836e-01 -1.38162209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20629675700002 meters Centerline goodness [0,1] 0.7893420448164974 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95878069e-01 5.12685650e-02 -7.48224912e-02 5.77780127e+00] [-5.11281104e-02 9.98684901e-01 3.79268178e-03 -3.27197295e-01] [ 7.49185376e-02 4.84839848e-05 9.97189656e-01 -1.38107678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23629675700002 meters Centerline goodness [0,1] 0.7919232530917604 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95865113e-01 5.14486306e-02 -7.48713191e-02 5.77735614e+00] [-5.12942749e-02 9.98675634e-01 3.98436861e-03 -3.26810229e-01] [ 7.49771524e-02 -1.27423674e-04 9.97185244e-01 -1.38023683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26629675700002 meters Centerline goodness [0,1] 0.7892266314827971 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95862190e-01 5.11453114e-02 -7.51176126e-02 5.77817903e+00] [-5.10134189e-02 9.98691207e-01 3.67474034e-03 -3.26029229e-01] [ 7.52072450e-02 1.72471273e-04 9.97167910e-01 -1.38051515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29629675700002 meters Centerline goodness [0,1] 0.7875884097650011 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95867611e-01 5.07278600e-02 -7.53285165e-02 5.77880641e+00] [-5.06078305e-02 9.98712461e-01 3.50261314e-03 -3.25253164e-01] [ 7.54092082e-02 3.24073815e-04 9.97152619e-01 -1.38034612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32629675700002 meters Centerline goodness [0,1] 0.7879179004378306 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95860931e-01 5.05123006e-02 -7.55613204e-02 5.77937113e+00] [-5.03918745e-02 9.98723387e-01 3.50069194e-03 -3.25531202e-01] [ 7.56416858e-02 3.21474234e-04 9.97135012e-01 -1.38023783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35629675700002 meters Centerline goodness [0,1] 0.7866422130521168 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95862700e-01 5.02837851e-02 -7.56903126e-02 5.77977712e+00] [-5.01644856e-02 9.98734915e-01 3.47774723e-03 -3.26018233e-01] [ 7.57694322e-02 3.33606851e-04 9.97125309e-01 -1.38022712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38629675700003 meters Centerline goodness [0,1] 0.7910131844031316 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.33, Z:-1.38 [[ 9.95865166e-01 4.94837065e-02 -7.61835605e-02 5.78165928e+00] [-4.94003191e-02 9.98774614e-01 2.97981561e-03 -3.25803435e-01] [ 7.62376585e-02 7.95997627e-04 9.97089357e-01 -1.38088390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41629675700003 meters Centerline goodness [0,1] 0.7901347339575245 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.32, Z:-1.38 [[ 9.95859309e-01 4.90778297e-02 -7.65219081e-02 5.78329202e+00] [-4.90563311e-02 9.98793674e-01 2.16175878e-03 -3.23809394e-01] [ 7.65356922e-02 1.60107645e-03 9.97065557e-01 -1.38214223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44629675700003 meters Centerline goodness [0,1] 0.791488603988604 Centerline is valid? [False, False] Translation: X:5.78, Y:-0.32, Z:-1.38 [[ 9.95851180e-01 4.89703712e-02 -7.66963552e-02 5.78402466e+00] [-4.89785894e-02 9.98798252e-01 1.77498819e-03 -3.22553507e-01] [ 7.66911073e-02 1.98885521e-03 9.97052917e-01 -1.38264884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47629675700003 meters Centerline goodness [0,1] 0.7939930493899191 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.38 [[ 9.95640934e-01 5.23835491e-02 -7.71692567e-02 5.78646505e+00] [-5.21302202e-02 9.98626258e-01 5.29493857e-03 -3.23272218e-01] [ 7.73406137e-02 -1.24900724e-03 9.97003947e-01 -1.38342666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50629675700003 meters Centerline goodness [0,1] 0.7932801386799908 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.38 [[ 9.95634687e-01 5.27088162e-02 -7.70282497e-02 5.78620679e+00] [-5.24607256e-02 9.98609229e-01 5.24213051e-03 -3.22596838e-01] [ 7.71974276e-02 -1.17828910e-03 9.97015130e-01 -1.38362369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53629675700003 meters Centerline goodness [0,1] 0.7938275371161277 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.38 [[ 9.95415069e-01 5.63186456e-02 -7.73113893e-02 5.78828161e+00] [-5.58099770e-02 9.98403276e-01 8.72611684e-03 -3.22458808e-01] [ 7.76793874e-02 -4.37136134e-03 9.96968808e-01 -1.38447789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56629675700003 meters Centerline goodness [0,1] 0.7933458532128718 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.39 [[ 9.95421928e-01 5.66241900e-02 -7.69992560e-02 5.78816102e+00] [-5.61356156e-02 9.98386999e-01 8.49660606e-03 -3.21466148e-01] [ 7.73561695e-02 -4.13530735e-03 9.96994946e-01 -1.38531540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59629675700003 meters Centerline goodness [0,1] 0.784250488839229 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.39 [[ 0.99521429 0.05994547 -0.07716896 5.7901847 ] [-0.05918104 0.99817324 0.01215712 -0.32301014] [ 0.07775676 -0.007532 0.99694391 -1.3860389 ] [ 0. 0. 0. 1. ]] SLAMing on 156.62629675700003 meters Centerline goodness [0,1] 0.7848416347057479 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.39 [[ 0.99521529 0.05971902 -0.07733152 5.79086129] [-0.05897008 0.99818841 0.01193443 -0.32283858] [ 0.07790414 -0.00731708 0.996934 -1.38636971] [ 0. 0. 0. 1. ]] SLAMing on 156.65629675700004 meters Centerline goodness [0,1] 0.788223928407993 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.39 [[ 0.99522242 0.05959632 -0.07733448 5.79107391] [-0.05882676 0.99819374 0.01219338 -0.32383892] [ 0.07792147 -0.00758579 0.99693064 -1.38613157] [ 0. 0. 0. 1. ]] SLAMing on 156.68629675700004 meters Centerline goodness [0,1] 0.7874942902096127 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.32, Z:-1.39 [[ 0.99522256 0.0590815 -0.07772661 5.79240079] [-0.05831773 0.9982252 0.01206177 -0.3243528 ] [ 0.07830129 -0.00747131 0.99690174 -1.38639833] [ 0. 0. 0. 1. ]] SLAMing on 156.71629675700004 meters Centerline goodness [0,1] 0.7924260114726636 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.33, Z:-1.39 [[ 0.99525715 0.05860369 -0.07764542 5.79249824] [-0.05780594 0.99824978 0.01248422 -0.325841 ] [ 0.07824114 -0.00793664 0.99690287 -1.38570527] [ 0. 0. 0. 1. ]] SLAMing on 156.746296757 meters Centerline goodness [0,1] 0.7943148910227099 Centerline is valid? [False, False] Translation: X:5.79, Y:-0.33, Z:-1.39 [[ 0.99527461 0.05814344 -0.0777675 5.793239 ] [-0.05735281 0.99827741 0.01236365 -0.3261559 ] [ 0.0783524 -0.00784504 0.99689486 -1.38596222] [ 0. 0. 0. 1. ]] SLAMing on 156.776296757 meters Centerline goodness [0,1] 0.7965126593506855 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.33, Z:-1.39 [[ 0.99532796 0.05659563 -0.07822527 5.79609216] [-0.05585574 0.99837128 0.01161606 -0.3264464 ] [ 0.07875528 -0.00719246 0.99686803 -1.38743364] [ 0. 0. 0. 1. ]] SLAMing on 156.806296757 meters Centerline goodness [0,1] 0.7980605691366487 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.33, Z:-1.39 [[ 0.99533485 0.05595762 -0.07859574 5.79762219] [-0.05522677 0.99840826 0.01144361 -0.32690901] [ 0.07911099 -0.00704964 0.99684089 -1.38798068] [ 0. 0. 0. 1. ]] SLAMing on 156.836296757 meters Centerline goodness [0,1] 0.8022901723920977 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.33, Z:-1.39 [[ 0.99539402 0.05416954 -0.07909742 5.80096997] [-0.05351176 0.99851292 0.01041377 -0.32710059] [ 0.07954391 -0.00613316 0.9968125 -1.38991445] [ 0. 0. 0. 1. ]] SLAMing on 156.86629675700001 meters Centerline goodness [0,1] 0.798016412425112 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.33, Z:-1.39 [[ 0.99541116 0.05367436 -0.07921926 5.80184335] [-0.0530337 0.99854093 0.01017059 -0.32716175] [ 0.07964958 -0.00592263 0.99680533 -1.3904334 ] [ 0. 0. 0. 1. ]] SLAMing on 156.89629675700002 meters Centerline goodness [0,1] 0.7965205957468329 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.33, Z:-1.39 [[ 9.95430053e-01 5.32408715e-02 -7.92743299e-02 5.80256923e+00] [-5.26138445e-02 9.98565073e-01 9.97892673e-03 -3.27128946e-01] [ 7.96918637e-02 -5.76239630e-03 9.96802890e-01 -1.39086508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92629675700002 meters Centerline goodness [0,1] 0.7991124334955495 Centerline is valid? [False, False] Translation: X:5.80, Y:-0.33, Z:-1.39 [[ 9.95464935e-01 5.19647484e-02 -7.96820491e-02 5.80467728e+00] [-5.13937977e-02 9.98636080e-01 9.20093294e-03 -3.26577341e-01] [ 8.00514934e-02 -5.06404299e-03 9.96777866e-01 -1.39169458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95629675700002 meters Centerline goodness [0,1] 0.7973747736873869 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.32, Z:-1.40 [[ 9.96555993e-01 5.00493454e-02 -6.61151636e-02 5.80752136e+00] [-4.97733744e-02 9.98743605e-01 5.81574851e-03 -3.24527483e-01] [ 6.63231712e-02 -2.50494425e-03 9.97795050e-01 -1.39924541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98629675700002 meters Centerline goodness [0,1] 0.7973747736873869 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.32, Z:-1.40 [[ 9.96555993e-01 5.00493454e-02 -6.61151636e-02 5.80752136e+00] [-4.97733744e-02 9.98743605e-01 5.81574851e-03 -3.24527483e-01] [ 6.63231712e-02 -2.50494425e-03 9.97795050e-01 -1.39924541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01629675700002 meters Centerline goodness [0,1] 0.7940525309449532 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.32, Z:-1.40 [[ 9.96568638e-01 5.00898465e-02 -6.58935228e-02 5.80722506e+00] [-4.98273788e-02 9.98742023e-01 5.62167039e-03 -3.23629286e-01] [ 6.60922189e-02 -2.31907889e-03 9.97810824e-01 -1.39939591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04629675700002 meters Centerline goodness [0,1] 0.7932686278935621 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.32, Z:-1.40 [[ 9.96564413e-01 5.04621233e-02 -6.56730185e-02 5.80717909e+00] [-5.02510268e-02 9.98724778e-01 4.86330400e-03 -3.20495050e-01] [ 6.58346834e-02 -1.54645908e-03 9.97829346e-01 -1.40036907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07629675700002 meters Centerline goodness [0,1] 0.7952303658384318 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.32, Z:-1.40 [[ 9.96563294e-01 5.07390475e-02 -6.54763250e-02 5.80713380e+00] [-5.05612657e-02 9.98711398e-01 4.37048902e-03 -3.18389303e-01] [ 6.56137066e-02 -1.04490307e-03 9.97844552e-01 -1.40113686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10629675700002 meters Centerline goodness [0,1] 0.7931000099710839 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.32, Z:-1.40 [[ 9.96360877e-01 5.48251283e-02 -6.52626117e-02 5.80809084e+00] [-5.44524761e-02 9.98488372e-01 7.47650537e-03 -3.16116501e-01] [ 6.55738593e-02 -3.89558665e-03 9.97840114e-01 -1.40255622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13629675700003 meters Centerline goodness [0,1] 0.7915588937524871 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.40 [[ 9.96362771e-01 5.48074353e-02 -6.52485551e-02 5.80880219e+00] [-5.44896349e-02 9.98492248e-01 6.64161280e-03 -3.13635742e-01] [ 6.55141862e-02 -3.06208579e-03 9.97846940e-01 -1.40388482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16629675700003 meters Centerline goodness [0,1] 0.793125650042098 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96146441e-01 5.84508446e-02 -6.53893450e-02 5.81116601e+00] [-5.79451337e-02 9.98273558e-01 9.60544784e-03 -3.12153212e-01] [ 6.58379006e-02 -5.77943835e-03 9.97813594e-01 -1.40596442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19629675700003 meters Centerline goodness [0,1] 0.7914960160845931 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96151734e-01 5.85599979e-02 -6.52108129e-02 5.81132315e+00] [-5.80886926e-02 9.98269934e-01 9.10176425e-03 -3.10644299e-01] [ 6.56309932e-02 -5.27872737e-03 9.97829999e-01 -1.40690715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22629675700003 meters Centerline goodness [0,1] 0.7884624919430809 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96165196e-01 5.83854960e-02 -6.51616211e-02 5.81215256e+00] [-5.79622033e-02 9.98283696e-01 8.36933072e-03 -3.08930523e-01] [ 6.55384315e-02 -4.56032485e-03 9.97839625e-01 -1.40823983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25629675700003 meters Centerline goodness [0,1] 0.7901880986649461 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96172640e-01 5.82527393e-02 -6.51666237e-02 5.81257838e+00] [-5.78447995e-02 9.98292476e-01 8.13092119e-03 -3.08333659e-01] [ 6.55289986e-02 -4.33025094e-03 9.97841270e-01 -1.40870582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28629675700003 meters Centerline goodness [0,1] 0.7906683480453972 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96183926e-01 5.79523171e-02 -6.52618928e-02 5.81334877e+00] [-5.75677518e-02 9.98311447e-01 7.75939192e-03 -3.07729177e-01] [ 6.56013694e-02 -3.97280106e-03 9.97838001e-01 -1.40933857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31629675700003 meters Centerline goodness [0,1] 0.7913845696004762 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96226683e-01 5.72739363e-02 -6.52080653e-02 5.81418385e+00] [-5.69185171e-02 9.98352162e-01 7.29683628e-03 -3.07461043e-01] [ 6.55185315e-02 -3.55775662e-03 9.97845010e-01 -1.41003223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34629675700003 meters Centerline goodness [0,1] 0.7924833752583995 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96454906e-01 5.33381899e-02 -6.50588818e-02 5.81338739e+00] [-5.32336263e-02 9.98576497e-01 3.34089290e-03 -3.06207429e-01] [ 6.51444675e-02 1.34271077e-04 9.97875834e-01 -1.40998700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37629675700003 meters Centerline goodness [0,1] 0.7940334900848449 Centerline is valid? [False, False] Translation: X:5.81, Y:-0.31, Z:-1.41 [[ 9.96468893e-01 5.25695750e-02 -6.54689684e-02 5.81499334e+00] [-5.24870535e-02 9.98617155e-01 2.98100542e-03 -3.06597555e-01] [ 6.55351451e-02 4.65794076e-04 9.97850153e-01 -1.41061138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40629675700004 meters Centerline goodness [0,1] 0.7953846538490387 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.31, Z:-1.41 [[ 9.96495691e-01 5.20437402e-02 -6.54811981e-02 5.81564633e+00] [-5.19614583e-02 9.98644704e-01 2.96018119e-03 -3.07080538e-01] [ 6.55465106e-02 4.52690749e-04 9.97849412e-01 -1.41082272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43629675700004 meters Centerline goodness [0,1] 0.7950829870356085 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.31, Z:-1.41 [[ 9.96499826e-01 5.17560071e-02 -6.56461178e-02 5.81645479e+00] [-5.16859682e-02 9.98659557e-01 2.76593248e-03 -3.06508409e-01] [ 6.57012765e-02 6.36731918e-04 9.97839134e-01 -1.41121638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46629675700004 meters Centerline goodness [0,1] 0.7949221176061412 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.31, Z:-1.41 [[ 9.96508774e-01 5.17341362e-02 -6.55274151e-02 5.81663833e+00] [-5.16708569e-02 9.98660623e-01 2.66121189e-03 -3.05737943e-01] [ 6.55773247e-02 7.33936691e-04 9.97847221e-01 -1.41149781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.496296757 meters Centerline goodness [0,1] 0.7955698090692124 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.31, Z:-1.41 [[ 9.96503552e-01 5.18926192e-02 -6.54814977e-02 5.81648876e+00] [-5.18293963e-02 9.98652398e-01 2.66504350e-03 -3.05285770e-01] [ 6.55315508e-02 7.38141184e-04 9.97850225e-01 -1.41141881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.526296757 meters Centerline goodness [0,1] 0.7973485781873737 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.30, Z:-1.42 [[ 9.96681014e-01 5.54559659e-02 -5.95952395e-02 5.82762968e+00] [-5.58246811e-02 9.98430271e-01 -4.53869671e-03 -3.02472017e-01] [ 5.92499933e-02 7.85051808e-03 9.98212306e-01 -1.41505819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.556296757 meters Centerline goodness [0,1] 0.7956827433082521 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.30, Z:-1.41 [[ 9.96663071e-01 5.59526121e-02 -5.94308654e-02 5.82706896e+00] [-5.63278562e-02 9.98401468e-01 -4.65623472e-03 -3.00791886e-01] [ 5.90753347e-02 7.98831044e-03 9.98221564e-01 -1.41498409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.586296757 meters Centerline goodness [0,1] 0.7933249957085755 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.30, Z:-1.42 [[ 9.96431000e-01 6.00851982e-02 -5.92876931e-02 5.82779169e+00] [-6.02760353e-02 9.98180717e-01 -1.43409048e-03 -2.98692617e-01] [ 5.90936644e-02 5.00259929e-03 9.98239907e-01 -1.41568770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61629675700001 meters Centerline goodness [0,1] 0.7939416147550995 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.30, Z:-1.42 [[ 9.96394467e-01 6.07372816e-02 -5.92372268e-02 5.82750618e+00] [-6.09368584e-02 9.98140393e-01 -1.56682648e-03 -2.96451739e-01] [ 5.90319041e-02 5.17090774e-03 9.98242704e-01 -1.41575348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64629675700002 meters Centerline goodness [0,1] 0.7923431063726678 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.29, Z:-1.42 [[ 9.96130108e-01 6.47841926e-02 -5.93954236e-02 5.82916776e+00] [-6.48225319e-02 9.97895983e-01 1.28309339e-03 -2.93679844e-01] [ 5.93535788e-02 2.57203378e-03 9.98233709e-01 -1.41713629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67629675700002 meters Centerline goodness [0,1] 0.7909593559026094 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.29, Z:-1.42 [[ 9.96098565e-01 6.53628617e-02 -5.92903394e-02 5.82899826e+00] [-6.54214952e-02 9.97857263e-01 9.53760363e-04 -2.91267012e-01] [ 5.92256363e-02 2.92882332e-03 9.98240325e-01 -1.41753940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70629675700002 meters Centerline goodness [0,1] 0.7947801733503947 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.29, Z:-1.42 [[ 9.95810229e-01 6.96152493e-02 -5.92933773e-02 5.83035604e+00] [-6.95094158e-02 9.97573874e-01 3.84809694e-03 -2.88395317e-01] [ 5.94174103e-02 2.89473719e-04 9.98233183e-01 -1.41899051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73629675700002 meters Centerline goodness [0,1] 0.7929938605994944 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.29, Z:-1.42 [[ 9.95782097e-01 6.99885583e-02 -5.93263596e-02 5.83068815e+00] [-6.99196215e-02 9.97547368e-01 3.23962003e-03 -2.85798587e-01] [ 5.94075902e-02 9.22120975e-04 9.98233383e-01 -1.41976422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76629675700002 meters Centerline goodness [0,1] 0.7904170065742118 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.28, Z:-1.42 [[ 9.95488935e-01 7.39071297e-02 -5.94938416e-02 5.83227413e+00] [-7.36591976e-02 9.97263238e-01 6.35271270e-03 -2.83875400e-01] [ 5.98005318e-02 -1.94178657e-03 9.98208458e-01 -1.42068760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79629675700002 meters Centerline goodness [0,1] 0.7904853205512283 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.28, Z:-1.42 [[ 9.95474902e-01 7.41074022e-02 -5.94795107e-02 5.83241852e+00] [-7.38826490e-02 9.97249061e-01 5.97204696e-03 -2.82471643e-01] [ 5.97584591e-02 -1.55051906e-03 9.98211662e-01 -1.42113260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82629675700002 meters Centerline goodness [0,1] 0.7862050803227274 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.28, Z:-1.42 [[ 9.95555154e-01 7.74170743e-02 -5.36333170e-02 5.84374556e+00] [-7.75857847e-02 9.96985108e-01 -1.06757476e-03 -2.80061411e-01] [ 5.33889699e-02 5.22401254e-03 9.98560127e-01 -1.42440369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85629675700002 meters Centerline goodness [0,1] 0.7897947466628391 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.28, Z:-1.42 [[ 9.95550906e-01 7.75403959e-02 -5.35339106e-02 5.84345812e+00] [-7.77059723e-02 9.96975803e-01 -1.01529621e-03 -2.79861278e-01] [ 5.32932870e-02 5.17068364e-03 9.98565516e-01 -1.42419352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88629675700003 meters Centerline goodness [0,1] 0.788130108583619 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.28, Z:-1.42 [[ 9.95542920e-01 7.78383557e-02 -5.32492768e-02 5.84231490e+00] [-7.79701702e-02 9.96955612e-01 -3.99353241e-04 -2.80116315e-01] [ 5.30560803e-02 4.54942846e-03 9.98581171e-01 -1.42288045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91629675700003 meters Centerline goodness [0,1] 0.793153765189934 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.28, Z:-1.42 [[ 9.95557237e-01 7.74915518e-02 -5.34868917e-02 5.84309572e+00] [-7.76301712e-02 9.96982091e-01 -5.15814315e-04 -2.80162002e-01] [ 5.32855019e-02 4.66571923e-03 9.98568418e-01 -1.42303480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94629675700003 meters Centerline goodness [0,1] 0.7961514468064687 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.28, Z:-1.42 [[ 9.95590108e-01 7.67280125e-02 -5.39735954e-02 5.84454452e+00] [-7.68675331e-02 9.97041183e-01 -5.10751778e-04 -2.80999094e-01] [ 5.37747085e-02 4.65731655e-03 9.98542233e-01 -1.42299462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97629675700003 meters Centerline goodness [0,1] 0.796174063317572 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.28, Z:-1.42 [[ 9.95606212e-01 7.62515347e-02 -5.43504817e-02 5.84586814e+00] [-7.64037803e-02 9.97076695e-01 -7.25845769e-04 -2.81184797e-01] [ 5.41362518e-02 4.87523882e-03 9.98521656e-01 -1.42351358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00629675700003 meters Centerline goodness [0,1] 0.7972220889507269 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.28, Z:-1.43 [[ 9.95671000e-01 7.47363258e-02 -5.52606647e-02 5.84935928e+00] [-7.49426786e-02 9.97186448e-01 -1.66846691e-03 -2.81632435e-01] [ 5.49804909e-02 5.80262635e-03 9.98470568e-01 -1.42527382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03629675700003 meters Centerline goodness [0,1] 0.7981229695584166 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.28, Z:-1.43 [[ 9.95685242e-01 7.41298967e-02 -5.58180648e-02 5.85135301e+00] [-7.43543461e-02 9.97229973e-01 -1.95223908e-03 -2.82247163e-01] [ 5.55187280e-02 6.09413135e-03 9.98439048e-01 -1.42627917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06629675700003 meters Centerline goodness [0,1] 0.7980727535533606 Centerline is valid? [False, False] Translation: X:5.85, Y:-0.28, Z:-1.43 [[ 9.95734441e-01 7.29321583e-02 -5.65139258e-02 5.85419860e+00] [-7.31962318e-02 9.97314132e-01 -2.61416713e-03 -2.82922098e-01] [ 5.61714800e-02 6.73962266e-03 9.98398389e-01 -1.42783951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09629675700003 meters Centerline goodness [0,1] 0.7983617189939706 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.28, Z:-1.43 [[ 9.95738222e-01 7.25993218e-02 -5.68746990e-02 5.85532452e+00] [-7.28685744e-02 9.97337973e-01 -2.67191461e-03 -2.83394760e-01] [ 5.65293178e-02 6.80490574e-03 9.98377749e-01 -1.42817921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12629675700003 meters Centerline goodness [0,1] 0.7996438969225957 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95748892e-01 7.21719569e-02 -5.72306923e-02 5.85635021e+00] [-7.24344824e-02 9.97369981e-01 -2.52333890e-03 -2.85213021e-01] [ 5.68980602e-02 6.65808749e-03 9.98357792e-01 -1.42824517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15629675700004 meters Centerline goodness [0,1] 0.7996581525795036 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95742440e-01 7.18274925e-02 -5.77737358e-02 5.85796059e+00] [-7.20954122e-02 9.97394445e-01 -2.56378874e-03 -2.86220556e-01] [ 5.74390526e-02 6.71809456e-03 9.98326411e-01 -1.42870746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18629675700004 meters Centerline goodness [0,1] 0.7997121266642677 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95730481e-01 7.16478152e-02 -5.82013754e-02 5.85939540e+00] [-7.19263314e-02 9.97406287e-01 -2.70198441e-03 -2.86302979e-01] [ 5.78568265e-02 6.87665965e-03 9.98301207e-01 -1.42944205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21629675700004 meters Centerline goodness [0,1] 0.7994076143232114 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95708408e-01 7.18023163e-02 -5.83882924e-02 5.85990343e+00] [-7.20760659e-02 9.97395767e-01 -2.59330370e-03 -2.86551708e-01] [ 5.80500304e-02 6.79057271e-03 9.98290580e-01 -1.42963449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.246296757 meters Centerline goodness [0,1] 0.8005502727228846 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95678299e-01 7.18357537e-02 -5.88587202e-02 5.86195380e+00] [-7.21197146e-02 9.97392297e-01 -2.71170386e-03 -2.87138471e-01] [ 5.85104368e-02 6.94485879e-03 9.98262640e-01 -1.43120738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.276296757 meters Centerline goodness [0,1] 0.799652450944899 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95658177e-01 7.19315245e-02 -5.90817270e-02 5.86299940e+00] [-7.22180423e-02 9.97385143e-01 -2.72589356e-03 -2.87695732e-01] [ 5.87311590e-02 6.98082487e-03 9.98249427e-01 -1.43210549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.306296757 meters Centerline goodness [0,1] 0.7985183033120279 Centerline is valid? [False, False] Translation: X:5.86, Y:-0.29, Z:-1.43 [[ 9.95609563e-01 7.24609765e-02 -5.92537290e-02 5.86406180e+00] [-7.27360452e-02 9.97348103e-01 -2.49578729e-03 -2.89407492e-01] [ 5.89157470e-02 6.79471160e-03 9.98239834e-01 -1.43335008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.336296757 meters Centerline goodness [0,1] 0.7991850989522701 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.29, Z:-1.43 [[ 9.95330212e-01 7.58856126e-02 -5.96585507e-02 5.86628932e+00] [-7.59372529e-02 9.97111609e-01 1.40437888e-03 -2.92824494e-01] [ 5.95928057e-02 3.13248572e-03 9.98217855e-01 -1.43407386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36629675700001 meters Centerline goodness [0,1] 0.7982462532488037 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.29, Z:-1.43 [[ 9.95306323e-01 7.62459670e-02 -5.95976160e-02 5.86615213e+00] [-7.62861354e-02 9.97084676e-01 1.60430044e-03 -2.92897874e-01] [ 5.95461911e-02 2.94970144e-03 9.98221193e-01 -1.43412613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39629675700002 meters Centerline goodness [0,1] 0.795029999757087 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.29, Z:-1.44 [[ 9.95906595e-01 7.81702364e-02 -4.53813630e-02 5.86750617e+00] [-7.82412196e-02 9.96934434e-01 2.12725986e-04 -2.92936502e-01] [ 4.52588723e-02 3.33883798e-03 9.98969713e-01 -1.44170869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42629675700002 meters Centerline goodness [0,1] 0.7906275825190803 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.29, Z:-1.44 [[ 9.95879959e-01 7.85302673e-02 -4.53442890e-02 5.86745887e+00] [-7.85850686e-02 9.96907245e-01 5.75541661e-04 -2.93866047e-01] [ 4.52492477e-02 2.99021366e-03 9.98971253e-01 -1.44182570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45629675700002 meters Centerline goodness [0,1] 0.7864364861915961 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.29, Z:-1.44 [[ 9.95864720e-01 7.86031173e-02 -4.55522672e-02 5.86806469e+00] [-7.86477972e-02 9.96902133e-01 8.13325139e-04 -2.94948532e-01] [ 4.54750822e-02 2.77262366e-03 9.98961626e-01 -1.44202146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48629675700002 meters Centerline goodness [0,1] 0.7686288848263254 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.30, Z:-1.44 [[ 9.96084379e-01 7.58461543e-02 -4.54232321e-02 5.86654395e+00] [-7.60156492e-02 9.97104592e-01 -2.01333121e-03 -2.96803482e-01] [ 4.51390099e-02 5.45832424e-03 9.98965803e-01 -1.44162870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51629675700002 meters Centerline goodness [0,1] 0.789335814135677 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.30, Z:-1.44 [[ 9.96344377e-01 7.20432466e-02 -4.59091927e-02 5.86683615e+00] [-7.23554706e-02 9.97365489e-01 -5.17365586e-03 -2.99159297e-01] [ 4.54155175e-02 8.47652416e-03 9.98932220e-01 -1.44151716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54629675700002 meters Centerline goodness [0,1] 0.7939006153318133 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.30, Z:-1.44 [[ 9.96359911e-01 7.15310244e-02 -4.63706850e-02 5.86827323e+00] [-7.18293911e-02 9.97405392e-01 -4.79821045e-03 -3.01645261e-01] [ 4.59071503e-02 8.11152261e-03 9.98912777e-01 -1.44177835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57629675700002 meters Centerline goodness [0,1] 0.8022424839822573 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.30, Z:-1.44 [[ 0.99663092 0.06723632 -0.04696909 5.86942325] [-0.0676911 0.99767297 -0.00815825 -0.30387631] [ 0.04631126 0.01131016 0.99886303 -1.44216646] [ 0. 0. 0. 1. ]] SLAMing on 158.60629675700002 meters Centerline goodness [0,1] 0.807135969141755 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-1.44 [[ 0.99664348 0.0667892 -0.04733904 5.87048083] [-0.06723386 0.99770627 -0.00786201 -0.30570206] [ 0.04670536 0.01101841 0.99884794 -1.44219909] [ 0. 0. 0. 1. ]] SLAMing on 158.63629675700003 meters Centerline goodness [0,1] 0.8085617966387388 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-1.44 [[ 0.99664194 0.06658626 -0.04765615 5.87121642] [-0.06701182 0.99772484 -0.00738672 -0.30774313] [ 0.04705587 0.01055544 0.99883649 -1.4419981 ] [ 0. 0. 0. 1. ]] SLAMing on 158.66629675700003 meters Centerline goodness [0,1] 0.8118843896129738 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-1.44 [[ 0.99665238 0.06618416 -0.04799681 5.87212216] [-0.06658536 0.99775751 -0.00680701 -0.31074814] [ 0.04743866 0.00998011 0.99882429 -1.44166978] [ 0. 0. 0. 1. ]] SLAMing on 158.69629675700003 meters Centerline goodness [0,1] 0.812156345632324 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-1.44 [[ 0.99665503 0.065881 -0.04835741 5.87347745] [-0.06628587 0.9977774 -0.00681545 -0.31142587] [ 0.04780092 0.00999806 0.99880684 -1.44233895] [ 0. 0. 0. 1. ]] SLAMing on 158.72629675700003 meters Centerline goodness [0,1] 0.8130073228248728 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-1.44 [[ 0.99664322 0.06591616 -0.04855251 5.87412207] [-0.06632498 0.99777452 -0.00685603 -0.31123907] [ 0.04799253 0.01005326 0.9987971 -1.44272174] [ 0. 0. 0. 1. ]] SLAMing on 158.75629675700003 meters Centerline goodness [0,1] 0.8151568418707138 Centerline is valid? [False, False] Translation: X:5.87, Y:-0.31, Z:-1.44 [[ 0.99661729 0.06620575 -0.04869061 5.87462405] [-0.06661971 0.9977544 -0.00692683 -0.31048362] [ 0.04812268 0.01014715 0.99878989 -1.4432293 ] [ 0. 0. 0. 1. ]] SLAMing on 158.78629675700003 meters Centerline goodness [0,1] 0.8155908639523337 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99660659 0.06623513 -0.04886938 5.87515937] [-0.06665427 0.99775161 -0.00699573 -0.31041843] [ 0.04829614 0.01022935 0.99878068 -1.44353648] [ 0. 0. 0. 1. ]] SLAMing on 158.81629675700003 meters Centerline goodness [0,1] 0.8168618383431541 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99659015 0.06631974 -0.04908939 5.87552394] [-0.06673544 0.99774701 -0.00687654 -0.31093017] [ 0.04852274 0.0101291 0.99877072 -1.44346266] [ 0. 0. 0. 1. ]] SLAMing on 158.84629675700003 meters Centerline goodness [0,1] 0.8182632718584335 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99657733 0.0663759 -0.04927338 5.87594117] [-0.06678683 0.99774451 -0.00673898 -0.31166061] [ 0.04871494 0.01000673 0.99876259 -1.44348484] [ 0. 0. 0. 1. ]] SLAMing on 158.87629675700003 meters Centerline goodness [0,1] 0.8192651439920556 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99656479 0.06648509 -0.04937972 5.87613356] [-0.06690395 0.99773572 -0.00687666 -0.31075343] [ 0.04881072 0.01015673 0.9987564 -1.44354677] [ 0. 0. 0. 1. ]] SLAMing on 158.90629675700004 meters Centerline goodness [0,1] 0.8192651439920556 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99656479 0.06648509 -0.04937972 5.87613356] [-0.06690395 0.99773572 -0.00687666 -0.31075343] [ 0.04881072 0.01015673 0.9987564 -1.44354677] [ 0. 0. 0. 1. ]] SLAMing on 158.93629675700004 meters Centerline goodness [0,1] 0.8174509223636184 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 9.96288163e-01 7.03509983e-02 -4.96047790e-02 5.87739011e+00] [-7.05961725e-02 9.97499826e-01 -3.20578737e-03 -3.09415542e-01] [ 4.92552280e-02 6.69579553e-03 9.98763780e-01 -1.44357481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96629675700004 meters Centerline goodness [0,1] 0.8180565466669948 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 9.96257812e-01 7.08290256e-02 -4.95340496e-02 5.87696112e+00] [-7.10784501e-02 9.97465303e-01 -3.28997178e-03 -3.07753804e-01] [ 4.91754702e-02 6.79846355e-03 9.98767017e-01 -1.44343510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.996296757 meters Centerline goodness [0,1] 0.8157862513163373 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 9.95951280e-01 7.50173846e-02 -4.95322172e-02 5.87718274e+00] [-7.50817023e-02 9.97177226e-01 5.63471802e-04 -3.06935849e-01] [ 4.94346692e-02 3.15777273e-03 9.98772367e-01 -1.44277323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.026296757 meters Centerline goodness [0,1] 0.8113364280478866 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 9.95929106e-01 7.53236534e-02 -4.95132642e-02 5.87665037e+00] [-7.53922613e-02 9.97153836e-01 4.83156064e-04 -3.05642888e-01] [ 4.94087344e-02 3.25172777e-03 9.98773349e-01 -1.44220298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.056296757 meters Centerline goodness [0,1] 0.8138305646222049 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95894636e-01 7.58673291e-02 -4.93763264e-02 5.87591374e+00] [-7.59461016e-02 9.97111885e-01 2.81516614e-04 -3.03596768e-01] [ 4.92550798e-02 3.46957861e-03 9.98780206e-01 -1.44188684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.086296757 meters Centerline goodness [0,1] 0.8095214950545578 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95891187e-01 7.58410675e-02 -4.94861240e-02 5.87636423e+00] [-7.59432653e-02 9.97112123e-01 -1.85520888e-04 -3.01847869e-01] [ 4.93291441e-02 3.94289646e-03 9.98774794e-01 -1.44231294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11629675700001 meters Centerline goodness [0,1] 0.8008406000144931 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95604917e-01 7.94004180e-02 -4.96631016e-02 5.87813829e+00] [-7.93500993e-02 9.96842334e-01 2.98710612e-03 -2.99956764e-01] [ 4.97434596e-02 9.66794509e-04 9.98761560e-01 -1.44314904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14629675700002 meters Centerline goodness [0,1] 0.7904391328515842 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95573131e-01 7.99342481e-02 -4.94434709e-02 5.87714397e+00] [-7.98988139e-02 9.96799334e-01 2.69586482e-03 -2.97616863e-01] [ 4.95007108e-02 1.26654410e-03 9.98773285e-01 -1.44273548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17629675700002 meters Centerline goodness [0,1] 0.8093585851284275 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95571029e-01 7.99455723e-02 -4.94674797e-02 5.87708668e+00] [-7.99220103e-02 9.96798091e-01 2.45728827e-03 -2.96745472e-01] [ 4.95055386e-02 1.50713541e-03 9.98772712e-01 -1.44264518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20629675700002 meters Centerline goodness [0,1] 0.813914804368265 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95566205e-01 7.99011714e-02 -4.96360254e-02 5.87707738e+00] [-7.98868702e-02 9.96801340e-01 2.27509424e-03 -2.95843612e-01] [ 4.96590394e-02 1.70025978e-03 9.98764782e-01 -1.44217091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23629675700002 meters Centerline goodness [0,1] 0.8057033309369758 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95568795e-01 7.97966314e-02 -4.97520962e-02 5.87695119e+00] [-7.98031485e-02 9.96808910e-01 1.85859035e-03 -2.93853147e-01] [ 4.97416421e-02 2.12001936e-03 9.98759868e-01 -1.44152013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26629675700002 meters Centerline goodness [0,1] 0.8219450773474037 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95569011e-01 7.98189826e-02 -4.97119043e-02 5.87626300e+00] [-7.98332649e-02 9.96806779e-01 1.70137134e-03 -2.92112209e-01] [ 4.96889649e-02 2.27483104e-03 9.98762150e-01 -1.44053739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29629675700002 meters Centerline goodness [0,1] 0.8207061639736685 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95572615e-01 7.96918408e-02 -4.98435377e-02 5.87645509e+00] [-7.97118437e-02 9.96816681e-01 1.58952358e-03 -2.91360354e-01] [ 4.98115419e-02 2.39063414e-03 9.98755774e-01 -1.44029886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32629675700002 meters Centerline goodness [0,1] 0.8210061993323796 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95614103e-01 7.88637739e-02 -5.03295506e-02 5.87819326e+00] [-7.89288853e-02 9.96880006e-01 6.95577929e-04 -2.89109272e-01] [ 5.02273787e-02 3.27992813e-03 9.98732423e-01 -1.44106362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35629675700002 meters Centerline goodness [0,1] 0.8226168313523319 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95636404e-01 7.83790289e-02 -5.06446364e-02 5.87940630e+00] [-7.84707008e-02 9.96916404e-01 1.78761542e-04 -2.88100645e-01] [ 5.05024800e-02 3.79613861e-03 9.98716721e-01 -1.44172641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38629675700003 meters Centerline goodness [0,1] 0.8210330341798739 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95688326e-01 7.73560470e-02 -5.11937414e-02 5.88127995e+00] [-7.74922552e-02 9.96992723e-01 -6.78167471e-04 -2.86795354e-01] [ 5.09873273e-02 4.64236191e-03 9.98688510e-01 -1.44241347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41629675700003 meters Centerline goodness [0,1] 0.82244440202348 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95701501e-01 7.70533075e-02 -5.13936690e-02 5.88171656e+00] [-7.72057488e-02 9.97014695e-01 -9.84557020e-04 -2.86153402e-01] [ 5.11643799e-02 4.94821160e-03 9.98677987e-01 -1.44238440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44629675700003 meters Centerline goodness [0,1] 0.8247095589112335 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95711516e-01 7.67854490e-02 -5.16001073e-02 5.88220939e+00] [-7.69524594e-02 9.97033974e-01 -1.25481692e-03 -2.85315473e-01] [ 5.13507084e-02 5.22019082e-03 9.98667039e-01 -1.44235656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47629675700003 meters Centerline goodness [0,1] 0.8234372775167307 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95738626e-01 7.62089558e-02 -5.19305664e-02 5.88325005e+00] [-7.64313510e-02 9.97072176e-01 -2.30729259e-03 -2.81575482e-01] [ 5.16026865e-02 6.26658371e-03 9.98648032e-01 -1.44273368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50629675700003 meters Centerline goodness [0,1] 0.8273617947747065 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95733663e-01 7.62700918e-02 -5.19359658e-02 5.88328161e+00] [-7.65284039e-02 9.97062887e-01 -3.00042805e-03 -2.76804123e-01] [ 5.15545811e-02 6.96220379e-03 9.98645910e-01 -1.44266885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53629675700003 meters Centerline goodness [0,1] 0.8262154049774291 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95722086e-01 7.63812180e-02 -5.19945912e-02 5.88301769e+00] [-7.66557934e-02 9.97052140e-01 -3.30437554e-03 -2.74966029e-01] [ 5.15889262e-02 7.27592635e-03 9.98641900e-01 -1.44224236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56629675700003 meters Centerline goodness [0,1] 0.8259742707695208 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95694649e-01 7.69351737e-02 -5.17024708e-02 5.88130479e+00] [-7.72032302e-02 9.97010226e-01 -3.20464789e-03 -2.73026025e-01] [ 5.13013419e-02 7.18244851e-03 9.98657391e-01 -1.44068634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59629675700003 meters Centerline goodness [0,1] 0.8252778495735332 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95686467e-01 7.70551121e-02 -5.16814257e-02 5.88091959e+00] [-7.73302694e-02 9.96999927e-01 -3.34281678e-03 -2.71981634e-01] [ 5.12687966e-02 7.32493600e-03 9.98658027e-01 -1.44023741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62629675700003 meters Centerline goodness [0,1] 0.8265005609573672 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95663261e-01 7.74831874e-02 -5.14881123e-02 5.88017042e+00] [-7.77673729e-02 9.96965261e-01 -3.53615666e-03 -2.68916175e-01] [ 5.10578666e-02 7.52491651e-03 9.98667347e-01 -1.43973090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65629675700004 meters Centerline goodness [0,1] 0.8222133720657827 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95659878e-01 7.75151828e-02 -5.15053739e-02 5.88026908e+00] [-7.78202050e-02 9.96959623e-01 -3.94033449e-03 -2.66886709e-01] [ 5.10433424e-02 7.93139171e-03 9.98664944e-01 -1.43987840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68629675700004 meters Centerline goodness [0,1] 0.826538470514107 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95639587e-01 7.78083689e-02 -5.14555188e-02 5.88009253e+00] [-7.81335649e-02 9.96933471e-01 -4.33584193e-03 -2.64134126e-01] [ 5.09603642e-02 8.33733899e-03 9.98665875e-01 -1.43992798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71629675700004 meters Centerline goodness [0,1] 0.8093355350373281 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95636262e-01 7.78154776e-02 -5.15090876e-02 5.88035250e+00] [-7.81656260e-02 9.96928756e-01 -4.81554455e-03 -2.62442250e-01] [ 5.09761667e-02 8.82077084e-03 9.98660916e-01 -1.44020236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.746296757 meters Centerline goodness [0,1] 0.824877593844719 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95635521e-01 7.78282138e-02 -5.15041675e-02 5.88037512e+00] [-7.81851464e-02 9.96926572e-01 -4.94900725e-03 -2.61742718e-01] [ 5.09607007e-02 8.95426828e-03 9.98660517e-01 -1.44022879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.776296757 meters Centerline goodness [0,1] 0.8076636731655111 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95629383e-01 7.77806932e-02 -5.16942412e-02 5.88069315e+00] [-7.81473732e-02 9.96928736e-01 -5.10720088e-03 -2.60883015e-01] [ 5.11382329e-02 9.12464843e-03 9.98649900e-01 -1.44013322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.806296757 meters Centerline goodness [0,1] 0.8229282794500186 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95647716e-01 7.74073466e-02 -5.19011400e-02 5.88135435e+00] [-7.77914706e-02 9.96954923e-01 -5.41923984e-03 -2.59811889e-01] [ 5.13236081e-02 9.43311978e-03 9.98637524e-01 -1.44024732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.836296757 meters Centerline goodness [0,1] 0.8271214061226866 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95690594e-01 7.66008008e-02 -5.22738810e-02 5.88245547e+00] [-7.69857984e-02 9.97017627e-01 -5.38866913e-03 -2.61123985e-01] [ 5.17052045e-02 9.38979364e-03 9.98618247e-01 -1.44020385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86629675700001 meters Centerline goodness [0,1] 0.8263676837369758 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95702237e-01 7.62983393e-02 -5.24939818e-02 5.88313558e+00] [-7.66767140e-02 9.97042294e-01 -5.22925501e-03 -2.62409029e-01] [ 5.19397366e-02 9.23184694e-03 9.98607549e-01 -1.44035451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89629675700002 meters Centerline goodness [0,1] 0.8281527531083481 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.26, Z:-1.44 [[ 9.95747436e-01 7.55445312e-02 -5.27263488e-02 5.88408358e+00] [-7.59187149e-02 9.97100826e-01 -5.12744090e-03 -2.64200373e-01] [ 5.21861358e-02 9.10855277e-03 9.98595835e-01 -1.44052818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92629675700002 meters Centerline goodness [0,1] 0.8281195406582655 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95750196e-01 7.54828792e-02 -5.27625058e-02 5.88412078e+00] [-7.58398492e-02 9.97108489e-01 -4.79365105e-03 -2.65301721e-01] [ 5.22481038e-02 8.77477945e-03 9.98595583e-01 -1.44028817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95629675700002 meters Centerline goodness [0,1] 0.8313834250023305 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95750388e-01 7.54003507e-02 -5.28767592e-02 5.88417364e+00] [-7.57419235e-02 9.97117377e-01 -4.48306353e-03 -2.66060636e-01] [ 5.23863109e-02 8.46899970e-03 9.98590983e-01 -1.43982342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98629675700002 meters Centerline goodness [0,1] 0.829504430587463 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95743994e-01 7.54740716e-02 -5.28919936e-02 5.88387805e+00] [-7.57875237e-02 9.97116194e-01 -3.94298873e-03 -2.67192287e-01] [ 5.24418700e-02 7.93476057e-03 9.98592454e-01 -1.43913124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01629675700002 meters Centerline goodness [0,1] 0.8286041510845176 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95741981e-01 7.54654490e-02 -5.29421665e-02 5.88408818e+00] [-7.57710149e-02 9.97118058e-01 -3.78561198e-03 -2.67886389e-01] [ 5.25039074e-02 7.78097446e-03 9.98590405e-01 -1.43920600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04629675700002 meters Centerline goodness [0,1] 0.8291008761654876 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95726758e-01 7.55374109e-02 -5.31255487e-02 5.88433419e+00] [-7.58167895e-02 9.97116435e-01 -3.26043051e-03 -2.69784117e-01] [ 5.27260732e-02 7.27430644e-03 9.98582518e-01 -1.43889864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07629675700002 meters Centerline goodness [0,1] 0.8286526088385855 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.27, Z:-1.44 [[ 9.95714869e-01 7.56092749e-02 -5.32460092e-02 5.88468830e+00] [-7.58778156e-02 9.97112498e-01 -3.03715352e-03 -2.70546135e-01] [ 5.28626242e-02 7.06432979e-03 9.98576806e-01 -1.43900572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10629675700002 meters Centerline goodness [0,1] 0.827109721993749 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.27, Z:-1.44 [[ 9.95720969e-01 7.54759041e-02 -5.33211039e-02 5.88552883e+00] [-7.57480953e-02 9.97122169e-01 -3.09951698e-03 -2.71090784e-01] [ 5.29337159e-02 7.12522611e-03 9.98572608e-01 -1.43991894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13629675700003 meters Centerline goodness [0,1] 0.8280881937246773 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.27, Z:-1.44 [[ 9.95718447e-01 7.54322718e-02 -5.34298281e-02 5.88600441e+00] [-7.57049370e-02 9.97125460e-01 -3.09496670e-03 -2.71341622e-01] [ 5.30427816e-02 7.12661721e-03 9.98566810e-01 -1.44024992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16629675700003 meters Centerline goodness [0,1] 0.8253272019808985 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.27, Z:-1.44 [[ 9.95701532e-01 7.56885942e-02 -5.33825392e-02 5.88567794e+00] [-7.59388570e-02 9.97108895e-01 -2.67251856e-03 -2.72246725e-01] [ 5.30259255e-02 6.71483984e-03 9.98570559e-01 -1.43989291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19629675700003 meters Centerline goodness [0,1] 0.8255066849340955 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.27, Z:-1.44 [[ 9.95685652e-01 7.59648748e-02 -5.32862018e-02 5.88516149e+00] [-7.61905559e-02 9.97090818e-01 -2.21378537e-03 -2.73204815e-01] [ 5.29630126e-02 6.26413967e-03 9.98576827e-01 -1.43940854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22629675700003 meters Centerline goodness [0,1] 0.8254283820884218 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95652670e-01 7.64168939e-02 -5.32561703e-02 5.88463452e+00] [-7.65974841e-02 9.97061176e-01 -1.35517585e-03 -2.75295194e-01] [ 5.29961014e-02 5.42857311e-03 9.98579964e-01 -1.43865243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25629675700003 meters Centerline goodness [0,1] 0.8275919139378177 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95638770e-01 7.66616575e-02 -5.31641874e-02 5.88486082e+00] [-7.68397921e-02 9.97042590e-01 -1.31175958e-03 -2.75387230e-01] [ 5.29063974e-02 5.39116380e-03 9.98584923e-01 -1.43929337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28629675700003 meters Centerline goodness [0,1] 0.8170907458596168 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95622022e-01 7.68890101e-02 -5.31495053e-02 5.88495262e+00] [-7.70636055e-02 9.97025407e-01 -1.24038980e-03 -2.75252537e-01] [ 5.28960348e-02 5.33085191e-03 9.98585796e-01 -1.43954176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31629675700003 meters Centerline goodness [0,1] 0.824697428139183 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95608629e-01 7.71210008e-02 -5.30642007e-02 5.88488100e+00] [-7.72892258e-02 9.97008082e-01 -1.12239511e-03 -2.75483049e-01] [ 5.28188767e-02 5.21875724e-03 9.98590472e-01 -1.43973422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34629675700003 meters Centerline goodness [0,1] 0.8261619934748687 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.44 [[ 9.95601589e-01 7.72336543e-02 -5.30324361e-02 5.88517948e+00] [-7.73796487e-02 9.97001453e-01 -7.02129179e-04 -2.77679791e-01] [ 5.28191878e-02 4.80267220e-03 9.98592543e-01 -1.44020446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37629675700003 meters Centerline goodness [0,1] 0.8264554774250066 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.44 [[ 9.95588256e-01 7.73675379e-02 -5.30875483e-02 5.88510133e+00] [-7.74856253e-02 9.96993455e-01 -1.66698901e-04 -2.79470656e-01] [ 5.29150412e-02 4.27948534e-03 9.98589848e-01 -1.43985984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40629675700004 meters Centerline goodness [0,1] 0.8245001662155103 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95601497e-01 7.74213177e-02 -5.27598261e-02 5.88414406e+00] [-7.74858319e-02 9.96993112e-01 8.24685160e-04 -2.82777449e-01] [ 5.26650315e-02 3.26708124e-03 9.98606890e-01 -1.43893336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43629675700004 meters Centerline goodness [0,1] 0.8252060521127764 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.44 [[ 9.95595849e-01 7.75712155e-02 -5.26461086e-02 5.88361486e+00] [-7.76016811e-02 9.96983362e-01 1.46828790e-03 -2.84640749e-01] [ 5.26011912e-02 2.62360519e-03 9.98612153e-01 -1.43834662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46629675700004 meters Centerline goodness [0,1] 0.8251003248614561 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95581865e-01 7.78058709e-02 -5.25642093e-02 5.88305613e+00] [-7.77764618e-02 9.96967412e-01 2.60791374e-03 -2.88147136e-01] [ 5.26077147e-02 1.49186658e-03 9.98614141e-01 -1.43745986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.496296757 meters Centerline goodness [0,1] 0.8252357302238538 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95565649e-01 7.80223717e-02 -5.25504263e-02 5.88289708e+00] [-7.79611844e-02 9.96951207e-01 3.21634686e-03 -2.89924620e-01] [ 5.26411579e-02 8.94809023e-04 9.98613092e-01 -1.43718366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.526296757 meters Centerline goodness [0,1] 0.8247010993769396 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95549998e-01 7.81660245e-02 -5.26333976e-02 5.88328246e+00] [-7.80723674e-02 9.96940313e-01 3.83626657e-03 -2.92380350e-01] [ 5.27722216e-02 2.90018773e-04 9.98606533e-01 -1.43739586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.556296757 meters Centerline goodness [0,1] 0.8244884218626013 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95532903e-01 7.82789731e-02 -5.27886420e-02 5.88380400e+00] [-7.81706816e-02 9.96931493e-01 4.11618638e-03 -2.93411596e-01] [ 5.29488705e-02 2.87251459e-05 9.98597224e-01 -1.43768850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.586296757 meters Centerline goodness [0,1] 0.8271229036779276 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.44 [[ 9.95522738e-01 7.83031436e-02 -5.29442762e-02 5.88494889e+00] [-7.81921683e-02 9.96929595e-01 4.16739565e-03 -2.94905791e-01] [ 5.31080360e-02 -8.90936757e-06 9.98588772e-01 -1.43891130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61629675700001 meters Centerline goodness [0,1] 0.8237666320542851 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.44 [[ 9.95488141e-01 7.87975997e-02 -5.28611252e-02 5.88517837e+00] [-7.86713222e-02 9.96890593e-01 4.46864514e-03 -2.96504307e-01] [ 5.30488770e-02 -2.89828636e-04 9.98591875e-01 -1.43971764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64629675700002 meters Centerline goodness [0,1] 0.821379126083894 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95457278e-01 7.92570115e-02 -5.27554159e-02 5.88485670e+00] [-7.91120139e-02 9.96854010e-01 4.83438134e-03 -2.97328853e-01] [ 5.29726065e-02 -6.38832893e-04 9.98595761e-01 -1.43969169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67629675700002 meters Centerline goodness [0,1] 0.8207544878179124 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95387250e-01 8.04596241e-02 -5.22539209e-02 5.88330280e+00] [-8.02847223e-02 9.96757121e-01 5.44101553e-03 -2.97876191e-01] [ 5.25222498e-02 -1.22072595e-03 9.98619008e-01 -1.43942418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70629675700002 meters Centerline goodness [0,1] 0.8166346551263037 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95351174e-01 8.10839636e-02 -5.19752979e-02 5.88237931e+00] [-8.08947809e-02 9.96706137e-01 5.73674634e-03 -2.97873658e-01] [ 5.22692565e-02 -1.50554687e-03 9.98631893e-01 -1.43914058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73629675700002 meters Centerline goodness [0,1] 0.81328144003892 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95300259e-01 8.20019519e-02 -5.15080011e-02 5.88109197e+00] [-8.17918346e-02 9.96630289e-01 6.17758113e-03 -2.97755697e-01] [ 5.18410078e-02 -1.93561419e-03 9.98653475e-01 -1.43898362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76629675700002 meters Centerline goodness [0,1] 0.8124588885911272 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95290393e-01 8.21010403e-02 -5.15407859e-02 5.88115806e+00] [-8.18859246e-02 9.96621953e-01 6.27512858e-03 -2.97989330e-01] [ 5.18818733e-02 -2.02511029e-03 9.98651175e-01 -1.43901485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79629675700002 meters Centerline goodness [0,1] 0.8124588885911272 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95290393e-01 8.21010403e-02 -5.15407859e-02 5.88115806e+00] [-8.18859246e-02 9.96621953e-01 6.27512858e-03 -2.97989330e-01] [ 5.18818733e-02 -2.02511029e-03 9.98651175e-01 -1.43901485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82629675700002 meters Centerline goodness [0,1] 0.8074509994650065 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95322787e-01 8.14750876e-02 -5.19072234e-02 5.88232227e+00] [-8.12527342e-02 9.96673090e-01 6.38310991e-03 -3.00144256e-01] [ 5.22545972e-02 -2.13565092e-03 9.98631512e-01 -1.43920225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85629675700002 meters Centerline goodness [0,1] 0.811002856933558 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95614109e-01 7.78227369e-02 -5.19246355e-02 5.88140926e+00] [-7.77916374e-02 9.96966189e-01 2.62275680e-03 -3.00056497e-01] [ 5.19712161e-02 1.42804874e-03 9.98647562e-01 -1.43911277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88629675700003 meters Centerline goodness [0,1] 0.815416717810237 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.95954756e-01 7.31210167e-02 -5.22249075e-02 5.88194396e+00] [-7.32735647e-02 9.97311368e-01 -1.00974819e-03 -3.02408276e-01] [ 5.20106602e-02 4.83236865e-03 9.98634838e-01 -1.43942288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91629675700003 meters Centerline goodness [0,1] 0.8157784718294272 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 9.96245631e-01 6.87509258e-02 -5.26113425e-02 5.88265420e+00] [-6.91179304e-02 9.97595015e-01 -5.18624362e-03 -3.02193422e-01] [ 5.21282540e-02 8.80315965e-03 9.98601597e-01 -1.44018303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94629675700003 meters Centerline goodness [0,1] 0.8126057108745398 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.44 [[ 0.99657111 0.06350648 -0.05303725 5.88391361] [-0.06406621 0.99790579 -0.00891931 -0.30484332] [ 0.05235975 0.01228662 0.9985527 -1.44071528] [ 0. 0. 0. 1. ]] SLAMing on 160.97629675700003 meters Centerline goodness [0,1] 0.8114428482198626 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99681876 0.05932302 -0.05322719 5.88382267] [-0.06007337 0.99811433 -0.01260838 -0.30572286] [ 0.05237885 0.0157658 0.99850283 -1.44071879] [ 0. 0. 0. 1. ]] SLAMing on 161.00629675700003 meters Centerline goodness [0,1] 0.8102455822838901 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99707118 0.05473528 -0.05341448 5.88372234] [-0.05562049 0.99833585 -0.01522803 -0.31021828] [ 0.05249208 0.01815437 0.99845631 -1.43966003] [ 0. 0. 0. 1. ]] SLAMing on 161.03629675700003 meters Centerline goodness [0,1] 0.8120350220152842 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99729805 0.0503892 -0.05345587 5.88381532] [-0.05144647 0.99850273 -0.01858932 -0.31281911] [ 0.05243913 0.0212892 0.99839717 -1.43999012] [ 0. 0. 0. 1. ]] SLAMing on 161.06629675700003 meters Centerline goodness [0,1] 0.8110931256006879 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.31, Z:-1.44 [[ 0.99729467 0.05019751 -0.05369869 5.88464064] [-0.05122798 0.99852498 -0.01798786 -0.31497337] [ 0.05271654 0.02069008 0.99839516 -1.44002779] [ 0. 0. 0. 1. ]] SLAMing on 161.09629675700003 meters Centerline goodness [0,1] 0.810787562931667 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.44 [[ 0.99728604 0.05035741 -0.05370932 5.88471357] [-0.05134895 0.9985319 -0.01724301 -0.31715716] [ 0.05276215 0.01995413 0.99840773 -1.43987632] [ 0. 0. 0. 1. ]] SLAMing on 161.12629675700003 meters Centerline goodness [0,1] 0.8146708336509388 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.44 [[ 0.99726956 0.05071142 -0.05368217 5.88466495] [-0.0516502 0.99853308 -0.01624644 -0.32027574] [ 0.05277954 0.01897477 0.9984259 -1.43973096] [ 0. 0. 0. 1. ]] SLAMing on 161.15629675700004 meters Centerline goodness [0,1] 0.8121732921947115 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.44 [[ 0.99724439 0.05119085 -0.05369481 5.88451126] [-0.05209858 0.99851942 -0.01564309 -0.32176174] [ 0.05281452 0.0183974 0.99843486 -1.43960526] [ 0. 0. 0. 1. ]] SLAMing on 161.18629675700004 meters Centerline goodness [0,1] 0.8127423538173134 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.44 [[ 0.99720199 0.05215789 -0.0535513 5.88434889] [-0.05304003 0.99847693 -0.01518491 -0.32280645] [ 0.05267773 0.01798279 0.99844964 -1.44039673] [ 0. 0. 0. 1. ]] SLAMing on 161.21629675700004 meters Centerline goodness [0,1] 0.8134569102360591 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.44 [[ 0.99697582 0.05612238 -0.05375402 5.8856955 ] [-0.05677937 0.99832863 -0.01077264 -0.32482527] [ 0.05305959 0.01379218 0.9984961 -1.44065018] [ 0. 0. 0. 1. ]] SLAMing on 161.246296757 meters Centerline goodness [0,1] 0.8135506747276855 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.44 [[ 0.99670632 0.06094572 -0.0534989 5.88578265] [-0.06138102 0.99809305 -0.0065299 -0.32492871] [ 0.05299891 0.00979221 0.99854656 -1.44106297] [ 0. 0. 0. 1. ]] SLAMing on 161.276296757 meters Centerline goodness [0,1] 0.8144826525905806 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.44 [[ 0.99666817 0.06179111 -0.0532393 5.88481871] [-0.06221295 0.998043 -0.00630151 -0.32425031] [ 0.05274574 0.00959269 0.9985619 -1.44093088] [ 0. 0. 0. 1. ]] SLAMing on 161.306296757 meters Centerline goodness [0,1] 0.812808890937492 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.44 [[ 9.96615434e-01 6.28925016e-02 -5.29359131e-02 5.88378685e+00] [-6.32880627e-02 9.97978284e-01 -5.82797665e-03 -3.24758118e-01] [ 5.24623557e-02 9.15846286e-03 9.98580905e-01 -1.44093672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.336296757 meters Centerline goodness [0,1] 0.8136408041544553 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96595333e-01 6.33016272e-02 -5.28265750e-02 5.88329798e+00] [-6.36768893e-02 9.97955689e-01 -5.44937225e-03 -3.25473498e-01] [ 5.23736269e-02 8.79465092e-03 9.98588833e-01 -1.44066411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36629675700001 meters Centerline goodness [0,1] 0.816942701368172 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96580552e-01 6.36760611e-02 -5.26551348e-02 5.88276027e+00] [-6.40223102e-02 9.97936370e-01 -4.91370765e-03 -3.26855534e-01] [ 5.22335885e-02 8.26800886e-03 9.98600667e-01 -1.44039265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39629675700002 meters Centerline goodness [0,1] 0.8200840054629319 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96566608e-01 6.39173355e-02 -5.26267018e-02 5.88229602e+00] [-6.42333213e-02 9.97925500e-01 -4.33323978e-03 -3.28124612e-01] [ 5.22405585e-02 7.69874991e-03 9.98604853e-01 -1.43967144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42629675700002 meters Centerline goodness [0,1] 0.8186277040631937 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96552360e-01 6.41276989e-02 -5.26405968e-02 5.88186232e+00] [-6.44069123e-02 9.97917142e-01 -3.62325640e-03 -3.29718336e-01] [ 5.22986028e-02 7.00118302e-03 9.98606949e-01 -1.43878741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45629675700002 meters Centerline goodness [0,1] 0.8151740907444772 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96560009e-01 6.39336670e-02 -5.27317163e-02 5.88168176e+00] [-6.41662051e-02 9.97935500e-01 -2.72697385e-03 -3.32178043e-01] [ 5.24485062e-02 6.10118721e-03 9.98604992e-01 -1.43747812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48629675700002 meters Centerline goodness [0,1] 0.8148320774748181 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96575867e-01 6.34073889e-02 -5.30664182e-02 5.88238375e+00] [-6.36183818e-02 9.97971661e-01 -2.29461125e-03 -3.33692642e-01] [ 5.28132862e-02 5.66275385e-03 9.98588349e-01 -1.43679473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51629675700002 meters Centerline goodness [0,1] 0.8161779888498865 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.44 [[ 9.96581226e-01 6.31565281e-02 -5.32645531e-02 5.88267931e+00] [-6.33565257e-02 9.97988804e-01 -2.07297453e-03 -3.34387442e-01] [ 5.30265058e-02 5.44054452e-03 9.98578284e-01 -1.43628773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54629675700002 meters Centerline goodness [0,1] 0.8181140034983023 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.34, Z:-1.44 [[ 9.96611914e-01 6.24182337e-02 -5.35598475e-02 5.88338875e+00] [-6.26133680e-02 9.98035911e-01 -1.97143557e-03 -3.35093676e-01] [ 5.33315977e-02 5.31831862e-03 9.98562695e-01 -1.43566795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57629675700002 meters Centerline goodness [0,1] 0.8158200853043815 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.34, Z:-1.44 [[ 9.96619322e-01 6.20749393e-02 -5.38203316e-02 5.88400064e+00] [-6.22715059e-02 9.98057280e-01 -1.98142490e-03 -3.35273617e-01] [ 5.35927769e-02 5.32619943e-03 9.98548670e-01 -1.43551731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60629675700002 meters Centerline goodness [0,1] 0.8183643524596493 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.34, Z:-1.44 [[ 9.96649966e-01 6.13093351e-02 -5.41295664e-02 5.88477458e+00] [-6.15167125e-02 9.98103691e-01 -2.17174912e-03 -3.35039869e-01] [ 5.38937715e-02 5.49434666e-03 9.98531559e-01 -1.43508657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63629675700003 meters Centerline goodness [0,1] 0.8177794832437963 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.33, Z:-1.43 [[ 9.96650130e-01 6.10651974e-02 -5.44018331e-02 5.88525710e+00] [-6.12747087e-02 9.98118537e-01 -2.19001687e-03 -3.34928531e-01] [ 5.41657442e-02 5.51613707e-03 9.98516722e-01 -1.43479024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66629675700003 meters Centerline goodness [0,1] 0.8168833500012822 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.33, Z:-1.43 [[ 9.96663396e-01 6.07362127e-02 -5.45269444e-02 5.88545277e+00] [-6.09584182e-02 9.98137373e-01 -2.41972522e-03 -3.34118682e-01] [ 5.42784161e-02 5.73552783e-03 9.98509368e-01 -1.43445169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69629675700003 meters Centerline goodness [0,1] 0.8146703282601442 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.33, Z:-1.43 [[ 9.96659493e-01 6.07748726e-02 -5.45551998e-02 5.88533377e+00] [-6.09993987e-02 9.98134775e-01 -2.45835330e-03 -3.33481012e-01] [ 5.43040360e-02 5.77797553e-03 9.98507730e-01 -1.43419542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72629675700003 meters Centerline goodness [0,1] 0.8170806344672821 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.43 [[ 9.96643247e-01 6.10499940e-02 -5.45448082e-02 5.88479546e+00] [-6.12819330e-02 9.98117140e-01 -2.58831729e-03 -3.31641539e-01] [ 5.42840912e-02 5.92224022e-03 9.98507969e-01 -1.43360734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75629675700003 meters Centerline goodness [0,1] 0.8168038443842339 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.43 [[ 9.96631965e-01 6.12140874e-02 -5.45670359e-02 5.88452219e+00] [-6.14512736e-02 9.98106492e-01 -2.67790841e-03 -3.30728986e-01] [ 5.42997871e-02 6.02210297e-03 9.98506518e-01 -1.43327796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78629675700003 meters Centerline goodness [0,1] 0.8183048596746597 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.43 [[ 9.96592590e-01 6.17323732e-02 -5.47021336e-02 5.88452787e+00] [-6.19786924e-02 9.98073499e-01 -2.81633932e-03 -3.29424034e-01] [ 5.44228906e-02 6.19710961e-03 9.98498746e-01 -1.43334865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81629675700003 meters Centerline goodness [0,1] 0.8184018753503541 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.33, Z:-1.43 [[ 9.96568148e-01 6.20123013e-02 -5.48306635e-02 5.88470078e+00] [-6.22702781e-02 9.98054792e-01 -3.00746511e-03 -3.28293446e-01] [ 5.45375066e-02 6.41146460e-03 9.98491138e-01 -1.43348219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84629675700003 meters Centerline goodness [0,1] 0.8204027731924728 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.33, Z:-1.43 [[ 9.96292896e-01 6.60604197e-02 -5.51043221e-02 5.88606171e+00] [-6.61174236e-02 9.97811536e-01 7.89945666e-04 -3.27935843e-01] [ 5.50359125e-02 2.85633856e-03 9.98480290e-01 -1.43377652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87629675700003 meters Centerline goodness [0,1] 0.817078423919929 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.33, Z:-1.43 [[ 9.96017183e-01 6.99965667e-02 -5.52290779e-02 5.88731227e+00] [-6.98572201e-02 9.97547066e-01 4.45196729e-03 -3.26877488e-01] [ 5.54052271e-02 -5.76086060e-04 9.98463784e-01 -1.43419332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90629675700004 meters Centerline goodness [0,1] 0.8185627382184416 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.33, Z:-1.43 [[ 9.96003636e-01 7.02263688e-02 -5.51816423e-02 5.88732849e+00] [-7.01075230e-02 9.97531060e-01 4.08897489e-03 -3.25219063e-01] [ 5.53325560e-02 -2.03985610e-04 9.98467960e-01 -1.43466472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93629675700004 meters Centerline goodness [0,1] 0.8215078724263222 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.44 [[ 9.96001368e-01 7.03183397e-02 -5.51054100e-02 5.88732033e+00] [-7.02185265e-02 9.97524592e-01 3.74781208e-03 -3.23814693e-01] [ 5.52325416e-02 1.36594735e-04 9.98473509e-01 -1.43503757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96629675700004 meters Centerline goodness [0,1] 0.8196651031421799 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.95992397e-01 7.05389546e-02 -5.49854686e-02 5.88649569e+00] [-7.04310620e-02 9.97509025e-01 3.89996931e-03 -3.23389908e-01] [ 5.51236009e-02 -1.16548367e-05 9.98479538e-01 -1.43419496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.996296757 meters Centerline goodness [0,1] 0.823551637279597 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.95984854e-01 7.06884675e-02 -5.49300514e-02 5.88572259e+00] [-7.05585428e-02 9.97498357e-01 4.30347720e-03 -3.24240077e-01] [ 5.50968422e-02 -4.10413730e-04 9.98480931e-01 -1.43317225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.026296757 meters Centerline goodness [0,1] 0.8263721351025332 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96219893e-01 6.74470826e-02 -5.47431859e-02 5.88335147e+00] [-6.75052672e-02 9.97718607e-01 7.87663850e-04 -3.23136090e-01] [ 5.46714208e-02 2.91076700e-03 9.98500157e-01 -1.43152873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.056296757 meters Centerline goodness [0,1] 0.8256049648407198 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96229948e-01 6.73019548e-02 -5.47388148e-02 5.88269413e+00] [-6.73461254e-02 9.97729131e-01 1.03937040e-03 -3.23058163e-01] [ 5.46844618e-02 2.65099517e-03 9.98500166e-01 -1.43017740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.086296757 meters Centerline goodness [0,1] 0.8256236680456313 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96233769e-01 6.72508011e-02 -5.47321369e-02 5.88238453e+00] [-6.72925474e-02 9.97732701e-01 1.08191068e-03 -3.22444273e-01] [ 5.46808022e-02 2.60522896e-03 9.98500487e-01 -1.42958729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11629675700001 meters Centerline goodness [0,1] 0.8270001001301692 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96244691e-01 6.70243780e-02 -5.48110316e-02 5.88215689e+00] [-6.70690598e-02 9.97747808e-01 1.02591470e-03 -3.21605340e-01] [ 5.47563479e-02 2.65406228e-03 9.98496218e-01 -1.42876747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14629675700002 meters Centerline goodness [0,1] 0.8270838548185231 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96238268e-01 6.70234407e-02 -5.49287967e-02 5.88206102e+00] [-6.70615918e-02 9.97748174e-01 1.15042642e-03 -3.21617560e-01] [ 5.48822122e-02 2.53751372e-03 9.98489611e-01 -1.42820891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17629675700002 meters Centerline goodness [0,1] 0.8275352888176994 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96253656e-01 6.65362282e-02 -5.52411441e-02 5.88292310e+00] [-6.65863269e-02 9.97780230e-01 9.35198877e-04 -3.21669055e-01] [ 5.51807461e-02 2.74660958e-03 9.98472604e-01 -1.42823919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20629675700002 meters Centerline goodness [0,1] 0.8282767597877241 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96263301e-01 6.62138103e-02 -5.54541834e-02 5.88369238e+00] [-6.62741616e-02 9.97801168e-01 7.52013069e-04 -3.21575632e-01] [ 5.53820426e-02 2.92597649e-03 9.98460950e-01 -1.42854431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23629675700002 meters Centerline goodness [0,1] 0.8268646305615066 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96299561e-01 6.55331944e-02 -5.56110147e-02 5.88498851e+00] [-6.56318740e-02 9.97843903e-01 5.19894366e-05 -3.20314003e-01] [ 5.54945190e-02 3.59805806e-03 9.98452509e-01 -1.42961769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26629675700002 meters Centerline goodness [0,1] 0.8277046365197481 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96306498e-01 6.52985433e-02 -5.57625602e-02 5.88561579e+00] [-6.54193019e-02 9.97857805e-01 -3.40990095e-04 -3.19294578e-01] [ 5.56208397e-02 3.98767841e-03 9.98444000e-01 -1.43004758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29629675700002 meters Centerline goodness [0,1] 0.8246884095828046 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96314044e-01 6.49975616e-02 -5.59789438e-02 5.88674811e+00] [-6.51451948e-02 9.97875463e-01 -8.14601715e-04 -3.18602783e-01] [ 5.58070674e-02 4.45835833e-03 9.98431617e-01 -1.43099995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32629675700002 meters Centerline goodness [0,1] 0.8267078732896344 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96313009e-01 6.49600126e-02 -5.60409219e-02 5.88715449e+00] [-6.51132627e-02 9.97877464e-01 -9.11085428e-04 -3.18601539e-01] [ 5.58627889e-02 4.55673353e-03 9.98428057e-01 -1.43138369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35629675700002 meters Centerline goodness [0,1] 0.8252875283786144 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96299073e-01 6.51559445e-02 -5.60612171e-02 5.88737326e+00] [-6.53173695e-02 9.97863988e-01 -1.04999673e-03 -3.18309039e-01] [ 5.58730561e-02 4.70788200e-03 9.98426781e-01 -1.43182698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38629675700003 meters Centerline goodness [0,1] 0.8278336083195841 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96287120e-01 6.54026681e-02 -5.59862888e-02 5.88710952e+00] [-6.55574188e-02 9.97848365e-01 -9.29987476e-04 -3.18070730e-01] [ 5.58050031e-02 4.59685113e-03 9.98431105e-01 -1.43169037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41629675700003 meters Centerline goodness [0,1] 0.8276707530647986 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96270079e-01 6.58914267e-02 -5.57157966e-02 5.88629790e+00] [-6.60344241e-02 9.97817080e-01 -7.27440482e-04 -3.17511604e-01] [ 5.55462414e-02 4.40388773e-03 9.98446404e-01 -1.43142811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44629675700003 meters Centerline goodness [0,1] 0.8271932680507902 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.32, Z:-1.43 [[ 9.96253532e-01 6.61932832e-02 -5.56538319e-02 5.88594182e+00] [-6.63248625e-02 9.97797947e-01 -5.18499505e-04 -3.17527349e-01] [ 5.54969581e-02 4.20778972e-03 9.98449990e-01 -1.43118425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47629675700003 meters Centerline goodness [0,1] 0.825566213026666 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96225882e-01 6.69972002e-02 -5.51848458e-02 5.88464188e+00] [-6.70950365e-02 9.97746586e-01 8.00193492e-05 -3.18115829e-01] [ 5.50658525e-02 3.62291190e-03 9.98476152e-01 -1.43082895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50629675700003 meters Centerline goodness [0,1] 0.8264855090662515 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96213827e-01 6.73379916e-02 -5.49873273e-02 5.88423398e+00] [-6.74241194e-02 9.97724363e-01 2.89426287e-04 -3.18417240e-01] [ 5.48816855e-02 3.41914165e-03 9.98487010e-01 -1.43094285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53629675700003 meters Centerline goodness [0,1] 0.8280589655866372 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96204539e-01 6.76470718e-02 -5.47758256e-02 5.88413283e+00] [-6.77169877e-02 9.97704401e-01 5.80745041e-04 -3.19123961e-01] [ 5.46893680e-02 3.13071306e-03 9.98498509e-01 -1.43146980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56629675700003 meters Centerline goodness [0,1] 0.8263294064454547 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96203345e-01 6.76748029e-02 -5.47632736e-02 5.88431512e+00] [-6.77382101e-02 9.97702884e-01 6.99639329e-04 -3.19699461e-01] [ 5.46848240e-02 3.01258310e-03 9.98499121e-01 -1.43171434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59629675700003 meters Centerline goodness [0,1] 0.8258292344557951 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96196825e-01 6.78811683e-02 -5.46263053e-02 5.88430320e+00] [-6.79289039e-02 9.97689679e-01 9.84555048e-04 -3.20886655e-01] [ 5.45669337e-02 2.72989443e-03 9.98506383e-01 -1.43212506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62629675700003 meters Centerline goodness [0,1] 0.8211545717519809 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96192966e-01 6.80947720e-02 -5.44304721e-02 5.88382553e+00] [-6.81327806e-02 9.97675589e-01 1.15918376e-03 -3.21274554e-01] [ 5.43828877e-02 2.55372871e-03 9.98516890e-01 -1.43203397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65629675700004 meters Centerline goodness [0,1] 0.8211983887210473 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96163524e-01 6.90219027e-02 -5.37978613e-02 5.88171481e+00] [-6.90219833e-02 9.97613408e-01 1.85868736e-03 -3.22221510e-01] [ 5.37977579e-02 1.86167854e-03 9.98550117e-01 -1.43119456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68629675700004 meters Centerline goodness [0,1] 0.8215688248917531 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96152731e-01 6.93654770e-02 -5.35552669e-02 5.88104010e+00] [-6.93602755e-02 9.97589755e-01 1.95800073e-03 -3.22191782e-01] [ 5.35620033e-02 1.76414030e-03 9.98562967e-01 -1.43110379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71629675700004 meters Centerline goodness [0,1] 0.8215688248917531 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.96152731e-01 6.93654770e-02 -5.35552669e-02 5.88104010e+00] [-6.93602755e-02 9.97589755e-01 1.95800073e-03 -3.22191782e-01] [ 5.35620033e-02 1.76414030e-03 9.98562967e-01 -1.43110379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.746296757 meters Centerline goodness [0,1] 0.8268952076358003 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95870102e-01 7.33291145e-02 -5.35311154e-02 5.88179649e+00] [-7.31045066e-02 9.97305357e-01 6.14457925e-03 -3.23790610e-01] [ 5.38374447e-02 -2.20583698e-03 9.98547277e-01 -1.43104289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.776296757 meters Centerline goodness [0,1] 0.8249317606991711 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95851535e-01 7.37535327e-02 -5.32929359e-02 5.88108987e+00] [-7.35290075e-02 9.97274028e-01 6.16418839e-03 -3.23254004e-01] [ 5.36022915e-02 -2.22003979e-03 9.98559896e-01 -1.43101799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.806296757 meters Centerline goodness [0,1] 0.8227936762057234 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95817855e-01 7.45364691e-02 -5.28309913e-02 5.87986517e+00] [-7.43176362e-02 9.97215980e-01 6.09734850e-03 -3.22239129e-01] [ 5.31383836e-02 -2.14557411e-03 9.98584853e-01 -1.43120207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.836296757 meters Centerline goodness [0,1] 0.8207872755464413 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95807187e-01 7.48420228e-02 -5.25995955e-02 5.87929549e+00] [-7.46224728e-02 9.97193025e-01 6.12834384e-03 -3.21919380e-01] [ 5.29106074e-02 -2.17753696e-03 9.98596879e-01 -1.43121626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86629675700001 meters Centerline goodness [0,1] 0.8238172512794907 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95778250e-01 7.54783282e-02 -5.22369428e-02 5.87843883e+00] [-7.52596875e-02 9.97145047e-01 6.14280241e-03 -3.21301114e-01] [ 5.25514572e-02 -2.18553305e-03 9.98615826e-01 -1.43148273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89629675700002 meters Centerline goodness [0,1] 0.8211755313840934 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95768907e-01 7.56531466e-02 -5.21621123e-02 5.87833676e+00] [-7.54423777e-02 9.97132107e-01 6.00066903e-03 -3.20627909e-01] [ 5.24664864e-02 -2.04004586e-03 9.98620602e-01 -1.43172909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92629675700002 meters Centerline goodness [0,1] 0.8235807207297015 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95758383e-01 7.58100677e-02 -5.21351777e-02 5.87839378e+00] [-7.56156276e-02 9.97120778e-01 5.69478420e-03 -3.19527399e-01] [ 5.24167910e-02 -1.72839492e-03 9.98623799e-01 -1.43214119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95629675700002 meters Centerline goodness [0,1] 0.8245583478477233 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95755678e-01 7.57754688e-02 -5.22370343e-02 5.87867182e+00] [-7.55886571e-02 9.97123665e-01 5.54546327e-03 -3.19113460e-01] [ 5.25069932e-02 -1.57339926e-03 9.98619317e-01 -1.43228107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98629675700002 meters Centerline goodness [0,1] 0.8263347853142502 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95767308e-01 7.55394892e-02 -5.23569931e-02 5.87940903e+00] [-7.53742330e-02 9.97142138e-01 5.12655071e-03 -3.18473815e-01] [ 5.25946211e-02 -1.15848340e-03 9.98615273e-01 -1.43297658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01629675700002 meters Centerline goodness [0,1] 0.8265740533273582 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95770538e-01 7.54581646e-02 -5.24127922e-02 5.87975414e+00] [-7.53031615e-02 9.97148505e-01 4.92868986e-03 -3.18203359e-01] [ 5.26352473e-02 -9.60995194e-04 9.98613342e-01 -1.43333207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04629675700002 meters Centerline goodness [0,1] 0.8311898305928008 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95786203e-01 7.51827830e-02 -5.25108353e-02 5.88031368e+00] [-7.50441463e-02 9.97169558e-01 4.60965813e-03 -3.17865748e-01] [ 5.27087733e-02 -6.49603160e-04 9.98609715e-01 -1.43382188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07629675700002 meters Centerline goodness [0,1] 0.8229899341369454 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95811558e-01 7.48929405e-02 -5.24441547e-02 5.88040821e+00] [-7.47660250e-02 9.97191483e-01 4.38047924e-03 -3.16913897e-01] [ 5.26249313e-02 -4.41090874e-04 9.98614251e-01 -1.43393624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10629675700002 meters Centerline goodness [0,1] 0.8253403349841966 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95814902e-01 7.48429559e-02 -5.24520093e-02 5.88031898e+00] [-7.47122708e-02 9.97195201e-01 4.45061756e-03 -3.16738525e-01] [ 5.26379893e-02 -5.13182569e-04 9.98613528e-01 -1.43363849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13629675700003 meters Centerline goodness [0,1] 0.824212725735038 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95833539e-01 7.47076792e-02 -5.22907839e-02 5.87952344e+00] [-7.45594100e-02 9.97205102e-01 4.78320928e-03 -3.17123036e-01] [ 5.25019790e-02 -8.64510229e-04 9.98620446e-01 -1.43247691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16629675700003 meters Centerline goodness [0,1] 0.8260761197377932 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95838937e-01 7.45401633e-02 -5.24268639e-02 5.87958524e+00] [-7.43831109e-02 9.97217488e-01 4.94319643e-03 -3.17417826e-01] [ 5.26494522e-02 -1.02295424e-03 9.98612532e-01 -1.43194747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19629675700003 meters Centerline goodness [0,1] 0.8283927859705061 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95849205e-01 7.42639502e-02 -5.26234493e-02 5.87991137e+00] [-7.41039568e-02 9.97238049e-01 4.98770666e-03 -3.17565971e-01] [ 5.28485127e-02 -1.06739789e-03 9.98601970e-01 -1.43160819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22629675700003 meters Centerline goodness [0,1] 0.827832469561336 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95904825e-01 7.31830931e-02 -5.30830843e-02 5.88158935e+00] [-7.30505344e-02 9.97318376e-01 4.43575983e-03 -3.17011999e-01] [ 5.32653580e-02 -5.39846940e-04 9.98580247e-01 -1.43205959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25629675700003 meters Centerline goodness [0,1] 0.8283695354681396 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95921291e-01 7.27609988e-02 -5.33537150e-02 5.88241161e+00] [-7.26402301e-02 9.97349358e-01 4.20183701e-03 -3.16668545e-01] [ 5.35180233e-02 -3.09072807e-04 9.98566836e-01 -1.43222840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28629675700003 meters Centerline goodness [0,1] 0.8279919569048979 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.32, Z:-1.43 [[ 9.95957528e-01 7.19856297e-02 -5.37277600e-02 5.88375144e+00] [-7.18973900e-02 9.97405624e-01 3.57590111e-03 -3.15791675e-01] [ 5.38457835e-02 3.01440088e-04 9.98549218e-01 -1.43278198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31629675700003 meters Centerline goodness [0,1] 0.8287299660630683 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.95998686e-01 7.10891163e-02 -5.41567684e-02 5.88517549e+00] [-7.10402381e-02 9.97469437e-01 2.82950917e-03 -3.14861581e-01] [ 5.42208686e-02 1.02912230e-03 9.98528436e-01 -1.43325234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34629675700003 meters Centerline goodness [0,1] 0.8292561778219297 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.96010186e-01 7.07408904e-02 -5.44006885e-02 5.88595470e+00] [-7.07117338e-02 9.97493752e-01 2.46300167e-03 -3.14173117e-01] [ 5.44385818e-02 1.39359225e-03 9.98516148e-01 -1.43356061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37629675700003 meters Centerline goodness [0,1] 0.8300376647834276 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.96024949e-01 7.03998332e-02 -5.45725651e-02 5.88645615e+00] [-7.04042217e-02 9.97516839e-01 1.84447591e-03 -3.12275127e-01] [ 5.45669034e-02 2.00499494e-03 9.98508104e-01 -1.43371839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40629675700004 meters Centerline goodness [0,1] 0.8270447272456649 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.96021421e-01 7.03670473e-02 -5.46791267e-02 5.88658329e+00] [-7.03819604e-02 9.97518742e-01 1.65526074e-03 -3.11330738e-01] [ 5.46599294e-02 2.19974898e-03 9.98502606e-01 -1.43360324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43629675700004 meters Centerline goodness [0,1] 0.8278753597300784 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.96005121e-01 7.04707368e-02 -5.48422724e-02 5.88630442e+00] [-7.04965274e-02 9.97510947e-01 1.46655351e-03 -3.09836154e-01] [ 5.48091162e-02 2.40549496e-03 9.98493953e-01 -1.43281541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46629675700004 meters Centerline goodness [0,1] 0.829133526598776 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.95995997e-01 7.07071139e-02 -5.47035383e-02 5.88575811e+00] [-7.07329212e-02 9.97494212e-01 1.46664039e-03 -3.09178090e-01] [ 5.46701647e-02 2.40857311e-03 9.98501563e-01 -1.43248313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.496296757 meters Centerline goodness [0,1] 0.8245648881495643 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.95971357e-01 7.11175132e-02 -5.46200984e-02 5.88510387e+00] [-7.11488204e-02 9.97464766e-01 1.37360503e-03 -3.07570672e-01] [ 5.45793110e-02 2.51808430e-03 9.98506263e-01 -1.43198107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.526296757 meters Centerline goodness [0,1] 0.8239724500161039 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.31, Z:-1.43 [[ 9.95958813e-01 7.12661401e-02 -5.46551065e-02 5.88505425e+00] [-7.13063951e-02 9.97453718e-01 1.21569404e-03 -3.06502386e-01] [ 5.46025770e-02 2.68647743e-03 9.98504553e-01 -1.43191493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.556296757 meters Centerline goodness [0,1] 0.8173245885410222 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.43 [[ 9.95928410e-01 7.15939986e-02 -5.47804769e-02 5.88502100e+00] [-7.16475635e-02 9.97429522e-01 9.88012857e-04 -3.04254956e-01] [ 5.47104007e-02 2.94089762e-03 9.98497933e-01 -1.43168872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.586296757 meters Centerline goodness [0,1] 0.8190169617432215 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.43 [[ 9.95922658e-01 7.16700506e-02 -5.47856175e-02 5.88503402e+00] [-7.17336691e-02 9.97423496e-01 8.06891205e-04 -3.03336738e-01] [ 5.47022920e-02 3.12637212e-03 9.98497814e-01 -1.43172508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61629675700001 meters Centerline goodness [0,1] 0.8139805729011795 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.43 [[ 9.95909882e-01 7.17108970e-02 -5.49641240e-02 5.88522839e+00] [-7.17916435e-02 9.97419522e-01 5.06538309e-04 -3.02199033e-01] [ 5.48586147e-02 3.44149829e-03 9.98488201e-01 -1.43158301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64629675700002 meters Centerline goodness [0,1] 0.8129521355663463 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.43 [[ 9.95903851e-01 7.19080827e-02 -5.48155793e-02 5.88484739e+00] [-7.19871519e-02 9.97405417e-01 5.33231724e-04 -3.01909966e-01] [ 5.47116994e-02 3.41496990e-03 9.98496353e-01 -1.43141581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67629675700002 meters Centerline goodness [0,1] 0.8129533678756476 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.43 [[ 9.95880109e-01 7.22180733e-02 -5.48393793e-02 5.88453713e+00] [-7.23113673e-02 9.97382066e-01 2.83716421e-04 -3.00474262e-01] [ 5.47163029e-02 3.68296295e-03 9.98495149e-01 -1.43110707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70629675700002 meters Centerline goodness [0,1] 0.8120195150798344 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.43 [[ 9.95872559e-01 7.23433523e-02 -5.48113570e-02 5.88441452e+00] [-7.24494958e-02 9.97372081e-01 5.06299322e-05 -2.99259722e-01] [ 5.46709799e-02 3.92063422e-03 9.98496726e-01 -1.43105859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73629675700002 meters Centerline goodness [0,1] 0.8151736656200942 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.30, Z:-1.43 [[ 9.95799563e-01 7.35133633e-02 -5.45803540e-02 5.88329679e+00] [-7.36076040e-02 9.97287240e-01 2.84337566e-04 -2.96359445e-01] [ 5.44531933e-02 3.73438586e-03 9.98509341e-01 -1.43046130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76629675700002 meters Centerline goodness [0,1] 0.8118111007691178 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95783519e-01 7.37696908e-02 -5.45271969e-02 5.88309597e+00] [-7.38792052e-02 9.97267197e-01 7.29613500e-06 -2.94643026e-01] [ 5.43787231e-02 4.02116060e-03 9.98512286e-01 -1.43047381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79629675700002 meters Centerline goodness [0,1] 0.807178958732028 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95752659e-01 7.44420519e-02 -5.41758564e-02 5.88203904e+00] [-7.45515863e-02 9.97217158e-01 -9.02374898e-07 -2.92909019e-01] [ 5.40250264e-02 4.03979458e-03 9.98531410e-01 -1.43020139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82629675700002 meters Centerline goodness [0,1] 0.8082755579509542 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95743688e-01 7.44542644e-02 -5.43237489e-02 5.88243105e+00] [-7.45699316e-02 9.97215781e-01 -1.02556602e-04 -2.92507115e-01] [ 5.41648639e-02 4.15303833e-03 9.98523370e-01 -1.43033869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85629675700002 meters Centerline goodness [0,1] 0.8115013621971873 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95750583e-01 7.42822846e-02 -5.44326988e-02 5.88326432e+00] [-7.44111285e-02 9.97227591e-01 -3.41356111e-04 -2.92347031e-01] [ 5.42564324e-02 4.39030409e-03 9.98517383e-01 -1.43110156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88629675700003 meters Centerline goodness [0,1] 0.807629254447136 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95755847e-01 7.41784556e-02 -5.44779746e-02 5.88364429e+00] [-7.43143457e-02 9.97234755e-01 -4.70102844e-04 -2.92068475e-01] [ 5.42924581e-02 4.51660269e-03 9.98514862e-01 -1.43142860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91629675700003 meters Centerline goodness [0,1] 0.8019255204769817 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95761722e-01 7.41983485e-02 -5.43433302e-02 5.88343936e+00] [-7.43402787e-02 9.97232757e-01 -5.92166573e-04 -2.90839715e-01] [ 5.41490112e-02 4.62955512e-03 9.98522134e-01 -1.43137284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94629675700003 meters Centerline goodness [0,1] 0.8043324642413314 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95760112e-01 7.42015014e-02 -5.43685304e-02 5.88351740e+00] [-7.43498878e-02 9.97231965e-01 -7.08931110e-04 -2.90056753e-01] [ 5.41654327e-02 4.74821946e-03 9.98520686e-01 -1.43135655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97629675700003 meters Centerline goodness [0,1] 0.8030988519167153 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95752962e-01 7.43380008e-02 -5.43129933e-02 5.88342124e+00] [-7.45107385e-02 9.97219537e-01 -1.15960825e-03 -2.87864354e-01] [ 5.40757751e-02 5.20158459e-03 9.98523287e-01 -1.43148874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00629675700003 meters Centerline goodness [0,1] 0.8031089339412164 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95754639e-01 7.42666096e-02 -5.43798617e-02 5.88374930e+00] [-7.44581296e-02 9.97223010e-01 -1.50158557e-03 -2.86823070e-01] [ 5.41173317e-02 5.54423359e-03 9.98519192e-01 -1.43177521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03629675700003 meters Centerline goodness [0,1] 0.8044825825898826 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.29, Z:-1.43 [[ 9.95748770e-01 7.42745920e-02 -5.44763448e-02 5.88389444e+00] [-7.44742263e-02 9.97221589e-01 -1.64094428e-03 -2.86032536e-01] [ 5.42031067e-02 5.69105188e-03 9.98513713e-01 -1.43168103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06629675700003 meters Centerline goodness [0,1] 0.802864077669903 Centerline is valid? [False, False] Translation: X:5.88, Y:-0.28, Z:-1.43 [[ 9.95750254e-01 7.41484307e-02 -5.46209004e-02 5.88456139e+00] [-7.43756311e-02 9.97228010e-01 -2.13584127e-03 -2.84486559e-01] [ 5.43111225e-02 6.18922842e-03 9.98504880e-01 -1.43221365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09629675700003 meters Centerline goodness [0,1] 0.8084642233856894 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.43 [[ 9.95755907e-01 7.39795548e-02 -5.47466765e-02 5.88522559e+00] [-7.42334757e-02 9.97237457e-01 -2.61639234e-03 -2.82848687e-01] [ 5.44018769e-02 6.66932420e-03 9.98496848e-01 -1.43274474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12629675700003 meters Centerline goodness [0,1] 0.8091546074017 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.43 [[ 9.95747876e-01 7.38670452e-02 -5.50438613e-02 5.88598984e+00] [-7.41297263e-02 9.97244834e-01 -2.74305476e-03 -2.82230047e-01] [ 5.46895849e-02 6.81177732e-03 9.98480170e-01 -1.43282191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15629675700004 meters Centerline goodness [0,1] 0.8148264526733056 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.43 [[ 9.95762294e-01 7.36262063e-02 -5.51056701e-02 5.88629790e+00] [-7.38928818e-02 9.97262212e-01 -2.81481479e-03 -2.81752296e-01] [ 5.47475583e-02 6.87480321e-03 9.98476561e-01 -1.43281236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18629675700004 meters Centerline goodness [0,1] 0.8180546848628056 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.43 [[ 9.95766471e-01 7.33947355e-02 -5.53384834e-02 5.88702454e+00] [-7.36629654e-02 9.97279206e-01 -2.82023649e-03 -2.81814984e-01] [ 5.49809283e-02 6.88469373e-03 9.98463669e-01 -1.43293689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21629675700004 meters Centerline goodness [0,1] 0.8206304001544625 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.43 [[ 9.95800590e-01 7.25853158e-02 -5.57902856e-02 5.88841520e+00] [-7.28520853e-02 9.97338937e-01 -2.76011899e-03 -2.83028600e-01] [ 5.54414800e-02 6.81296676e-03 9.98438694e-01 -1.43294940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.246296757 meters Centerline goodness [0,1] 0.8196456160679799 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.28, Z:-1.43 [[ 9.95811295e-01 7.22459086e-02 -5.60392115e-02 5.88909645e+00] [-7.25048175e-02 9.97364678e-01 -2.59816085e-03 -2.84334572e-01] [ 5.57038236e-02 6.65039073e-03 9.98425188e-01 -1.43292920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.276296757 meters Centerline goodness [0,1] 0.8196928460342146 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.29, Z:-1.43 [[ 0.99608507 0.06810705 -0.05635574 5.88925585] [-0.06856865 0.99762653 -0.00629584 -0.28509748] [ 0.05579319 0.01013543 0.9983909 -1.43295612] [ 0. 0. 0. 1. ]] SLAMing on 164.306296757 meters Centerline goodness [0,1] 0.8163453825023701 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.29, Z:-1.43 [[ 0.99608482 0.06776953 -0.05676554 5.89013394] [-0.06821239 0.99765339 -0.00589835 -0.28685672] [ 0.05623261 0.00974737 0.99837011 -1.43264459] [ 0. 0. 0. 1. ]] SLAMing on 164.336296757 meters Centerline goodness [0,1] 0.8188375776775922 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.29, Z:-1.43 [[ 9.96142271e-01 6.65530089e-02 -5.71950467e-02 5.89176826e+00] [-6.69854821e-02 9.97737808e-01 -5.67561621e-03 -2.89616653e-01] [ 5.66879312e-02 9.48495900e-03 9.98346891e-01 -1.43264691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36629675700001 meters Centerline goodness [0,1] 0.8195087306835158 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.29, Z:-1.43 [[ 9.96146236e-01 6.62794606e-02 -5.74430929e-02 5.89243975e+00] [-6.66918237e-02 9.97759602e-01 -5.28942689e-03 -2.91361808e-01] [ 5.69638172e-02 9.10002732e-03 9.98334770e-01 -1.43255184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39629675700002 meters Centerline goodness [0,1] 0.8176048022042905 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.29, Z:-1.43 [[ 0.99639141 0.06205742 -0.05790536 5.89319977] [-0.06267424 0.99799439 -0.00889584 -0.29271032] [ 0.05723717 0.01249291 0.99828244 -1.43289528] [ 0. 0. 0. 1. ]] SLAMing on 164.42629675700002 meters Centerline goodness [0,1] 0.8167448025330748 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.43 [[ 0.99638975 0.06200649 -0.05798851 5.89328826] [-0.0625821 0.99800645 -0.00816169 -0.29515907] [ 0.05736682 0.01176126 0.99828389 -1.43237603] [ 0. 0. 0. 1. ]] SLAMing on 164.45629675700002 meters Centerline goodness [0,1] 0.8150804801695877 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.43 [[ 0.99643523 0.0612536 -0.05800717 5.89336467] [-0.06175505 0.99806755 -0.00689027 -0.29968171] [ 0.05747302 0.01044794 0.99829239 -1.43089017] [ 0. 0. 0. 1. ]] SLAMing on 164.48629675700002 meters Centerline goodness [0,1] 0.8178678790589053 Centerline is valid? [False, False] Translation: X:5.89, Y:-0.30, Z:-1.43 [[ 0.99644239 0.06099473 -0.05815668 5.89380066] [-0.0614663 0.99808894 -0.00635292 -0.30205563] [ 0.05765804 0.009905 0.99828725 -1.43070004] [ 0. 0. 0. 1. ]] SLAMing on 164.51629675700002 meters Centerline goodness [0,1] 0.8093597903406964 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 0.99651283 0.0596172 -0.05837788 5.89545252] [-0.06008676 0.99817315 -0.00631984 -0.30549358] [ 0.05789446 0.00980554 0.99827455 -1.43138275] [ 0. 0. 0. 1. ]] SLAMing on 164.54629675700002 meters Centerline goodness [0,1] 0.8115812475168852 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 0.99650652 0.05919779 -0.05890991 5.89714008] [-0.05966335 0.99819946 -0.00617407 -0.30673695] [ 0.05843835 0.00966727 0.99824421 -1.43183212] [ 0. 0. 0. 1. ]] SLAMing on 164.57629675700002 meters Centerline goodness [0,1] 0.808325 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96512902e-01 5.89146963e-02 -5.90854801e-02 5.89817633e+00] [-5.93543017e-02 9.98220640e-01 -5.71141312e-03 -3.09358841e-01] [ 5.86438596e-02 9.19847428e-03 9.98236588e-01 -1.43236045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60629675700002 meters Centerline goodness [0,1] 0.808325 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96512902e-01 5.89146963e-02 -5.90854801e-02 5.89817633e+00] [-5.93543017e-02 9.98220640e-01 -5.71141312e-03 -3.09358841e-01] [ 5.86438596e-02 9.19847428e-03 9.98236588e-01 -1.43236045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63629675700003 meters Centerline goodness [0,1] 0.8104655540218346 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96510026e-01 5.88483149e-02 -5.92000317e-02 5.89882191e+00] [-5.92654526e-02 9.98228115e-01 -5.31376950e-03 -3.11456390e-01] [ 5.87824297e-02 8.80374125e-03 9.98231997e-01 -1.43268382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66629675700003 meters Centerline goodness [0,1] 0.8113841524573722 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96505311e-01 5.89525889e-02 -5.91756521e-02 5.89898983e+00] [-5.93612691e-02 9.98223173e-01 -5.17070030e-03 -3.11909413e-01] [ 5.87656811e-02 8.66537212e-03 9.98234194e-01 -1.43294934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69629675700003 meters Centerline goodness [0,1] 0.8090304778627869 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96497518e-01 5.89080070e-02 -5.93510141e-02 5.89963164e+00] [-5.93130244e-02 9.98226486e-01 -5.08413821e-03 -3.12185903e-01] [ 5.89462578e-02 8.58661926e-03 9.98224228e-01 -1.43321129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72629675700003 meters Centerline goodness [0,1] 0.8067500126027121 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96500275e-01 5.88868092e-02 -5.93257595e-02 5.90011176e+00] [-5.92810672e-02 9.98229274e-01 -4.90618178e-03 -3.13059902e-01] [ 5.89318005e-02 8.40590583e-03 9.98226619e-01 -1.43378753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75629675700003 meters Centerline goodness [0,1] 0.8106142308946351 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.96488604e-01 5.88871668e-02 -5.95211240e-02 5.90048845e+00] [-5.92672929e-02 9.98231366e-01 -4.63978079e-03 -3.13882313e-01] [ 5.91426294e-02 8.15114457e-03 9.98216263e-01 -1.43358612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78629675700003 meters Centerline goodness [0,1] 0.8147662183644118 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.96476713e-01 5.94258809e-02 -5.91838214e-02 5.89921232e+00] [-5.97625732e-02 9.98204869e-01 -3.93365599e-03 -3.15450037e-01] [ 5.88438178e-02 7.45677405e-03 9.98239351e-01 -1.43277410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81629675700003 meters Centerline goodness [0,1] 0.8141014313482947 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.96459775e-01 5.97541072e-02 -5.91385055e-02 5.89883714e+00] [-6.00736705e-02 9.98187313e-01 -3.63899178e-03 -3.15604246e-01] [ 5.88138612e-02 7.17877603e-03 9.98243154e-01 -1.43243957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84629675700003 meters Centerline goodness [0,1] 0.8173976461120611 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.96223713e-01 6.37031560e-02 -5.89934031e-02 5.89926019e+00] [-6.37751337e-02 9.97964073e-01 6.63812650e-04 -3.16877957e-01] [ 5.89155838e-02 3.10100627e-03 9.98258152e-01 -1.43213035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87629675700003 meters Centerline goodness [0,1] 0.8211630847029077 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95944361e-01 6.79704785e-02 -5.89478072e-02 5.90016414e+00] [-6.78072371e-02 9.97687050e-01 4.76745123e-03 -3.17354080e-01] [ 5.91355098e-02 -7.51028232e-04 9.98249682e-01 -1.43257262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90629675700004 meters Centerline goodness [0,1] 0.8254852533400554 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95912812e-01 6.84791382e-02 -5.88920876e-02 5.89999093e+00] [-6.83241212e-02 9.97652367e-01 4.64420097e-03 -3.16251566e-01] [ 5.90718614e-02 -6.01469119e-04 9.98253552e-01 -1.43289528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93629675700004 meters Centerline goodness [0,1] 0.8226722897042855 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95875124e-01 6.91024065e-02 -5.88013243e-02 5.89958082e+00] [-6.89460115e-02 9.97609383e-01 4.68682183e-03 -3.15452714e-01] [ 5.89846235e-02 -6.13372487e-04 9.98258703e-01 -1.43297032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96629675700004 meters Centerline goodness [0,1] 0.8245397225725095 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.95810190e-01 7.02229060e-02 -5.85731028e-02 5.89879840e+00] [-7.00663517e-02 9.97531143e-01 4.72484273e-03 -3.14466063e-01] [ 5.87602864e-02 -6.01042921e-04 9.98271941e-01 -1.43337275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.996296757 meters Centerline goodness [0,1] 0.8247743305772586 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.95771802e-01 7.09810863e-02 -5.83112601e-02 5.89798897e+00] [-7.08145216e-02 9.97477364e-01 4.92054172e-03 -3.13921059e-01] [ 5.85134274e-02 -7.70452711e-04 9.98286324e-01 -1.43345033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.026296757 meters Centerline goodness [0,1] 0.8248687847054945 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.95765582e-01 7.10545631e-02 -5.83279991e-02 5.89811049e+00] [-7.08888220e-02 9.97472146e-01 4.90842267e-03 -3.13620472e-01] [ 5.85293203e-02 -7.52835208e-04 9.98285406e-01 -1.43356520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.056296757 meters Centerline goodness [0,1] 0.8300098816732967 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.95761117e-01 7.09188655e-02 -5.85688686e-02 5.89873741e+00] [-7.07518572e-02 9.97481799e-01 4.92290947e-03 -3.14056051e-01] [ 5.87705076e-02 -7.58185604e-04 9.98271232e-01 -1.43363493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.086296757 meters Centerline goodness [0,1] 0.8304356667175029 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.31, Z:-1.43 [[ 9.95755284e-01 7.09062861e-02 -5.86831536e-02 5.89886859e+00] [-7.07228326e-02 9.97482452e-01 5.19982069e-03 -3.14910333e-01] [ 5.89041159e-02 -1.02751008e-03 9.98263116e-01 -1.43331086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11629675700001 meters Centerline goodness [0,1] 0.8320246775098149 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95744857e-01 7.09012257e-02 -5.88659156e-02 5.89891573e+00] [-7.07009233e-02 9.97482499e-01 5.48111904e-03 -3.15696913e-01] [ 5.91063387e-02 -1.29592151e-03 9.98250851e-01 -1.43269961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14629675700002 meters Centerline goodness [0,1] 0.8266914991325646 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95758716e-01 7.02353461e-02 -5.94270614e-02 5.90044843e+00] [-7.00361394e-02 9.97529671e-01 5.43095144e-03 -3.16676206e-01] [ 5.96617017e-02 -1.24587527e-03 9.98217877e-01 -1.43274280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17629675700002 meters Centerline goodness [0,1] 0.8209697684556014 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95757452e-01 6.99771016e-02 -5.97520046e-02 5.90125332e+00] [-6.97739159e-02 9.97547763e-01 5.48273718e-03 -3.17087121e-01] [ 5.99891446e-02 -1.29034506e-03 9.98198196e-01 -1.43277206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20629675700002 meters Centerline goodness [0,1] 0.8212179241669858 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95780603e-01 6.88428864e-02 -6.06765785e-02 5.90407221e+00] [-6.86531659e-02 9.97626992e-01 5.20844729e-03 -3.17797543e-01] [ 6.08911571e-02 -1.02083157e-03 9.98143890e-01 -1.43331779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23629675700002 meters Centerline goodness [0,1] 0.8180162151067323 Centerline is valid? [False, False] Translation: X:5.90, Y:-0.32, Z:-1.43 [[ 9.95777951e-01 6.87047699e-02 -6.08763296e-02 5.90439214e+00] [-6.84968980e-02 9.97636183e-01 5.49743471e-03 -3.18730844e-01] [ 6.11101291e-02 -1.30438452e-03 9.98130177e-01 -1.43295189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26629675700002 meters Centerline goodness [0,1] 0.8191634316271178 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95802037e-01 6.80954627e-02 -6.11662505e-02 5.90526305e+00] [-6.78744627e-02 9.97677666e-01 5.68604513e-03 -3.20399242e-01] [ 6.14113960e-02 -1.51054894e-03 9.98111396e-01 -1.43263077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29629675700002 meters Centerline goodness [0,1] 0.8165443629086058 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95801512e-01 6.77563252e-02 -6.15502089e-02 5.90614647e+00] [-6.75363035e-02 9.97700817e-01 5.65047323e-03 -3.20847169e-01] [ 6.17915490e-02 -1.46987620e-03 9.98087994e-01 -1.43254550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32629675700002 meters Centerline goodness [0,1] 0.8130580499910456 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95805036e-01 6.79179693e-02 -6.13146006e-02 5.90524664e+00] [-6.76804152e-02 9.97689338e-01 5.94532952e-03 -3.20944224e-01] [ 6.15767180e-02 -1.77059145e-03 9.98100783e-01 -1.43166844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35629675700002 meters Centerline goodness [0,1] 0.8166107683248419 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95796674e-01 6.80218636e-02 -6.13352298e-02 5.90500125e+00] [-6.77847211e-02 9.97682281e-01 5.94125429e-03 -3.20404300e-01] [ 6.15972071e-02 -1.75868981e-03 9.98099540e-01 -1.43125595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38629675700003 meters Centerline goodness [0,1] 0.8139564530110652 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95787460e-01 6.81030903e-02 -6.13946556e-02 5.90514444e+00] [-6.78977166e-02 9.97677523e-01 5.42763461e-03 -3.18385189e-01] [ 6.16217067e-02 -1.23621355e-03 9.98098811e-01 -1.43145551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41629675700003 meters Centerline goodness [0,1] 0.8178782819851267 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95522408e-01 7.14769699e-02 -6.18561141e-02 5.90743435e+00] [-7.10784631e-02 9.97433464e-01 8.62192751e-03 -3.17760594e-01] [ 6.23136274e-02 -4.18668451e-03 9.98047836e-01 -1.43219773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44629675700003 meters Centerline goodness [0,1] 0.8182967533124305 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.32, Z:-1.43 [[ 9.95507111e-01 7.16525147e-02 -6.18991831e-02 5.90757235e+00] [-7.12850051e-02 9.97422870e-01 8.12817386e-03 -3.15809654e-01] [ 6.23220649e-02 -3.67917129e-03 9.98049309e-01 -1.43257559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47629675700003 meters Centerline goodness [0,1] 0.8211877201811777 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.43 [[ 9.95497679e-01 7.18389592e-02 -6.18347326e-02 5.90775775e+00] [-7.15146060e-02 9.97411762e-01 7.44563097e-03 -3.13376715e-01] [ 6.22095760e-02 -2.99002182e-03 9.98058630e-01 -1.43337436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50629675700003 meters Centerline goodness [0,1] 0.8193159657982899 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.43 [[ 9.95208708e-01 7.57041676e-02 -6.18749298e-02 5.90918751e+00] [-7.51911238e-02 9.97112993e-01 1.05817958e-02 -3.10963539e-01] [ 6.24973825e-02 -5.87864985e-03 9.98027815e-01 -1.43434494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53629675700003 meters Centerline goodness [0,1] 0.8199326431333417 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.44 [[ 9.95199856e-01 7.57108941e-02 -6.20089248e-02 5.90985106e+00] [-7.52299683e-02 9.97115490e-01 1.00574476e-02 -3.09208125e-01] [ 6.25915177e-02 -5.34424099e-03 9.98024920e-01 -1.43505816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56629675700003 meters Centerline goodness [0,1] 0.8227208207784447 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.44 [[ 9.95200514e-01 7.52393558e-02 -6.25697721e-02 5.91163168e+00] [-7.48113784e-02 9.97155647e-01 9.15819811e-03 -3.07789412e-01] [ 6.30808586e-02 -4.43331257e-03 9.97998573e-01 -1.43611357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59629675700003 meters Centerline goodness [0,1] 0.8220470083337492 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.44 [[ 9.95202773e-01 7.48950541e-02 -6.29457779e-02 5.91255146e+00] [-7.44750651e-02 9.97182303e-01 8.99553871e-03 -3.08411375e-01] [ 6.34421371e-02 -4.26449417e-03 9.97976407e-01 -1.43621875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62629675700003 meters Centerline goodness [0,1] 0.8222205555138878 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.44 [[ 9.95199518e-01 7.47319643e-02 -6.31906097e-02 5.91302903e+00] [-7.43028486e-02 9.97194047e-01 9.11703079e-03 -3.08923181e-01] [ 6.36946334e-02 -4.37802234e-03 9.97959832e-01 -1.43596058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65629675700004 meters Centerline goodness [0,1] 0.8218396556901211 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.44 [[ 9.95234103e-01 7.40539277e-02 -6.34436464e-02 5.91414594e+00] [-7.36200320e-02 9.97244361e-01 9.15293133e-03 -3.09885796e-01] [ 6.39466291e-02 -4.43858613e-03 9.97943449e-01 -1.43611292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68629675700004 meters Centerline goodness [0,1] 0.8185141598016876 Centerline is valid? [False, False] Translation: X:5.91, Y:-0.31, Z:-1.44 [[ 9.95244494e-01 7.37011855e-02 -6.36909120e-02 5.91490311e+00] [-7.32657631e-02 9.97270492e-01 9.14840550e-03 -3.10448969e-01] [ 6.41913155e-02 -4.43853693e-03 9.97927740e-01 -1.43618355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71629675700004 meters Centerline goodness [0,1] 0.8157815328907665 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95266542e-01 7.30949392e-02 -6.40440545e-02 5.91596149e+00] [-7.26463036e-02 9.97314321e-01 9.30912875e-03 -3.12043164e-01] [ 6.45525029e-02 -4.61250055e-03 9.97903652e-01 -1.43604832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.746296757 meters Centerline goodness [0,1] 0.8182115128520817 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95274387e-01 7.26804308e-02 -6.43929256e-02 5.91695398e+00] [-7.22348235e-02 9.97344995e-01 9.22452557e-03 -3.12687436e-01] [ 6.48924045e-02 -4.52952242e-03 9.97881987e-01 -1.43616747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.776296757 meters Centerline goodness [0,1] 0.8168020304568528 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95265304e-01 7.26289803e-02 -6.45910704e-02 5.91715612e+00] [-7.21650852e-02 9.97347558e-01 9.48940252e-03 -3.13578172e-01] [ 6.51089520e-02 -4.78325298e-03 9.97866697e-01 -1.43575438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.806296757 meters Centerline goodness [0,1] 0.8168480471928397 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95274916e-01 7.21835910e-02 -6.49412887e-02 5.91813247e+00] [-7.17090601e-02 9.97379280e-01 9.61159447e-03 -3.14639167e-01] [ 6.54648952e-02 -4.90930010e-03 9.97842796e-01 -1.43560458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.836296757 meters Centerline goodness [0,1] 0.8236716820692991 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.32, Z:-1.44 [[ 9.95252620e-01 7.25880874e-02 -6.48320248e-02 5.91747744e+00] [-7.20964174e-02 9.97348588e-01 9.89446368e-03 -3.15003012e-01] [ 6.53783486e-02 -5.17333418e-03 9.97847137e-01 -1.43511274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86629675700001 meters Centerline goodness [0,1] 0.825093509071016 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.43 [[ 9.95233894e-01 7.27618543e-02 -6.49246360e-02 5.91744415e+00] [-7.22642485e-02 9.97335558e-01 9.98319209e-03 -3.14962992e-01] [ 6.54780436e-02 -5.24388112e-03 9.97840231e-01 -1.43482191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89629675700002 meters Centerline goodness [0,1] 0.8221150164637415 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.43 [[ 9.95181432e-01 7.37834957e-02 -6.45748615e-02 5.91598863e+00] [-7.32805601e-02 9.97259960e-01 1.01258164e-02 -3.14458525e-01] [ 6.51450419e-02 -5.34494240e-03 9.97861491e-01 -1.43449779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92629675700002 meters Centerline goodness [0,1] 0.821268466632705 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95172141e-01 7.38463966e-02 -6.46461077e-02 5.91646486e+00] [-7.33751202e-02 9.97257846e-01 9.63743928e-03 -3.13212566e-01] [ 6.51805283e-02 -4.84749516e-03 9.97861714e-01 -1.43518109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95629675700002 meters Centerline goodness [0,1] 0.8203353604233989 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95089389e-01 7.50316881e-02 -6.45550477e-02 5.91627892e+00] [-7.45722835e-02 9.97170357e-01 9.50021996e-03 -3.10512434e-01] [ 6.50851975e-02 -4.63955076e-03 9.97868925e-01 -1.43596187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98629675700002 meters Centerline goodness [0,1] 0.819044227981383 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95068276e-01 7.53020108e-02 -6.45657324e-02 5.91634305e+00] [-7.48586927e-02 9.97151142e-01 9.26150452e-03 -3.09158489e-01] [ 6.50792037e-02 -4.38252301e-03 9.97870478e-01 -1.43625299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01629675700002 meters Centerline goodness [0,1] 0.8146671069677649 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95039741e-01 7.57009101e-02 -6.45390302e-02 5.91668040e+00] [-7.52872260e-02 9.97122869e-01 8.82143468e-03 -3.07833044e-01] [ 6.50211336e-02 -3.91871353e-03 9.97876193e-01 -1.43730295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04629675700002 meters Centerline goodness [0,1] 0.8127470856563609 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95035017e-01 7.55230400e-02 -6.48196448e-02 5.91765079e+00] [-7.51218462e-02 9.97137208e-01 8.60797173e-03 -3.07755943e-01] [ 6.52841798e-02 -3.69586191e-03 9.97859868e-01 -1.43781348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07629675700002 meters Centerline goodness [0,1] 0.815228452223466 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95043093e-01 7.53006149e-02 -6.49542989e-02 5.91860185e+00] [-7.49059999e-02 9.97154433e-01 8.49280457e-03 -3.08463758e-01] [ 6.54089805e-02 -3.58523982e-03 9.97852099e-01 -1.43865787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10629675700002 meters Centerline goodness [0,1] 0.8167156167713187 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95060570e-01 7.48902212e-02 -6.51606986e-02 5.91967205e+00] [-7.45164607e-02 9.97186471e-01 8.15097983e-03 -3.08548562e-01] [ 6.55877958e-02 -3.25517400e-03 9.97841493e-01 -1.43943119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13629675700003 meters Centerline goodness [0,1] 0.8147356093586904 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95070750e-01 7.46113128e-02 -6.53249917e-02 5.92018084e+00] [-7.42184010e-02 9.97206428e-01 8.42435283e-03 -3.09753903e-01] [ 6.57710536e-02 -3.53451066e-03 9.97828480e-01 -1.43920594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16629675700003 meters Centerline goodness [0,1] 0.815852661694084 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95077475e-01 7.43412180e-02 -6.55301663e-02 5.92079489e+00] [-7.39428844e-02 9.97226368e-01 8.48653609e-03 -3.10670288e-01] [ 6.59793091e-02 -3.59927139e-03 9.97814500e-01 -1.43926428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19629675700003 meters Centerline goodness [0,1] 0.8147200327566793 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95085770e-01 7.39236732e-02 -6.58756447e-02 5.92159713e+00] [-7.34974144e-02 9.97255925e-01 8.87414294e-03 -3.12583180e-01] [ 6.63508862e-02 -3.98884380e-03 9.97788379e-01 -1.43879180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22629675700003 meters Centerline goodness [0,1] 0.8152945985998262 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95090454e-01 7.36391609e-02 -6.61230872e-02 5.92240011e+00] [-7.32114536e-02 9.97276981e-01 8.87165805e-03 -3.13328131e-01] [ 6.65963342e-02 -3.98713490e-03 9.97772034e-01 -1.43897444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25629675700003 meters Centerline goodness [0,1] 0.8144169032819175 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95101380e-01 7.31888920e-02 -6.64577260e-02 5.92373712e+00] [-7.27590776e-02 9.97310118e-01 8.86825335e-03 -3.14373847e-01] [ 6.69280202e-02 -3.98940831e-03 9.97749831e-01 -1.43944298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28629675700003 meters Centerline goodness [0,1] 0.8151832059116827 Centerline is valid? [False, False] Translation: X:5.92, Y:-0.31, Z:-1.44 [[ 9.95109231e-01 7.29922742e-02 -6.65563376e-02 5.92451478e+00] [-7.25746194e-02 9.97325259e-01 8.67483299e-03 -3.14427907e-01] [ 6.70115124e-02 -3.80210552e-03 9.97744958e-01 -1.44013797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31629675700003 meters Centerline goodness [0,1] 0.810876333384372 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.31, Z:-1.44 [[ 9.95126471e-01 7.23961577e-02 -6.69485166e-02 5.92664875e+00] [-7.20130693e-02 9.97370627e-01 8.12101236e-03 -3.13816746e-01] [ 6.73604141e-02 -3.26026620e-03 9.97723381e-01 -1.44168169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34629675700003 meters Centerline goodness [0,1] 0.8112523612600194 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.31, Z:-1.44 [[ 9.95123287e-01 7.23497181e-02 -6.70459698e-02 5.92703461e+00] [-7.19608191e-02 9.97373746e-01 8.20068122e-03 -3.14250888e-01] [ 6.74632071e-02 -3.33600594e-03 9.97716185e-01 -1.44181324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37629675700003 meters Centerline goodness [0,1] 0.8128678812587591 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.32, Z:-1.44 [[ 9.95145148e-01 7.14756356e-02 -6.76562514e-02 5.92919943e+00] [-7.10995308e-02 9.97437513e-01 7.95384348e-03 -3.15568458e-01] [ 6.80513892e-02 -3.10490102e-03 9.97676986e-01 -1.44249333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40629675700004 meters Centerline goodness [0,1] 0.8111043132456408 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.32, Z:-1.44 [[ 9.95156665e-01 7.10493283e-02 -6.79353056e-02 5.93022424e+00] [-7.06829784e-02 9.97468456e-01 7.78427067e-03 -3.16022563e-01] [ 6.83163916e-02 -2.94469910e-03 9.97659360e-01 -1.44282703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43629675700004 meters Centerline goodness [0,1] 0.8115927265318597 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.32, Z:-1.44 [[ 9.95199856e-01 6.99395436e-02 -6.84522159e-02 5.93239044e+00] [-6.95983132e-02 9.97547945e-01 7.36012288e-03 -3.16691601e-01] [ 6.87991309e-02 -2.56063447e-03 9.97627246e-01 -1.44359562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46629675700004 meters Centerline goodness [0,1] 0.8113938899372672 Centerline is valid? [False, False] Translation: X:5.93, Y:-0.32, Z:-1.44 [[ 9.95212041e-01 6.94146620e-02 -6.88084226e-02 5.93380319e+00] [-6.90832549e-02 9.97585008e-01 7.18718778e-03 -3.17040462e-01] [ 6.91411470e-02 -2.39926602e-03 9.97604002e-01 -1.44414211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49629675700004 meters Centerline goodness [0,1] 0.8134799846527689 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95258211e-01 6.83237326e-02 -6.92312197e-02 5.93579807e+00] [-6.80061631e-02 9.97660788e-01 6.93641768e-03 -3.17875194e-01] [ 6.95431952e-02 -2.19537703e-03 9.97576526e-01 -1.44472975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.526296757 meters Centerline goodness [0,1] 0.8134799846527689 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95258211e-01 6.83237326e-02 -6.92312197e-02 5.93579807e+00] [-6.80061631e-02 9.97660788e-01 6.93641768e-03 -3.17875194e-01] [ 6.95431952e-02 -2.19537703e-03 9.97576526e-01 -1.44472975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.556296757 meters Centerline goodness [0,1] 0.8138789944391769 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95261156e-01 6.78843333e-02 -6.96200293e-02 5.93702795e+00] [-6.75665220e-02 9.97690826e-01 6.91240383e-03 -3.18794651e-01] [ 6.99285085e-02 -2.17566378e-03 9.97549633e-01 -1.44498207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.586296757 meters Centerline goodness [0,1] 0.8135911346514797 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95270950e-01 6.72902917e-02 -7.00553584e-02 5.93841125e+00] [-6.69425046e-02 9.97730107e-01 7.30307846e-03 -3.21144731e-01] [ 7.03877665e-02 -2.57886068e-03 9.97516372e-01 -1.44475574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61629675700001 meters Centerline goodness [0,1] 0.8171793682691812 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95270731e-01 6.67850450e-02 -7.05402727e-02 5.93989087e+00] [-6.64203677e-02 9.97763501e-01 7.50539195e-03 -3.22559519e-01] [ 7.08837574e-02 -2.78458607e-03 9.97480696e-01 -1.44476178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64629675700002 meters Centerline goodness [0,1] 0.81755208199212 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.45 [[ 9.95266632e-01 6.65645737e-02 -7.08060001e-02 5.94085175e+00] [-6.62000006e-02 9.97778294e-01 7.48573766e-03 -3.23016211e-01] [ 7.11469750e-02 -2.76294766e-03 9.97462016e-01 -1.44509887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67629675700002 meters Centerline goodness [0,1] 0.8175301065009413 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.45 [[ 9.95253103e-01 6.63708460e-02 -7.11770402e-02 5.94186441e+00] [-6.60014302e-02 9.97791100e-01 7.53208081e-03 -3.23503259e-01] [ 7.15197278e-02 -2.79854035e-03 9.97435259e-01 -1.44514963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70629675700002 meters Centerline goodness [0,1] 0.8156342182890856 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95246404e-01 6.66690834e-02 -7.09917520e-02 5.94129037e+00] [-6.62808482e-02 9.97770417e-01 7.81306687e-03 -3.24043436e-01] [ 7.13543600e-02 -3.07053317e-03 9.97446303e-01 -1.44484428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73629675700002 meters Centerline goodness [0,1] 0.8175338928340865 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95227070e-01 6.67247769e-02 -7.12101361e-02 5.94172180e+00] [-6.63335375e-02 9.97766645e-01 7.84754244e-03 -3.24283240e-01] [ 7.15747241e-02 -3.08646644e-03 9.97430465e-01 -1.44478831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76629675700002 meters Centerline goodness [0,1] 0.8194032953895732 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95180363e-01 6.78883584e-02 -7.07616905e-02 5.93966491e+00] [-6.74476727e-02 9.97685736e-01 8.60136990e-03 -3.24702725e-01] [ 7.11818621e-02 -3.78720308e-03 9.97456164e-01 -1.44357783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79629675700002 meters Centerline goodness [0,1] 0.8182386659718603 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95154786e-01 6.85240930e-02 -7.05081578e-02 5.93918038e+00] [-6.81014129e-02 9.97643175e-01 8.38408955e-03 -3.22942499e-01] [ 7.09164945e-02 -3.54176168e-03 9.97475968e-01 -1.44398303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82629675700002 meters Centerline goodness [0,1] 0.8176857313619 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95141997e-01 6.87008036e-02 -7.05167067e-02 5.93949082e+00] [-6.82922784e-02 9.97631734e-01 8.19078897e-03 -3.22073329e-01] [ 7.09124182e-02 -3.33525152e-03 9.97476970e-01 -1.44452830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85629675700002 meters Centerline goodness [0,1] 0.8130945864936012 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.44 [[ 9.95123339e-01 6.89479673e-02 -7.05387632e-02 5.93970269e+00] [-6.85498601e-02 9.97615198e-01 8.05194729e-03 -3.21725772e-01] [ 7.09257076e-02 -3.17725833e-03 9.97476541e-01 -1.44492936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88629675700003 meters Centerline goodness [0,1] 0.8134832633254194 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.45 [[ 9.95109584e-01 6.88168383e-02 -7.08601378e-02 5.94059859e+00] [-6.84152719e-02 9.97624198e-01 8.08141898e-03 -3.22512343e-01] [ 7.12479259e-02 -3.19398188e-03 9.97453523e-01 -1.44514639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91629675700003 meters Centerline goodness [0,1] 0.8171380639073108 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.32, Z:-1.45 [[ 9.95106186e-01 6.83749598e-02 -7.13340220e-02 5.94208955e+00] [-6.79622916e-02 9.97654200e-01 8.19901999e-03 -3.24434318e-01] [ 7.17272943e-02 -3.31087192e-03 9.97418785e-01 -1.44543075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94629675700003 meters Centerline goodness [0,1] 0.8152939635982716 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.33, Z:-1.45 [[ 9.95098322e-01 6.81917866e-02 -7.16185012e-02 5.94283303e+00] [-6.77664136e-02 9.97666227e-01 8.35535589e-03 -3.25238553e-01] [ 7.20211266e-02 -3.46107165e-03 9.97397102e-01 -1.44536677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97629675700003 meters Centerline goodness [0,1] 0.8196295518942176 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.33, Z:-1.45 [[ 9.95123025e-01 6.75349644e-02 -7.18971026e-02 5.94384245e+00] [-6.70884472e-02 9.97709881e-01 8.61012066e-03 -3.26764096e-01] [ 7.23139338e-02 -3.74466435e-03 9.97374891e-01 -1.44502150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00629675700003 meters Centerline goodness [0,1] 0.8179767026970302 Centerline is valid? [False, False] Translation: X:5.94, Y:-0.33, Z:-1.44 [[ 9.95122193e-01 6.72698527e-02 -7.21566960e-02 5.94437875e+00] [-6.68018469e-02 9.97726724e-01 8.88246594e-03 -3.27548363e-01] [ 7.25901861e-02 -4.01893843e-03 9.97353755e-01 -1.44455947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03629675700003 meters Centerline goodness [0,1] 0.8216221878846607 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95147253e-01 6.65962914e-02 -7.24353464e-02 5.94532509e+00] [-6.60986409e-02 9.97770232e-01 9.24846997e-03 -3.29399756e-01] [ 7.28897461e-02 -4.41571153e-03 9.97330229e-01 -1.44401018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06629675700003 meters Centerline goodness [0,1] 0.8203636744746633 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95156209e-01 6.61130579e-02 -7.27542607e-02 5.94599266e+00] [-6.55815912e-02 9.97800331e-01 9.67233288e-03 -3.31560548e-01] [ 7.32336929e-02 -4.85414194e-03 9.97302995e-01 -1.44325267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09629675700003 meters Centerline goodness [0,1] 0.8176364255586702 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95152074e-01 6.59947684e-02 -7.29180348e-02 5.94626730e+00] [-6.54533291e-02 9.97807579e-01 9.79269177e-03 -3.32009173e-01] [ 7.34044342e-02 -4.97248940e-03 9.97289859e-01 -1.44295217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12629675700003 meters Centerline goodness [0,1] 0.8200768969215075 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95155164e-01 6.57895330e-02 -7.30611846e-02 5.94683683e+00] [-6.52618764e-02 9.97822101e-01 9.58863094e-03 -3.31653342e-01] [ 7.35328963e-02 -4.77406560e-03 9.97281365e-01 -1.44321526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15629675700004 meters Centerline goodness [0,1] 0.8189778739151964 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95151432e-01 6.58405008e-02 -7.30661093e-02 5.94704704e+00] [-6.53358287e-02 9.97820194e-01 9.27841694e-03 -3.29993252e-01] [ 7.35177350e-02 -4.45959511e-03 9.97283939e-01 -1.44351980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18629675700004 meters Centerline goodness [0,1] 0.816079094575257 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95148693e-01 6.57272978e-02 -7.32051963e-02 5.94759144e+00] [-6.52532392e-02 9.97829479e-01 8.85127919e-03 -3.28511203e-01] [ 7.36280736e-02 -4.03146273e-03 9.97277621e-01 -1.44390811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21629675700004 meters Centerline goodness [0,1] 0.8141971626423218 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.33, Z:-1.44 [[ 9.95137858e-01 6.58862245e-02 -7.32096264e-02 5.94783425e+00] [-6.54813286e-02 9.97822366e-01 7.91971516e-03 -3.25443386e-01] [ 7.35720027e-02 -3.08734478e-03 9.97285129e-01 -1.44481488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24629675700004 meters Centerline goodness [0,1] 0.8089222979954536 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.32, Z:-1.44 [[ 9.95108099e-01 6.65446050e-02 -7.30184008e-02 5.94713360e+00] [-6.61797996e-02 9.97780223e-01 7.40684941e-03 -3.22151729e-01] [ 7.33492020e-02 -2.53827271e-03 9.97303089e-01 -1.44499012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.276296757 meters Centerline goodness [0,1] 0.8093640305595705 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.32, Z:-1.45 [[ 9.95115177e-01 6.66032125e-02 -7.28683538e-02 5.94697618e+00] [-6.62768175e-02 9.97777481e-01 6.89076477e-03 -3.20137225e-01] [ 7.31653495e-02 -2.02762203e-03 9.97317763e-01 -1.44534221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.306296757 meters Centerline goodness [0,1] 0.8071174560634953 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.32, Z:-1.45 [[ 9.95107597e-01 6.66799360e-02 -7.29016922e-02 5.94714126e+00] [-6.64040004e-02 9.97773525e-01 6.20492414e-03 -3.17361977e-01] [ 7.31531224e-02 -1.33360314e-03 9.97319829e-01 -1.44570352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.336296757 meters Centerline goodness [0,1] 0.8058234992303746 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.32, Z:-1.45 [[ 9.95110059e-01 6.63391103e-02 -7.31784963e-02 5.94820723e+00] [-6.60975772e-02 9.97796768e-01 5.72006707e-03 -3.16363372e-01] [ 7.33967313e-02 -8.55174968e-04 9.97302456e-01 -1.44628406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36629675700001 meters Centerline goodness [0,1] 0.8065153771114648 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.32, Z:-1.45 [[ 9.95115855e-01 6.56555762e-02 -7.37141771e-02 5.95015944e+00] [-6.54648537e-02 9.97842333e-01 5.00310047e-03 -3.15191848e-01] [ 7.38836079e-02 -1.52976782e-04 9.97266860e-01 -1.44723711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39629675700002 meters Centerline goodness [0,1] 0.8079451491962406 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.32, Z:-1.45 [[ 9.95113991e-01 6.53683920e-02 -7.39940461e-02 5.95103975e+00] [-6.51885741e-02 9.97861199e-01 4.84525339e-03 -3.15007723e-01] [ 7.41525140e-02 1.98692047e-06 9.97246913e-01 -1.44742555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42629675700002 meters Centerline goodness [0,1] 0.8053299167200513 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.31, Z:-1.45 [[ 9.95119549e-01 6.50471343e-02 -7.42021118e-02 5.95169552e+00] [-6.48684213e-02 9.97882192e-01 4.81850005e-03 -3.14738612e-01] [ 7.43583957e-02 1.83902505e-05 9.97231582e-01 -1.44722367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45629675700002 meters Centerline goodness [0,1] 0.8053873781426373 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.31, Z:-1.45 [[ 9.95114037e-01 6.48583927e-02 -7.44408643e-02 5.95235742e+00] [-6.46840847e-02 9.97894474e-01 4.75264488e-03 -3.14563897e-01] [ 7.45923761e-02 8.57155383e-05 9.97214104e-01 -1.44723866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48629675700002 meters Centerline goodness [0,1] 0.8081103250281965 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.31, Z:-1.45 [[ 9.95126835e-01 6.42871459e-02 -7.47645949e-02 5.95361691e+00] [-6.41269662e-02 9.97931405e-01 4.54355329e-03 -3.14084312e-01] [ 7.49020293e-02 2.73014843e-04 9.97190860e-01 -1.44744173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51629675700002 meters Centerline goodness [0,1] 0.8104748996240698 Centerline is valid? [False, False] Translation: X:5.95, Y:-0.31, Z:-1.45 [[ 9.95129677e-01 6.39145227e-02 -7.50457236e-02 5.95451500e+00] [-6.37684900e-02 9.97955269e-01 4.34292434e-03 -3.14070339e-01] [ 7.51698512e-02 4.63779574e-04 9.97170637e-01 -1.44760733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54629675700002 meters Centerline goodness [0,1] 0.8083048187501608 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.95150747e-01 6.33705473e-02 -7.52274195e-02 5.95518868e+00] [-6.32159326e-02 9.97990009e-01 4.43708630e-03 -3.14900995e-01] [ 7.53573936e-02 3.40001734e-04 9.97156531e-01 -1.44727308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57629675700002 meters Centerline goodness [0,1] 0.8067792241268205 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.32, Z:-1.45 [[ 9.95147350e-01 6.34280377e-02 -7.52239062e-02 5.95503092e+00] [-6.32525665e-02 9.97986413e-01 4.71520122e-03 -3.15486912e-01] [ 7.53715122e-02 6.57851347e-05 9.97155520e-01 -1.44690388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60629675700002 meters Centerline goodness [0,1] 0.8067611608297554 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.32, Z:-1.45 [[ 9.95154518e-01 6.31905244e-02 -7.53288950e-02 5.95513037e+00] [-6.29924495e-02 9.98001454e-01 5.00491142e-03 -3.15776811e-01] [ 7.54946098e-02 -2.35508598e-04 9.97146182e-01 -1.44609445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63629675700003 meters Centerline goodness [0,1] 0.8024949635828297 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.95147339e-01 6.30866616e-02 -7.55105755e-02 5.95560767e+00] [-6.28900661e-02 9.98008031e-01 4.98093091e-03 -3.14565489e-01] [ 7.56743911e-02 -2.07895054e-04 9.97132561e-01 -1.44581818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66629675700003 meters Centerline goodness [0,1] 0.8027327070879591 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.95130463e-01 6.32833531e-02 -7.55683685e-02 5.95538644e+00] [-6.30814387e-02 9.97995564e-01 5.05825957e-03 -3.13647140e-01] [ 7.57370001e-02 -2.66666792e-04 9.97127793e-01 -1.44532113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69629675700003 meters Centerline goodness [0,1] 0.8049808527590018 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.95107957e-01 6.31988990e-02 -7.59345329e-02 5.95625222e+00] [-6.30156256e-02 9.98000951e-01 4.80954854e-03 -3.12520380e-01] [ 7.60866942e-02 -9.57924197e-07 9.97101206e-01 -1.44544428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72629675700003 meters Centerline goodness [0,1] 0.805453889375741 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.95077699e-01 6.38482863e-02 -7.57876551e-02 5.95571562e+00] [-6.36747669e-02 9.97959606e-01 4.70617586e-03 -3.11190636e-01] [ 7.59334997e-02 1.42750624e-04 9.97112874e-01 -1.44550174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75629675700003 meters Centerline goodness [0,1] 0.8062609683080417 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.95061727e-01 6.40591751e-02 -7.58193952e-02 5.95596642e+00] [-6.39091738e-02 9.97945995e-01 4.40552549e-03 -3.10120211e-01] [ 7.59458761e-02 4.61785104e-04 9.97111835e-01 -1.44597367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78629675700003 meters Centerline goodness [0,1] 0.8084017184163815 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.94800586e-01 6.75858616e-02 -7.61836358e-02 5.95847518e+00] [-6.72035987e-02 9.97710541e-01 7.57311199e-03 -3.08622166e-01] [ 7.65210518e-02 -2.41392175e-03 9.97065044e-01 -1.44727450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81629675700003 meters Centerline goodness [0,1] 0.8056821090350652 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.94796730e-01 6.74895222e-02 -7.63192678e-02 5.95945957e+00] [-6.71636066e-02 9.97718584e-01 6.83201352e-03 -3.06000425e-01] [ 7.66062412e-02 -1.67058743e-03 9.97060025e-01 -1.44834081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84629675700003 meters Centerline goodness [0,1] 0.8037687802393685 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.94529125e-01 7.08731784e-02 -7.67386003e-02 5.96201125e+00] [-7.03003104e-02 9.97474289e-01 1.01444010e-02 -3.05393742e-01] [ 7.72637468e-02 -4.69415479e-03 9.96999638e-01 -1.44938262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87629675700003 meters Centerline goodness [0,1] 0.8064213436128934 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.30, Z:-1.45 [[ 9.94530964e-01 7.06507164e-02 -7.69196836e-02 5.96316470e+00] [-7.01310092e-02 9.97493119e-01 9.44027884e-03 -3.04590829e-01] [ 7.73938176e-02 -3.99419457e-03 9.96992599e-01 -1.45065525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90629675700004 meters Centerline goodness [0,1] 0.8098153275586151 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.30, Z:-1.45 [[ 9.94525270e-01 7.05523786e-02 -7.70833855e-02 5.96379283e+00] [-7.00473629e-02 9.97500879e-01 9.23917904e-03 -3.04254862e-01] [ 7.75425908e-02 -3.78910916e-03 9.96981840e-01 -1.45099610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93629675700004 meters Centerline goodness [0,1] 0.8088011369404121 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.30, Z:-1.45 [[ 9.94523364e-01 7.04765148e-02 -7.71773189e-02 5.96425192e+00] [-6.99870726e-02 9.97507012e-01 9.03165309e-03 -3.03804769e-01] [ 7.76214362e-02 -3.58077539e-03 9.96976474e-01 -1.45135093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96629675700004 meters Centerline goodness [0,1] 0.8092645122074764 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.30, Z:-1.45 [[ 9.94516808e-01 7.05312375e-02 -7.72118120e-02 5.96410892e+00] [-7.00378128e-02 9.97502982e-01 9.08329583e-03 -3.03002964e-01] [ 7.76596687e-02 -3.62574394e-03 9.96973335e-01 -1.45088379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99629675700004 meters Centerline goodness [0,1] 0.8106006888168558 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.30, Z:-1.45 [[ 9.94505761e-01 7.05165275e-02 -7.73673761e-02 5.96422892e+00] [-7.00140375e-02 9.97503659e-01 9.19160635e-03 -3.03074863e-01] [ 7.78224009e-02 -3.72430309e-03 9.96960282e-01 -1.45049807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.026296757 meters Centerline goodness [0,1] 0.8098514939155514 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.30, Z:-1.45 [[ 9.94484849e-01 7.03753817e-02 -7.77636843e-02 5.96489368e+00] [-6.98295541e-02 9.97511586e-01 9.71951092e-03 -3.04689190e-01] [ 7.82541904e-02 -4.23570295e-03 9.96924441e-01 -1.44973683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.056296757 meters Centerline goodness [0,1] 0.8100513237461253 Centerline is valid? [False, False] Translation: X:5.96, Y:-0.31, Z:-1.45 [[ 9.94482295e-01 7.04293308e-02 -7.77474993e-02 5.96483588e+00] [-6.98534917e-02 9.97506081e-01 1.01048267e-02 -3.06250326e-01] [ 7.82652796e-02 -4.61813692e-03 9.96921872e-01 -1.44937575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.086296757 meters Centerline goodness [0,1] 0.8115497668761402 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.31, Z:-1.45 [[ 9.94475198e-01 7.03069896e-02 -7.79487476e-02 5.96552598e+00] [-6.97387364e-02 9.97515249e-01 9.99182900e-03 -3.06028493e-01] [ 7.84575598e-02 -4.50057897e-03 9.96907296e-01 -1.44966173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11629675700001 meters Centerline goodness [0,1] 0.809154087009648 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94478492e-01 7.01866407e-02 -7.80151560e-02 5.96648509e+00] [-6.96530313e-02 9.97525628e-01 9.54341893e-03 -3.04831214e-01] [ 7.84919380e-02 -4.05673276e-03 9.96906494e-01 -1.45083444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14629675700002 meters Centerline goodness [0,1] 0.8121627125547297 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94464138e-01 7.01773424e-02 -7.82062611e-02 5.96705336e+00] [-6.96467865e-02 9.97526531e-01 9.49450200e-03 -3.04660226e-01] [ 7.86791193e-02 -3.99512697e-03 9.96891988e-01 -1.45102432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17629675700002 meters Centerline goodness [0,1] 0.809968132568515 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.31, Z:-1.45 [[ 9.94462851e-01 6.97587474e-02 -7.85961579e-02 5.96819465e+00] [-6.92453846e-02 9.97556850e-01 9.24159317e-03 -3.05141445e-01] [ 7.90488176e-02 -3.74799990e-03 9.96863700e-01 -1.45127874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20629675700002 meters Centerline goodness [0,1] 0.8066697285160237 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.31, Z:-1.45 [[ 9.94462714e-01 6.96017013e-02 -7.87369885e-02 5.96866095e+00] [-6.90934617e-02 9.97568098e-01 9.16424796e-03 -3.05303508e-01] [ 7.91833551e-02 -3.67329180e-03 9.96853301e-01 -1.45139814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23629675700002 meters Centerline goodness [0,1] 0.8098043716683245 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94472115e-01 6.91304533e-02 -7.90328654e-02 5.96979044e+00] [-6.86660556e-02 9.97602788e-01 8.58194126e-03 -3.04256423e-01] [ 7.94366804e-02 -3.10762613e-03 9.96835070e-01 -1.45197127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26629675700002 meters Centerline goodness [0,1] 0.8068144143225116 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94477500e-01 6.90059591e-02 -7.90738930e-02 5.97003099e+00] [-6.85658976e-02 9.97612311e-01 8.27013613e-03 -3.03350488e-01] [ 7.94557778e-02 -2.80269185e-03 9.96834452e-01 -1.45217730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29629675700002 meters Centerline goodness [0,1] 0.8038490007401924 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94478257e-01 6.89529719e-02 -7.91105860e-02 5.97020581e+00] [-6.85547931e-02 9.97617317e-01 7.74141253e-03 -3.01523708e-01] [ 7.94558839e-02 -2.27525658e-03 9.96835787e-01 -1.45244919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32629675700002 meters Centerline goodness [0,1] 0.8039140640947132 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94479682e-01 6.88428065e-02 -7.91885700e-02 5.97065775e+00] [-6.84724015e-02 9.97625665e-01 7.38665352e-03 -3.00637754e-01] [ 7.95090678e-02 -1.92364529e-03 9.96832287e-01 -1.45287702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35629675700002 meters Centerline goodness [0,1] 0.8049158659956281 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94471437e-01 6.88941037e-02 -7.92474790e-02 5.97096278e+00] [-6.85521867e-02 9.97622761e-01 7.03031030e-03 -2.99267034e-01] [ 7.95434357e-02 -1.55885481e-03 9.96830182e-01 -1.45320646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38629675700003 meters Centerline goodness [0,1] 0.8052962662337663 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94472247e-01 6.86515609e-02 -7.94475537e-02 5.97183842e+00] [-6.83488805e-02 9.97640135e-01 6.52616452e-03 -2.98002635e-01] [ 7.97080996e-02 -1.05993813e-03 9.96817684e-01 -1.45383541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41629675700003 meters Centerline goodness [0,1] 0.8052962662337663 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.30, Z:-1.45 [[ 9.94472247e-01 6.86515609e-02 -7.94475537e-02 5.97183842e+00] [-6.83488805e-02 9.97640135e-01 6.52616452e-03 -2.98002635e-01] [ 7.97080996e-02 -1.05993813e-03 9.96817684e-01 -1.45383541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44629675700003 meters Centerline goodness [0,1] 0.8055450344670858 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.29, Z:-1.45 [[ 9.94460701e-01 6.85801210e-02 -7.96535065e-02 5.97286171e+00] [-6.83411769e-02 9.97645581e-01 5.72529635e-03 -2.94988198e-01] [ 7.98586103e-02 -2.49967845e-04 9.96806170e-01 -1.45487616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47629675700003 meters Centerline goodness [0,1] 0.8083127489035641 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.29, Z:-1.46 [[ 9.94457169e-01 6.83325101e-02 -7.99099993e-02 5.97380329e+00] [-6.81397564e-02 9.97662546e-01 5.13974312e-03 -2.93321241e-01] [ 8.00744249e-02 3.33793489e-04 9.96788832e-01 -1.45545912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50629675700003 meters Centerline goodness [0,1] 0.8063844204080608 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.29, Z:-1.46 [[ 9.94461572e-01 6.81535751e-02 -8.00079551e-02 5.97432726e+00] [-6.80223587e-02 9.97674237e-01 4.36761954e-03 -2.90892238e-01] [ 8.01195444e-02 1.09890003e-03 9.96784656e-01 -1.45600700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53629675700003 meters Centerline goodness [0,1] 0.8048725637181409 Centerline is valid? [False, False] Translation: X:5.97, Y:-0.29, Z:-1.46 [[ 9.94457134e-01 6.80892483e-02 -8.01178094e-02 5.97446536e+00] [-6.79686896e-02 9.97678470e-01 4.23412536e-03 -2.90267019e-01] [ 8.02201119e-02 1.23484635e-03 9.96776409e-01 -1.45584350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56629675700003 meters Centerline goodness [0,1] 0.8073307567634959 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.46 [[ 9.94480306e-01 6.73894206e-02 -8.04213085e-02 5.97534492e+00] [-6.72981149e-02 9.97725490e-01 3.84839242e-03 -2.89367966e-01] [ 8.04977304e-02 1.58505199e-03 9.96753532e-01 -1.45564285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59629675700003 meters Centerline goodness [0,1] 0.8082604688239543 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.46 [[ 9.94489645e-01 6.69332673e-02 -8.06863264e-02 5.97606308e+00] [-6.68587513e-02 9.97755855e-01 3.62791944e-03 -2.88802437e-01] [ 8.07480831e-02 1.78665871e-03 9.96732941e-01 -1.45554734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62629675700003 meters Centerline goodness [0,1] 0.8026328862394436 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.46 [[ 9.94530208e-01 6.60384625e-02 -8.09233430e-02 5.97686295e+00] [-6.59778739e-02 9.97815207e-01 3.42538269e-03 -2.88298115e-01] [ 8.09727493e-02 1.93250357e-03 9.96714442e-01 -1.45512594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65629675700004 meters Centerline goodness [0,1] 0.7998351730682783 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.45 [[ 9.94798579e-01 6.17006464e-02 -8.10482380e-02 5.97635152e+00] [-6.19585771e-02 9.98078498e-01 -6.68935273e-04 -2.86523014e-01] [ 8.08512299e-02 5.68708936e-03 9.96709956e-01 -1.45467483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68629675700004 meters Centerline goodness [0,1] 0.802079964172866 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.45 [[ 9.94802111e-01 6.12206998e-02 -8.13682172e-02 5.97710694e+00] [-6.14734252e-02 9.98108539e-01 -6.02076879e-04 -2.86862122e-01] [ 8.11774528e-02 5.60093037e-03 9.96683927e-01 -1.45434951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71629675700004 meters Centerline goodness [0,1] 0.7986458566699026 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.45 [[ 9.94859282e-01 5.98513730e-02 -8.16873446e-02 5.97878620e+00] [-6.01368941e-02 9.98189600e-01 -1.03723821e-03 -2.86647133e-01] [ 8.14773778e-02 5.94432926e-03 9.96657465e-01 -1.45466672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74629675700004 meters Centerline goodness [0,1] 0.7991139209000174 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.45 [[ 9.94864994e-01 5.91971500e-02 -8.20934855e-02 5.98007001e+00] [-5.95025798e-02 9.98227335e-01 -1.27684269e-03 -2.86529450e-01] [ 8.18723759e-02 6.15506027e-03 9.96623815e-01 -1.45485475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.776296757 meters Centerline goodness [0,1] 0.7982310119506075 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.45 [[ 9.94860397e-01 5.87477141e-02 -8.24711887e-02 5.98099288e+00] [-5.90631619e-02 9.98253282e-01 -1.38839056e-03 -2.86474863e-01] [ 8.22455700e-02 6.25226395e-03 9.96592482e-01 -1.45473917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.806296757 meters Centerline goodness [0,1] 0.7968591817081904 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.29, Z:-1.45 [[ 9.94872493e-01 5.80278920e-02 -8.28340879e-02 5.98214354e+00] [-5.83689504e-02 9.98293633e-01 -1.69963934e-03 -2.85882087e-01] [ 8.25941160e-02 6.52586319e-03 9.96561902e-01 -1.45473516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.836296757 meters Centerline goodness [0,1] 0.8015280345040049 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.28, Z:-1.45 [[ 9.94877416e-01 5.79220603e-02 -8.28490318e-02 5.98193080e+00] [-5.82833433e-02 9.98298183e-01 -1.94684841e-03 -2.84313396e-01] [ 8.25952724e-02 6.76559408e-03 9.96560208e-01 -1.45425069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86629675700001 meters Centerline goodness [0,1] 0.80027987822842 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.28, Z:-1.45 [[ 9.94868948e-01 5.78722382e-02 -8.29854213e-02 5.98220551e+00] [-5.82640790e-02 9.98298543e-01 -2.30585024e-03 -2.82690043e-01] [ 8.27107805e-02 7.12908795e-03 9.96548094e-01 -1.45425208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89629675700002 meters Centerline goodness [0,1] 0.8029385292758277 Centerline is valid? [False, False] Translation: X:5.98, Y:-0.28, Z:-1.46 [[ 9.94652696e-01 6.09015606e-02 -8.34087161e-02 5.98476953e+00] [-6.10681284e-02 9.98133446e-01 5.55169610e-04 -2.80359338e-01] [ 8.32868399e-02 4.54141324e-03 9.96515267e-01 -1.45522081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92629675700002 meters Centerline goodness [0,1] 0.8049882215800083 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-1.46 [[ 9.94636936e-01 6.08054426e-02 -8.36663779e-02 5.98576220e+00] [-6.10249268e-02 9.98136240e-01 -6.61005211e-05 -2.77908191e-01] [ 8.35064246e-02 5.17148061e-03 9.96493820e-01 -1.45588975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95629675700002 meters Centerline goodness [0,1] 0.8055575761984433 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-1.46 [[ 9.94631795e-01 6.06265128e-02 -8.38571311e-02 5.98687998e+00] [-6.09046059e-02 9.98143302e-01 -7.59741933e-04 -2.75669007e-01] [ 8.36553732e-02 5.86294901e-03 9.96477498e-01 -1.45689238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98629675700002 meters Centerline goodness [0,1] 0.8071371774174116 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-1.46 [[ 9.94400903e-01 6.35178156e-02 -8.44531330e-02 5.98997796e+00] [-6.35818342e-02 9.97974754e-01 1.93412666e-03 -2.74030140e-01] [ 8.44049461e-02 3.44638780e-03 9.96425575e-01 -1.45823655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01629675700002 meters Centerline goodness [0,1] 0.8067495730401943 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-1.46 [[ 9.94396978e-01 6.34096380e-02 -8.45805382e-02 5.99055979e+00] [-6.35143464e-02 9.97979865e-01 1.45503619e-03 -2.72614007e-01] [ 8.45019374e-02 3.92519401e-03 9.96415584e-01 -1.45870017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04629675700002 meters Centerline goodness [0,1] 0.8105766929887532 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-1.46 [[ 9.94380768e-01 6.33849381e-02 -8.47893715e-02 5.99114278e+00] [-6.35541641e-02 9.97978142e-01 7.04619080e-04 -2.69722630e-01] [ 8.46626017e-02 4.68805797e-03 9.96398648e-01 -1.45911872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07629675700002 meters Centerline goodness [0,1] 0.8123403747463898 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-1.46 [[ 9.94352602e-01 6.35339451e-02 -8.50078820e-02 5.99135087e+00] [-6.37427357e-02 9.97966330e-01 2.58597862e-04 -2.66702187e-01] [ 8.48514338e-02 5.16149750e-03 9.96380245e-01 -1.45884852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10629675700002 meters Centerline goodness [0,1] 0.814041022464683 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-1.46 [[ 9.94329952e-01 6.36470610e-02 -8.51880191e-02 5.99144402e+00] [-6.38651529e-02 9.97958524e-01 1.65429934e-04 -2.65765336e-01] [ 8.50246389e-02 5.27605393e-03 9.96364880e-01 -1.45850042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13629675700003 meters Centerline goodness [0,1] 0.8185716993649891 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.26, Z:-1.46 [[ 9.94300786e-01 6.36610704e-02 -8.55173382e-02 5.99204258e+00] [-6.38961744e-02 9.97956552e-01 -1.20928953e-05 -2.64999504e-01] [ 8.53418181e-02 5.47625474e-03 9.96336682e-01 -1.45842014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16629675700003 meters Centerline goodness [0,1] 0.8203037986682149 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.26, Z:-1.46 [[ 9.94253393e-01 6.40002568e-02 -8.58146758e-02 5.99221325e+00] [-6.42454809e-02 9.97934121e-01 -9.61063726e-05 -2.63478753e-01] [ 8.56312422e-02 5.60875920e-03 9.96311112e-01 -1.45794131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19629675700003 meters Centerline goodness [0,1] 0.8193543789638709 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.26, Z:-1.46 [[ 9.94233969e-01 6.42454166e-02 -8.58565216e-02 5.99206849e+00] [-6.44825106e-02 9.97918837e-01 1.17520938e-05 -2.63010310e-01] [ 8.56785953e-02 5.52455974e-03 9.96307512e-01 -1.45765548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22629675700003 meters Centerline goodness [0,1] 0.8202041785375118 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.26, Z:-1.46 [[ 9.94200888e-01 6.48017982e-02 -8.58214537e-02 5.99141440e+00] [-6.50031168e-02 9.97884960e-01 4.49576205e-04 -2.62409618e-01] [ 8.56690712e-02 5.13169292e-03 9.96310432e-01 -1.45678726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25629675700003 meters Centerline goodness [0,1] 0.8230421328255177 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.26, Z:-1.46 [[ 9.94165284e-01 6.54213633e-02 -8.57638210e-02 5.99035742e+00] [-6.55751833e-02 9.97847104e-01 1.02545724e-03 -2.62247465e-01] [ 8.56462672e-02 4.60450429e-03 9.96314968e-01 -1.45545081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28629675700003 meters Centerline goodness [0,1] 0.8243864117885115 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.26, Z:-1.45 [[ 9.94140764e-01 6.56243816e-02 -8.58928464e-02 5.99018630e+00] [-6.57572266e-02 9.97834824e-01 1.28478355e-03 -2.62539593e-01] [ 8.57911864e-02 4.37081967e-03 9.96303552e-01 -1.45479873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31629675700003 meters Centerline goodness [0,1] 0.8259900403130187 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.26, Z:-1.46 [[ 0.99447827 0.06757524 -0.08029048 6.00143282] [-0.06832203 0.99764157 -0.00658733 -0.26119854] [ 0.07965598 0.01203657 0.99674974 -1.45706601] [ 0. 0. 0. 1. ]] SLAMing on 169.34629675700003 meters Centerline goodness [0,1] 0.8256915498294809 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.26, Z:-1.46 [[ 0.99444843 0.06796419 -0.08033177 6.00115043] [-0.06870644 0.99761569 -0.00650879 -0.26033817] [ 0.07969787 0.01199197 0.99674693 -1.45665961] [ 0. 0. 0. 1. ]] SLAMing on 169.37629675700003 meters Centerline goodness [0,1] 0.8256442964117827 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.26, Z:-1.46 [[ 9.94140544e-01 7.22597313e-02 -8.03934701e-02 6.00179068e+00] [-7.27170422e-02 9.97348761e-01 -2.77144947e-03 -2.58714889e-01] [ 7.99800636e-02 8.60118564e-03 9.96759354e-01 -1.45638358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40629675700004 meters Centerline goodness [0,1] 0.8250886295870213 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.26, Z:-1.46 [[ 9.93841876e-01 7.61541105e-02 -8.04914772e-02 6.00283637e+00] [-7.63143861e-02 9.97083212e-01 1.08772379e-03 -2.58821034e-01] [ 8.03395353e-02 5.06163222e-03 9.96754704e-01 -1.45634135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43629675700004 meters Centerline goodness [0,1] 0.8229278543077282 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.26, Z:-1.46 [[ 9.93505255e-01 8.01564510e-02 -8.07604604e-02 6.00426941e+00] [-8.00621082e-02 9.96780117e-01 4.41096413e-03 -2.57093746e-01] [ 8.08539884e-02 2.08353667e-03 9.96723779e-01 -1.45655835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46629675700004 meters Centerline goodness [0,1] 0.81907449736437 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.25, Z:-1.46 [[ 9.93428645e-01 8.09880402e-02 -8.08731413e-02 6.00412211e+00] [-8.09087252e-02 9.96712400e-01 4.26270861e-03 -2.54395503e-01] [ 8.09524912e-02 2.30864593e-03 9.96715287e-01 -1.45638361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49629675700004 meters Centerline goodness [0,1] 0.8173961788200121 Centerline is valid? [False, False] Translation: X:6.00, Y:-0.25, Z:-1.46 [[ 9.93416021e-01 8.09482848e-02 -8.10677752e-02 6.00468113e+00] [-8.08959705e-02 9.96714783e-01 3.93496563e-03 -2.53310441e-01] [ 8.11199787e-02 2.64899846e-03 9.96700824e-01 -1.45659462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.526296757 meters Centerline goodness [0,1] 0.8229561071378488 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-1.46 [[ 9.93403612e-01 8.07909488e-02 -8.13761986e-02 6.00555023e+00] [-8.07619363e-02 9.96726724e-01 3.65338453e-03 -2.52438804e-01] [ 8.14049923e-02 2.94281398e-03 9.96676762e-01 -1.45681602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.556296757 meters Centerline goodness [0,1] 0.8176901198302793 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-1.46 [[ 9.93428760e-01 7.98253818e-02 -8.20195498e-02 6.00781885e+00] [-7.98512621e-02 9.96802365e-01 2.96989070e-03 -2.51616516e-01] [ 8.19943540e-02 3.59898973e-03 9.96626296e-01 -1.45762677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.586296757 meters Centerline goodness [0,1] 0.8182541167664671 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-1.46 [[ 9.93419214e-01 7.94320562e-02 -8.25155383e-02 6.00897829e+00] [-7.94551928e-02 9.96833898e-01 3.00853706e-03 -2.52339688e-01] [ 8.24932600e-02 3.56754948e-03 9.96585237e-01 -1.45753445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61629675700001 meters Centerline goodness [0,1] 0.8173829722592255 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-1.46 [[ 9.93717910e-01 7.48103021e-02 -8.32354110e-02 6.01017660e+00] [-7.51573102e-02 9.97171148e-01 -1.03910553e-03 -2.52511506e-01] [ 8.29222145e-02 7.28832737e-03 9.96529371e-01 -1.45780035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64629675700002 meters Centerline goodness [0,1] 0.8210734649639508 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-1.46 [[ 9.94027398e-01 6.99760998e-02 -8.37429201e-02 6.01149696e+00] [-7.06553581e-02 9.97487381e-01 -5.17160558e-03 -2.53102124e-01] [ 8.31706173e-02 1.10576037e-02 9.96473972e-01 -1.45864490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67629675700002 meters Centerline goodness [0,1] 0.8195543794154478 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.25, Z:-1.46 [[ 9.94026943e-01 6.94671378e-02 -8.41709726e-02 6.01291770e+00] [-7.01392483e-02 9.97524423e-01 -5.05086240e-03 -2.54693265e-01] [ 8.36117319e-02 1.09243821e-02 9.96438526e-01 -1.45905808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70629675700002 meters Centerline goodness [0,1] 0.8213390111189969 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.26, Z:-1.46 [[ 9.94079211e-01 6.83875035e-02 -8.44373780e-02 6.01430332e+00] [-6.90481667e-02 9.97601168e-01 -4.92546942e-03 -2.57180988e-01] [ 8.38979864e-02 1.07265529e-02 9.96416614e-01 -1.45935463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73629675700002 meters Centerline goodness [0,1] 0.8230415620112791 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.26, Z:-1.46 [[ 9.94070623e-01 6.84605259e-02 -8.44793070e-02 6.01424566e+00] [-6.90775772e-02 9.97601590e-01 -4.39942878e-03 -2.58608028e-01] [ 8.39755038e-02 1.02089688e-02 9.96415522e-01 -1.45891379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76629675700002 meters Centerline goodness [0,1] 0.8219230129894801 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.26, Z:-1.46 [[ 9.94058327e-01 6.87564169e-02 -8.43836280e-02 6.01358102e+00] [-6.93160906e-02 9.97587822e-01 -3.71722496e-03 -2.60139662e-01] [ 8.39244966e-02 9.54428163e-03 9.96426407e-01 -1.45811717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79629675700002 meters Centerline goodness [0,1] 0.8249423291873766 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.26, Z:-1.46 [[ 9.95228683e-01 6.73210324e-02 -7.06239841e-02 6.01373113e+00] [-6.77473377e-02 9.97695812e-01 -3.65571999e-03 -2.62966790e-01] [ 7.02151463e-02 8.42286429e-03 9.97496310e-01 -1.46095917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82629675700002 meters Centerline goodness [0,1] 0.8245705981847202 Centerline is valid? [False, False] Translation: X:6.01, Y:-0.26, Z:-1.46 [[ 9.95205293e-01 6.77488358e-02 -7.05444534e-02 6.01324508e+00] [-6.81301850e-02 9.97671896e-01 -3.01102794e-03 -2.64106209e-01] [ 7.01762249e-02 7.80279761e-03 9.97504092e-01 -1.46040997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85629675700002 meters Centerline goodness [0,1] 0.8219243202129682 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.27, Z:-1.46 [[ 0.99529837 0.07204671 -0.06473351 6.02394609] [-0.07277755 0.99730758 -0.00900057 -0.26503731] [ 0.06391076 0.01366939 0.997862 -1.46347311] [ 0. 0. 0. 1. ]] SLAMing on 169.88629675700003 meters Centerline goodness [0,1] 0.8229790687128571 Centerline is valid? [False, False] Translation: X:6.02, Y:-0.27, Z:-1.46 [[ 9.94953583e-01 7.69156552e-02 -6.44309723e-02 6.02418830e+00] [-7.73449157e-02 9.96995586e-01 -4.19103169e-03 -2.67725201e-01] [ 6.39150391e-02 9.15329012e-03 9.97913366e-01 -1.46363942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91629675700003 meters Centerline goodness [0,1] 0.8253091291765324 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.46 [[ 9.94646271e-01 8.06100303e-02 -6.46592567e-02 6.02617154e+00] [-8.08051286e-02 9.96729837e-01 -4.03613901e-04 -2.69518245e-01] [ 6.44152751e-02 5.62625261e-03 9.97907319e-01 -1.46459472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94629675700003 meters Centerline goodness [0,1] 0.8286886810460011 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.47 [[ 9.94278013e-01 8.49094692e-02 -6.48198674e-02 6.02818520e+00] [-8.48659185e-02 9.96386477e-01 3.42996872e-03 -2.70446874e-01] [ 6.48768761e-02 2.09065510e-03 9.97891086e-01 -1.46590245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97629675700003 meters Centerline goodness [0,1] 0.8284852402499461 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.47 [[ 9.94239114e-01 8.54517371e-02 -6.47038255e-02 6.02812986e+00] [-8.54061847e-02 9.96340158e-01 3.47472182e-03 -2.70081173e-01] [ 6.47639407e-02 2.07140252e-03 9.97898462e-01 -1.46635247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00629675700003 meters Centerline goodness [0,1] 0.8278325064116392 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.47 [[ 9.94179801e-01 8.62023643e-02 -6.46194731e-02 6.02847156e+00] [-8.61496902e-02 9.96275677e-01 3.60629726e-03 -2.70454425e-01] [ 6.46896807e-02 1.98163970e-03 9.97903461e-01 -1.46730643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03629675700003 meters Centerline goodness [0,1] 0.8272025322526497 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.47 [[ 9.94162181e-01 8.63988366e-02 -6.46281596e-02 6.02863302e+00] [-8.63389802e-02 9.96258859e-01 3.72372662e-03 -2.71116002e-01] [ 6.47081022e-02 1.87794122e-03 9.97902468e-01 -1.46752573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06629675700003 meters Centerline goodness [0,1] 0.8278476153919969 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.47 [[ 9.94155080e-01 8.64081249e-02 -6.47249012e-02 6.02912769e+00] [-8.63442438e-02 9.96258158e-01 3.78881553e-03 -2.71850430e-01] [ 6.48100953e-02 1.82195244e-03 9.97895953e-01 -1.46782962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09629675700003 meters Centerline goodness [0,1] 0.8256554442121452 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.27, Z:-1.47 [[ 9.94125096e-01 8.68485875e-02 -6.45957916e-02 6.02910414e+00] [-8.67601039e-02 9.96220468e-01 4.17896986e-03 -2.72833327e-01] [ 6.47145874e-02 1.44991878e-03 9.97902761e-01 -1.46802895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12629675700003 meters Centerline goodness [0,1] 0.8248896564958741 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.28, Z:-1.47 [[ 9.93854376e-01 8.97822616e-02 -6.47504825e-02 6.03114621e+00] [-8.94504716e-02 9.95959054e-01 8.01096321e-03 -2.75130865e-01] [ 6.52080717e-02 -2.16976965e-03 9.97869330e-01 -1.46832279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15629675700004 meters Centerline goodness [0,1] 0.8227190768121169 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.28, Z:-1.47 [[ 9.93842796e-01 8.98664154e-02 -6.48114579e-02 6.03119416e+00] [-8.95247102e-02 9.95951147e-01 8.16323711e-03 -2.75226672e-01] [ 6.52826467e-02 -2.31074740e-03 9.97864137e-01 -1.46812594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18629675700004 meters Centerline goodness [0,1] 0.825592029264536 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.28, Z:-1.47 [[ 9.93844063e-01 8.97586658e-02 -6.49411998e-02 6.03172846e+00] [-8.94183754e-02 9.95960943e-01 8.13357154e-03 -2.75270470e-01] [ 6.54089571e-02 -2.27656521e-03 9.97855944e-01 -1.46834917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21629675700004 meters Centerline goodness [0,1] 0.8243016223480848 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.28, Z:-1.47 [[ 9.93863182e-01 8.92821728e-02 -6.53044352e-02 6.03323475e+00] [-8.89516070e-02 9.96004158e-01 7.95792994e-03 -2.76148884e-01] [ 6.57539903e-02 -2.10015912e-03 9.97833655e-01 -1.46905101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24629675700004 meters Centerline goodness [0,1] 0.8219839660001932 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.28, Z:-1.47 [[ 9.93895604e-01 8.88537615e-02 -6.53952439e-02 6.03405922e+00] [-8.85283311e-02 9.96042622e-01 7.86317994e-03 -2.77382300e-01] [ 6.58351233e-02 -2.02584817e-03 9.97828458e-01 -1.46966777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.276296757 meters Centerline goodness [0,1] 0.8181268589945107 Centerline is valid? [False, False] Translation: X:6.03, Y:-0.28, Z:-1.47 [[ 9.93895386e-01 8.88542720e-02 -6.53978613e-02 6.03423820e+00] [-8.85232921e-02 9.96042403e-01 7.94721789e-03 -2.77950172e-01] [ 6.58451872e-02 -2.10946921e-03 9.97827621e-01 -1.46984705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.306296757 meters Centerline goodness [0,1] 0.81908855990533 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93916989e-01 8.82850439e-02 -6.58389659e-02 6.03612014e+00] [-8.79803662e-02 9.96093835e-01 7.51845434e-03 -2.78175024e-01] [ 6.62455551e-02 -1.68018317e-03 9.97801936e-01 -1.47092356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.336296757 meters Centerline goodness [0,1] 0.81908855990533 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93916989e-01 8.82850439e-02 -6.58389659e-02 6.03612014e+00] [-8.79803662e-02 9.96093835e-01 7.51845434e-03 -2.78175024e-01] [ 6.62455551e-02 -1.68018317e-03 9.97801936e-01 -1.47092356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36629675700001 meters Centerline goodness [0,1] 0.8168785959483634 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93933678e-01 8.80388457e-02 -6.59166520e-02 6.03693552e+00] [-8.77499580e-02 9.96115998e-01 7.27075918e-03 -2.78150327e-01] [ 6.63007408e-02 -1.44246897e-03 9.97798643e-01 -1.47170054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39629675700002 meters Centerline goodness [0,1] 0.8108101560228704 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93930739e-01 8.78778825e-02 -6.61752473e-02 6.03831073e+00] [-8.76131615e-02 9.96130694e-01 6.89746860e-03 -2.77868812e-01] [ 6.65253300e-02 -1.05778343e-03 9.97784176e-01 -1.47281912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42629675700002 meters Centerline goodness [0,1] 0.8126391173908836 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93930479e-01 8.77286627e-02 -6.63768318e-02 6.03922480e+00] [-8.74886985e-02 9.96144181e-01 6.51903445e-03 -2.77211527e-01] [ 6.66928010e-02 -6.72244407e-04 9.97773330e-01 -1.47346553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45629675700002 meters Centerline goodness [0,1] 0.8110113617010923 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93896237e-01 8.82188593e-02 -6.62397401e-02 6.03927896e+00] [-8.79837565e-02 9.96100937e-01 6.46385246e-03 -2.76904404e-01] [ 6.65517009e-02 -5.96377473e-04 9.97782800e-01 -1.47412615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48629675700002 meters Centerline goodness [0,1] 0.8084992454850801 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.47 [[ 9.93884068e-01 8.81726349e-02 -6.64834198e-02 6.04015692e+00] [-8.79452462e-02 9.96105103e-01 6.34492739e-03 -2.76808593e-01] [ 6.67839227e-02 -4.59221530e-04 9.97767356e-01 -1.47454044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51629675700002 meters Centerline goodness [0,1] 0.801205260204455 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93868733e-01 8.83566110e-02 -6.64684205e-02 6.04092871e+00] [-8.81325768e-02 9.96088824e-01 6.30104205e-03 -2.76929894e-01] [ 6.67651896e-02 -4.04375500e-04 9.97768633e-01 -1.47557124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54629675700002 meters Centerline goodness [0,1] 0.7974972957026256 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93861411e-01 8.84256615e-02 -6.64860816e-02 6.04175399e+00] [-8.82035587e-02 9.96082710e-01 6.27438393e-03 -2.77775535e-01] [ 6.67804529e-02 -3.71559054e-04 9.97767625e-01 -1.47659416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57629675700002 meters Centerline goodness [0,1] 0.7972541507024266 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93863850e-01 8.83325382e-02 -6.65733413e-02 6.04229575e+00] [-8.81073052e-02 9.96090956e-01 6.31749615e-03 -2.78306641e-01] [ 6.68711436e-02 -4.13133352e-04 9.97761534e-01 -1.47692013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60629675700002 meters Centerline goodness [0,1] 0.7948237151809726 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93851424e-01 8.85484919e-02 -6.64718919e-02 6.04206320e+00] [-8.82996284e-02 9.96071571e-01 6.67837262e-03 -2.79211196e-01] [ 6.68021216e-02 -7.67866789e-04 9.97765948e-01 -1.47679725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63629675700003 meters Centerline goodness [0,1] 0.7947839896771632 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93869647e-01 8.83376445e-02 -6.64799674e-02 6.04243527e+00] [-8.80537895e-02 9.96089746e-01 7.19364349e-03 -2.81122448e-01] [ 6.68554834e-02 -1.29573086e-03 9.97761828e-01 -1.47662942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66629675700003 meters Centerline goodness [0,1] 0.7947938722132271 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93906150e-01 8.79184468e-02 -6.64899430e-02 6.04288562e+00] [-8.75993805e-02 9.96125989e-01 7.70472582e-03 -2.83521566e-01] [ 6.69097478e-02 -1.83329655e-03 9.97757348e-01 -1.47642837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69629675700003 meters Centerline goodness [0,1] 0.7955883820740592 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.93914404e-01 8.77436669e-02 -6.65973432e-02 6.04324395e+00] [-8.74077615e-02 9.96140921e-01 7.94662249e-03 -2.84739514e-01] [ 6.70376045e-02 -2.07713787e-03 9.97748287e-01 -1.47633735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72629675700003 meters Centerline goodness [0,1] 0.7984189723320159 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.28, Z:-1.48 [[ 9.94225010e-01 8.39293362e-02 -6.68767247e-02 6.04313422e+00] [-8.38362165e-02 9.96470685e-01 4.20265776e-03 -2.84692422e-01] [ 6.69934220e-02 1.42830412e-03 9.97752395e-01 -1.47644241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75629675700003 meters Centerline goodness [0,1] 0.8009615143851566 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.29, Z:-1.48 [[ 9.94238914e-01 8.36361827e-02 -6.70370858e-02 6.04380658e+00] [-8.35388420e-02 9.96495421e-01 4.25891909e-03 -2.85511772e-01] [ 6.71583488e-02 1.36581743e-03 9.97741395e-01 -1.47662574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78629675700003 meters Centerline goodness [0,1] 0.7988768251591164 Centerline is valid? [False, False] Translation: X:6.04, Y:-0.29, Z:-1.48 [[ 9.94278331e-01 8.30071697e-02 -6.72339914e-02 6.04497583e+00] [-8.29243278e-02 9.96547711e-01 4.02687252e-03 -2.85368801e-01] [ 6.73361395e-02 1.57150145e-03 9.97729109e-01 -1.47701196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81629675700003 meters Centerline goodness [0,1] 0.8001294305057746 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.28, Z:-1.48 [[ 9.94305700e-01 8.24756933e-02 -6.74828500e-02 6.04618994e+00] [-8.24203758e-02 9.96591121e-01 3.60823849e-03 -2.84873608e-01] [ 6.75504011e-02 1.97426976e-03 9.97713910e-01 -1.47768402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84629675700003 meters Centerline goodness [0,1] 0.7986293489407469 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-1.48 [[ 9.94332883e-01 8.19481873e-02 -6.77245324e-02 6.04728379e+00] [-8.19005245e-02 9.96634417e-01 3.48469301e-03 -2.85457646e-01] [ 6.77821642e-02 2.08172988e-03 9.97697973e-01 -1.47805901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87629675700003 meters Centerline goodness [0,1] 0.8042821158690177 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-1.48 [[ 9.94340562e-01 8.16161363e-02 -6.80121608e-02 6.04820110e+00] [-8.15727177e-02 9.96661525e-01 3.41998987e-03 -2.86092428e-01] [ 6.80642302e-02 2.14730214e-03 9.97678630e-01 -1.47832998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90629675700004 meters Centerline goodness [0,1] 0.8036549301114678 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-1.48 [[ 9.94350780e-01 8.10859867e-02 -6.84951776e-02 6.04987259e+00] [-8.10441228e-02 9.96704735e-01 3.39440109e-03 -2.87373882e-01] [ 6.85447062e-02 2.17590621e-03 9.97645673e-01 -1.47888423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93629675700004 meters Centerline goodness [0,1] 0.8018506781594625 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-1.48 [[ 9.94343553e-01 8.08333039e-02 -6.88975746e-02 6.05117527e+00] [-8.07921776e-02 9.96725211e-01 3.38779714e-03 -2.87836059e-01] [ 6.89457964e-02 2.19775084e-03 9.97617987e-01 -1.47936216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96629675700004 meters Centerline goodness [0,1] 0.8030980192991366 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-1.48 [[ 9.94349097e-01 8.02855823e-02 -6.94557310e-02 6.05372436e+00] [-8.02772156e-02 9.96768310e-01 2.91620765e-03 -2.87704544e-01] [ 6.94654010e-02 2.67598425e-03 9.97580772e-01 -1.48110428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99629675700004 meters Centerline goodness [0,1] 0.8021645791519525 Centerline is valid? [False, False] Translation: X:6.05, Y:-0.29, Z:-1.48 [[ 9.94349389e-01 8.01481998e-02 -6.96100462e-02 6.05471513e+00] [-8.01577053e-02 9.96778641e-01 2.66123159e-03 -2.87092012e-01] [ 6.95991002e-02 2.93358757e-03 9.97570729e-01 -1.48194389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.026296757 meters Centerline goodness [0,1] 0.7979044574675901 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.48 [[ 9.94341028e-01 8.00416518e-02 -6.98516632e-02 6.05628225e+00] [-8.00709427e-02 9.96786314e-01 2.38504844e-03 -2.86542584e-01] [ 6.98180851e-02 3.22153701e-03 9.97554538e-01 -1.48322921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.056296757 meters Centerline goodness [0,1] 0.7998422351713784 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.48 [[ 9.94317719e-01 8.02979402e-02 -6.98892967e-02 6.05641364e+00] [-8.03078917e-02 9.96766524e-01 2.67192511e-03 -2.87111310e-01] [ 6.98778615e-02 2.95591959e-03 9.97551175e-01 -1.48327699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.086296757 meters Centerline goodness [0,1] 0.798331760324465 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.48 [[ 9.94294804e-01 8.03087770e-02 -7.02021600e-02 6.05740284e+00] [-8.03076191e-02 9.96766071e-01 2.84344178e-03 -2.87748137e-01] [ 7.02034845e-02 2.81054893e-03 9.97528732e-01 -1.48341327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11629675700001 meters Centerline goodness [0,1] 0.7959157691034553 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.48 [[ 9.94272413e-01 8.04414750e-02 -7.03671620e-02 6.05756743e+00] [-8.04179183e-02 9.96756187e-01 3.17221980e-03 -2.88451679e-01] [ 7.03940821e-02 2.50473005e-03 9.97516115e-01 -1.48300356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14629675700002 meters Centerline goodness [0,1] 0.7976977027851189 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.48 [[ 9.94251162e-01 8.06051855e-02 -7.04800086e-02 6.05765558e+00] [-8.05272303e-02 9.96744577e-01 3.95132232e-03 -2.89859550e-01] [ 7.05690635e-02 1.74695308e-03 9.97505366e-01 -1.48206970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17629675700002 meters Centerline goodness [0,1] 0.7949140092702819 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.48 [[ 9.94245051e-01 8.07217326e-02 -7.04328144e-02 6.05741091e+00] [-8.06275949e-02 9.96735518e-01 4.18314628e-03 -2.90179031e-01] [ 7.05405586e-02 1.51975595e-03 9.97507754e-01 -1.48171233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20629675700002 meters Centerline goodness [0,1] 0.795766793409379 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.49 [[ 9.95258811e-01 7.93812739e-02 -5.62006370e-02 6.05839200e+00] [-7.94674129e-02 9.96837216e-01 7.03999444e-04 -2.89243196e-01] [ 5.60787709e-02 3.76545757e-03 9.98419247e-01 -1.48720313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23629675700002 meters Centerline goodness [0,1] 0.7956796361798888 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.49 [[ 9.95255116e-01 7.91835363e-02 -5.65439803e-02 6.05920273e+00] [-7.92635808e-02 9.96853348e-01 8.29248122e-04 -2.89653491e-01] [ 5.64317189e-02 3.65656492e-03 9.98399765e-01 -1.48702217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26629675700002 meters Centerline goodness [0,1] 0.7979599546656593 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.49 [[ 9.95279200e-01 7.85483725e-02 -5.70041063e-02 6.06069724e+00] [-7.86392136e-02 9.96902929e-01 6.51339964e-04 -2.89658426e-01] [ 5.68787223e-02 3.83449298e-03 9.98373731e-01 -1.48717320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29629675700002 meters Centerline goodness [0,1] 0.7982669848047218 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.49 [[ 9.95285567e-01 7.81583751e-02 -5.74274194e-02 6.06222092e+00] [-7.82619441e-02 9.96932730e-01 4.46806413e-04 -2.89734647e-01] [ 5.72861957e-02 4.04968151e-03 9.98349584e-01 -1.48784156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32629675700002 meters Centerline goodness [0,1] 0.7942446765769385 Centerline is valid? [False, False] Translation: X:6.06, Y:-0.29, Z:-1.49 [[ 9.95343719e-01 7.69699560e-02 -5.80216038e-02 6.06497489e+00] [-7.71135615e-02 9.97022288e-01 -2.36765804e-04 -2.89250995e-01] [ 5.78306083e-02 4.70991587e-03 9.98315300e-01 -1.48927406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35629675700002 meters Centerline goodness [0,1] 0.7943011803623787 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.29, Z:-1.49 [[ 9.95371856e-01 7.63457924e-02 -5.83625607e-02 6.06637325e+00] [-7.65108602e-02 9.97068570e-01 -5.95703850e-04 -2.88938641e-01] [ 5.81459955e-02 5.05831657e-03 9.98295275e-01 -1.48988549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38629675700003 meters Centerline goodness [0,1] 0.7961486722136416 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.29, Z:-1.49 [[ 9.95462683e-01 7.48688708e-02 -5.87256194e-02 6.06831834e+00] [-7.50673997e-02 9.97177766e-01 -1.17873460e-03 -2.88775010e-01] [ 5.84716315e-02 5.58176586e-03 9.98273466e-01 -1.49041892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41629675700003 meters Centerline goodness [0,1] 0.7942116565949159 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.29, Z:-1.49 [[ 9.95490611e-01 7.42153768e-02 -5.90806396e-02 6.06957613e+00] [-7.44297872e-02 9.97225226e-01 -1.43377613e-03 -2.88771621e-01] [ 5.88102959e-02 5.82467012e-03 9.98252184e-01 -1.49072264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44629675700003 meters Centerline goodness [0,1] 0.7950882960970386 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.29, Z:-1.49 [[ 9.95581272e-01 7.25222912e-02 -5.96527319e-02 6.07212208e+00] [-7.27802969e-02 9.97345657e-01 -2.16098076e-03 -2.88051673e-01] [ 5.93376738e-02 6.49297552e-03 9.98216851e-01 -1.49136620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47629675700003 meters Centerline goodness [0,1] 0.7969329582513879 Centerline is valid? [False, False] Translation: X:6.07, Y:-0.29, Z:-1.49 [[ 9.95609405e-01 7.16603573e-02 -6.02221327e-02 6.07398964e+00] [-7.19457463e-02 9.97405207e-01 -2.58124704e-03 -2.87783985e-01] [ 5.98808957e-02 6.90264012e-03 9.98181663e-01 -1.49186081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50629675700003 meters Centerline goodness [0,1] 0.7998071264310972 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.29, Z:-1.49 [[ 9.95687987e-01 6.98291204e-02 -6.10682168e-02 6.07715341e+00] [-7.01571557e-02 9.97530685e-01 -3.24140474e-03 -2.87861844e-01] [ 6.06910757e-02 7.51180016e-03 9.98128332e-01 -1.49256263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53629675700003 meters Centerline goodness [0,1] 0.8016246470850463 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.29, Z:-1.49 [[ 9.95706778e-01 6.91165531e-02 -6.15704056e-02 6.07888967e+00] [-6.94645422e-02 9.97578187e-01 -3.52685239e-03 -2.88022125e-01] [ 6.11775297e-02 7.78867087e-03 9.98096512e-01 -1.49317317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56629675700003 meters Centerline goodness [0,1] 0.8045021645021645 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.29, Z:-1.49 [[ 9.95722325e-01 6.84261920e-02 -6.20878975e-02 6.08060211e+00] [-6.87979447e-02 9.97623120e-01 -3.86707196e-03 -2.87914621e-01] [ 6.16757130e-02 8.12204962e-03 9.98063194e-01 -1.49371979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59629675700003 meters Centerline goodness [0,1] 0.8111163099958135 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.29, Z:-1.49 [[ 9.95755326e-01 6.72187403e-02 -6.28726681e-02 6.08305120e+00] [-6.76304232e-02 9.97700561e-01 -4.44039098e-03 -2.87255035e-01] [ 6.24296188e-02 8.67364812e-03 9.98011679e-01 -1.49411958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62629675700003 meters Centerline goodness [0,1] 0.8171382217742926 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.29, Z:-1.49 [[ 9.95775984e-01 6.67107399e-02 -6.30861784e-02 6.08362943e+00] [-6.71377065e-02 9.97732789e-01 -4.67017111e-03 -2.86355360e-01] [ 6.26315982e-02 8.88590557e-03 9.97997156e-01 -1.49377205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65629675700004 meters Centerline goodness [0,1] 0.8167616427588917 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.29, Z:-1.49 [[ 9.95773096e-01 6.65585262e-02 -6.32922048e-02 6.08387450e+00] [-6.69937630e-02 9.97741958e-01 -4.77708865e-03 -2.85711469e-01] [ 6.28313324e-02 8.99707932e-03 9.97983605e-01 -1.49337844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68629675700004 meters Centerline goodness [0,1] 0.8217984587444166 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.28, Z:-1.49 [[ 9.95759726e-01 6.64929272e-02 -6.35708949e-02 6.08416458e+00] [-6.69471519e-02 9.97743795e-01 -5.03960292e-03 -2.83421810e-01] [ 6.30923680e-02 9.27412398e-03 9.97964600e-01 -1.49271293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71629675700004 meters Centerline goodness [0,1] 0.8201106108065779 Centerline is valid? [False, False] Translation: X:6.08, Y:-0.28, Z:-1.49 [[ 9.95738774e-01 6.65552689e-02 -6.38332978e-02 6.08465203e+00] [-6.70305342e-02 9.97736685e-01 -5.33058230e-03 -2.81542605e-01] [ 6.33340446e-02 9.58664754e-03 9.97946339e-01 -1.49267765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74629675700004 meters Centerline goodness [0,1] 0.822182669332423 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.28, Z:-1.49 [[ 9.95723026e-01 6.65686347e-02 -6.40646025e-02 6.08531336e+00] [-6.70758321e-02 9.97731042e-01 -5.79660547e-03 -2.79346009e-01] [ 6.35333705e-02 1.00690001e-02 9.97928918e-01 -1.49301784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.776296757 meters Centerline goodness [0,1] 0.8218838784876521 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.28, Z:-1.49 [[ 9.95448390e-01 7.00383973e-02 -6.46306926e-02 6.08769695e+00] [-7.03519669e-02 9.97518879e-01 -2.58590183e-03 -2.77588427e-01] [ 6.42892236e-02 7.12102816e-03 9.97905901e-01 -1.49354047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.806296757 meters Centerline goodness [0,1] 0.8218892949633323 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.28, Z:-1.49 [[ 9.95420689e-01 7.01777394e-02 -6.49055979e-02 6.08838490e+00] [-7.05228908e-02 9.97505531e-01 -3.03920269e-03 -2.75460447e-01] [ 6.45304086e-02 7.60261563e-03 9.97886780e-01 -1.49384449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.836296757 meters Centerline goodness [0,1] 0.8197751722470688 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.27, Z:-1.49 [[ 9.95120856e-01 7.38178061e-02 -6.54630722e-02 6.09042233e+00] [-7.39654533e-02 9.97260790e-01 1.68621457e-04 -2.73926032e-01] [ 6.52962024e-02 4.67420708e-03 9.97854978e-01 -1.49409353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86629675700001 meters Centerline goodness [0,1] 0.8225090470446321 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.27, Z:-1.49 [[ 9.94807028e-01 7.74946133e-02 -6.59815227e-02 6.09232053e+00] [-7.74285844e-02 9.96991541e-01 3.56120894e-03 -2.72569795e-01] [ 6.60589945e-02 1.56614021e-03 9.97814490e-01 -1.49405201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89629675700002 meters Centerline goodness [0,1] 0.8189783833229021 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.27, Z:-1.49 [[ 9.94783251e-01 7.74744454e-02 -6.63625944e-02 6.09316478e+00] [-7.74442290e-02 9.96992077e-01 3.03162214e-03 -2.70606941e-01] [ 6.63978541e-02 2.12359303e-03 9.97790968e-01 -1.49424159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92629675700002 meters Centerline goodness [0,1] 0.8225171602745645 Centerline is valid? [False, False] Translation: X:6.09, Y:-0.27, Z:-1.49 [[ 9.94753703e-01 7.74044837e-02 -6.68850974e-02 6.09421299e+00] [-7.74132088e-02 9.96996047e-01 2.46524544e-03 -2.68747940e-01] [ 6.68749988e-02 2.72547799e-03 9.97757639e-01 -1.49434882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95629675700002 meters Centerline goodness [0,1] 0.8238579407131605 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.27, Z:-1.49 [[ 9.94423455e-01 8.11857938e-02 -6.73116619e-02 6.09578388e+00] [-8.09703485e-02 9.96698886e-01 5.92730219e-03 -2.67851059e-01] [ 6.75706712e-02 -4.43999597e-04 9.97714392e-01 -1.49408834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98629675700002 meters Centerline goodness [0,1] 0.8238510206517846 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.27, Z:-1.49 [[ 9.94397419e-01 8.13864301e-02 -6.74538580e-02 6.09591415e+00] [-8.11913157e-02 9.96682614e-01 5.63355680e-03 -2.65876704e-01] [ 6.76885826e-02 -1.25326855e-04 9.97706490e-01 -1.49394912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01629675700002 meters Centerline goodness [0,1] 0.8241340835173183 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.26, Z:-1.49 [[ 9.94090876e-01 8.44795214e-02 -6.81655367e-02 6.09908252e+00] [-8.40812973e-02 9.96420959e-01 8.69523417e-03 -2.64240937e-01] [ 6.86561387e-02 -2.91240620e-03 9.97636132e-01 -1.49475141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04629675700002 meters Centerline goodness [0,1] 0.8258392289065096 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.26, Z:-1.50 [[ 9.94083300e-01 8.42929013e-02 -6.85061992e-02 6.10004467e+00] [-8.39223467e-02 9.96437944e-01 8.27431463e-03 -2.62974352e-01] [ 6.89596423e-02 -2.47615698e-03 9.97616377e-01 -1.49509969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07629675700002 meters Centerline goodness [0,1] 0.8263416253646043 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.26, Z:-1.50 [[ 9.94080113e-01 8.36552141e-02 -6.93291701e-02 6.10215342e+00] [-8.33206867e-02 9.96492975e-01 7.70808968e-03 -2.62438527e-01] [ 6.97308528e-02 -1.88590460e-03 9.97564059e-01 -1.49549410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10629675700002 meters Centerline goodness [0,1] 0.8259145834817083 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.26, Z:-1.50 [[ 9.94076598e-01 8.34072776e-02 -6.96774175e-02 6.10290341e+00] [-8.30795751e-02 9.96513989e-01 7.59295560e-03 -2.62487550e-01] [ 7.00678291e-02 -1.75920923e-03 9.97540678e-01 -1.49541393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13629675700003 meters Centerline goodness [0,1] 0.8251831132813425 Centerline is valid? [False, False] Translation: X:6.10, Y:-0.26, Z:-1.50 [[ 9.94083021e-01 8.28345311e-02 -7.02665467e-02 6.10428348e+00] [-8.25368129e-02 9.96562476e-01 7.13484749e-03 -2.61724193e-01] [ 7.06160155e-02 -1.29305392e-03 9.97502735e-01 -1.49535264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16629675700003 meters Centerline goodness [0,1] 0.8269121679115061 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94077736e-01 8.25419858e-02 -7.06843427e-02 6.10536761e+00] [-8.22789502e-02 9.96587287e-01 6.62977420e-03 -2.59977199e-01] [ 7.09903521e-02 -7.74677413e-04 9.97476701e-01 -1.49546892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19629675700003 meters Centerline goodness [0,1] 0.8242639233770841 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94079733e-01 8.23176669e-02 -7.09174549e-02 6.10610826e+00] [-8.20814001e-02 9.96606067e-01 6.24430094e-03 -2.58971213e-01] [ 7.11907821e-02 -3.86329027e-04 9.97462643e-01 -1.49570544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22629675700003 meters Centerline goodness [0,1] 0.8242639233770841 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94079733e-01 8.23176669e-02 -7.09174549e-02 6.10610826e+00] [-8.20814001e-02 9.96606067e-01 6.24430094e-03 -2.58971213e-01] [ 7.11907821e-02 -3.86329027e-04 9.97462643e-01 -1.49570544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25629675700003 meters Centerline goodness [0,1] 0.8225913150309503 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94068943e-01 8.22130442e-02 -7.11895430e-02 6.10674814e+00] [-8.19961308e-02 9.96614773e-01 5.96895588e-03 -2.58259981e-01] [ 7.14392763e-02 -9.62865825e-05 9.97444946e-01 -1.49580205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28629675700003 meters Centerline goodness [0,1] 0.8242988006421759 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94040965e-01 8.22774131e-02 -7.15051541e-02 6.10737027e+00] [-8.20864530e-02 9.96609423e-01 5.61005971e-03 -2.56894240e-01] [ 7.17242915e-02 2.92975302e-04 9.97424453e-01 -1.49574399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31629675700003 meters Centerline goodness [0,1] 0.8260746539649603 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94029681e-01 8.20570972e-02 -7.19140227e-02 6.10850417e+00] [-8.18944852e-02 9.96627378e-01 5.21178933e-03 -2.56310924e-01] [ 7.20991482e-02 7.08688582e-04 9.97397218e-01 -1.49615765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34629675700003 meters Centerline goodness [0,1] 0.8242728042925727 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.94010337e-01 8.19048700e-02 -7.23535923e-02 6.11021951e+00] [-8.17816971e-02 9.96639334e-01 4.66822365e-03 -2.55248585e-01] [ 7.24927863e-02 1.27693701e-03 9.97368119e-01 -1.49726869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37629675700003 meters Centerline goodness [0,1] 0.8257099092730058 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.25, Z:-1.50 [[ 9.93993066e-01 8.19779634e-02 -7.25079211e-02 6.11079463e+00] [-8.18667746e-02 9.96633082e-01 4.50908070e-03 -2.54406917e-01] [ 7.26334381e-02 1.45399468e-03 9.97357644e-01 -1.49760556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40629675700004 meters Centerline goodness [0,1] 0.828110317609472 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.93704751e-01 8.50002153e-02 -7.29782904e-02 6.11381185e+00] [-8.46533753e-02 9.96379630e-01 7.83824759e-03 -2.55360511e-01] [ 7.33803348e-02 -1.61104526e-03 9.97302728e-01 -1.49879943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43629675700004 meters Centerline goodness [0,1] 0.8274247806346892 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.26, Z:-1.50 [[ 9.93689216e-01 8.51511876e-02 -7.30138160e-02 6.11409065e+00] [-8.48070693e-02 9.96366814e-01 7.80601956e-03 -2.55448891e-01] [ 7.34132350e-02 -1.56466971e-03 9.97300380e-01 -1.49913926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46629675700004 meters Centerline goodness [0,1] 0.8279055518899048 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93804939e-01 8.84192642e-02 -6.73333258e-02 6.12458001e+00] [-8.86075349e-02 9.96066598e-01 1.91136370e-04 -2.55608892e-01] [ 6.70853770e-02 5.77628775e-03 9.97730518e-01 -1.50270178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49629675700004 meters Centerline goodness [0,1] 0.8301303239210501 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93766797e-01 8.88777616e-02 -6.72926175e-02 6.12422371e+00] [-8.90399743e-02 9.96027878e-01 5.90825185e-04 -2.56122184e-01] [ 6.70778343e-02 5.40459048e-03 9.97733108e-01 -1.50237096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.526296757 meters Centerline goodness [0,1] 0.8281685483490009 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93730128e-01 8.93833942e-02 -6.71642830e-02 6.12368305e+00] [-8.95192451e-02 9.95984600e-01 9.90306046e-04 -2.56409672e-01] [ 6.69831084e-02 5.02839896e-03 9.97741439e-01 -1.50202244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.556296757 meters Centerline goodness [0,1] 0.8271721660206107 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93658758e-01 9.02765416e-02 -6.70255132e-02 6.12327024e+00] [-9.03686175e-02 9.95906997e-01 1.66311697e-03 -2.56979876e-01] [ 6.69013180e-02 4.40443222e-03 9.97749876e-01 -1.50185569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.586296757 meters Centerline goodness [0,1] 0.8279457768508863 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93614834e-01 9.07403586e-02 -6.70503392e-02 6.12336787e+00] [-9.07924732e-02 9.95867234e-01 2.27592669e-03 -2.58445155e-01] [ 6.69797542e-02 3.82627160e-03 9.97746998e-01 -1.50181868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61629675700001 meters Centerline goodness [0,1] 0.8282064092498751 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93604646e-01 9.07781003e-02 -6.71501629e-02 6.12397584e+00] [-9.08149786e-02 9.95864620e-01 2.50950569e-03 -2.59518075e-01] [ 6.71002796e-02 3.60478409e-03 9.97739725e-01 -1.50224523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64629675700002 meters Centerline goodness [0,1] 0.8291806477713524 Centerline is valid? [False, False] Translation: X:6.12, Y:-0.26, Z:-1.50 [[ 9.93598565e-01 9.06896345e-02 -6.73593470e-02 6.12475805e+00] [-9.07178677e-02 9.95873118e-01 2.64589811e-03 -2.60554969e-01] [ 6.73213185e-02 3.48173577e-03 9.97725272e-01 -1.50266328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67629675700002 meters Centerline goodness [0,1] 0.8305888520839788 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.50 [[ 9.93641409e-01 9.00075012e-02 -6.76416978e-02 6.12656530e+00] [-9.00420110e-02 9.95934717e-01 2.54465140e-03 -2.62733062e-01] [ 6.75957529e-02 3.56212350e-03 9.97706433e-01 -1.50396611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70629675700002 meters Centerline goodness [0,1] 0.8279763188801803 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.50 [[ 9.93629120e-01 9.00049093e-02 -6.78254217e-02 6.12699616e+00] [-9.00119576e-02 9.95936291e-01 2.95837875e-03 -2.64085212e-01] [ 6.78160675e-02 3.16556770e-03 9.97692819e-01 -1.50384742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73629675700002 meters Centerline goodness [0,1] 0.8295131699330669 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93682007e-01 8.94429267e-02 -6.77940468e-02 6.12742848e+00] [-8.94293841e-02 9.95987893e-01 3.24073173e-03 -2.66994353e-01] [ 6.78119104e-02 2.84252304e-03 9.97694074e-01 -1.50395872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76629675700002 meters Centerline goodness [0,1] 0.8288105258066076 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93687254e-01 8.94370255e-02 -6.77248873e-02 6.12754837e+00] [-8.93911264e-02 9.95989675e-01 3.71401199e-03 -2.69235204e-01] [ 6.77854587e-02 2.36343759e-03 9.97697121e-01 -1.50402976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79629675700002 meters Centerline goodness [0,1] 0.8253833873542644 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93680517e-01 8.94932157e-02 -6.77495017e-02 6.12787723e+00] [-8.94455594e-02 9.95984681e-01 3.74264311e-03 -2.69352603e-01] [ 6.78124070e-02 2.34090054e-03 9.97695343e-01 -1.50435697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82629675700002 meters Centerline goodness [0,1] 0.8264853465202531 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93658315e-01 8.96971774e-02 -6.78053834e-02 6.12840891e+00] [-8.96411736e-02 9.95966591e-01 3.87424182e-03 -2.69163050e-01] [ 6.78794051e-02 2.22848155e-03 9.97691044e-01 -1.50483200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85629675700002 meters Centerline goodness [0,1] 0.8250030314053596 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93649585e-01 8.96813525e-02 -6.79540767e-02 6.12893713e+00] [-8.96225398e-02 9.95968090e-01 3.91979133e-03 -2.69241617e-01] [ 6.80316241e-02 2.19531791e-03 9.97680750e-01 -1.50505250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88629675700003 meters Centerline goodness [0,1] 0.8248538224519009 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93636389e-01 8.96915332e-02 -6.81333663e-02 6.12964560e+00] [-8.96264812e-02 9.95967347e-01 4.01719886e-03 -2.69942025e-01] [ 6.82189168e-02 2.11491891e-03 9.97668134e-01 -1.50548240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91629675700003 meters Centerline goodness [0,1] 0.8256666828581143 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93633548e-01 8.96719034e-02 -6.82006057e-02 6.13063044e+00] [-8.96082071e-02 9.95969065e-01 3.99880798e-03 -2.70963644e-01] [ 6.82842742e-02 2.13798423e-03 9.97663614e-01 -1.50661517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94629675700003 meters Centerline goodness [0,1] 0.8228455839344901 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93611765e-01 9.00867665e-02 -6.79708460e-02 6.13033794e+00] [-8.99985907e-02 9.95932329e-01 4.36458642e-03 -2.71689514e-01] [ 6.80875545e-02 1.78057594e-03 9.97677761e-01 -1.50680442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97629675700003 meters Centerline goodness [0,1] 0.8237456484163888 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93603993e-01 9.02173570e-02 -6.79112113e-02 6.13022076e+00] [-9.01206253e-02 9.95920723e-01 4.49295788e-03 -2.71841040e-01] [ 6.80395255e-02 1.65597994e-03 9.97681252e-01 -1.50673468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00629675700003 meters Centerline goodness [0,1] 0.8187620277216145 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93584386e-01 9.04175395e-02 -6.79318478e-02 6.13011279e+00] [-9.02997646e-02 9.95903022e-01 4.80871152e-03 -2.72434947e-01] [ 6.80883243e-02 1.35636918e-03 9.97678375e-01 -1.50632518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03629675700003 meters Centerline goodness [0,1] 0.8172742104366035 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93558381e-01 9.07581750e-02 -6.78579211e-02 6.12939279e+00] [-9.06115794e-02 9.95872516e-01 5.24150905e-03 -2.73031248e-01] [ 6.80535484e-02 9.40968165e-04 9.97681226e-01 -1.50552908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06629675700003 meters Centerline goodness [0,1] 0.8154122734561002 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93547086e-01 9.07837392e-02 -6.79889784e-02 6.12946403e+00] [-9.06214019e-02 9.95870369e-01 5.47450600e-03 -2.73457149e-01] [ 6.82052051e-02 7.22077049e-04 9.97671052e-01 -1.50494020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09629675700003 meters Centerline goodness [0,1] 0.8176775417852712 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93541315e-01 9.08548195e-02 -6.79783628e-02 6.12927684e+00] [-9.06814851e-02 9.95863989e-01 5.63769062e-03 -2.73611088e-01] [ 6.82094149e-02 5.63100347e-04 9.97670867e-01 -1.50463431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12629675700003 meters Centerline goodness [0,1] 0.8124620872054934 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.50 [[ 9.93538704e-01 9.09672916e-02 -6.78660133e-02 6.12929340e+00] [-9.07950250e-02 9.95853716e-01 5.62496480e-03 -2.72846143e-01] [ 6.80963094e-02 5.73276141e-04 9.97678588e-01 -1.50476878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15629675700004 meters Centerline goodness [0,1] 0.8150016981223618 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93541786e-01 9.09312301e-02 -6.78692130e-02 6.12956865e+00] [-9.07720641e-02 9.95856881e-01 5.43180683e-03 -2.72069055e-01] [ 6.80819437e-02 7.63901493e-04 9.97679440e-01 -1.50508766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18629675700004 meters Centerline goodness [0,1] 0.8106845468628969 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93557329e-01 9.07228754e-02 -6.79204906e-02 6.13030860e+00] [-9.05866777e-02 9.95875573e-01 5.08886117e-03 -2.71128436e-01] [ 6.81020337e-02 1.09661628e-03 9.97677759e-01 -1.50577492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21629675700004 meters Centerline goodness [0,1] 0.8095791001451379 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93567582e-01 9.05080326e-02 -6.80569986e-02 6.13096363e+00] [-9.03887255e-02 9.95894816e-01 4.83672577e-03 -2.70777569e-01] [ 6.82153747e-02 1.34597144e-03 9.97669710e-01 -1.50621859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24629675700004 meters Centerline goodness [0,1] 0.8088235294117647 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93579609e-01 9.03173218e-02 -6.81347382e-02 6.13150736e+00] [-9.02171366e-02 9.95911715e-01 4.55232693e-03 -2.70259207e-01] [ 6.82673380e-02 1.62382177e-03 9.97665743e-01 -1.50668499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.276296757 meters Centerline goodness [0,1] 0.8069543500708403 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93598459e-01 9.02752528e-02 -6.79152500e-02 6.13147696e+00] [-9.02024396e-02 9.95914828e-01 4.14425182e-03 -2.68603753e-01] [ 6.80119280e-02 2.00839902e-03 9.97682487e-01 -1.50713546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.306296757 meters Centerline goodness [0,1] 0.805173904688701 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93612918e-01 9.01547990e-02 -6.78636947e-02 6.13176734e+00] [-9.01137290e-02 9.95924710e-01 3.67246240e-03 -2.66866755e-01] [ 6.79182207e-02 2.46644452e-03 9.97687843e-01 -1.50764322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.336296757 meters Centerline goodness [0,1] 0.8055056852184321 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.93600973e-01 9.02263028e-02 -6.79435074e-02 6.13230363e+00] [-9.02237530e-02 9.95916657e-01 3.11242400e-03 -2.63660282e-01] [ 6.79468933e-02 3.03761071e-03 9.97684315e-01 -1.50805150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36629675700001 meters Centerline goodness [0,1] 0.8041557944126589 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.93600765e-01 9.02005514e-02 -6.79807282e-02 6.13263249e+00] [-9.02205868e-02 9.95917922e-01 2.78169488e-03 -2.62354928e-01] [ 6.79541360e-02 3.36936703e-03 9.97682757e-01 -1.50836638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39629675700002 meters Centerline goodness [0,1] 0.8032057416267943 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.93596147e-01 9.03109058e-02 -6.79016739e-02 6.13292922e+00] [-9.03666918e-02 9.95906006e-01 2.25586076e-03 -2.60056564e-01] [ 6.78274136e-02 3.89463508e-03 9.97689468e-01 -1.50903804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42629675700002 meters Centerline goodness [0,1] 0.8011127561010555 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.93597315e-01 9.03016374e-02 -6.78969074e-02 6.13325503e+00] [-9.03814592e-02 9.95905405e-01 1.90161213e-03 -2.58802427e-01] [ 6.77906158e-02 4.24718487e-03 9.97690530e-01 -1.50949469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45629675700002 meters Centerline goodness [0,1] 0.8025048626595189 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.93591112e-01 9.04887834e-02 -6.77383434e-02 6.13316823e+00] [-9.05822148e-02 9.95887535e-01 1.69723615e-03 -2.56793976e-01] [ 6.76133527e-02 4.44953042e-03 9.97701677e-01 -1.50960839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48629675700002 meters Centerline goodness [0,1] 0.8064003792817352 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.93584751e-01 9.06966777e-02 -6.75533564e-02 6.13248089e+00] [-9.07887067e-02 9.95868705e-01 1.71284464e-03 -2.55274196e-01] [ 6.74296229e-02 4.43122555e-03 9.97714193e-01 -1.50899203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51629675700002 meters Centerline goodness [0,1] 0.8072868547603819 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.25, Z:-1.51 [[ 9.93599551e-01 9.04831042e-02 -6.76220313e-02 6.13282096e+00] [-9.05882945e-02 9.95887275e-01 1.51553057e-03 -2.54724889e-01] [ 6.74810504e-02 4.61993400e-03 9.97709860e-01 -1.50912391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54629675700002 meters Centerline goodness [0,1] 0.8079754162795684 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.25, Z:-1.51 [[ 9.93654101e-01 8.96230485e-02 -6.79649712e-02 6.13438453e+00] [-8.97521415e-02 9.95963459e-01 1.15791974e-03 -2.54948115e-01] [ 6.77944042e-02 4.94943002e-03 9.97687036e-01 -1.50982508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57629675700002 meters Centerline goodness [0,1] 0.808348691926566 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93670995e-01 8.92618690e-02 -6.81928991e-02 6.13528152e+00] [-8.93936908e-02 9.95995737e-01 1.12215892e-03 -2.55537364e-01] [ 6.80200028e-02 4.98095816e-03 9.97671524e-01 -1.51022978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60629675700002 meters Centerline goodness [0,1] 0.8095795508838988 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93701957e-01 8.87317271e-02 -6.84331854e-02 6.13626598e+00] [-8.88736628e-02 9.96042431e-01 9.73686759e-04 -2.55931639e-01] [ 6.82487532e-02 5.11435340e-03 9.97655227e-01 -1.51057830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63629675700003 meters Centerline goodness [0,1] 0.8079678991114932 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93787305e-01 8.75664131e-02 -6.86943715e-02 6.13747165e+00] [-8.77164331e-02 9.96145135e-01 8.35275052e-04 -2.56755952e-01] [ 6.85027060e-02 5.19553951e-03 9.97637402e-01 -1.51059206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66629675700003 meters Centerline goodness [0,1] 0.8051119731550013 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93889052e-01 8.64790042e-02 -6.85998123e-02 6.13793941e+00] [-8.66194108e-02 9.96241041e-01 9.30746190e-04 -2.58018048e-01] [ 6.84224384e-02 5.01701687e-03 9.97643824e-01 -1.51028094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69629675700003 meters Centerline goodness [0,1] 0.8063318257557724 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93910229e-01 8.60920250e-02 -6.87795070e-02 6.13836134e+00] [-8.62270848e-02 9.96274999e-01 1.00830175e-03 -2.58856772e-01] [ 6.86101100e-02 4.92849496e-03 9.97631376e-01 -1.51007052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72629675700003 meters Centerline goodness [0,1] 0.8025388206154139 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93994780e-01 8.49518195e-02 -6.89751093e-02 6.13957225e+00] [-8.51021430e-02 9.96371941e-01 7.61483841e-04 -2.60388963e-01] [ 6.87895529e-02 5.11301865e-03 9.97618090e-01 -1.51042223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75629675700003 meters Centerline goodness [0,1] 0.8016532863234629 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.94011322e-01 8.46606790e-02 -6.90945762e-02 6.14012189e+00] [-8.48131112e-02 9.96396610e-01 7.29734533e-04 -2.60933264e-01] [ 6.89073813e-02 5.13476159e-03 9.97609847e-01 -1.51065586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78629675700003 meters Centerline goodness [0,1] 0.8009528346831825 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.94011342e-01 8.45168174e-02 -6.92701888e-02 6.14071117e+00] [-8.46722734e-02 9.96408613e-01 6.94161184e-04 -2.61027707e-01] [ 6.90800811e-02 5.17526028e-03 9.97597694e-01 -1.51085788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81629675700003 meters Centerline goodness [0,1] 0.79954333555323 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.94000018e-01 8.46793258e-02 -6.92342162e-02 6.14098795e+00] [-8.48493080e-02 9.96393676e-01 4.87202088e-04 -2.59423651e-01] [ 6.90257912e-02 5.39019646e-03 9.97600314e-01 -1.51133898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84629675700003 meters Centerline goodness [0,1] 0.7973325739237742 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93961737e-01 8.52479465e-02 -6.90858429e-02 6.14077229e+00] [-8.54294063e-02 9.96344172e-01 3.29062402e-04 -2.57231578e-01] [ 6.88613288e-02 5.57488711e-03 9.97610665e-01 -1.51167284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87629675700003 meters Centerline goodness [0,1] 0.7979025614317504 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93956826e-01 8.52560778e-02 -6.91464373e-02 6.14128196e+00] [-8.54674400e-02 9.96340959e-01 -9.86739359e-05 -2.55986453e-01] [ 6.88850151e-02 6.00784661e-03 9.97606516e-01 -1.51229428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90629675700004 meters Centerline goodness [0,1] 0.7958557537996791 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.26, Z:-1.51 [[ 9.93651523e-01 8.87744105e-02 -6.91068417e-02 6.14297493e+00] [-8.87657990e-02 9.96047380e-01 3.20152919e-03 -2.55503651e-01] [ 6.91179025e-02 2.95311967e-03 9.97604127e-01 -1.51343116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93629675700004 meters Centerline goodness [0,1] 0.7957151620971167 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.25, Z:-1.51 [[ 9.93632720e-01 8.89666552e-02 -6.91299673e-02 6.14317426e+00] [-8.89855768e-02 9.96028946e-01 2.81185020e-03 -2.53866898e-01] [ 6.91056093e-02 3.35762364e-03 9.97603699e-01 -1.51384992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96629675700004 meters Centerline goodness [0,1] 0.7944171389600923 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.25, Z:-1.51 [[ 9.93617397e-01 8.90846513e-02 -6.91982117e-02 6.14365207e+00] [-8.91427060e-02 9.96016312e-01 2.25471661e-03 -2.51860684e-01] [ 6.91234082e-02 3.92819019e-03 9.97600383e-01 -1.51450691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99629675700004 meters Centerline goodness [0,1] 0.7945837136905181 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93267801e-01 9.28409290e-02 -6.92794203e-02 6.14563332e+00] [-9.26966789e-02 9.95680282e-01 5.30108348e-03 -2.50006351e-01] [ 6.94723102e-02 1.15657665e-03 9.97583210e-01 -1.51594108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.026296757 meters Centerline goodness [0,1] 0.7953477498538866 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93256905e-01 9.28264168e-02 -6.94548590e-02 6.14665379e+00] [-9.27273920e-02 9.95680650e-01 4.65546470e-03 -2.48132688e-01] [ 6.95870092e-02 1.81629548e-03 9.97574232e-01 -1.51704655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.056296757 meters Centerline goodness [0,1] 0.7993863034078758 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93198073e-01 9.33728568e-02 -6.95636223e-02 6.14748514e+00] [-9.33098778e-02 9.95628420e-01 4.16135584e-03 -2.45643116e-01] [ 6.96480770e-02 2.35792249e-03 9.97568838e-01 -1.51834623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.086296757 meters Centerline goodness [0,1] 0.7994653028013483 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.24, Z:-1.52 [[ 9.93192342e-01 9.33304685e-02 -6.97021877e-02 6.14826249e+00] [-9.33043753e-02 9.95630988e-01 3.63712484e-03 -2.44128045e-01] [ 6.97371126e-02 2.89115454e-03 9.97561214e-01 -1.51916287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11629675700001 meters Centerline goodness [0,1] 0.8032478830762093 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.24, Z:-1.52 [[ 9.93204386e-01 9.30640665e-02 -6.98865301e-02 6.14902430e+00] [-9.30520275e-02 9.95655323e-01 3.43487238e-03 -2.44124490e-01] [ 6.99025589e-02 3.09155301e-03 9.97549034e-01 -1.51960487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14629675700002 meters Centerline goodness [0,1] 0.8032478830762093 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.24, Z:-1.52 [[ 9.93204386e-01 9.30640665e-02 -6.98865301e-02 6.14902430e+00] [-9.30520275e-02 9.95655323e-01 3.43487238e-03 -2.44124490e-01] [ 6.99025589e-02 3.09155301e-03 9.97549034e-01 -1.51960487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17629675700002 meters Centerline goodness [0,1] 0.8051872663524275 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.24, Z:-1.52 [[ 9.93209294e-01 9.29108355e-02 -7.00205351e-02 6.14939043e+00] [-9.28940849e-02 9.95669836e-01 3.50251416e-03 -2.44737134e-01] [ 7.00427562e-02 3.02576391e-03 9.97539401e-01 -1.51963203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20629675700002 meters Centerline goodness [0,1] 0.8064755887954662 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93246394e-01 9.22901182e-02 -7.03145376e-02 6.15029983e+00] [-9.22545885e-02 9.95728355e-01 3.75953689e-03 -2.46301065e-01] [ 7.03611469e-02 2.75269227e-03 9.97517785e-01 -1.51954592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23629675700002 meters Centerline goodness [0,1] 0.8070358760013933 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93256176e-01 9.20299916e-02 -7.05170208e-02 6.15072815e+00] [-9.19822724e-02 9.95752887e-01 3.93053683e-03 -2.47172194e-01] [ 7.05792543e-02 2.58228583e-03 9.97502832e-01 -1.51935541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26629675700002 meters Centerline goodness [0,1] 0.8101565766854063 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93300186e-01 9.14002532e-02 -7.07158652e-02 6.15128788e+00] [-9.13154202e-02 9.95812129e-01 4.43828084e-03 -2.49232763e-01] [ 7.08253763e-02 2.04890376e-03 9.97486626e-01 -1.51877233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29629675700002 meters Centerline goodness [0,1] 0.8079280371000442 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93301821e-01 9.12120968e-02 -7.09355112e-02 6.15169436e+00] [-9.11087218e-02 9.95829869e-01 4.69822707e-03 -2.50415972e-01] [ 7.10682359e-02 1.79608625e-03 9.97469839e-01 -1.51859169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32629675700002 meters Centerline goodness [0,1] 0.8103544776119402 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93336373e-01 9.04875184e-02 -7.13782767e-02 6.15296447e+00] [-9.03689312e-02 9.95896325e-01 4.89561624e-03 -2.52255077e-01] [ 7.15283555e-02 1.58738488e-03 9.97437304e-01 -1.51858601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35629675700002 meters Centerline goodness [0,1] 0.8110692350642099 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93342723e-01 9.00989392e-02 -7.17803284e-02 6.15418751e+00] [-8.99903625e-02 9.95931301e-01 4.75174794e-03 -2.52798472e-01] [ 7.19164033e-02 1.73942354e-03 9.97409146e-01 -1.51903760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38629675700003 meters Centerline goodness [0,1] 0.8110756768081193 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.25, Z:-1.52 [[ 9.93346661e-01 9.00011726e-02 -7.18484500e-02 6.15465439e+00] [-8.99051363e-02 9.95939820e-01 4.57608593e-03 -2.52468558e-01] [ 7.19685855e-02 1.91390501e-03 9.97405063e-01 -1.51942450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41629675700003 meters Centerline goodness [0,1] 0.8134494257132271 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.25, Z:-1.52 [[ 9.93307684e-01 9.01984171e-02 -7.21393797e-02 6.15539563e+00] [-9.01305015e-02 9.95921096e-01 4.20278968e-03 -2.50905729e-01] [ 7.22242150e-02 2.32729518e-03 9.97385706e-01 -1.51980957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44629675700003 meters Centerline goodness [0,1] 0.8122647826187342 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.25, Z:-1.52 [[ 9.93293932e-01 9.02223348e-02 -7.22986535e-02 6.15599452e+00] [-9.01904933e-02 9.95917617e-01 3.71159030e-03 -2.49440360e-01] [ 7.23383710e-02 2.83395110e-03 9.97376122e-01 -1.52031962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47629675700003 meters Centerline goodness [0,1] 0.810545294838307 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.25, Z:-1.52 [[ 9.93262426e-01 9.07248900e-02 -7.21023458e-02 6.15551151e+00] [-9.07104895e-02 9.95871222e-01 3.48097187e-03 -2.47741530e-01] [ 7.21204620e-02 3.08292052e-03 9.97391164e-01 -1.52040781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50629675700003 meters Centerline goodness [0,1] 0.8089998849119576 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.25, Z:-1.52 [[ 9.92866822e-01 9.47380497e-02 -7.23890513e-02 6.15733047e+00] [-9.45132085e-02 9.95502173e-01 6.53282905e-03 -2.45844582e-01] [ 7.26823653e-02 3.55492283e-04 9.97355076e-01 -1.52125149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53629675700003 meters Centerline goodness [0,1] 0.8083448275862068 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.24, Z:-1.52 [[ 9.92829991e-01 9.50096272e-02 -7.25381226e-02 6.15788638e+00] [-9.48279182e-02 9.95475882e-01 5.95261094e-03 -2.43623272e-01] [ 7.27755070e-02 9.68708490e-04 9.97347877e-01 -1.52188131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56629675700003 meters Centerline goodness [0,1] 0.8087409139895898 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.24, Z:-1.52 [[ 9.92430059e-01 9.88165026e-02 -7.29237710e-02 6.16048220e+00] [-9.84382679e-02 9.95104501e-01 8.77149417e-03 -2.41867460e-01] [ 7.34335411e-02 -1.52660478e-03 9.97298944e-01 -1.52354851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59629675700003 meters Centerline goodness [0,1] 0.809296563116597 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.24, Z:-1.52 [[ 9.92414778e-01 9.89662894e-02 -7.29286141e-02 6.16106235e+00] [-9.86282190e-02 9.95090308e-01 8.23124587e-03 -2.40125650e-01] [ 7.33851729e-02 -9.75990717e-04 9.97303196e-01 -1.52451140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62629675700003 meters Centerline goodness [0,1] 0.8075437192822037 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.24, Z:-1.53 [[ 9.92391100e-01 9.87043415e-02 -7.36026956e-02 6.16345580e+00] [-9.84399909e-02 9.95116800e-01 7.21954051e-03 -2.38128340e-01] [ 7.39558789e-02 8.08409245e-05 9.97261511e-01 -1.52628353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65629675700004 meters Centerline goodness [0,1] 0.8067263444675932 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.24, Z:-1.53 [[ 9.92388942e-01 9.84419604e-02 -7.39822198e-02 6.16458992e+00] [-9.81928414e-02 9.95142745e-01 7.00590953e-03 -2.38280288e-01] [ 7.43125447e-02 3.11937234e-04 9.97234951e-01 -1.52672891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68629675700004 meters Centerline goodness [0,1] 0.8112210764297414 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.24, Z:-1.53 [[ 9.92759354e-01 9.42192390e-02 -7.45090548e-02 6.16482738e+00] [-9.42466199e-02 9.95543878e-01 3.15630104e-03 -2.38568510e-01] [ 7.44744176e-02 3.88877919e-03 9.97215342e-01 -1.52665902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71629675700004 meters Centerline goodness [0,1] 0.8080342671914795 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.24, Z:-1.53 [[ 9.92792089e-01 9.35082782e-02 -7.49671235e-02 6.16593998e+00] [-9.35212458e-02 9.95611664e-01 3.34519323e-03 -2.40610943e-01] [ 7.49509459e-02 3.68993741e-03 9.97180395e-01 -1.52645547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74629675700004 meters Centerline goodness [0,1] 0.8071037744597979 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.24, Z:-1.53 [[ 9.92795989e-01 9.28966784e-02 -7.56725303e-02 6.16717893e+00] [-9.28586268e-02 9.95671153e-01 4.02881478e-03 -2.43235368e-01] [ 7.57192190e-02 3.02705611e-03 9.97124584e-01 -1.52549420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.776296757 meters Centerline goodness [0,1] 0.8105226236408278 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.52 [[ 9.93160366e-01 8.85953470e-02 -7.60483575e-02 6.16614931e+00] [-8.87518979e-02 9.96052882e-01 1.32525333e-03 -2.46463308e-01] [ 7.58655970e-02 5.43324698e-03 9.97103250e-01 -1.52336062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.806296757 meters Centerline goodness [0,1] 0.8081533084699646 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.52 [[ 9.93467337e-01 8.42892737e-02 -7.69283389e-02 6.16648082e+00] [-8.46485687e-02 9.96409863e-01 -1.41592094e-03 -2.49905793e-01] [ 7.65328087e-02 7.91854499e-03 9.97035619e-01 -1.52177504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.836296757 meters Centerline goodness [0,1] 0.8106589879154078 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.52 [[ 9.93457431e-01 8.41570065e-02 -7.72005924e-02 6.16686090e+00] [-8.44677514e-02 9.96425921e-01 -7.62850601e-04 -2.52552645e-01] [ 7.68604722e-02 7.27882004e-03 9.97015289e-01 -1.52128059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86629675700001 meters Centerline goodness [0,1] 0.8039530545257043 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.52 [[ 9.93455874e-01 8.40035662e-02 -7.73875159e-02 6.16730989e+00] [-8.42835093e-02 9.96441752e-01 -3.52599051e-04 -2.54474455e-01] [ 7.70825324e-02 6.87278302e-03 9.97001027e-01 -1.52112723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89629675700002 meters Centerline goodness [0,1] 0.8041539516949353 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.93451861e-01 8.38609122e-02 -7.75934766e-02 6.16788623e+00] [-8.41043226e-02 9.96456946e-01 1.31360071e-04 -2.56817778e-01] [ 7.73295747e-02 6.39544688e-03 9.96985073e-01 -1.52100085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92629675700002 meters Centerline goodness [0,1] 0.8026800351635819 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.93413820e-01 8.45051819e-02 -7.73812356e-02 6.16711286e+00] [-8.47026644e-02 9.96406003e-01 7.32387456e-04 -2.57693708e-01] [ 7.71650181e-02 5.82683301e-03 9.97001308e-01 -1.52058507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95629675700002 meters Centerline goodness [0,1] 0.8019987656079381 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.93381350e-01 8.48446863e-02 -7.74265693e-02 6.16693970e+00] [-8.50289338e-02 9.96378058e-01 9.19925895e-04 -2.57706179e-01] [ 7.72241856e-02 5.66966141e-03 9.96997633e-01 -1.52032557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98629675700002 meters Centerline goodness [0,1] 0.801199393192377 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.93034762e-01 8.86024728e-02 -7.76631419e-02 6.16844527e+00] [-8.84956572e-02 9.96064887e-01 4.82272853e-03 -2.59489285e-01] [ 7.77848344e-02 2.08371370e-03 9.96967992e-01 -1.52042300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01629675700002 meters Centerline goodness [0,1] 0.8012379478633496 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.93004777e-01 8.89525112e-02 -7.76463986e-02 6.16828739e+00] [-8.88517807e-02 9.96033495e-01 4.75795367e-03 -2.58929563e-01] [ 7.77616457e-02 2.17435006e-03 9.96969608e-01 -1.52045264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04629675700002 meters Centerline goodness [0,1] 0.8000238265427686 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.92985033e-01 8.90509288e-02 -7.77859630e-02 6.16895694e+00] [-8.89809447e-02 9.96023733e-01 4.37215385e-03 -2.57984574e-01] [ 7.78660095e-02 2.57998513e-03 9.96960495e-01 -1.52114059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07629675700002 meters Centerline goodness [0,1] 0.8006767221864799 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.92949045e-01 8.91264390e-02 -7.81579936e-02 6.17091762e+00] [-8.91322317e-02 9.96013925e-01 3.42140328e-03 -2.56099344e-01] [ 7.81513875e-02 3.56911728e-03 9.96935114e-01 -1.52327198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10629675700002 meters Centerline goodness [0,1] 0.7978441800014309 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.26, Z:-1.52 [[ 9.92933697e-01 8.89391319e-02 -7.85652889e-02 6.17251632e+00] [-8.89889006e-02 9.96028470e-01 2.87441640e-03 -2.55039297e-01] [ 7.85089127e-02 4.13733379e-03 9.96904827e-01 -1.52438936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13629675700003 meters Centerline goodness [0,1] 0.7978104278967705 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.25, Z:-1.53 [[ 9.92895222e-01 8.89034066e-02 -7.90902213e-02 6.17483272e+00] [-8.90022255e-02 9.96028813e-01 2.28182680e-03 -2.54250692e-01] [ 7.89790014e-02 4.77359078e-03 9.96864850e-01 -1.52639748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16629675700003 meters Centerline goodness [0,1] 0.7973798289943238 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.53 [[ 9.92882624e-01 8.87985619e-02 -7.93656762e-02 6.17587251e+00] [-8.88949786e-02 9.96038292e-01 2.32453434e-03 -2.55168648e-01] [ 7.92576679e-02 4.74722033e-03 9.96842859e-01 -1.52699816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19629675700003 meters Centerline goodness [0,1] 0.8004099843241288 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.53 [[ 9.93178458e-01 8.48993147e-02 -7.99290771e-02 6.17652186e+00] [-8.52760369e-02 9.96356509e-01 -1.30538202e-03 -2.56203176e-01] [ 7.95270302e-02 8.11251224e-03 9.96799698e-01 -1.52749295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22629675700003 meters Centerline goodness [0,1] 0.7997251886314876 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.53 [[ 9.93171406e-01 8.47397025e-02 -8.01856637e-02 6.17692340e+00] [-8.50691631e-02 9.96374806e-01 -6.95331860e-04 -2.58496196e-01] [ 7.98360529e-02 7.51191102e-03 9.96779703e-01 -1.52697542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25629675700003 meters Centerline goodness [0,1] 0.8008815078166853 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.53 [[ 9.93503995e-01 8.05584801e-02 -8.03750190e-02 6.17636179e+00] [-8.10866359e-02 9.96701515e-01 -3.32363799e-03 -2.62635372e-01] [ 7.98421560e-02 9.81938753e-03 9.96759153e-01 -1.52602917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28629675700003 meters Centerline goodness [0,1] 0.8024827383575731 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.53 [[ 0.99379649 0.07647011 -0.0807518 6.17623063] [-0.07726776 0.99698722 -0.00679503 -0.26365901] [ 0.0799889 0.01299239 0.99671108 -1.52564102] [ 0. 0. 0. 1. ]] SLAMing on 175.31629675700003 meters Centerline goodness [0,1] 0.8050623533769601 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.27, Z:-1.53 [[ 0.99409615 0.07178386 -0.08136296 6.17746766] [-0.07280776 0.99729897 -0.0096843 -0.26811593] [ 0.08044802 0.01555098 0.99663749 -1.52579431] [ 0. 0. 0. 1. ]] SLAMing on 175.34629675700003 meters Centerline goodness [0,1] 0.8050688050688051 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.27, Z:-1.53 [[ 0.99410162 0.07140296 -0.08163077 6.17815719] [-0.07236266 0.99733907 -0.00885545 -0.27174311] [ 0.08078125 0.01471024 0.9966233 -1.52542416] [ 0. 0. 0. 1. ]] SLAMing on 175.37629675700003 meters Centerline goodness [0,1] 0.808858041643781 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.28, Z:-1.52 [[ 0.99432566 0.06796432 -0.08183726 6.17698013] [-0.06905887 0.9975561 -0.01061604 -0.27706873] [ 0.08091574 0.01620739 0.99658916 -1.52350639] [ 0. 0. 0. 1. ]] SLAMing on 175.40629675700004 meters Centerline goodness [0,1] 0.8049129322025392 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.28, Z:-1.52 [[ 0.99430813 0.06828927 -0.08177968 6.17619617] [-0.06928838 0.99755202 -0.00943883 -0.28040166] [ 0.08093492 0.01505149 0.99660574 -1.52232241] [ 0. 0. 0. 1. ]] SLAMing on 175.43629675700004 meters Centerline goodness [0,1] 0.8079729221511847 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 0.99427483 0.06903486 -0.08155824 6.17443705] [-0.06985684 0.99753057 -0.0072649 -0.28488305] [ 0.08085531 0.0129207 0.9966421 -1.51968767] [ 0. 0. 0. 1. ]] SLAMing on 175.46629675700004 meters Centerline goodness [0,1] 0.8070373435658215 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94218085e-01 7.03974279e-02 -8.10839203e-02 6.17198843e+00] [-7.10988923e-02 9.97452449e-01 -5.79298097e-03 -2.86981779e-01] [ 8.04695439e-02 1.15244634e-02 9.96690443e-01 -1.51785827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49629675700004 meters Centerline goodness [0,1] 0.8048338824476245 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94171271e-01 7.12979410e-02 -8.08708026e-02 6.17064901e+00] [-7.19511362e-02 9.97394665e-01 -5.18810934e-03 -2.87302928e-01] [ 8.02902055e-02 1.09766154e-02 9.96711090e-01 -1.51696451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.526296757 meters Centerline goodness [0,1] 0.8053285878991427 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93859485e-01 7.55658053e-02 -8.08278000e-02 6.17107286e+00] [-7.58761262e-02 9.97116954e-01 -7.70304908e-04 -2.89307791e-01] [ 8.05365610e-02 6.89847519e-03 9.96727783e-01 -1.51657159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.556296757 meters Centerline goodness [0,1] 0.8112117270362218 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93452892e-01 8.14953120e-02 -8.00616320e-02 6.16920776e+00] [-8.14457281e-02 9.96670186e-01 3.89017270e-03 -2.89389688e-01] [ 8.01120725e-02 2.65597459e-03 9.96782324e-01 -1.51605353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.586296757 meters Centerline goodness [0,1] 0.8110792264504054 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93354257e-01 8.29499951e-02 -7.97910954e-02 6.16801058e+00] [-8.28753725e-02 9.96550848e-01 4.25215181e-03 -2.87549378e-01] [ 7.98685997e-02 2.38882366e-03 9.96802538e-01 -1.51585097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61629675700001 meters Centerline goodness [0,1] 0.809553334490712 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.92944250e-01 8.81864909e-02 -7.92771047e-02 6.16788391e+00] [-8.78376893e-02 9.96103607e-01 7.88314943e-03 -2.86066840e-01] [ 7.96633972e-02 -8.64010210e-04 9.96821447e-01 -1.51693530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64629675700002 meters Centerline goodness [0,1] 0.8058896312793863 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.92903131e-01 8.87619230e-02 -7.91498154e-02 6.16767436e+00] [-8.84321090e-02 9.96052680e-01 7.66942349e-03 -2.84757741e-01] [ 7.95181385e-02 -6.15609500e-04 9.96833229e-01 -1.51739336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67629675700002 meters Centerline goodness [0,1] 0.8055541780312423 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.92854907e-01 8.94221747e-02 -7.90114489e-02 6.16756279e+00] [-8.90977412e-02 9.95993669e-01 7.62915211e-03 -2.84488456e-01] [ 7.93771182e-02 -5.34899482e-04 9.96844515e-01 -1.51808212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70629675700002 meters Centerline goodness [0,1] 0.8075062634882048 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.92839769e-01 8.92465363e-02 -7.93992962e-02 6.16868943e+00] [-8.89233167e-02 9.96009446e-01 7.60444922e-03 -2.85097022e-01] [ 7.97611198e-02 -4.89550847e-04 9.96813886e-01 -1.51842537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73629675700002 meters Centerline goodness [0,1] 0.813882949629556 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93098647e-01 8.60132734e-02 -7.97295088e-02 6.17070809e+00] [-8.58824628e-02 9.96292351e-01 5.07476929e-03 -2.86839242e-01] [ 7.98703973e-02 1.80762006e-03 9.96803618e-01 -1.51999794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76629675700002 meters Centerline goodness [0,1] 0.8179080505922506 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93420936e-01 8.18427349e-02 -8.01037452e-02 6.17074661e+00] [-8.20089192e-02 9.96630850e-01 1.21863467e-03 -2.86709874e-01] [ 7.99336001e-02 5.35860437e-03 9.96785787e-01 -1.51996308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79629675700002 meters Centerline goodness [0,1] 0.8197060754507348 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93789131e-01 7.64676027e-02 -8.08447220e-02 6.17186765e+00] [-7.68783722e-02 9.97038521e-01 -1.97595143e-03 -2.90377807e-01] [ 8.04542058e-02 8.17888969e-03 9.96724750e-01 -1.51899009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82629675700002 meters Centerline goodness [0,1] 0.8223774447548895 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94079546e-01 7.23707927e-02 -8.10451965e-02 6.17125007e+00] [-7.30445763e-02 9.97314187e-01 -5.37602401e-03 -2.91653695e-01] [ 8.04384571e-02 1.12641075e-02 9.96695929e-01 -1.51832373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85629675700002 meters Centerline goodness [0,1] 0.8218995330699369 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 0.99440189 0.06762786 -0.08118715 6.17056037] [-0.06842144 0.99763174 -0.00702965 -0.29753119] [ 0.08051948 0.01254524 0.99667408 -1.51544439] [ 0. 0. 0. 1. ]] SLAMing on 175.88629675700003 meters Centerline goodness [0,1] 0.8212739799708014 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.51 [[ 9.94402931e-01 6.71214623e-02 -8.15936321e-02 6.17129640e+00] [-6.78199892e-02 9.97680617e-01 -5.81680195e-03 -3.01685201e-01] [ 8.10139530e-02 1.13179242e-02 9.96648706e-01 -1.51414623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91629675700003 meters Centerline goodness [0,1] 0.816817593790427 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.31, Z:-1.51 [[ 0.99466459 0.06385042 -0.08102762 6.16826938] [-0.06468748 0.99787551 -0.00774513 -0.30576982] [ 0.08036095 0.01294528 0.99668176 -1.51185244] [ 0. 0. 0. 1. ]] SLAMing on 175.94629675700003 meters Centerline goodness [0,1] 0.8165321010410447 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.31, Z:-1.51 [[ 0.99465568 0.06432015 -0.08076505 6.16718981] [-0.0650743 0.99785768 -0.0067376 -0.3080712 ] [ 0.08015866 0.01195732 0.9967104 -1.51090842] [ 0. 0. 0. 1. ]] SLAMing on 175.97629675700003 meters Centerline goodness [0,1] 0.8172854281031298 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.94633448e-01 6.56158898e-02 -7.99928731e-02 6.16446632e+00] [-6.62543779e-02 9.97788416e-01 -5.35104604e-03 -3.10054615e-01] [ 7.94648485e-02 1.06222074e-02 9.96781073e-01 -1.50952481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00629675700003 meters Centerline goodness [0,1] 0.8145165493875424 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.94609447e-01 6.64331653e-02 -7.96158413e-02 6.16302173e+00] [-6.70332162e-02 9.97738786e-01 -4.88501316e-03 -3.10020994e-01] [ 7.91112859e-02 1.01955861e-02 9.96813651e-01 -1.50894371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03629675700003 meters Centerline goodness [0,1] 0.8145165493875424 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.94609447e-01 6.64331653e-02 -7.96158413e-02 6.16302173e+00] [-6.70332162e-02 9.97738786e-01 -4.88501316e-03 -3.10020994e-01] [ 7.91112859e-02 1.01955861e-02 9.96813651e-01 -1.50894371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06629675700003 meters Centerline goodness [0,1] 0.8183220476352323 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.94300601e-01 7.17616785e-02 -7.88452724e-02 6.16131121e+00] [-7.20016304e-02 9.97404494e-01 -2.00947591e-04 -3.10700285e-01] [ 7.86262087e-02 5.87679048e-03 9.96886845e-01 -1.50825519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09629675700003 meters Centerline goodness [0,1] 0.8206571302014123 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.94248187e-01 7.27470608e-02 -7.86028492e-02 6.16027908e+00] [-7.29863153e-02 9.97332928e-01 -1.71400024e-04 -3.08921109e-01] [ 7.83807408e-02 5.90734650e-03 9.96905995e-01 -1.50819884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12629675700003 meters Centerline goodness [0,1] 0.8187060076361653 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.93908188e-01 7.79496225e-02 -7.79125749e-02 6.15940790e+00] [-7.79182992e-02 9.96953790e-01 3.44663102e-03 -3.07616942e-01] [ 7.79439004e-02 2.64518053e-03 9.96954237e-01 -1.50899916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15629675700004 meters Centerline goodness [0,1] 0.820793539871108 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.93848153e-01 7.90262957e-02 -7.75931210e-02 6.15836524e+00] [-7.90045230e-02 9.96868611e-01 3.35512235e-03 -3.06124254e-01] [ 7.76152897e-02 2.79572536e-03 9.96979464e-01 -1.50935132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18629675700004 meters Centerline goodness [0,1] 0.8158549222797927 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.93502966e-01 8.34883169e-02 -7.73405274e-02 6.15921513e+00] [-8.32101010e-02 9.96508699e-01 6.81856998e-03 -3.05296728e-01] [ 7.76397793e-02 -3.38756396e-04 9.96981419e-01 -1.51067729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21629675700004 meters Centerline goodness [0,1] 0.8105876889737371 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93483023e-01 8.37626975e-02 -7.73000210e-02 6.15943361e+00] [-8.35189857e-02 9.96485724e-01 6.38599941e-03 -3.03695292e-01] [ 7.75632759e-02 1.11637348e-04 9.96987425e-01 -1.51150888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24629675700004 meters Centerline goodness [0,1] 0.799550712662673 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93469875e-01 8.40670152e-02 -7.71384788e-02 6.15956125e+00] [-8.38540614e-02 9.96459974e-01 6.00130989e-03 -3.02102195e-01] [ 7.73699188e-02 5.06254153e-04 9.97002327e-01 -1.51254375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.276296757 meters Centerline goodness [0,1] 0.8051648664749915 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93465157e-01 8.40137558e-02 -7.72571779e-02 6.15987898e+00] [-8.37895753e-02 9.96464527e-01 6.14446329e-03 -3.02648637e-01] [ 7.75002566e-02 3.69035937e-04 9.96992264e-01 -1.51251590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.306296757 meters Centerline goodness [0,1] 0.8155279179892803 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93799064e-01 7.98390979e-02 -7.73895250e-02 6.15960498e+00] [-7.98924176e-02 9.96800574e-01 2.41181022e-03 -3.03248233e-01] [ 7.73344798e-02 3.78598151e-03 9.96998016e-01 -1.51268543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.336296757 meters Centerline goodness [0,1] 0.8177908673894912 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.93833647e-01 7.90516049e-02 -7.77529856e-02 6.16097139e+00] [-7.90921971e-02 9.96864013e-01 2.56213230e-03 -3.05187037e-01] [ 7.77116939e-02 3.60332117e-03 9.96969362e-01 -1.51282546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36629675700001 meters Centerline goodness [0,1] 0.8224876873100702 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94146382e-01 7.50739765e-02 -7.76972868e-02 6.16011432e+00] [-7.54004639e-02 9.97152521e-01 -1.27280519e-03 -3.04850565e-01] [ 7.73804908e-02 7.12376614e-03 9.96976184e-01 -1.51286188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39629675700002 meters Centerline goodness [0,1] 0.8284469096671949 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 9.94495455e-01 7.02737939e-02 -7.77199019e-02 6.15983734e+00] [-7.08449657e-02 9.97476672e-01 -4.61305724e-03 -3.07173389e-01] [ 7.71996120e-02 1.00937282e-02 9.96964561e-01 -1.51233388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42629675700002 meters Centerline goodness [0,1] 0.8313564918768988 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 0.99479947 0.06572088 -0.07781252 6.15938112] [-0.06650581 0.99775757 -0.00753661 -0.31018444] [ 0.07714272 0.0126724 0.99693952 -1.51123457] [ 0. 0. 0. 1. ]] SLAMing on 176.45629675700002 meters Centerline goodness [0,1] 0.8278280662749458 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.31, Z:-1.51 [[ 0.99482066 0.06545035 -0.07776956 6.15924384] [-0.06618218 0.99778392 -0.00686755 -0.31255177] [ 0.07714774 0.01197894 0.99694771 -1.510521 ] [ 0. 0. 0. 1. ]] SLAMing on 176.48629675700002 meters Centerline goodness [0,1] 0.8265205973633253 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.32, Z:-1.51 [[ 9.94856391e-01 6.56688207e-02 -7.71256578e-02 6.15736504e+00] [-6.62834270e-02 9.97786042e-01 -5.43344823e-03 -3.15873457e-01] [ 7.65980967e-02 1.05176536e-02 9.97006575e-01 -1.50864483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51629675700002 meters Centerline goodness [0,1] 0.8270361931005246 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.32, Z:-1.51 [[ 9.94838610e-01 6.62456080e-02 -7.68612993e-02 6.15594860e+00] [-6.68026281e-02 9.97755159e-01 -4.69594710e-03 -3.16807196e-01] [ 7.63776720e-02 9.80624627e-03 9.97030736e-01 -1.50747032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54629675700002 meters Centerline goodness [0,1] 0.827062094531974 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.32, Z:-1.51 [[ 9.94833075e-01 6.69705928e-02 -7.63026433e-02 6.15407145e+00] [-6.74848146e-02 9.97711554e-01 -4.17798677e-03 -3.17047208e-01] [ 7.58482265e-02 9.30566916e-03 9.97075950e-01 -1.50665566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57629675700002 meters Centerline goodness [0,1] 0.821270623129684 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.32, Z:-1.50 [[ 9.94766853e-01 6.90520183e-02 -7.53042281e-02 6.15009083e+00] [-6.94912261e-02 9.97577351e-01 -3.22477057e-03 -3.15656668e-01] [ 7.48991155e-02 8.44087801e-03 9.97155391e-01 -1.50493546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60629675700002 meters Centerline goodness [0,1] 0.8231297911710282 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.50 [[ 9.94730783e-01 6.99490007e-02 -7.49520236e-02 6.14868659e+00] [-7.03795271e-02 9.97515423e-01 -3.11499456e-03 -3.13915338e-01] [ 7.45479087e-02 8.37366895e-03 9.97182276e-01 -1.50448080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63629675700003 meters Centerline goodness [0,1] 0.8235865144956054 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.51 [[ 9.94412908e-01 7.46938382e-02 -7.45908765e-02 6.14852646e+00] [-7.48781440e-02 9.97192638e-01 3.26482203e-04 -3.11636809e-01] [ 7.44058591e-02 5.26056828e-03 9.97214167e-01 -1.50503361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66629675700003 meters Centerline goodness [0,1] 0.8141232700438562 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.51 [[ 9.94363496e-01 7.54836373e-02 -7.44544021e-02 6.14805282e+00] [-7.56899015e-02 9.97131404e-01 5.14429620e-05 -3.09106749e-01] [ 7.42447055e-02 5.58429335e-03 9.97224418e-01 -1.50542106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69629675700003 meters Centerline goodness [0,1] 0.8135782291747736 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.51 [[ 9.94029561e-01 7.97314007e-02 -7.44858071e-02 6.14971913e+00] [-7.97849400e-02 9.96809535e-01 2.26125728e-03 -3.05438694e-01] [ 7.44284560e-02 3.69508907e-03 9.97219510e-01 -1.50801361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72629675700003 meters Centerline goodness [0,1] 0.8040458390459684 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.51 [[ 9.93982060e-01 8.02355041e-02 -7.45783378e-02 6.15012999e+00] [-8.03362243e-02 9.96766451e-01 1.65320088e-03 -3.02813626e-01] [ 7.44698305e-02 4.34809005e-03 9.97213788e-01 -1.50900984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75629675700003 meters Centerline goodness [0,1] 0.8024716733896868 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.51 [[ 9.93681212e-01 8.36389051e-02 -7.48477324e-02 6.15296039e+00] [-8.35637201e-02 9.96493831e-01 4.14113173e-03 -3.00364961e-01] [ 7.49316634e-02 2.13959017e-03 9.97186376e-01 -1.51137470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78629675700003 meters Centerline goodness [0,1] 0.8006584700859097 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.51 [[ 9.93671986e-01 8.36103256e-02 -7.50019808e-02 6.15349305e+00] [-8.35679970e-02 9.96495178e-01 3.70801948e-03 -2.98767624e-01] [ 7.50491409e-02 2.58321022e-03 9.97176491e-01 -1.51180503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81629675700003 meters Centerline goodness [0,1] 0.7985400709402148 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.51 [[ 9.93667337e-01 8.35540305e-02 -7.51262067e-02 6.15395757e+00] [-8.35335225e-02 9.96499097e-01 3.42068361e-03 -2.97952306e-01] [ 7.51490090e-02 2.87653511e-03 9.97168166e-01 -1.51217695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84629675700003 meters Centerline goodness [0,1] 0.7999897166949458 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.51 [[ 9.93652694e-01 8.35003494e-02 -7.53791497e-02 6.15426439e+00] [-8.34600710e-02 9.96504291e-01 3.68977474e-03 -2.98480286e-01] [ 7.54237437e-02 2.62479458e-03 9.97148118e-01 -1.51168063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87629675700003 meters Centerline goodness [0,1] 0.8074114077045723 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.51 [[ 9.93682337e-01 8.29168426e-02 -7.56320702e-02 6.15497698e+00] [-8.28662425e-02 9.96553386e-01 3.81238646e-03 -2.99067516e-01] [ 7.56875067e-02 2.47904438e-03 9.97128505e-01 -1.51131546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90629675700004 meters Centerline goodness [0,1] 0.8105752917587785 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93687012e-01 8.25617053e-02 -7.59584515e-02 6.15574775e+00] [-8.24978106e-02 9.96583283e-01 3.98392006e-03 -2.99681996e-01] [ 7.60278422e-02 2.30763632e-03 9.97103025e-01 -1.51104599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93629675700004 meters Centerline goodness [0,1] 0.8157758843273948 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94010472e-01 7.82279429e-02 -7.63123208e-02 6.15564704e+00] [-7.84474244e-02 9.96918245e-01 1.21896212e-04 -2.99245831e-01] [ 7.60866806e-02 5.86533890e-03 9.97083956e-01 -1.51073277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96629675700004 meters Centerline goodness [0,1] 0.8167142486374254 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94340289e-01 7.38009179e-02 -7.64252195e-02 6.15508609e+00] [-7.42800352e-02 9.97231483e-01 -3.44170277e-03 -3.00321481e-01] [ 7.59596342e-02 9.09909172e-03 9.97069376e-01 -1.51012954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99629675700004 meters Centerline goodness [0,1] 0.8166311300639659 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94348259e-01 7.33824619e-02 -7.67238885e-02 6.15549696e+00] [-7.38135408e-02 9.97268146e-01 -2.79409871e-03 -3.02547803e-01] [ 7.63092521e-02 8.44156906e-03 9.97048463e-01 -1.50917101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.026296757 meters Centerline goodness [0,1] 0.8146905876235049 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.51 [[ 9.94398321e-01 7.29944442e-02 -7.64446886e-02 6.15455658e+00] [-7.32750577e-02 9.97311391e-01 -8.68649248e-04 -3.06306048e-01] [ 7.61757522e-02 6.46527232e-03 9.97073445e-01 -1.50620936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.056296757 meters Centerline goodness [0,1] 0.810096341115064 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.51 [[ 9.94395953e-01 7.30002099e-02 -7.64699772e-02 6.15415259e+00] [-7.32481340e-02 9.97313651e-01 -4.38632858e-04 -3.06975881e-01] [ 7.62325318e-02 6.03745788e-03 9.97071788e-01 -1.50530196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.086296757 meters Centerline goodness [0,1] 0.812022056910992 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.50 [[ 9.94387833e-01 7.31908907e-02 -7.63932691e-02 6.15350868e+00] [-7.34130723e-02 9.97301615e-01 -1.00433318e-04 -3.07121043e-01] [ 7.61797799e-02 5.70813426e-03 9.97077759e-01 -1.50451030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11629675700001 meters Centerline goodness [0,1] 0.8114389704926557 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.50 [[ 9.94374530e-01 7.37402478e-02 -7.60372994e-02 6.15206098e+00] [-7.39414867e-02 9.97262567e-01 1.69097407e-04 -3.06325538e-01] [ 7.58416217e-02 5.45416481e-03 9.97104960e-01 -1.50361218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14629675700002 meters Centerline goodness [0,1] 0.8126055880441845 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.31, Z:-1.50 [[ 9.94359793e-01 7.39004357e-02 -7.60744866e-02 6.15204351e+00] [-7.41148878e-02 9.97249710e-01 4.25192252e-06 -3.05263123e-01] [ 7.58655739e-02 5.63402410e-03 9.97102137e-01 -1.50357232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17629675700002 meters Centerline goodness [0,1] 0.8088021966635581 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.30, Z:-1.50 [[ 9.94075896e-01 7.73241095e-02 -7.63812525e-02 6.15454713e+00] [-7.73064538e-02 9.97002268e-01 3.19227817e-03 -3.04413341e-01] [ 7.63991220e-02 2.73139699e-03 9.97073575e-01 -1.50498341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20629675700002 meters Centerline goodness [0,1] 0.8082861354643495 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94076664e-01 7.71723978e-02 -7.65245540e-02 6.15556792e+00] [-7.72092407e-02 9.97011823e-01 2.48140705e-03 -3.02799608e-01] [ 7.64873812e-02 3.44169386e-03 9.97064609e-01 -1.50620303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23629675700002 meters Centerline goodness [0,1] 0.8066082823116071 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94058769e-01 7.69964825e-02 -7.69331235e-02 6.15761811e+00] [-7.71251360e-02 9.97020571e-01 1.30189932e-03 -3.00174199e-01] [ 7.68041483e-02 4.63931318e-03 9.97035405e-01 -1.50845112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26629675700002 meters Centerline goodness [0,1] 0.8046267847460691 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94062165e-01 7.67059704e-02 -7.71790493e-02 6.15886351e+00] [-7.68915247e-02 9.97039302e-01 5.68958474e-04 -2.98638987e-01] [ 7.69941880e-02 5.36883469e-03 9.97017086e-01 -1.50958416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29629675700002 meters Centerline goodness [0,1] 0.8075487242861924 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94058699e-01 7.66657212e-02 -7.72636437e-02 6.15967182e+00] [-7.68831629e-02 9.97040096e-01 1.60763598e-04 -2.97518985e-01] [ 7.70472758e-02 5.78046485e-03 9.97010684e-01 -1.51049131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32629675700002 meters Centerline goodness [0,1] 0.8051511468542318 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94057935e-01 7.64620930e-02 -7.74749684e-02 6.16043590e+00] [-7.66884553e-02 9.97055103e-01 5.35967658e-05 -2.97575378e-01] [ 7.72509107e-02 5.88815736e-03 9.96994296e-01 -1.51081822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35629675700002 meters Centerline goodness [0,1] 0.8096037609133646 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94057153e-01 7.62657749e-02 -7.76782390e-02 6.16122829e+00] [-7.64968532e-02 9.97069823e-01 7.54447687e-07 -2.97761025e-01] [ 7.74506855e-02 5.94139088e-03 9.96978481e-01 -1.51114796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38629675700003 meters Centerline goodness [0,1] 0.8089606197546805 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94045461e-01 7.64691694e-02 -7.76278750e-02 6.16100533e+00] [-7.66878802e-02 9.97055135e-01 1.64099694e-04 -2.97906793e-01] [ 7.74118199e-02 5.78999462e-03 9.96982390e-01 -1.51099991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41629675700003 meters Centerline goodness [0,1] 0.8075133150628264 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94021458e-01 7.70511861e-02 -7.73592629e-02 6.15984199e+00] [-7.72164785e-02 9.97013983e-01 8.56695859e-04 -2.98456308e-01] [ 7.71942762e-02 5.12183579e-03 9.97002914e-01 -1.51005635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44629675700003 meters Centerline goodness [0,1] 0.8122495410946509 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94018028e-01 7.72911684e-02 -7.71636880e-02 6.15914808e+00] [-7.74277742e-02 9.96997212e-01 1.22435781e-03 -2.98978767e-01] [ 7.70266139e-02 4.75757887e-03 9.97017686e-01 -1.50954783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47629675700003 meters Centerline goodness [0,1] 0.810498728527687 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.94001633e-01 7.76629064e-02 -7.70014772e-02 6.15849550e+00] [-7.77560152e-02 9.96970806e-01 1.79274944e-03 -2.99855120e-01] [ 7.69074549e-02 4.20533216e-03 9.97029367e-01 -1.50898139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50629675700003 meters Centerline goodness [0,1] 0.8117339138096349 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93991939e-01 7.79721244e-02 -7.68138897e-02 6.15802816e+00] [-7.80123961e-02 9.96949302e-01 2.48082993e-03 -3.01449349e-01] [ 7.67729894e-02 3.52651064e-03 9.97042362e-01 -1.50858811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53629675700003 meters Centerline goodness [0,1] 0.8142605633802817 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93989078e-01 7.83994373e-02 -7.64149227e-02 6.15712445e+00] [-7.83961807e-02 9.96917627e-01 3.04696524e-03 -3.02412344e-01] [ 7.64182637e-02 2.96198791e-03 9.97071450e-01 -1.50835323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56629675700003 meters Centerline goodness [0,1] 0.8161344537815126 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93977676e-01 7.85628939e-02 -7.63953573e-02 6.15695871e+00] [-7.85451099e-02 9.96905289e-01 3.24206361e-03 -3.02580350e-01] [ 7.64136416e-02 2.77794288e-03 9.97072334e-01 -1.50812227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59629675700003 meters Centerline goodness [0,1] 0.8175363403991635 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93969543e-01 7.89573401e-02 -7.60939351e-02 6.15626063e+00] [-7.89196984e-02 9.96874810e-01 3.50628275e-03 -3.03071594e-01] [ 7.61329739e-02 2.52017215e-03 9.97094489e-01 -1.50807710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62629675700003 meters Centerline goodness [0,1] 0.8173526600005168 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93949761e-01 7.92604199e-02 -7.60372167e-02 6.15597138e+00] [-7.92061682e-02 9.96851264e-01 3.73367000e-03 -3.03357639e-01] [ 7.60937278e-02 2.31153617e-03 9.97097990e-01 -1.50790596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65629675700004 meters Centerline goodness [0,1] 0.817102137767221 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93940609e-01 7.95060173e-02 -7.59003193e-02 6.15566730e+00] [-7.94499404e-02 9.96831755e-01 3.76283859e-03 -3.03205689e-01] [ 7.59590168e-02 2.29023776e-03 9.97108310e-01 -1.50795317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68629675700004 meters Centerline goodness [0,1] 0.8175351785990412 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93898075e-01 8.02912602e-02 -7.56302177e-02 6.15510286e+00] [-8.02433844e-02 9.96768520e-01 3.67651149e-03 -3.01479028e-01] [ 7.56810119e-02 2.41474693e-03 9.97129156e-01 -1.50836936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71629675700004 meters Centerline goodness [0,1] 0.8110811850711812 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93576599e-01 8.41976849e-02 -7.56061629e-02 6.15652639e+00] [-8.38859439e-02 9.96448658e-01 7.29516289e-03 -3.01106980e-01] [ 7.59518954e-02 -9.06008793e-04 9.97111071e-01 -1.50921804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74629675700004 meters Centerline goodness [0,1] 0.809694425960997 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93568425e-01 8.43014951e-02 -7.55978964e-02 6.15673945e+00] [-8.40214089e-02 9.96440174e-01 6.88349102e-03 -2.99603016e-01] [ 7.59090696e-02 -4.87377569e-04 9.97114625e-01 -1.50971815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.776296757 meters Centerline goodness [0,1] 0.8090707343825727 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93553463e-01 8.45108917e-02 -7.55607368e-02 6.15694583e+00] [-8.42719052e-02 9.96422554e-01 6.35138425e-03 -2.97737934e-01] [ 7.58271835e-02 5.72074391e-05 9.97120973e-01 -1.51045213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.806296757 meters Centerline goodness [0,1] 0.8084260933798619 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93546848e-01 8.43624443e-02 -7.58131794e-02 6.15769085e+00] [-8.41466016e-02 9.96435064e-01 6.04257422e-03 -2.97022808e-01] [ 7.60526766e-02 3.75840833e-04 9.97103730e-01 -1.51077129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.836296757 meters Centerline goodness [0,1] 0.8066050937587461 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.30, Z:-1.51 [[ 9.93546596e-01 8.41422243e-02 -7.60608186e-02 6.15854973e+00] [-8.39488979e-02 9.96453522e-01 5.74111696e-03 -2.96497231e-01] [ 7.62741410e-02 6.81154687e-04 9.97086652e-01 -1.51120784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86629675700001 meters Centerline goodness [0,1] 0.8087342897042021 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93560124e-01 8.35806286e-02 -7.65020227e-02 6.16017755e+00] [-8.34485971e-02 9.96499905e-01 4.92653680e-03 -2.94751736e-01] [ 7.66460214e-02 1.48917595e-03 9.97057255e-01 -1.51216646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89629675700002 meters Centerline goodness [0,1] 0.8128120011149684 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93569137e-01 8.32475648e-02 -7.67477246e-02 6.16113667e+00] [-8.31570904e-02 9.96526828e-01 4.37945480e-03 -2.93048358e-01] [ 7.68457455e-02 2.03082635e-03 9.97040926e-01 -1.51270840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92629675700002 meters Centerline goodness [0,1] 0.8167332692599525 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93564995e-01 8.31678488e-02 -7.68876405e-02 6.16137001e+00] [-8.30894188e-02 9.96533143e-01 4.22408343e-03 -2.92358115e-01] [ 7.69723900e-02 2.19164793e-03 9.97030816e-01 -1.51259862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95629675700002 meters Centerline goodness [0,1] 0.8167332692599525 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93564995e-01 8.31678488e-02 -7.68876405e-02 6.16137001e+00] [-8.30894188e-02 9.96533143e-01 4.22408343e-03 -2.92358115e-01] [ 7.69723900e-02 2.19164793e-03 9.97030816e-01 -1.51259862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98629675700002 meters Centerline goodness [0,1] 0.8153453590015663 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93561653e-01 8.32786347e-02 -7.68108789e-02 6.16106668e+00] [-8.31969092e-02 9.96523984e-01 4.26890317e-03 -2.92054616e-01] [ 7.68993915e-02 2.14900923e-03 9.97036542e-01 -1.51236889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01629675700002 meters Centerline goodness [0,1] 0.8115938374643838 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93537437e-01 8.39709049e-02 -7.63691600e-02 6.15919692e+00] [-8.38815061e-02 9.96466096e-01 4.38322439e-03 -2.90936722e-01] [ 7.64673420e-02 2.05106264e-03 9.97069977e-01 -1.51136364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04629675700002 meters Centerline goodness [0,1] 0.813050792136383 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93519028e-01 8.43395542e-02 -7.62022304e-02 6.15838496e+00] [-8.42509349e-02 9.96434931e-01 4.38269289e-03 -2.89921446e-01] [ 7.63001986e-02 2.06582037e-03 9.97082751e-01 -1.51089840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07629675700002 meters Centerline goodness [0,1] 0.8098210050677784 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93481098e-01 8.51370814e-02 -7.58088742e-02 6.15698603e+00] [-8.50529118e-02 9.96366966e-01 4.34402036e-03 -2.87462944e-01] [ 7.59032953e-02 2.13206337e-03 9.97112904e-01 -1.51041558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10629675700002 meters Centerline goodness [0,1] 0.810254360101944 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93468462e-01 8.54936530e-02 -7.55728113e-02 6.15629401e+00] [-8.54180483e-02 9.96336186e-01 4.23807286e-03 -2.86243600e-01] [ 7.56582549e-02 2.24489032e-03 9.97131280e-01 -1.51034584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13629675700003 meters Centerline goodness [0,1] 0.8095712613039038 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93431754e-01 8.61122047e-02 -7.53527545e-02 6.15533868e+00] [-8.60415946e-02 9.96282739e-01 4.18897522e-03 -2.84509164e-01] [ 7.54333705e-02 2.32201016e-03 9.97148141e-01 -1.50998976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16629675700003 meters Centerline goodness [0,1] 0.807034503271862 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93423035e-01 8.59605270e-02 -7.56403427e-02 6.15623731e+00] [-8.59137031e-02 9.96295032e-01 3.87880780e-03 -2.83822947e-01] [ 7.56935220e-02 2.64524493e-03 9.97127621e-01 -1.51041461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19629675700003 meters Centerline goodness [0,1] 0.8078223680938883 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93421061e-01 8.58463080e-02 -7.57958207e-02 6.15683573e+00] [-8.58082177e-02 9.96304559e-01 3.76507974e-03 -2.83701324e-01] [ 7.58389399e-02 2.76359477e-03 9.97116251e-01 -1.51076608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22629675700003 meters Centerline goodness [0,1] 0.8128338260502322 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93417815e-01 8.57647229e-02 -7.59306018e-02 6.15729784e+00] [-8.57325348e-02 9.96311357e-01 3.68942215e-03 -2.83654430e-01] [ 7.59669432e-02 2.84458526e-03 9.97106279e-01 -1.51098341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25629675700003 meters Centerline goodness [0,1] 0.8107150818616402 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93417020e-01 8.54869556e-02 -7.62535601e-02 6.15813780e+00] [-8.54676188e-02 9.96334720e-01 3.52291496e-03 -2.83272355e-01] [ 7.62752327e-02 3.01748653e-03 9.97082235e-01 -1.51104350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28629675700003 meters Centerline goodness [0,1] 0.8137663885578069 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93401447e-01 8.54984817e-02 -7.64432745e-02 6.15833666e+00] [-8.54713011e-02 9.96334009e-01 3.63316236e-03 -2.83496414e-01] [ 7.64736640e-02 2.92451739e-03 9.97067313e-01 -1.51074426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31629675700003 meters Centerline goodness [0,1] 0.8135862154456428 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93387337e-01 8.53940109e-02 -7.67428277e-02 6.15893044e+00] [-8.53659884e-02 9.96342970e-01 3.65155368e-03 -2.83719013e-01] [ 7.67739977e-02 2.92382016e-03 9.97044234e-01 -1.51062401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34629675700003 meters Centerline goodness [0,1] 0.8227011993742395 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93386848e-01 8.51612123e-02 -7.70073873e-02 6.15961023e+00] [-8.51244646e-02 9.96363210e-01 3.76555197e-03 -2.84520590e-01] [ 7.70480066e-02 2.81456281e-03 9.97023411e-01 -1.51057645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37629675700003 meters Centerline goodness [0,1] 0.826138879904461 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93363574e-01 8.52187218e-02 -7.72436403e-02 6.15994433e+00] [-8.51655201e-02 9.96358833e-01 3.98868833e-03 -2.85100540e-01] [ 7.73022942e-02 2.61627711e-03 9.97004268e-01 -1.51030810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40629675700004 meters Centerline goodness [0,1] 0.8242457378597345 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.29, Z:-1.51 [[ 9.93365434e-01 8.51409222e-02 -7.73054783e-02 6.16020171e+00] [-8.50794500e-02 9.96365758e-01 4.09433782e-03 -2.85395906e-01] [ 7.73731272e-02 2.50993391e-03 9.96999047e-01 -1.51030846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43629675700004 meters Centerline goodness [0,1] 0.8273291925465839 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93349494e-01 8.52357271e-02 -7.74057743e-02 6.16042866e+00] [-8.51652169e-02 9.96357916e-01 4.21759669e-03 -2.84996377e-01] [ 7.74833459e-02 2.40273202e-03 9.96990751e-01 -1.51024279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46629675700004 meters Centerline goodness [0,1] 0.8245252063239534 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93336499e-01 8.53855911e-02 -7.74073725e-02 6.16051356e+00] [-8.53192527e-02 9.96344939e-01 4.16980729e-03 -2.84411315e-01] [ 7.74804853e-02 2.46231740e-03 9.96990828e-01 -1.51038562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49629675700004 meters Centerline goodness [0,1] 0.82186848117612 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93325819e-01 8.54819142e-02 -7.74381058e-02 6.16069445e+00] [-8.54187680e-02 9.96336564e-01 4.13348190e-03 -2.83953889e-01] [ 7.75077542e-02 2.50877330e-03 9.96988593e-01 -1.51056620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.526296757 meters Centerline goodness [0,1] 0.8170464722857995 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93294955e-01 8.59481460e-02 -7.73178416e-02 6.16013770e+00] [-8.58874969e-02 9.96296341e-01 4.11555789e-03 -2.82794216e-01] [ 7.73852073e-02 2.55267299e-03 9.96998001e-01 -1.51037259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.556296757 meters Centerline goodness [0,1] 0.8173210735586481 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93285502e-01 8.62242394e-02 -7.71316509e-02 6.15957476e+00] [-8.61644339e-02 9.96272455e-01 4.10923008e-03 -2.82261329e-01] [ 7.71984544e-02 2.56436637e-03 9.97012449e-01 -1.51027125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.586296757 meters Centerline goodness [0,1] 0.8173958410971156 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93268571e-01 8.64148185e-02 -7.71364090e-02 6.15936241e+00] [-8.63616923e-02 9.96255697e-01 4.03053007e-03 -2.81378314e-01] [ 7.71958844e-02 2.65823197e-03 9.97012402e-01 -1.51004694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61629675700001 meters Centerline goodness [0,1] 0.8146306466775518 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93226153e-01 8.70058383e-02 -7.70181396e-02 6.15866911e+00] [-8.69711701e-02 9.96203541e-01 3.81057627e-03 -2.79384937e-01] [ 7.70572858e-02 2.91359371e-03 9.97022410e-01 -1.50986387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64629675700002 meters Centerline goodness [0,1] 0.8145422213440687 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93205463e-01 8.71669673e-02 -7.71027171e-02 6.15863929e+00] [-8.71472942e-02 9.96188837e-01 3.62621593e-03 -2.78247679e-01] [ 7.71249523e-02 3.11771569e-03 9.97016560e-01 -1.50971593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67629675700002 meters Centerline goodness [0,1] 0.8113971223376688 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93150884e-01 8.79775331e-02 -7.68848183e-02 6.15712925e+00] [-8.79375401e-02 9.96118308e-01 3.91216072e-03 -2.77036311e-01] [ 7.69305574e-02 2.87569591e-03 9.97032306e-01 -1.50858660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70629675700002 meters Centerline goodness [0,1] 0.8050054192531284 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93135320e-01 8.81662768e-02 -7.68696494e-02 6.15681884e+00] [-8.81205432e-02 9.96101814e-01 3.99330949e-03 -2.76641863e-01] [ 7.69220724e-02 2.80789856e-03 9.97033154e-01 -1.50821297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73629675700002 meters Centerline goodness [0,1] 0.7993115318416524 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93117685e-01 8.83701692e-02 -7.68633654e-02 6.15638398e+00] [-8.83249521e-02 9.96083706e-01 3.99427694e-03 -2.75619614e-01] [ 7.69153207e-02 2.82216600e-03 9.97033635e-01 -1.50762430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76629675700002 meters Centerline goodness [0,1] 0.7971679591636399 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.51 [[ 9.93109831e-01 8.82452824e-02 -7.71079290e-02 6.15702516e+00] [-8.82114224e-02 9.96094328e-01 3.85167200e-03 -2.74811044e-01] [ 7.71466626e-02 2.97666677e-03 9.97015312e-01 -1.50769192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79629675700002 meters Centerline goodness [0,1] 0.8108147857633101 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.51 [[ 9.93122271e-01 8.77155070e-02 -7.75509216e-02 6.15833462e+00] [-8.76971738e-02 9.96140499e-01 3.64860386e-03 -2.74395978e-01] [ 7.75716529e-02 3.17748690e-03 9.96981716e-01 -1.50783951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82629675700002 meters Centerline goodness [0,1] 0.8223643744618034 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93126224e-01 8.73478715e-02 -7.79143927e-02 6.15920537e+00] [-8.73240493e-02 9.96173016e-01 3.71932877e-03 -2.75081735e-01] [ 7.79410909e-02 3.11003733e-03 9.96953115e-01 -1.50777635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85629675700002 meters Centerline goodness [0,1] 0.8233729122530423 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93476329e-01 8.27133584e-02 -7.85065921e-02 6.16023461e+00] [-8.30073478e-02 9.96548818e-01 -4.83215079e-04 -2.75010989e-01] [ 7.81956832e-02 6.99668674e-03 9.96913477e-01 -1.50841234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88629675700003 meters Centerline goodness [0,1] 0.8278540507111936 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.51 [[ 9.93813933e-01 7.80531292e-02 -7.90036383e-02 6.16093830e+00] [-7.86572775e-02 9.96891290e-01 -4.55945626e-03 -2.74995249e-01] [ 7.84021590e-02 1.07454623e-02 9.96863901e-01 -1.50867638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91629675700003 meters Centerline goodness [0,1] 0.8256955607765549 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93809957e-01 7.77433655e-02 -7.93582872e-02 6.16157401e+00] [-7.83127127e-02 9.96920483e-01 -4.08275158e-03 -2.76518937e-01] [ 7.87964952e-02 1.02722419e-02 9.96837797e-01 -1.50810541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94629675700003 meters Centerline goodness [0,1] 0.8263977911448575 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93802857e-01 7.75323903e-02 -7.96530649e-02 6.16200716e+00] [-7.80696868e-02 9.96941227e-01 -3.64884205e-03 -2.77859956e-01] [ 7.91265208e-02 9.84471948e-03 9.96815969e-01 -1.50751193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97629675700003 meters Centerline goodness [0,1] 0.8216854960322365 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93806555e-01 7.73903084e-02 -7.97450388e-02 6.16165022e+00] [-7.78722382e-02 9.96958992e-01 -2.94660257e-03 -2.79453599e-01] [ 7.92744950e-02 9.13827760e-03 9.96810938e-01 -1.50623634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00629675700003 meters Centerline goodness [0,1] 0.8224278257427702 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93782201e-01 7.77633893e-02 -7.96855897e-02 6.16083267e+00] [-7.81985591e-02 9.96935034e-01 -2.35034996e-03 -2.80268501e-01] [ 7.92585849e-02 8.56703425e-03 9.96817276e-01 -1.50518107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03629675700003 meters Centerline goodness [0,1] 0.8206301315659313 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.50 [[ 9.93733335e-01 7.83492068e-02 -7.97211438e-02 6.16019404e+00] [-7.87487959e-02 9.96892726e-01 -1.87590373e-03 -2.80083404e-01] [ 7.93264528e-02 8.14209215e-03 9.96815439e-01 -1.50425005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06629675700003 meters Centerline goodness [0,1] 0.8232593726090283 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.50 [[ 9.93415329e-01 8.21393469e-02 -7.98693363e-02 6.16183690e+00] [-8.22550390e-02 9.96609603e-01 1.84608041e-03 -2.80039342e-01] [ 7.97501834e-02 4.73573079e-03 9.96803632e-01 -1.50480149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09629675700003 meters Centerline goodness [0,1] 0.7811389124601518 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.28, Z:-1.50 [[ 9.93544119e-01 8.33934200e-02 -7.69130758e-02 6.19937928e+00] [-8.29396580e-02 9.96513197e-01 9.08082448e-03 -2.82875880e-01] [ 7.74021761e-02 -2.64305555e-03 9.96996448e-01 -1.50295059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12629675700003 meters Centerline goodness [0,1] 0.8207262281800103 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.28, Z:-1.51 [[ 0.99390943 0.08123306 -0.07446631 6.13074233] [-0.08048551 0.99667113 0.01299025 -0.27757571] [ 0.07527366 -0.00691767 0.99713892 -1.50886848] [ 0. 0. 0. 1. ]] SLAMing on 179.15629675700004 meters Centerline goodness [0,1] 0.8222309717744912 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.28, Z:-1.51 [[ 0.99385689 0.08195973 -0.0743712 6.13036789] [-0.08124558 0.99661468 0.0125828 -0.27567632] [ 0.07515072 -0.00646317 0.99715124 -1.50935348] [ 0. 0. 0. 1. ]] SLAMing on 179.18629675700004 meters Centerline goodness [0,1] 0.8212161431450622 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93844868e-01 8.20706318e-02 -7.44096024e-02 6.13063874e+00] [-8.13873537e-02 9.96608194e-01 1.21739704e-02 -2.74602041e-01] [ 7.51563449e-02 -6.04303734e-03 9.97153451e-01 -1.50985470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21629675700004 meters Centerline goodness [0,1] 0.8189555789938434 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93804517e-01 8.26490172e-02 -7.43082835e-02 6.13049649e+00] [-8.20151435e-02 9.96564190e-01 1.15469067e-02 -2.72093598e-01] [ 7.50073149e-02 -5.38096353e-03 9.97168465e-01 -1.51066241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24629675700004 meters Centerline goodness [0,1] 0.8190317685642958 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93775194e-01 8.31310256e-02 -7.41626295e-02 6.13024296e+00] [-8.25378889e-02 9.96526860e-01 1.10324200e-02 -2.69436541e-01] [ 7.48221887e-02 -4.84251847e-03 9.97185133e-01 -1.51113863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.276296757 meters Centerline goodness [0,1] 0.8172156238520877 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93776695e-01 8.29863515e-02 -7.43044206e-02 6.13065427e+00] [-8.24186099e-02 9.96540571e-01 1.06800169e-02 -2.68348083e-01] [ 7.49336654e-02 -4.48948481e-03 9.97178414e-01 -1.51127336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.306296757 meters Centerline goodness [0,1] 0.8242974598110198 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93783082e-01 8.28289667e-02 -7.43945400e-02 6.13053611e+00] [-8.22628275e-02 9.96553791e-01 1.06474813e-02 -2.68095380e-01] [ 7.50200807e-02 -4.46138153e-03 9.97172043e-01 -1.51068048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.336296757 meters Centerline goodness [0,1] 0.8224546278380562 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93788177e-01 8.25399724e-02 -7.46472473e-02 6.13094915e+00] [-8.19702184e-02 9.96577665e-01 1.06696376e-02 -2.68631514e-01] [ 7.52724510e-02 -4.48450850e-03 9.97152921e-01 -1.51035926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36629675700001 meters Centerline goodness [0,1] 0.8236997055937193 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.93797519e-01 8.22671141e-02 -7.48238787e-02 6.13109910e+00] [-8.16823302e-02 9.96599381e-01 1.08475791e-02 -2.69402773e-01] [ 7.54618302e-02 -4.66850841e-03 9.97137762e-01 -1.50976758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39629675700002 meters Centerline goodness [0,1] 0.8267167513687363 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94123515e-01 7.83112319e-02 -7.47381250e-02 6.12972660e+00] [-7.80054178e-02 9.96928313e-01 7.00665389e-03 -2.68399045e-01] [ 7.50572526e-02 -1.13550073e-03 9.97178580e-01 -1.50901128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42629675700002 meters Centerline goodness [0,1] 0.8251461413764307 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94135625e-01 7.79773916e-02 -7.49258610e-02 6.13014380e+00] [-7.76612500e-02 9.96954322e-01 7.12814233e-03 -2.68928389e-01] [ 7.52534949e-02 -1.26750420e-03 9.97163630e-01 -1.50870604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45629675700002 meters Centerline goodness [0,1] 0.8273617229564366 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94223793e-01 7.69871829e-02 -7.47798364e-02 6.13067633e+00] [-7.66893922e-02 9.97031503e-01 6.84981798e-03 -2.69371089e-01] [ 7.50852009e-02 -1.07543181e-03 9.97176542e-01 -1.50905053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48629675700002 meters Centerline goodness [0,1] 0.8260313084572216 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94262756e-01 7.63381760e-02 -7.49269944e-02 6.13147661e+00] [-7.60463178e-02 9.97081474e-01 6.74469262e-03 -2.69675006e-01] [ 7.52231956e-02 -1.00807465e-03 9.97166212e-01 -1.50922860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51629675700002 meters Centerline goodness [0,1] 0.821794114752485 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94271804e-01 7.62151760e-02 -7.49321421e-02 6.13165209e+00] [-7.59267595e-02 9.97090925e-01 6.69437837e-03 -2.69729033e-01] [ 7.52243721e-02 -9.66676922e-04 9.97166164e-01 -1.50933208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54629675700002 meters Centerline goodness [0,1] 0.824649915093643 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94272869e-01 7.62811689e-02 -7.48508253e-02 6.13145602e+00] [-7.59879417e-02 9.97085810e-01 6.76174545e-03 -2.69692960e-01] [ 7.51484896e-02 -1.03525990e-03 9.97171817e-01 -1.50924175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57629675700002 meters Centerline goodness [0,1] 0.8163450680021603 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94287410e-01 7.63523865e-02 -7.45845842e-02 6.13119540e+00] [-7.60761089e-02 9.97080550e-01 6.54240063e-03 -2.68886272e-01] [ 7.48663661e-02 -8.30921623e-04 9.97193229e-01 -1.50963738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60629675700002 meters Centerline goodness [0,1] 0.8160470622696316 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94298892e-01 7.64876006e-02 -7.42923947e-02 6.13109798e+00] [-7.62400470e-02 9.97070423e-01 6.16658066e-03 -2.67288589e-01] [ 7.45464164e-02 -4.67368653e-04 9.97217435e-01 -1.51038113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63629675700003 meters Centerline goodness [0,1] 0.8166825245797653 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94295001e-01 7.66141259e-02 -7.42140592e-02 6.13109847e+00] [-7.63801390e-02 9.97060777e-01 5.99009758e-03 -2.66514821e-01] [ 7.44548536e-02 -2.87443917e-04 9.97224344e-01 -1.51070721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66629675700003 meters Centerline goodness [0,1] 0.8190763834762276 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94276041e-01 7.68991067e-02 -7.41733271e-02 6.13094898e+00] [-7.66637584e-02 9.97038835e-01 6.01911202e-03 -2.66060072e-01] [ 7.44165520e-02 -2.98252837e-04 9.97227200e-01 -1.51070117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69629675700003 meters Centerline goodness [0,1] 0.8218050225870694 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94276928e-01 7.68224009e-02 -7.42408896e-02 6.13198121e+00] [-7.66317524e-02 9.97044747e-01 5.41733776e-03 -2.65395544e-01] [ 7.44376619e-02 3.02875523e-04 9.97225623e-01 -1.51214176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72629675700003 meters Centerline goodness [0,1] 0.8234620817300667 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94272283e-01 7.67421332e-02 -7.43859706e-02 6.13286653e+00] [-7.65682525e-02 9.97050831e-01 5.19071574e-03 -2.65170990e-01] [ 7.45649403e-02 5.34618993e-04 9.97216017e-01 -1.51296058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75629675700003 meters Centerline goodness [0,1] 0.8226299694189603 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.26, Z:-1.51 [[ 9.94275789e-01 7.65991628e-02 -7.44864029e-02 6.13431350e+00] [-7.64676311e-02 9.97061359e-01 4.62032243e-03 -2.64192923e-01] [ 7.46214270e-02 1.10192405e-03 9.97211326e-01 -1.51474108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78629675700003 meters Centerline goodness [0,1] 0.8183903558006735 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94269671e-01 7.67643107e-02 -7.43980006e-02 6.13412212e+00] [-7.66023750e-02 9.97049024e-01 5.03189409e-03 -2.65023718e-01] [ 7.45647238e-02 6.96003870e-04 9.97215933e-01 -1.51456173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81629675700003 meters Centerline goodness [0,1] 0.8202501459996107 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94269438e-01 7.65940234e-02 -7.45764078e-02 6.13465588e+00] [-7.64206709e-02 9.97062212e-01 5.17950441e-03 -2.65873271e-01] [ 7.47540372e-02 5.49356184e-04 9.97201851e-01 -1.51458923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84629675700003 meters Centerline goodness [0,1] 0.8202501459996107 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94269438e-01 7.65940234e-02 -7.45764078e-02 6.13465588e+00] [-7.64206709e-02 9.97062212e-01 5.17950441e-03 -2.65873271e-01] [ 7.47540372e-02 5.49356184e-04 9.97201851e-01 -1.51458923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87629675700003 meters Centerline goodness [0,1] 0.821350070824989 Centerline is valid? [False, False] Translation: X:6.13, Y:-0.27, Z:-1.51 [[ 9.94270091e-01 7.66107023e-02 -7.45505586e-02 6.13464768e+00] [-7.64065415e-02 9.97061072e-01 5.59097036e-03 -2.67552800e-01] [ 7.47597881e-02 1.37215749e-04 9.97201562e-01 -1.51447911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90629675700004 meters Centerline goodness [0,1] 0.8251785889030238 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.27, Z:-1.51 [[ 9.94286807e-01 7.59873645e-02 -7.49644364e-02 6.13520208e+00] [-7.56939423e-02 9.97108240e-01 6.75172256e-03 -2.71890245e-01] [ 7.52607028e-02 -1.03879494e-03 9.97163350e-01 -1.51290780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93629675700004 meters Centerline goodness [0,1] 0.8236876865124015 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.27, Z:-1.51 [[ 9.94289027e-01 7.54108752e-02 -7.55151001e-02 6.13661295e+00] [-7.50925426e-02 9.97151647e-01 7.05007565e-03 -2.74153217e-01] [ 7.58316588e-02 -1.33919199e-03 9.97119735e-01 -1.51277311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96629675700004 meters Centerline goodness [0,1] 0.8194147037830122 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94579428e-01 7.14252594e-02 -7.55658221e-02 6.13588534e+00] [-7.13476859e-02 9.97444535e-01 3.72912117e-03 -2.75435361e-01] [ 7.56390698e-02 1.68253933e-03 9.97133843e-01 -1.51232200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99629675700004 meters Centerline goodness [0,1] 0.8200666419844502 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94579058e-01 7.12461456e-02 -7.57395746e-02 6.13638049e+00] [-7.11422425e-02 9.97457867e-01 4.07242747e-03 -2.76814686e-01] [ 7.58371793e-02 1.33793211e-03 9.97119317e-01 -1.51225261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.026296757 meters Centerline goodness [0,1] 0.8192168362946352 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94591655e-01 7.09561492e-02 -7.58463201e-02 6.13678291e+00] [-7.08098451e-02 9.97479134e-01 4.61983182e-03 -2.79004481e-01] [ 7.59829271e-02 7.75820002e-04 9.97108817e-01 -1.51192310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.056296757 meters Centerline goodness [0,1] 0.8189327809833802 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94582146e-01 7.11126780e-02 -7.58244189e-02 6.13658663e+00] [-7.09417753e-02 9.97468184e-01 4.94841423e-03 -2.79811807e-01] [ 7.59843404e-02 4.57514445e-04 9.97108906e-01 -1.51162267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.086296757 meters Centerline goodness [0,1] 0.8210038000296106 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94581975e-01 7.13253013e-02 -7.56266885e-02 6.13616047e+00] [-7.11451418e-02 9.97453052e-01 5.07709443e-03 -2.79942086e-01] [ 7.57961966e-02 3.30884879e-04 9.97123276e-01 -1.51157740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11629675700001 meters Centerline goodness [0,1] 0.8155406906425098 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94576500e-01 7.14026324e-02 -7.56257245e-02 6.13626839e+00] [-7.12281432e-02 9.97447491e-01 5.00542854e-03 -2.79718789e-01] [ 7.57900899e-02 4.08398336e-04 9.97123711e-01 -1.51177696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14629675700002 meters Centerline goodness [0,1] 0.8155552816467397 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94572790e-01 7.14352213e-02 -7.56437393e-02 6.13642286e+00] [-7.12770530e-02 9.97445045e-01 4.79207020e-03 -2.79186005e-01] [ 7.57927955e-02 6.25600182e-04 9.97123393e-01 -1.51204645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17629675700002 meters Centerline goodness [0,1] 0.8122415829887774 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94558065e-01 7.18673988e-02 -7.54276647e-02 6.13600689e+00] [-7.17311562e-02 9.97413773e-01 4.51735417e-03 -2.77599401e-01] [ 7.55572421e-02 9.17742574e-04 9.97141044e-01 -1.51238914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20629675700002 meters Centerline goodness [0,1] 0.8141566783982673 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94550161e-01 7.19493388e-02 -7.54537556e-02 6.13673718e+00] [-7.18593680e-02 9.97407109e-01 3.91015648e-03 -2.75803000e-01] [ 7.55394454e-02 1.53321244e-03 9.97141636e-01 -1.51360078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23629675700002 meters Centerline goodness [0,1] 0.8126756396982695 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94547871e-01 7.18236405e-02 -7.56035495e-02 6.13756658e+00] [-7.17586678e-02 9.97415602e-01 3.57905544e-03 -2.75077730e-01] [ 7.56652207e-02 1.86566803e-03 9.97131533e-01 -1.51429026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26629675700002 meters Centerline goodness [0,1] 0.8132158372827805 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.27, Z:-1.52 [[ 9.94554208e-01 7.14685913e-02 -7.58562290e-02 6.13943718e+00] [-7.14435698e-02 9.97439989e-01 3.04692048e-03 -2.74702971e-01] [ 7.58797953e-02 2.38911221e-03 9.97114110e-01 -1.51611135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29629675700002 meters Centerline goodness [0,1] 0.8155912783662987 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.52 [[ 9.94548480e-01 7.13658011e-02 -7.60279065e-02 6.14036520e+00] [-7.13360922e-02 9.97447488e-01 3.10987035e-03 -2.75491627e-01] [ 7.60557827e-02 2.33061691e-03 9.97100841e-01 -1.51675040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32629675700002 meters Centerline goodness [0,1] 0.8164531922259037 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.52 [[ 9.94549346e-01 7.11013320e-02 -7.62640137e-02 6.14141515e+00] [-7.10368502e-02 9.97467334e-01 3.56135438e-03 -2.77688220e-01] [ 7.63240794e-02 1.87561264e-03 9.97081299e-01 -1.51708076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35629675700002 meters Centerline goodness [0,1] 0.8219773127807978 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.52 [[ 9.94545984e-01 7.11153648e-02 -7.62947589e-02 6.14128128e+00] [-7.09719064e-02 9.97467738e-01 4.59346954e-03 -2.80647134e-01] [ 7.64282268e-02 8.46367796e-04 9.97074726e-01 -1.51616917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38629675700003 meters Centerline goodness [0,1] 0.8224944708133496 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.52 [[ 9.94528131e-01 7.13163970e-02 -7.63398184e-02 6.14098021e+00] [-7.11204546e-02 9.97453729e-01 5.28575208e-03 -2.82428842e-01] [ 7.65223973e-02 1.72493447e-04 9.97067848e-01 -1.51544112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41629675700003 meters Centerline goodness [0,1] 0.8253474124620213 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94505263e-01 7.16426504e-02 -7.63322547e-02 6.14050156e+00] [-7.13879396e-02 9.97430194e-01 6.06376756e-03 -2.84190525e-01] [ 7.65705200e-02 -5.81246357e-04 9.97063999e-01 -1.51465916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44629675700003 meters Centerline goodness [0,1] 0.8237775503581859 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94497165e-01 7.19086008e-02 -7.61875407e-02 6.14007831e+00] [-7.16001972e-02 9.97410401e-01 6.77529655e-03 -2.86059121e-01] [ 7.64774476e-02 -1.28297028e-03 9.97070486e-01 -1.51424607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47629675700003 meters Centerline goodness [0,1] 0.8237057765340796 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94481404e-01 7.21799686e-02 -7.61366448e-02 6.13973257e+00] [-7.18449183e-02 9.97390301e-01 7.13408548e-03 -2.86556228e-01] [ 7.64528892e-02 -1.62468432e-03 9.97071871e-01 -1.51390099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50629675700003 meters Centerline goodness [0,1] 0.822462591491594 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94467748e-01 7.26568081e-02 -7.58609614e-02 6.13898435e+00] [-7.23019978e-02 9.97355209e-01 7.41674106e-03 -2.86868119e-01] [ 7.61992017e-02 -1.89081073e-03 9.97090822e-01 -1.51376734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53629675700003 meters Centerline goodness [0,1] 0.8227015947607859 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94451632e-01 7.30089773e-02 -7.57340155e-02 6.13850400e+00] [-7.26592420e-02 9.97329617e-01 7.36674999e-03 -2.86411325e-01] [ 7.60696155e-02 -1.82310039e-03 9.97100842e-01 -1.51375317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56629675700003 meters Centerline goodness [0,1] 0.8273221034715791 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94439368e-01 7.32039458e-02 -7.57068435e-02 6.13824345e+00] [-7.28542873e-02 9.97315336e-01 7.37379149e-03 -2.85965291e-01] [ 7.60433867e-02 -1.81722043e-03 9.97102854e-01 -1.51355080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59629675700003 meters Centerline goodness [0,1] 0.8224121557454891 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94437251e-01 7.32889806e-02 -7.56523624e-02 6.13810872e+00] [-7.29507469e-02 9.97309350e-01 7.22839758e-03 -2.85453682e-01] [ 7.59785702e-02 -1.66929147e-03 9.97108053e-01 -1.51362624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62629675700003 meters Centerline goodness [0,1] 0.8213141025641025 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94427585e-01 7.35545160e-02 -7.55215966e-02 6.13737658e+00] [-7.32155824e-02 9.97289781e-01 7.25054049e-03 -2.85215244e-01] [ 7.58502266e-02 -1.68077979e-03 9.97117806e-01 -1.51308494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65629675700004 meters Centerline goodness [0,1] 0.8203087856267047 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.29, Z:-1.51 [[ 9.94415599e-01 7.34130838e-02 -7.58164653e-02 6.13790396e+00] [-7.30846907e-02 9.97300461e-01 7.10064568e-03 -2.85013324e-01] [ 7.61330761e-02 -1.51996991e-03 9.97096507e-01 -1.51296888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68629675700004 meters Centerline goodness [0,1] 0.816295888491279 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94409747e-01 7.34289866e-02 -7.58777861e-02 6.13802069e+00] [-7.31078312e-02 9.97299439e-01 7.00530729e-03 -2.84459362e-01] [ 7.61872661e-02 -1.41888547e-03 9.97092517e-01 -1.51295292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71629675700004 meters Centerline goodness [0,1] 0.8160680244807866 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94393533e-01 7.33983766e-02 -7.61195119e-02 6.13854020e+00] [-7.30811938e-02 9.97301793e-01 6.94783968e-03 -2.83958803e-01] [ 7.64240859e-02 -1.34598204e-03 9.97074494e-01 -1.51294108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74629675700004 meters Centerline goodness [0,1] 0.8144018002250282 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94376505e-01 7.31645266e-02 -7.65657730e-02 6.14001359e+00] [-7.28891727e-02 9.97319586e-01 6.38842322e-03 -2.82151626e-01] [ 7.68279510e-02 -7.71682105e-04 9.97044066e-01 -1.51373082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77629675700004 meters Centerline goodness [0,1] 0.8074604087963774 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.51 [[ 9.94368901e-01 7.29520986e-02 -7.68666401e-02 6.14101076e+00] [-7.27035730e-02 9.97335362e-01 6.03038808e-03 -2.81338436e-01] [ 7.71017478e-02 -4.07950987e-04 9.97023146e-01 -1.51424127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.806296757 meters Centerline goodness [0,1] 0.8120315778954732 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.52 [[ 9.94374606e-01 7.22605410e-02 -7.74439020e-02 6.14319791e+00] [-7.20751246e-02 9.97385701e-01 5.19029689e-03 -2.80283842e-01] [ 7.76164942e-02 4.20679468e-04 9.96983201e-01 -1.51552254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.836296757 meters Centerline goodness [0,1] 0.8063475390156063 Centerline is valid? [False, False] Translation: X:6.14, Y:-0.28, Z:-1.52 [[ 9.94363876e-01 7.20548072e-02 -7.77726664e-02 6.14420936e+00] [-7.18815667e-02 9.97400499e-01 5.02834061e-03 -2.80109711e-01] [ 7.79328125e-02 5.90420848e-04 9.96958439e-01 -1.51588551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86629675700001 meters Centerline goodness [0,1] 0.8118455579157816 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94372432e-01 7.15148808e-02 -7.81606586e-02 6.14565619e+00] [-7.13772265e-02 9.97438983e-01 4.55707092e-03 -2.79609071e-01] [ 7.82863862e-02 1.04746534e-03 9.96930361e-01 -1.51658199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89629675700002 meters Centerline goodness [0,1] 0.8125579414196588 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94366075e-01 7.13400077e-02 -7.84009666e-02 6.14622544e+00] [-7.12049130e-02 9.97451463e-01 4.52092897e-03 -2.79664529e-01] [ 7.85236820e-02 1.08707561e-03 9.96911656e-01 -1.51657073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92629675700002 meters Centerline goodness [0,1] 0.8116298321752 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94357931e-01 7.11470380e-02 -7.86791215e-02 6.14669361e+00] [-7.09970149e-02 9.97465427e-01 4.70602303e-03 -2.80667280e-01] [ 7.88145231e-02 9.06511441e-04 9.96888885e-01 -1.51619877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95629675700002 meters Centerline goodness [0,1] 0.8098499345351999 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94346408e-01 7.11531204e-02 -7.88191297e-02 6.14666499e+00] [-7.09771053e-02 9.97465232e-01 5.03601170e-03 -2.81598588e-01] [ 7.89776694e-02 5.86813523e-04 9.96876213e-01 -1.51562271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98629675700002 meters Centerline goodness [0,1] 0.8129746915293583 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.51 [[ 9.94321146e-01 7.12996130e-02 -7.90052108e-02 6.14648045e+00] [-7.10609970e-02 9.97454927e-01 5.83123809e-03 -2.83509043e-01] [ 7.92199018e-02 -1.83934287e-04 9.96857148e-01 -1.51447791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01629675700002 meters Centerline goodness [0,1] 0.8103947799360088 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.51 [[ 9.94310799e-01 7.13665297e-02 -7.90749824e-02 6.14655920e+00] [-7.11138511e-02 9.97450096e-01 6.01051986e-03 -2.83774128e-01] [ 7.93022988e-02 -3.52998276e-04 9.96850551e-01 -1.51431174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04629675700002 meters Centerline goodness [0,1] 0.8134942679662643 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.51 [[ 9.94286821e-01 7.18256830e-02 -7.89606787e-02 6.14616668e+00] [-7.15415118e-02 9.97416926e-01 6.42559784e-03 -2.84288058e-01] [ 7.92182403e-02 -7.39920930e-04 9.96857022e-01 -1.51410516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07629675700002 meters Centerline goodness [0,1] 0.8099409299742515 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.51 [[ 9.94265264e-01 7.20276706e-02 -7.90480810e-02 6.14621252e+00] [-7.17209667e-02 9.97402125e-01 6.71598554e-03 -2.84716261e-01] [ 7.93264608e-02 -1.00806635e-03 9.96848181e-01 -1.51386570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10629675700002 meters Centerline goodness [0,1] 0.8106400120852006 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.29, Z:-1.51 [[ 9.94224730e-01 7.23592224e-02 -7.92548359e-02 6.14627843e+00] [-7.20120794e-02 9.97377531e-01 7.23327942e-03 -2.85651432e-01] [ 7.95703870e-02 -1.48419974e-03 9.96828145e-01 -1.51324533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13629675700003 meters Centerline goodness [0,1] 0.8114996586512934 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.29, Z:-1.51 [[ 9.94204794e-01 7.27166031e-02 -7.91777936e-02 6.14579749e+00] [-7.23406755e-02 9.97350950e-01 7.60979436e-03 -2.86030217e-01] [ 7.95214061e-02 -1.83791896e-03 9.96831464e-01 -1.51280671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16629675700003 meters Centerline goodness [0,1] 0.8118939069544848 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.29, Z:-1.51 [[ 9.93934121e-01 7.58642008e-02 -7.96215205e-02 6.14753370e+00] [-7.51732260e-02 9.97102499e-01 1.16444636e-02 -2.88538377e-01] [ 8.02742150e-02 -5.58842316e-03 9.96757152e-01 -1.51213404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19629675700003 meters Centerline goodness [0,1] 0.8132865012381867 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.29, Z:-1.51 [[ 9.93919000e-01 7.60215420e-02 -7.96601897e-02 6.14739325e+00] [-7.53288962e-02 9.97090466e-01 1.16687346e-02 -2.88100262e-01] [ 8.03154909e-02 -5.59706284e-03 9.96753778e-01 -1.51186753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22629675700003 meters Centerline goodness [0,1] 0.81797153919646 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.29, Z:-1.51 [[ 9.93910873e-01 7.63113969e-02 -7.94842586e-02 6.14736505e+00] [-7.56564449e-02 9.97070776e-01 1.12236134e-02 -2.86581390e-01] [ 8.01079211e-02 -5.14177493e-03 9.96772935e-01 -1.51262566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25629675700003 meters Centerline goodness [0,1] 0.8195430262596874 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.29, Z:-1.51 [[ 9.93905949e-01 7.64116667e-02 -7.94494907e-02 6.14761405e+00] [-7.57903604e-02 9.97065166e-01 1.08109063e-02 -2.85376951e-01] [ 8.00423990e-02 -4.72351858e-03 9.96780268e-01 -1.51325761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28629675700003 meters Centerline goodness [0,1] 0.8201316839584996 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.51 [[ 9.93909475e-01 7.63081284e-02 -7.95048697e-02 6.14848742e+00] [-7.57719192e-02 9.97077565e-01 9.74398644e-03 -2.82392897e-01] [ 8.00160673e-02 -3.66040389e-03 9.96786853e-01 -1.51465010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31629675700003 meters Centerline goodness [0,1] 0.8200983313468415 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93914609e-01 7.61644175e-02 -7.95784663e-02 6.14895079e+00] [-7.56633332e-02 9.97090073e-01 9.29764655e-03 -2.81216761e-01] [ 8.00550486e-02 -3.21989472e-03 9.96785243e-01 -1.51508545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34629675700003 meters Centerline goodness [0,1] 0.8226515787913229 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93930712e-01 7.60832081e-02 -7.94549285e-02 6.14896538e+00] [-7.56330492e-02 9.97098077e-01 8.66415733e-03 -2.79347607e-01] [ 7.98835532e-02 -2.60215355e-03 9.96800806e-01 -1.51559898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37629675700003 meters Centerline goodness [0,1] 0.8186602400157388 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93936309e-01 7.58948767e-02 -7.95649476e-02 6.14930209e+00] [-7.54687169e-02 9.97113175e-01 8.35397481e-03 -2.78686945e-01] [ 7.99692814e-02 -2.29865439e-03 9.96794678e-01 -1.51573597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40629675700004 meters Centerline goodness [0,1] 0.8224966045190765 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93952052e-01 7.58746571e-02 -7.93873669e-02 6.14922641e+00] [-7.54633265e-02 9.97115082e-01 8.17304648e-03 -2.78394414e-01] [ 7.97784680e-02 -2.13278153e-03 9.96810337e-01 -1.51607386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43629675700004 meters Centerline goodness [0,1] 0.8238604111651324 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93955356e-01 7.58343181e-02 -7.93845532e-02 6.14947068e+00] [-7.54294235e-02 9.97118316e-01 8.09109727e-03 -2.78305847e-01] [ 7.97693749e-02 -2.05425838e-03 9.96811229e-01 -1.51638973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46629675700004 meters Centerline goodness [0,1] 0.8213395215641741 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93963016e-01 7.56960783e-02 -7.94205619e-02 6.15001122e+00] [-7.53003828e-02 9.97129046e-01 7.96975851e-03 -2.77696688e-01] [ 7.97958286e-02 -1.94124649e-03 9.96809338e-01 -1.51682153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49629675700004 meters Centerline goodness [0,1] 0.8239375756228856 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93963570e-01 7.56011950e-02 -7.95039710e-02 6.15041752e+00] [-7.52012192e-02 9.97136148e-01 8.01736282e-03 -2.77775178e-01] [ 7.98824057e-02 -1.99017102e-03 9.96802308e-01 -1.51697519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52629675700004 meters Centerline goodness [0,1] 0.8228973235286836 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93987942e-01 7.53210022e-02 -7.94651942e-02 6.15082666e+00] [-7.49135823e-02 9.97157131e-01 8.10011068e-03 -2.78746233e-01] [ 7.98493935e-02 -2.09838998e-03 9.96804731e-01 -1.51729452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.556296757 meters Centerline goodness [0,1] 0.8245987188682512 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.93990619e-01 7.51911376e-02 -7.95546513e-02 6.15118702e+00] [-7.47735441e-02 9.97166665e-01 8.21943882e-03 -2.79472808e-01] [ 7.99472753e-02 -2.22146185e-03 9.96796618e-01 -1.51735800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.586296757 meters Centerline goodness [0,1] 0.8242989267520648 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94010288e-01 7.50381325e-02 -7.94532988e-02 6.15121420e+00] [-7.46062094e-02 9.97177736e-01 8.39506199e-03 -2.80494628e-01] [ 7.98590103e-02 -2.41706854e-03 9.96803238e-01 -1.51739787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61629675700001 meters Centerline goodness [0,1] 0.8254721645406902 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94013197e-01 7.48599849e-02 -7.95848384e-02 6.15170684e+00] [-7.44304390e-02 9.97191213e-01 8.35436114e-03 -2.80715756e-01] [ 7.99867089e-02 -2.38081077e-03 9.96793087e-01 -1.51756028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64629675700002 meters Centerline goodness [0,1] 0.823475458601884 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94028524e-01 7.46897843e-02 -7.95533160e-02 6.15186161e+00] [-7.42526979e-02 9.97203721e-01 8.44252939e-03 -2.80981621e-01] [ 7.99614334e-02 -2.48506669e-03 9.96794860e-01 -1.51757949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67629675700002 meters Centerline goodness [0,1] 0.8220587504349123 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94037004e-01 7.45131543e-02 -7.96129732e-02 6.15218313e+00] [-7.40820723e-02 9.97217116e-01 8.35883455e-03 -2.81119486e-01] [ 8.00142627e-02 -2.41109681e-03 9.96790803e-01 -1.51767820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70629675700002 meters Centerline goodness [0,1] 0.8241976781763493 Centerline is valid? [False, False] Translation: X:6.15, Y:-0.28, Z:-1.52 [[ 9.94032826e-01 7.45469781e-02 -7.96334627e-02 6.15213474e+00] [-7.41112371e-02 9.97214455e-01 8.41758830e-03 -2.81315699e-01] [ 8.00391459e-02 -2.46562465e-03 9.96788672e-01 -1.51754849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73629675700002 meters Centerline goodness [0,1] 0.822248191153435 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94326414e-01 7.61782672e-02 -7.42418563e-02 6.16420581e+00] [-7.63661641e-02 9.97079793e-01 3.08676308e-04 -2.79838707e-01] [ 7.40485692e-02 5.36264078e-03 9.97240218e-01 -1.52052483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76629675700002 meters Centerline goodness [0,1] 0.822248191153435 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94326414e-01 7.61782672e-02 -7.42418563e-02 6.16420581e+00] [-7.63661641e-02 9.97079793e-01 3.08676308e-04 -2.79838707e-01] [ 7.40485692e-02 5.36264078e-03 9.97240218e-01 -1.52052483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79629675700002 meters Centerline goodness [0,1] 0.8229439497118911 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94319029e-01 7.64231202e-02 -7.40889731e-02 6.16359941e+00] [-7.65934240e-02 9.97062261e-01 5.44075768e-04 -2.80021975e-01] [ 7.39128990e-02 5.13374324e-03 9.97251487e-01 -1.52014786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82629675700002 meters Centerline goodness [0,1] 0.8209413114508767 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94293853e-01 7.70730064e-02 -7.37528702e-02 6.16217734e+00] [-7.72117164e-02 9.97014245e-01 9.72848157e-04 -2.79571603e-01] [ 7.36076425e-02 4.72728875e-03 9.97276074e-01 -1.51923774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85629675700002 meters Centerline goodness [0,1] 0.8221458971104308 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94275622e-01 7.72678414e-02 -7.37947768e-02 6.16208407e+00] [-7.74069469e-02 9.96999102e-01 9.77417178e-04 -2.78744005e-01] [ 7.36488491e-02 4.74040630e-03 9.97272969e-01 -1.51902096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88629675700003 meters Centerline goodness [0,1] 0.8234752531913305 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94238033e-01 7.79619724e-02 -7.35708092e-02 6.16130291e+00] [-7.80914089e-02 9.96945574e-01 1.11993509e-03 -2.77262885e-01] [ 7.34334049e-02 4.63176609e-03 9.97289367e-01 -1.51878000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91629675700003 meters Centerline goodness [0,1] 0.8234240954867587 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.52 [[ 9.94224057e-01 7.80186309e-02 -7.36995154e-02 6.16167232e+00] [-7.81652548e-02 9.96940012e-01 8.97130757e-04 -2.76471250e-01] [ 7.35439887e-02 4.86879242e-03 9.97280089e-01 -1.51905133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94629675700003 meters Centerline goodness [0,1] 0.8262934142157472 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94201345e-01 7.82601608e-02 -7.37498044e-02 6.16221229e+00] [-7.84332545e-02 9.96919215e-01 5.50658532e-04 -2.74985424e-01] [ 7.35656917e-02 5.23697173e-03 9.97276623e-01 -1.51985040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97629675700003 meters Centerline goodness [0,1] 0.8250687681213292 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94190760e-01 7.83620286e-02 -7.37843143e-02 6.16259622e+00] [-7.85535946e-02 9.96909845e-01 3.06567352e-04 -2.74041503e-01] [ 7.35803326e-02 5.49123668e-03 9.97274175e-01 -1.52038522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00629675700003 meters Centerline goodness [0,1] 0.8261117445838084 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94159366e-01 7.86068895e-02 -7.39466807e-02 6.16305351e+00] [-7.88253052e-02 9.96888444e-01 -3.53739316e-05 -2.72154862e-01] [ 7.37138108e-02 5.86403700e-03 9.97262196e-01 -1.52076547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03629675700003 meters Centerline goodness [0,1] 0.8250314869236658 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94144684e-01 7.86887678e-02 -7.40569095e-02 6.16324007e+00] [-7.89162648e-02 9.96881238e-01 -1.46224342e-04 -2.71608056e-01] [ 7.38144374e-02 5.98966284e-03 9.97254006e-01 -1.52076894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06629675700003 meters Centerline goodness [0,1] 0.825701478491295 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94108253e-01 7.90377854e-02 -7.41741856e-02 6.16292548e+00] [-7.92601457e-02 9.96853964e-01 -5.44025136e-05 -2.70773953e-01] [ 7.39365311e-02 5.93313875e-03 9.97245299e-01 -1.52008325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09629675700003 meters Centerline goodness [0,1] 0.8216680274128504 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94096547e-01 7.92968602e-02 -7.40544545e-02 6.16252763e+00] [-7.95152785e-02 9.96833647e-01 -1.15511921e-06 -2.70226589e-01] [ 7.38198804e-02 5.88960888e-03 9.97254199e-01 -1.51988115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12629675700003 meters Centerline goodness [0,1] 0.8161580604377897 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.94055145e-01 7.98650808e-02 -7.39995801e-02 6.16187848e+00] [-8.00676580e-02 9.96789405e-01 2.29717092e-04 -2.69554427e-01] [ 7.37803438e-02 5.69662162e-03 9.97258246e-01 -1.51927193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15629675700004 meters Centerline goodness [0,1] 0.8137361820254796 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93998781e-01 8.05799993e-02 -7.39816636e-02 6.16117814e+00] [-8.07397101e-02 9.96734871e-01 8.34285960e-04 -2.69537747e-01] [ 7.38073307e-02 5.14397884e-03 9.97259253e-01 -1.51839742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18629675700004 meters Centerline goodness [0,1] 0.8156357943391068 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93976690e-01 8.09201790e-02 -7.39071363e-02 6.16072749e+00] [-8.10534153e-02 9.96709037e-01 1.19972540e-03 -2.69756688e-01] [ 7.37609927e-02 4.79792673e-03 9.97264406e-01 -1.51795125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21629675700004 meters Centerline goodness [0,1] 0.810588556806042 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93950684e-01 8.11863034e-02 -7.39650104e-02 6.16036078e+00] [-8.12938564e-02 9.96688956e-01 1.56030283e-03 -2.70175641e-01] [ 7.38467842e-02 4.46203687e-03 9.97259616e-01 -1.51723258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24629675700004 meters Centerline goodness [0,1] 0.8098025054167808 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93923765e-01 8.16802265e-02 -7.37827241e-02 6.15962782e+00] [-8.17424498e-02 9.96651100e-01 2.18105442e-03 -2.71226522e-01] [ 7.37137822e-02 3.86337881e-03 9.97271955e-01 -1.51660030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27629675700004 meters Centerline goodness [0,1] 0.8046370011729767 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93896921e-01 8.18232748e-02 -7.39855590e-02 6.15986620e+00] [-8.18556530e-02 9.96640805e-01 2.59960218e-03 -2.72242217e-01] [ 7.39497350e-02 3.47239964e-03 9.97255925e-01 -1.51615928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.306296757 meters Centerline goodness [0,1] 0.7987985742416311 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93887809e-01 8.17730127e-02 -7.41633200e-02 6.16029646e+00] [-8.17982635e-02 9.96645245e-01 2.70197410e-03 -2.72797495e-01] [ 7.41354687e-02 3.38097167e-03 9.97242449e-01 -1.51613401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.336296757 meters Centerline goodness [0,1] 0.8030397720170988 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93878291e-01 8.15929365e-02 -7.44884954e-02 6.16094772e+00] [-8.16108957e-02 9.96660312e-01 2.80773735e-03 -2.73276254e-01] [ 7.44688186e-02 3.28852362e-03 9.97217920e-01 -1.51590557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36629675700001 meters Centerline goodness [0,1] 0.8054305468258957 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.52 [[ 9.93872424e-01 8.15430049e-02 -7.46213303e-02 6.16103595e+00] [-8.15379015e-02 9.96665358e-01 3.11997145e-03 -2.73919768e-01] [ 7.46269068e-02 2.98361309e-03 9.97207061e-01 -1.51532458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39629675700002 meters Centerline goodness [0,1] 0.808808458519759 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.51 [[ 9.93852952e-01 8.12907542e-02 -7.51539996e-02 6.16211157e+00] [-8.12874976e-02 9.96685852e-01 3.10728863e-03 -2.73680171e-01] [ 7.51575219e-02 3.02089258e-03 9.97167098e-01 -1.51497023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42629675700002 meters Centerline goodness [0,1] 0.8085531574740208 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.51 [[ 9.93841659e-01 8.12277118e-02 -7.53711918e-02 6.16250532e+00] [-8.12208444e-02 9.96691116e-01 3.16141955e-03 -2.73676934e-01] [ 7.53785921e-02 2.97976139e-03 9.97150535e-01 -1.51477177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45629675700002 meters Centerline goodness [0,1] 0.8097171064170989 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.27, Z:-1.51 [[ 9.93821531e-01 8.13746464e-02 -7.54780166e-02 6.16239908e+00] [-8.13442693e-02 9.96679982e-01 3.48174047e-03 -2.74210274e-01] [ 7.55107537e-02 2.67947546e-03 9.97141387e-01 -1.51428301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48629675700002 meters Centerline goodness [0,1] 0.8129299522972634 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93810617e-01 8.11330767e-02 -7.58807033e-02 6.16328568e+00] [-8.10884181e-02 9.96700139e-01 3.67442581e-03 -2.75096873e-01] [ 7.59284250e-02 2.50136281e-03 9.97110133e-01 -1.51407945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51629675700002 meters Centerline goodness [0,1] 0.8141244355243351 Centerline is valid? [False, False] Translation: X:6.16, Y:-0.28, Z:-1.51 [[ 9.93804154e-01 8.09545192e-02 -7.61555605e-02 6.16424325e+00] [-8.09201989e-02 9.96714292e-01 3.54139006e-03 -2.75239777e-01] [ 7.61920271e-02 2.64307494e-03 9.97089660e-01 -1.51456202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54629675700002 meters Centerline goodness [0,1] 0.8149852448356925 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.27, Z:-1.52 [[ 9.93794470e-01 8.06740902e-02 -7.65783426e-02 6.16616693e+00] [-8.06791425e-02 9.96735511e-01 3.03277464e-03 -2.74480800e-01] [ 7.65730198e-02 3.16432035e-03 9.97058955e-01 -1.51595885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57629675700002 meters Centerline goodness [0,1] 0.8080243525126004 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.27, Z:-1.52 [[ 9.93745744e-01 8.10240791e-02 -7.68407057e-02 6.16690414e+00] [-8.10338877e-02 9.96706846e-01 2.99545965e-03 -2.73757869e-01] [ 7.68303618e-02 3.24997584e-03 9.97038882e-01 -1.51640015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60629675700002 meters Centerline goodness [0,1] 0.8103310729956122 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.27, Z:-1.52 [[ 9.93729822e-01 8.12660322e-02 -7.67911035e-02 6.16698055e+00] [-8.12742321e-02 9.96687191e-01 3.02359589e-03 -2.73829959e-01] [ 7.67824249e-02 3.23650056e-03 9.97042619e-01 -1.51676043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63629675700003 meters Centerline goodness [0,1] 0.8101888667992048 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.27, Z:-1.52 [[ 9.93699132e-01 8.15138420e-02 -7.69254723e-02 6.16729311e+00] [-8.15052309e-02 9.96667593e-01 3.25675537e-03 -2.74056923e-01] [ 7.69345960e-02 3.03359340e-03 9.97031527e-01 -1.51671423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66629675700003 meters Centerline goodness [0,1] 0.7997857338615243 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.27, Z:-1.52 [[ 9.93682043e-01 8.16145307e-02 -7.70393765e-02 6.16743995e+00] [-8.15839192e-02 9.96660154e-01 3.54981038e-03 -2.74871469e-01] [ 7.70717929e-02 2.75779143e-03 9.97021732e-01 -1.51652201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69629675700003 meters Centerline goodness [0,1] 0.8128364905284148 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.93695163e-01 8.11927557e-02 -7.73153217e-02 6.16820965e+00] [-8.11125419e-02 9.96696174e-01 4.18246174e-03 -2.77861532e-01] [ 7.73994709e-02 2.11515027e-03 9.96997918e-01 -1.51617737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72629675700003 meters Centerline goodness [0,1] 0.8164444555619481 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.93694370e-01 8.09410076e-02 -7.75890019e-02 6.16894031e+00] [-8.08275369e-02 9.96717455e-01 4.60692537e-03 -2.79689753e-01] [ 7.77072017e-02 1.69345212e-03 9.96974786e-01 -1.51600970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75629675700003 meters Centerline goodness [0,1] 0.8173387804205619 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.93758080e-01 8.01575750e-02 -7.75863499e-02 6.16963703e+00] [-7.99940249e-02 9.96781682e-01 5.21862329e-03 -2.83264840e-01] [ 7.77549646e-02 1.02039534e-03 9.96971978e-01 -1.51593984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78629675700003 meters Centerline goodness [0,1] 0.8183257520544847 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93760126e-01 7.99735300e-02 -7.77498986e-02 6.17001527e+00] [-7.97674918e-02 9.96796872e-01 5.75707222e-03 -2.85162984e-01] [ 7.79612691e-02 4.80765592e-04 9.96956273e-01 -1.51555648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81629675700003 meters Centerline goodness [0,1] 0.820353982300885 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93792906e-01 7.94542175e-02 -7.78632610e-02 6.17079671e+00] [-7.91939159e-02 9.96838491e-01 6.43012440e-03 -2.88369459e-01] [ 7.81279961e-02 -2.23915467e-04 9.96943311e-01 -1.51547606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84629675700003 meters Centerline goodness [0,1] 0.8213691586429399 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.93784488e-01 7.93856567e-02 -7.80404303e-02 6.17132513e+00] [-7.91030246e-02 9.96843855e-01 6.71120357e-03 -2.89631784e-01] [ 7.83268967e-02 -4.96255924e-04 9.96927606e-01 -1.51550761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87629675700003 meters Centerline goodness [0,1] 0.822453117080588 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.51 [[ 9.93746151e-01 8.01763990e-02 -7.77195782e-02 6.16969389e+00] [-7.97983091e-02 9.96779221e-01 7.96332259e-03 -2.92267739e-01] [ 7.81077312e-02 -1.71163024e-03 9.96943455e-01 -1.51404917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90629675700004 meters Centerline goodness [0,1] 0.825264597153998 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94685795e-01 8.07170540e-02 -6.39134293e-02 6.17138865e+00] [-8.06038797e-02 9.96736715e-01 4.35146575e-03 -2.91569467e-01] [ 6.40560991e-02 8.23329197e-04 9.97945960e-01 -1.52123453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93629675700004 meters Centerline goodness [0,1] 0.8247109716916694 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94660548e-01 8.10877566e-02 -6.38370594e-02 6.17102997e+00] [-8.09672372e-02 9.96706709e-01 4.47693715e-03 -2.91237578e-01] [ 6.39898502e-02 7.15677570e-04 9.97950293e-01 -1.52108915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96629675700004 meters Centerline goodness [0,1] 0.824355735219808 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94630982e-01 8.15116608e-02 -6.37578061e-02 6.17070727e+00] [-8.13882398e-02 9.96672157e-01 4.53494130e-03 -2.90807191e-01] [ 6.39152808e-02 6.78542494e-04 9.97955097e-01 -1.52113353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99629675700004 meters Centerline goodness [0,1] 0.8237248585994369 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94586753e-01 8.22448569e-02 -6.35056969e-02 6.17003082e+00] [-8.21120430e-02 9.96612008e-01 4.70291256e-03 -2.90727557e-01] [ 6.36773305e-02 5.37127983e-04 9.97970395e-01 -1.52138886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02629675700004 meters Centerline goodness [0,1] 0.8194807501966855 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94569752e-01 8.24936668e-02 -6.34492159e-02 6.16988098e+00] [-8.23532311e-02 9.96591500e-01 4.82991736e-03 -2.90848246e-01] [ 6.36313869e-02 4.21558235e-04 9.97973381e-01 -1.52142037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.056296757 meters Centerline goodness [0,1] 0.821277786255659 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94532667e-01 8.31248370e-02 -6.32063015e-02 6.16936284e+00] [-8.29771591e-02 9.96539094e-01 4.96239309e-03 -2.90589654e-01] [ 6.34000485e-02 3.09417301e-04 9.97988145e-01 -1.52177336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.086296757 meters Centerline goodness [0,1] 0.8193412076163323 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94520431e-01 8.31718690e-02 -6.33368104e-02 6.16992628e+00] [-8.30354549e-02 9.96535093e-01 4.78757596e-03 -2.89855028e-01] [ 6.35155459e-02 4.97858748e-04 9.97980725e-01 -1.52221952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11629675700001 meters Centerline goodness [0,1] 0.8141252578763721 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94512259e-01 8.30823656e-02 -6.35821305e-02 6.17123086e+00] [-8.29779319e-02 9.96542168e-01 4.28595615e-03 -2.88324769e-01] [ 6.37183616e-02 1.01347776e-03 9.97967406e-01 -1.52344142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14629675700002 meters Centerline goodness [0,1] 0.811218489543386 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94529362e-01 8.24896094e-02 -6.40844135e-02 6.17303068e+00] [-8.23875189e-02 9.96591356e-01 4.23855064e-03 -2.89728680e-01] [ 6.42156090e-02 1.06439277e-03 9.97935480e-01 -1.52413184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17629675700002 meters Centerline goodness [0,1] 0.8167200923195281 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94527510e-01 8.22781357e-02 -6.43843103e-02 6.17377204e+00] [-8.21581438e-02 9.96609084e-01 4.51357292e-03 -2.91300532e-01] [ 6.45373569e-02 8.00822985e-04 9.97914970e-01 -1.52402552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20629675700002 meters Centerline goodness [0,1] 0.8211964758161876 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94809266e-01 7.86560615e-02 -6.45580996e-02 6.17310156e+00] [-7.87539431e-02 9.96893552e-01 1.03113586e-03 -2.92156543e-01] [ 6.44386582e-02 4.05842139e-03 9.97913417e-01 -1.52375505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23629675700002 meters Centerline goodness [0,1] 0.8203497205840694 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94814146e-01 7.85942227e-02 -6.45582174e-02 6.17309634e+00] [-7.86603672e-02 9.96900313e-01 1.52047749e-03 -2.93445954e-01] [ 6.44776079e-02 3.56558057e-03 9.97912784e-01 -1.52334047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26629675700002 meters Centerline goodness [0,1] 0.8229292178326967 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94826109e-01 7.83148363e-02 -6.47132038e-02 6.17353462e+00] [-7.83668587e-02 9.96923074e-01 1.73797947e-03 -2.93968048e-01] [ 6.46501956e-02 3.34238314e-03 9.97902390e-01 -1.52309736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29629675700002 meters Centerline goodness [0,1] 0.820307866848877 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94857452e-01 7.81097974e-02 -6.44787580e-02 6.17300231e+00] [-7.81131031e-02 9.96941435e-01 2.47354070e-03 -2.95507562e-01] [ 6.44747533e-02 2.57581548e-03 9.97916014e-01 -1.52217614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32629675700002 meters Centerline goodness [0,1] 0.821277807992127 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94902203e-01 7.75291104e-02 -6.44890916e-02 6.17324381e+00] [-7.74992042e-02 9.96987993e-01 2.96892220e-03 -2.98415737e-01] [ 6.45250280e-02 2.04406605e-03 9.97913996e-01 -1.52170838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35629675700002 meters Centerline goodness [0,1] 0.8242740908263797 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94903084e-01 7.73658167e-02 -6.46713526e-02 6.17367035e+00] [-7.73145778e-02 9.97001292e-01 3.29832911e-03 -2.99692271e-01] [ 6.47326001e-02 1.71852051e-03 9.97901166e-01 -1.52150090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38629675700003 meters Centerline goodness [0,1] 0.8240408142016763 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94922285e-01 7.71470424e-02 -6.46372994e-02 6.17379491e+00] [-7.70639373e-02 9.97018981e-01 3.78167180e-03 -3.01199283e-01] [ 6.47363592e-02 1.21873525e-03 9.97901658e-01 -1.52117806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41629675700003 meters Centerline goodness [0,1] 0.8283986655546288 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94930056e-01 7.69953572e-02 -6.46985263e-02 6.17419128e+00] [-7.69090820e-02 9.97030767e-01 3.82671314e-03 -3.01344400e-01] [ 6.48010604e-02 1.16859235e-03 9.97897518e-01 -1.52133245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44629675700003 meters Centerline goodness [0,1] 0.8233363719234276 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94945437e-01 7.69534857e-02 -6.45115424e-02 6.17409757e+00] [-7.68728145e-02 9.97033910e-01 3.73543607e-03 -3.00719223e-01] [ 6.46076501e-02 1.24262876e-03 9.97909970e-01 -1.52160746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47629675700003 meters Centerline goodness [0,1] 0.824257748351276 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94941534e-01 7.70008659e-02 -6.45151898e-02 6.17399842e+00] [-7.69119429e-02 9.97030400e-01 3.86447900e-03 -3.00777150e-01] [ 6.46211737e-02 1.11705793e-03 9.97909242e-01 -1.52135319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50629675700003 meters Centerline goodness [0,1] 0.8232624853305516 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94929472e-01 7.71669254e-02 -6.45028057e-02 6.17370737e+00] [-7.70625953e-02 9.97017795e-01 4.10758265e-03 -3.01187935e-01] [ 6.46274146e-02 8.83998573e-04 9.97909072e-01 -1.52094529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53629675700003 meters Centerline goodness [0,1] 0.8253889526991751 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94923286e-01 7.72788163e-02 -6.44642495e-02 6.17354937e+00] [-7.71780064e-02 9.97009078e-01 4.05628950e-03 -3.01234017e-01] [ 6.45849072e-02 9.39525385e-04 9.97911773e-01 -1.52092872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56629675700003 meters Centerline goodness [0,1] 0.8261658971831717 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94922156e-01 7.72828513e-02 -6.44768462e-02 6.17407377e+00] [-7.72175873e-02 9.97008096e-01 3.50730620e-03 -2.99118051e-01] [ 6.45549923e-02 1.48924985e-03 9.97913040e-01 -1.52174710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59629675700003 meters Centerline goodness [0,1] 0.8187569683926673 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.30, Z:-1.52 [[ 9.94923272e-01 7.71912385e-02 -6.45693079e-02 6.17477837e+00] [-7.71579158e-02 9.97014331e-01 3.01327211e-03 -2.97566152e-01] [ 6.46091236e-02 1.98405868e-03 9.97908676e-01 -1.52255508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62629675700003 meters Centerline goodness [0,1] 0.8210509990436063 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.30, Z:-1.52 [[ 9.94916784e-01 7.71650124e-02 -6.47004916e-02 6.17540114e+00] [-7.71696723e-02 9.97015011e-01 2.43079306e-03 -2.95862224e-01] [ 6.46949336e-02 2.57447892e-03 9.97901768e-01 -1.52332756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65629675700004 meters Centerline goodness [0,1] 0.8210509990436063 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.30, Z:-1.52 [[ 9.94916784e-01 7.71650124e-02 -6.47004916e-02 6.17540114e+00] [-7.71696723e-02 9.97015011e-01 2.43079306e-03 -2.95862224e-01] [ 6.46949336e-02 2.57447892e-03 9.97901768e-01 -1.52332756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68629675700004 meters Centerline goodness [0,1] 0.8186690833764889 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.30, Z:-1.52 [[ 9.94911427e-01 7.71721043e-02 -6.47743674e-02 6.17561077e+00] [-7.71822105e-02 9.97014234e-01 2.35005439e-03 -2.95548219e-01] [ 6.47623249e-02 2.66133289e-03 9.97897168e-01 -1.52342566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71629675700004 meters Centerline goodness [0,1] 0.8181959042429564 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94904860e-01 7.71691633e-02 -6.48786477e-02 6.17594270e+00] [-7.71897455e-02 9.97014009e-01 2.19307716e-03 -2.94924425e-01] [ 6.48541585e-02 2.82606317e-03 9.97890751e-01 -1.52360564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74629675700004 meters Centerline goodness [0,1] 0.8191371538956858 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94910314e-01 7.70914839e-02 -6.48873709e-02 6.17620956e+00] [-7.71209947e-02 9.97019626e-01 2.05355048e-03 -2.94219816e-01] [ 6.48522935e-02 2.96108003e-03 9.97890481e-01 -1.52386237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77629675700004 meters Centerline goodness [0,1] 0.8188613108585273 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94909039e-01 7.69324147e-02 -6.50953700e-02 6.17665785e+00] [-7.69692977e-02 9.97031567e-01 1.94477575e-03 -2.93457290e-01] [ 6.50517550e-02 3.07546994e-03 9.97877152e-01 -1.52372367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.806296757 meters Centerline goodness [0,1] 0.8150563586412304 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94901512e-01 7.69530701e-02 -6.51859392e-02 6.17673979e+00] [-7.69874824e-02 9.97030078e-01 1.98758946e-03 -2.93125329e-01] [ 6.51452932e-02 3.04104559e-03 9.97871155e-01 -1.52352332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.836296757 meters Centerline goodness [0,1] 0.8170628509885376 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94909257e-01 7.67819398e-02 -6.52694736e-02 6.17680357e+00] [-7.68076525e-02 9.97043677e-01 2.11895603e-03 -2.93027701e-01] [ 6.52392135e-02 2.90502608e-03 9.97865425e-01 -1.52299783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86629675700001 meters Centerline goodness [0,1] 0.8202670493861964 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94914160e-01 7.66619207e-02 -6.53357809e-02 6.17684543e+00] [-7.66824104e-02 9.97053147e-01 2.19777546e-03 -2.92996137e-01] [ 6.53117316e-02 2.82350724e-03 9.97860915e-01 -1.52265093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89629675700002 meters Centerline goodness [0,1] 0.8150900843178964 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94926146e-01 7.65343396e-02 -6.53028209e-02 6.17649322e+00] [-7.65330094e-02 9.97063849e-01 2.52563608e-03 -2.93175510e-01] [ 6.53043799e-02 2.48500003e-03 9.97862296e-01 -1.52176192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92629675700002 meters Centerline goodness [0,1] 0.8196587100570523 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94929708e-01 7.65377585e-02 -6.52445169e-02 6.17613516e+00] [-7.65249861e-02 9.97064012e-01 2.69850265e-03 -2.93221330e-01] [ 6.52594971e-02 2.30801529e-03 9.97865658e-01 -1.52124251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95629675700002 meters Centerline goodness [0,1] 0.8176979882862236 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94930678e-01 7.65003057e-02 -6.52736454e-02 6.17584103e+00] [-7.64678449e-02 9.97067537e-01 2.99916785e-03 -2.92748701e-01] [ 6.53116701e-02 2.00737088e-03 9.97862894e-01 -1.52025439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98629675700002 meters Centerline goodness [0,1] 0.8155121433445374 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94933704e-01 7.64145346e-02 -6.53279704e-02 6.17578100e+00] [-7.63928950e-02 9.97073769e-01 2.83281474e-03 -2.90947874e-01] [ 6.53532739e-02 2.17212992e-03 9.97859826e-01 -1.51977412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01629675700002 meters Centerline goodness [0,1] 0.8194546050805984 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.29, Z:-1.52 [[ 9.94930483e-01 7.64787093e-02 -6.53019211e-02 6.17541584e+00] [-7.64593995e-02 9.97068768e-01 2.79846579e-03 -2.90003294e-01] [ 6.53245291e-02 2.20866676e-03 9.97861628e-01 -1.51929562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04629675700002 meters Centerline goodness [0,1] 0.81975059831213 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94922412e-01 7.68307310e-02 -6.50110270e-02 6.17410676e+00] [-7.68244649e-02 9.97041244e-01 2.59995414e-03 -2.87474933e-01] [ 6.50184316e-02 2.40768471e-03 9.97881159e-01 -1.51841428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07629675700002 meters Centerline goodness [0,1] 0.821212349586756 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.29, Z:-1.52 [[ 9.94919294e-01 7.68347003e-02 -6.50540384e-02 6.17401945e+00] [-7.68496718e-02 9.97040094e-01 2.27588546e-03 -2.85856927e-01] [ 6.50363515e-02 2.73505915e-03 9.97879147e-01 -1.51824241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10629675700002 meters Centerline goodness [0,1] 0.8248673806425784 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.94906703e-01 7.71245783e-02 -6.49033996e-02 6.17343695e+00] [-7.71691431e-02 9.97016348e-01 1.82374960e-03 -2.82715475e-01] [ 6.48504064e-02 3.19407904e-03 9.97889885e-01 -1.51804703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13629675700003 meters Centerline goodness [0,1] 0.8245757869369705 Centerline is valid? [False, False] Translation: X:6.17, Y:-0.28, Z:-1.52 [[ 9.94909653e-01 7.69252178e-02 -6.50944988e-02 6.17395528e+00] [-7.70105354e-02 9.97029556e-01 1.20118855e-03 -2.80378047e-01] [ 6.49935409e-02 3.81788812e-03 9.97878381e-01 -1.51823435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16629675700003 meters Centerline goodness [0,1] 0.8248729076255424 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.28, Z:-1.52 [[ 9.94893522e-01 7.68501135e-02 -6.54288951e-02 6.17508870e+00] [-7.69939933e-02 9.97031504e-01 3.23390068e-04 -2.75894637e-01] [ 6.52595223e-02 4.71589323e-03 9.97857182e-01 -1.51886726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19629675700003 meters Centerline goodness [0,1] 0.8238940894608145 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.27, Z:-1.52 [[ 9.94895908e-01 7.67505962e-02 -6.55093819e-02 6.17565969e+00] [-7.69378544e-02 9.97035833e-01 -3.36772410e-04 -2.73723065e-01] [ 6.52893537e-02 5.37520477e-03 9.97851897e-01 -1.51957003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22629675700003 meters Centerline goodness [0,1] 0.8255668586836622 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.27, Z:-1.52 [[ 9.94627094e-01 7.98408646e-02 -6.58967383e-02 6.17810659e+00] [-7.98547658e-02 9.96803554e-01 2.42719064e-03 -2.71363005e-01] [ 6.58798919e-02 2.84801903e-03 9.97823496e-01 -1.52053353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25629675700003 meters Centerline goodness [0,1] 0.8200423082599498 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.27, Z:-1.52 [[ 9.94626528e-01 7.96903132e-02 -6.60872492e-02 6.17871445e+00] [-7.97473511e-02 9.96813521e-01 1.77872071e-03 -2.69293171e-01] [ 6.60184104e-02 3.50112025e-03 9.97812263e-01 -1.52095052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28629675700003 meters Centerline goodness [0,1] 0.8235596581866262 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.27, Z:-1.52 [[ 9.94635837e-01 7.92861708e-02 -6.64323388e-02 6.17982019e+00] [-7.94089844e-02 9.96841804e-01 7.94008589e-04 -2.66364008e-01] [ 6.62854863e-02 4.48557516e-03 9.97790616e-01 -1.52151412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31629675700003 meters Centerline goodness [0,1] 0.823267750213858 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94642568e-01 7.90113420e-02 -6.66586074e-02 6.18059495e+00] [-7.91664371e-02 9.96861362e-01 3.15722957e-04 -2.64999327e-01] [ 6.64743359e-02 4.96309296e-03 9.97775792e-01 -1.52185700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34629675700003 meters Centerline goodness [0,1] 0.8236151249483935 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94659006e-01 7.84693703e-02 -6.70523624e-02 6.18172545e+00] [-7.86914513e-02 9.96898792e-01 -6.73207995e-04 -2.61669051e-01] [ 6.67915929e-02 5.94606010e-03 9.97749231e-01 -1.52217700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37629675700003 meters Centerline goodness [0,1] 0.8253239018935803 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94656807e-01 7.83048787e-02 -6.72769061e-02 6.18174714e+00] [-7.85476777e-02 9.96909889e-01 -9.67262363e-04 -2.60045542e-01] [ 6.69932717e-02 6.24653884e-03 9.97733873e-01 -1.52142037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40629675700004 meters Centerline goodness [0,1] 0.8229179316542394 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94656403e-01 7.81730078e-02 -6.74360478e-02 6.18181674e+00] [-7.84201266e-02 9.96919877e-01 -1.02105330e-03 -2.59654049e-01] [ 6.71485176e-02 6.30394061e-03 9.97723076e-01 -1.52093994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43629675700004 meters Centerline goodness [0,1] 0.8217272220471677 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94660272e-01 7.80066046e-02 -6.75715420e-02 6.18152817e+00] [-7.82646170e-02 9.96931927e-01 -1.17550319e-03 -2.58178383e-01] [ 6.72725306e-02 6.45768717e-03 9.97713739e-01 -1.51989676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46629675700004 meters Centerline goodness [0,1] 0.8232537919041638 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94668283e-01 7.78491326e-02 -6.76351905e-02 6.18156587e+00] [-7.81208800e-02 9.96942941e-01 -1.37825264e-03 -2.56995798e-01] [ 6.73211300e-02 6.65462480e-03 9.97709167e-01 -1.51959818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49629675700004 meters Centerline goodness [0,1] 0.8252354503743058 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.26, Z:-1.52 [[ 9.94681780e-01 7.75902721e-02 -6.77340777e-02 6.18158236e+00] [-7.78761400e-02 9.96961780e-01 -1.58622873e-03 -2.55813682e-01] [ 6.74052108e-02 6.85266134e-03 9.97702149e-01 -1.51913777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52629675700004 meters Centerline goodness [0,1] 0.8244453000914473 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.25, Z:-1.52 [[ 9.94714197e-01 7.70329361e-02 -6.78939880e-02 6.18146946e+00] [-7.73257611e-02 9.97004446e-01 -1.69164502e-03 -2.54834987e-01] [ 6.75602955e-02 6.93265761e-03 9.97691107e-01 -1.51790596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.556296757 meters Centerline goodness [0,1] 0.8251746567092266 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.25, Z:-1.52 [[ 9.94717218e-01 7.68521161e-02 -6.80544522e-02 6.18153315e+00] [-7.71421335e-02 9.97018757e-01 -1.63996777e-03 -2.54944033e-01] [ 6.77255303e-02 6.88116981e-03 9.97680260e-01 -1.51737430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.586296757 meters Centerline goodness [0,1] 0.8275712843198538 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.25, Z:-1.52 [[ 9.94754463e-01 7.60192359e-02 -6.84443917e-02 6.18257954e+00] [-7.63431538e-02 9.97079337e-01 -2.12557312e-03 -2.54350549e-01] [ 6.80829043e-02 7.33968407e-03 9.97652669e-01 -1.51730016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61629675700001 meters Centerline goodness [0,1] 0.8278075891146033 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.25, Z:-1.52 [[ 9.94789491e-01 7.53175342e-02 -6.87105405e-02 6.18362071e+00] [-7.57110630e-02 9.97124862e-01 -3.13756591e-03 -2.51152531e-01] [ 6.82766745e-02 8.32336565e-03 9.97631704e-01 -1.51771937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64629675700002 meters Centerline goodness [0,1] 0.8268754170241159 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.25, Z:-1.52 [[ 9.94803900e-01 7.50855222e-02 -6.87558364e-02 6.18396224e+00] [-7.55197969e-02 9.97137307e-01 -3.73514512e-03 -2.48780836e-01] [ 6.82785542e-02 8.90816373e-03 9.97626525e-01 -1.51796566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67629675700002 meters Centerline goodness [0,1] 0.8259390503189228 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.25, Z:-1.52 [[ 9.94740732e-01 7.62782972e-02 -6.83556624e-02 6.18439979e+00] [-7.66441042e-02 9.97054746e-01 -2.74116330e-03 -2.45048416e-01] [ 6.79452464e-02 7.96580530e-03 9.97657250e-01 -1.51830064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70629675700002 meters Centerline goodness [0,1] 0.8292838874680307 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.24, Z:-1.52 [[ 9.94728554e-01 7.63960506e-02 -6.84013686e-02 6.18439312e+00] [-7.67940064e-02 9.97041833e-01 -3.20362835e-03 -2.43031806e-01] [ 6.79542814e-02 8.43955573e-03 9.97652740e-01 -1.51833412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73629675700002 meters Centerline goodness [0,1] 0.8286804721181709 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.24, Z:-1.52 [[ 9.94723353e-01 7.64630080e-02 -6.84021823e-02 6.18440984e+00] [-7.68958586e-02 9.97032214e-01 -3.71368577e-03 -2.40930692e-01] [ 6.79152196e-02 8.95393449e-03 9.97650916e-01 -1.51848582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76629675700002 meters Centerline goodness [0,1] 0.8289534992079024 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.24, Z:-1.52 [[ 9.94462324e-01 7.98874194e-02 -6.82838730e-02 6.18518429e+00] [-8.01243896e-02 9.96784602e-01 -7.34245633e-04 -2.38605494e-01] [ 6.80056562e-02 6.20138326e-03 9.97665662e-01 -1.51862058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79629675700002 meters Centerline goodness [0,1] 0.8289467554851633 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94411342e-01 8.07094013e-02 -6.80593491e-02 6.18405736e+00] [-8.09567239e-02 9.96717230e-01 -8.79139068e-04 -2.34459336e-01] [ 6.77649711e-02 6.38408780e-03 9.97680887e-01 -1.51779294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82629675700002 meters Centerline goodness [0,1] 0.828213588623478 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94400843e-01 8.08540021e-02 -6.80411132e-02 6.18375025e+00] [-8.11142972e-02 9.96704235e-01 -1.06699088e-03 -2.33014159e-01] [ 6.77305952e-02 6.58012370e-03 9.97681948e-01 -1.51743251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85629675700002 meters Centerline goodness [0,1] 0.8299835788792007 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94391721e-01 8.10134630e-02 -6.79847355e-02 6.18305628e+00] [-8.12884668e-02 9.96689790e-01 -1.28392038e-03 -2.31015866e-01] [ 6.76556768e-02 6.80309471e-03 9.97685535e-01 -1.51660045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88629675700003 meters Centerline goodness [0,1] 0.8323983655377796 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94400673e-01 8.08813291e-02 -6.80111215e-02 6.18317549e+00] [-8.11701755e-02 9.96699144e-01 -1.48984088e-03 -2.30151679e-01] [ 6.76661263e-02 7.00197345e-03 9.97683451e-01 -1.51654397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91629675700003 meters Centerline goodness [0,1] 0.8335062599432801 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94423843e-01 8.06395715e-02 -6.79593922e-02 6.18286375e+00] [-8.09462379e-02 9.96716904e-01 -1.76642261e-03 -2.28614837e-01] [ 6.75938314e-02 7.25762989e-03 9.97686524e-01 -1.51597584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94629675700003 meters Centerline goodness [0,1] 0.8310902837092269 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94431553e-01 8.05241149e-02 -6.79834732e-02 6.18268261e+00] [-8.08317853e-02 9.96726163e-01 -1.78257556e-03 -2.28166495e-01] [ 6.76173661e-02 7.26787489e-03 9.97684855e-01 -1.51545686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97629675700003 meters Centerline goodness [0,1] 0.8302376902211392 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.52 [[ 9.94440126e-01 8.04849062e-02 -6.79044542e-02 6.18237657e+00] [-8.07927350e-02 9.96729308e-01 -1.79476850e-03 -2.27969731e-01] [ 6.75379078e-02 7.27097639e-03 9.97690214e-01 -1.51514947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00629675700003 meters Centerline goodness [0,1] 0.8285694670114653 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.51 [[ 9.94464670e-01 8.03101542e-02 -6.77517535e-02 6.18148492e+00] [-8.06275033e-02 9.96742380e-01 -1.95816715e-03 -2.26569969e-01] [ 6.73737833e-02 7.40998277e-03 9.97700288e-01 -1.51397775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03629675700003 meters Centerline goodness [0,1] 0.8284314842237157 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.23, Z:-1.51 [[ 9.94471528e-01 8.02669307e-02 -6.77022854e-02 6.18115205e+00] [-8.05931129e-02 9.96744881e-01 -2.09599954e-03 -2.25557158e-01] [ 6.73136669e-02 7.54074980e-03 9.97703366e-01 -1.51350452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06629675700003 meters Centerline goodness [0,1] 0.8269777383632353 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.22, Z:-1.51 [[ 9.94470942e-01 8.05637511e-02 -6.73574547e-02 6.17971379e+00] [-8.09003075e-02 9.96719592e-01 -2.27941995e-03 -2.22607984e-01] [ 6.69528561e-02 7.71605570e-03 9.97726304e-01 -1.51234906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09629675700003 meters Centerline goodness [0,1] 0.8261570604532861 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.22, Z:-1.51 [[ 9.94474856e-01 8.06038101e-02 -6.72516678e-02 6.17949847e+00] [-8.09675031e-02 9.96713097e-01 -2.69543979e-03 -2.20458041e-01] [ 6.68133554e-02 8.12574673e-03 9.97732403e-01 -1.51230667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12629675700003 meters Centerline goodness [0,1] 0.824816035393436 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.22, Z:-1.51 [[ 9.94207786e-01 8.37082079e-02 -6.74078200e-02 6.18121444e+00] [-8.38933755e-02 9.96474733e-01 8.40709211e-05 -2.18812583e-01] [ 6.71772269e-02 5.57148559e-03 9.97725503e-01 -1.51291619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15629675700004 meters Centerline goodness [0,1] 0.8231522786881571 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.22, Z:-1.51 [[ 9.93898501e-01 8.72496617e-02 -6.74778886e-02 6.18258976e+00] [-8.72475375e-02 9.96182193e-01 2.98412692e-03 -2.17132167e-01] [ 6.74806351e-02 2.92136034e-03 9.97716307e-01 -1.51350985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18629675700004 meters Centerline goodness [0,1] 0.8216799730124817 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.21, Z:-1.51 [[ 9.93879556e-01 8.74856642e-02 -6.74513674e-02 6.18266554e+00] [-8.75239138e-02 9.96159543e-01 2.39358554e-03 -2.14417073e-01] [ 6.74017277e-02 3.52467193e-03 9.97719692e-01 -1.51379817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21629675700004 meters Centerline goodness [0,1] 0.8214006303507164 Centerline is valid? [False, False] Translation: X:6.18, Y:-0.21, Z:-1.51 [[ 9.93525546e-01 9.13742187e-02 -6.75110427e-02 6.18433824e+00] [-9.12489579e-02 9.95815842e-01 4.94324808e-03 -2.10130906e-01] [ 6.76802513e-02 1.24906904e-03 9.97706281e-01 -1.51499978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24629675700004 meters Centerline goodness [0,1] 0.820762476381016 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.21, Z:-1.52 [[ 9.93497693e-01 9.15420245e-02 -6.76933618e-02 6.18527947e+00] [-9.14833370e-02 9.95798682e-01 3.97296074e-03 -2.06550913e-01] [ 6.77726533e-02 2.24568730e-03 9.97698263e-01 -1.51601706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27629675700004 meters Centerline goodness [0,1] 0.8196108949416343 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 9.93097050e-01 9.58017570e-02 -6.76777047e-02 6.18674163e+00] [-9.55687813e-02 9.95400420e-01 6.67922135e-03 -2.02846478e-01] [ 6.80062968e-02 -1.65239265e-04 9.97684878e-01 -1.51741469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.306296757 meters Centerline goodness [0,1] 0.814534561189393 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 9.93054025e-01 9.61634411e-02 -6.77959823e-02 6.18721385e+00] [-9.59718866e-02 9.95365449e-01 6.08440703e-03 -2.00378699e-01] [ 6.80668758e-02 4.64363430e-04 9.97680653e-01 -1.51797511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.336296757 meters Centerline goodness [0,1] 0.807639320949249 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 9.92976096e-01 9.67704266e-02 -6.80731787e-02 6.18815236e+00] [-9.66460909e-02 9.95305614e-01 5.12523254e-03 -1.96823220e-01] [ 6.82495879e-02 1.48977322e-03 9.97667166e-01 -1.51918559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36629675700001 meters Centerline goodness [0,1] 0.8060748701096851 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 9.92986358e-01 9.65714050e-02 -6.82059793e-02 6.18906338e+00] [-9.64949914e-02 9.95323648e-01 4.42179697e-03 -1.95034938e-01] [ 6.83140433e-02 2.19075132e-03 9.97661462e-01 -1.52005087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39629675700002 meters Centerline goodness [0,1] 0.8043386455068792 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.52 [[ 9.93022251e-01 9.58630333e-02 -6.86810657e-02 6.19081477e+00] [-9.58463224e-02 9.95389827e-01 3.54620766e-03 -1.92979935e-01] [ 6.87043843e-02 3.06136446e-03 9.97632365e-01 -1.52094837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42629675700002 meters Centerline goodness [0,1] 0.7963317881975397 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.52 [[ 9.93053945e-01 9.52967542e-02 -6.90100733e-02 6.19200623e+00] [-9.52971633e-02 9.95443420e-01 3.29376326e-03 -1.93251646e-01] [ 6.90095083e-02 3.30557963e-03 9.97610526e-01 -1.52144180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45629675700002 meters Centerline goodness [0,1] 0.8085640060915524 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.52 [[ 9.93454442e-01 9.05683606e-02 -6.96106548e-02 6.19282619e+00] [-9.08490032e-02 9.95864299e-01 -8.69821021e-04 -1.93988195e-01] [ 6.92439877e-02 7.18818615e-03 9.97573857e-01 -1.52181043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48629675700002 meters Centerline goodness [0,1] 0.8085723276094579 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.19, Z:-1.52 [[ 9.93791780e-01 8.64822045e-02 -6.99909042e-02 6.19273926e+00] [-8.70234241e-02 9.96195107e-01 -4.71510602e-03 -1.93899684e-01] [ 6.93168235e-02 1.07766817e-02 9.97536486e-01 -1.52168204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51629675700002 meters Centerline goodness [0,1] 0.8111136209622769 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 0.994181 0.0815502 -0.07038256 6.19340625] [-0.08234157 0.99656867 -0.00841194 -0.19576553] [ 0.06945506 0.01415841 0.9974846 -1.52194036] [ 0. 0. 0. 1. ]] SLAMing on 185.54629675700002 meters Centerline goodness [0,1] 0.8130832653800851 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 0.99421149 0.08084664 -0.07076251 6.19457835] [-0.08162516 0.99662957 -0.00817542 -0.1976347 ] [ 0.06986306 0.01390409 0.99745969 -1.5220689 ] [ 0. 0. 0. 1. ]] SLAMing on 185.57629675700002 meters Centerline goodness [0,1] 0.8130832653800851 Centerline is valid? [False, False] Translation: X:6.19, Y:-0.20, Z:-1.52 [[ 0.99421149 0.08084664 -0.07076251 6.19457835] [-0.08162516 0.99662957 -0.00817542 -0.1976347 ] [ 0.06986306 0.01390409 0.99745969 -1.5220689 ] [ 0. 0. 0. 1. ]] SLAMing on 185.60629675700002 meters Centerline goodness [0,1] 0.8092956396741735 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.20, Z:-1.52 [[ 0.99455934 0.07614448 -0.0710896 6.19523484] [-0.07714744 0.99695375 -0.01146696 -0.20020986] [ 0.0699999 0.01688895 0.99740402 -1.52237001] [ 0. 0. 0. 1. ]] SLAMing on 185.63629675700003 meters Centerline goodness [0,1] 0.8109819032546618 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.20, Z:-1.52 [[ 0.99457315 0.07573648 -0.07133181 6.19580259] [-0.07668482 0.99699853 -0.01064756 -0.20378624] [ 0.0703113 0.01605984 0.99739581 -1.52203566] [ 0. 0. 0. 1. ]] SLAMing on 185.66629675700003 meters Centerline goodness [0,1] 0.8111000440110259 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.21, Z:-1.52 [[ 0.99484652 0.07173893 -0.07165137 6.19547943] [-0.0728372 0.9972613 -0.01283131 -0.20933679] [ 0.07053463 0.01798407 0.9973472 -1.52105961] [ 0. 0. 0. 1. ]] SLAMing on 185.69629675700003 meters Centerline goodness [0,1] 0.8112546681821344 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.21, Z:-1.52 [[ 0.99483103 0.07191234 -0.07169267 6.19544482] [-0.07293402 0.99726775 -0.01173298 -0.21292767] [ 0.07065304 0.01690116 0.99735776 -1.52060475] [ 0. 0. 0. 1. ]] SLAMing on 185.72629675700003 meters Centerline goodness [0,1] 0.8133892187681919 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.22, Z:-1.52 [[ 0.99479227 0.07248392 -0.07165485 6.19541908] [-0.07340344 0.99724934 -0.01028022 -0.21692401] [ 0.07071261 0.01548639 0.99737651 -1.52039847] [ 0. 0. 0. 1. ]] SLAMing on 185.75629675700003 meters Centerline goodness [0,1] 0.8137254901960784 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.22, Z:-1.52 [[ 0.99475791 0.07291383 -0.07169572 6.19554294] [-0.07379892 0.99722527 -0.00977114 -0.21771922] [ 0.07078433 0.01501099 0.99737869 -1.52044001] [ 0. 0. 0. 1. ]] SLAMing on 185.78629675700003 meters Centerline goodness [0,1] 0.8107383489147413 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.22, Z:-1.52 [[ 9.94417729e-01 7.75431067e-02 -7.15573046e-02 6.19616151e+00] [-7.80923028e-02 9.96934065e-01 -4.90524045e-03 -2.20886080e-01] [ 7.09575470e-02 1.04659328e-02 9.97424429e-01 -1.52063886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81629675700003 meters Centerline goodness [0,1] 0.8078922219891382 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.22, Z:-1.52 [[ 9.94055173e-01 8.17726744e-02 -7.18856191e-02 6.19829816e+00] [-8.20426135e-02 9.96628497e-01 -8.05540544e-04 -2.23368178e-01] [ 7.15773853e-02 6.69843581e-03 9.97412557e-01 -1.52172791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84629675700003 meters Centerline goodness [0,1] 0.8082037834800524 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.22, Z:-1.52 [[ 9.93998428e-01 8.23884409e-02 -7.19671470e-02 6.19848322e+00] [-8.26448952e-02 9.96578886e-01 -5.87980911e-04 -2.23508944e-01] [ 7.16724963e-02 6.53216942e-03 9.97406830e-01 -1.52200884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87629675700003 meters Centerline goodness [0,1] 0.8062144769599324 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.22, Z:-1.52 [[ 9.93961326e-01 8.28223140e-02 -7.19815660e-02 6.19887517e+00] [-8.30834798e-02 9.96542388e-01 -6.36541247e-04 -2.23427423e-01] [ 7.16799618e-02 6.61317636e-03 9.97405759e-01 -1.52273092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90629675700004 meters Centerline goodness [0,1] 0.8082310706492409 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.23, Z:-1.52 [[ 9.93601431e-01 8.67890539e-02 -7.22762541e-02 6.20127971e+00] [-8.67911650e-02 9.96221650e-01 3.11732771e-03 -2.25390823e-01] [ 7.22737190e-02 3.17555902e-03 9.97379780e-01 -1.52433563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93629675700004 meters Centerline goodness [0,1] 0.8102107728337237 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.23, Z:-1.53 [[ 9.93573808e-01 8.70351956e-02 -7.23599473e-02 6.20189508e+00] [-8.70449365e-02 9.96199794e-01 3.02480715e-03 -2.25258841e-01] [ 7.23482293e-02 3.29319785e-03 9.97373996e-01 -1.52505706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96629675700004 meters Centerline goodness [0,1] 0.8104866105943819 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.23, Z:-1.53 [[ 9.93356866e-01 8.90115871e-02 -7.29319808e-02 6.20368430e+00] [-8.88618667e-02 9.96029850e-01 5.30154658e-03 -2.28387233e-01] [ 7.31143289e-02 1.21454426e-03 9.97322826e-01 -1.52532892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99629675700004 meters Centerline goodness [0,1] 0.8135469085926241 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.23, Z:-1.52 [[ 9.93621832e-01 8.59828142e-02 -7.29562292e-02 6.20195542e+00] [-8.60242041e-02 9.96289705e-01 2.58052394e-03 -2.30299924e-01] [ 7.29074208e-02 3.71193664e-03 9.97331805e-01 -1.52415725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02629675700004 meters Centerline goodness [0,1] 0.8087712647490878 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.23, Z:-1.52 [[ 9.93624746e-01 8.57418919e-02 -7.31996736e-02 6.20248421e+00] [-8.57382436e-02 9.96312565e-01 3.19787942e-03 -2.33116902e-01] [ 7.32039468e-02 3.09851932e-03 9.97312178e-01 -1.52385508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.056296757 meters Centerline goodness [0,1] 0.8131116389548694 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.24, Z:-1.52 [[ 9.93638309e-01 8.51924052e-02 -7.36557214e-02 6.20376101e+00] [-8.51539731e-02 9.96361054e-01 3.66766850e-03 -2.35877383e-01] [ 7.37001497e-02 2.62774140e-03 9.97276984e-01 -1.52388399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.086296757 meters Centerline goodness [0,1] 0.8094270135833174 Centerline is valid? [False, False] Translation: X:6.20, Y:-0.24, Z:-1.52 [[ 9.93962824e-01 8.07467965e-02 -7.42822925e-02 6.20498041e+00] [-8.09325823e-02 9.96719447e-01 5.10542357e-04 -2.38707649e-01] [ 7.40798302e-02 5.50439763e-03 9.97237123e-01 -1.52423093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11629675700001 meters Centerline goodness [0,1] 0.8119818326003894 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.24, Z:-1.52 [[ 9.93971919e-01 8.01593768e-02 -7.47950383e-02 6.20643014e+00] [-8.03118508e-02 9.96769312e-01 9.71754220e-04 -2.41135127e-01] [ 7.46312941e-02 5.04103155e-03 9.97198455e-01 -1.52424559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14629675700002 meters Centerline goodness [0,1] 0.8097019428019789 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.94029367e-01 7.89048362e-02 -7.53634103e-02 6.20814558e+00] [-7.89625702e-02 9.96875114e-01 2.21797187e-03 -2.46256805e-01] [ 7.53029169e-02 3.74615940e-03 9.97153668e-01 -1.52316224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17629675700002 meters Centerline goodness [0,1] 0.8162051033982344 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.94024467e-01 7.87385788e-02 -7.56015599e-02 6.20860494e+00] [-7.87477036e-02 9.96890461e-01 2.86494247e-03 -2.48718258e-01] [ 7.55920554e-02 3.10562632e-03 9.97133991e-01 -1.52275829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20629675700002 meters Centerline goodness [0,1] 0.816086672631859 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.94012104e-01 7.85332626e-02 -7.59767332e-02 6.20913118e+00] [-7.84775117e-02 9.96908930e-01 3.72369723e-03 -2.51378999e-01] [ 7.60343178e-02 2.26106484e-03 9.97102638e-01 -1.52174410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23629675700002 meters Centerline goodness [0,1] 0.816670693404204 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.93997417e-01 7.89328764e-02 -7.57544465e-02 6.20830861e+00] [-7.88522640e-02 9.96878048e-01 4.05923514e-03 -2.51718978e-01] [ 7.58383519e-02 1.93854037e-03 9.97118241e-01 -1.52115470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26629675700002 meters Centerline goodness [0,1] 0.8156650911546253 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.93980916e-01 7.92217505e-02 -7.56693697e-02 6.20784536e+00] [-7.91349243e-02 9.96855277e-01 4.14983564e-03 -2.51322580e-01] [ 7.57601677e-02 1.86323241e-03 9.97124328e-01 -1.52077426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29629675700002 meters Centerline goodness [0,1] 0.816375141351683 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.93963405e-01 7.95567216e-02 -7.55478469e-02 6.20742981e+00] [-7.94773084e-02 9.96828400e-01 4.06184186e-03 -2.50248915e-01] [ 7.56313862e-02 1.96701737e-03 9.97133905e-01 -1.52067641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32629675700002 meters Centerline goodness [0,1] 0.8169947145624566 Centerline is valid? [False, False] Translation: X:6.21, Y:-0.25, Z:-1.52 [[ 9.93619432e-01 8.37693604e-02 -7.55189986e-02 6.20798423e+00] [-8.34276894e-02 9.96484291e-01 7.67327851e-03 -2.49048090e-01] [ 7.58962814e-02 -1.32394307e-03 9.97114839e-01 -1.52051719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35629675700002 meters Centerline goodness [0,1] 0.8224310152561274 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.25, Z:-1.53 [[ 9.93462703e-01 9.00917794e-02 -7.01094113e-02 6.21860148e+00] [-9.02163979e-02 9.95921212e-01 1.39335934e-03 -2.45989873e-01] [ 6.99489800e-02 4.94076801e-03 9.97538335e-01 -1.52504532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38629675700003 meters Centerline goodness [0,1] 0.8219152067606703 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.93400416e-01 9.09792469e-02 -6.98454748e-02 6.21792176e+00] [-9.11102649e-02 9.95839943e-01 1.31423056e-03 -2.43945058e-01] [ 6.96744814e-02 5.05808252e-03 9.97556957e-01 -1.52517793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41629675700003 meters Centerline goodness [0,1] 0.8224564728177188 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.93329854e-01 9.17603447e-02 -6.98272165e-02 6.21783688e+00] [-9.18976247e-02 9.95767675e-01 1.25067284e-03 -2.41675934e-01] [ 6.96464472e-02 5.17462466e-03 9.97558317e-01 -1.52534373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44629675700003 meters Centerline goodness [0,1] 0.8197328676609401 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.92948403e-01 9.57792041e-02 -6.98556521e-02 6.21961196e+00] [-9.57005238e-02 9.95400091e-01 4.47989725e-03 -2.39879850e-01] [ 6.99634034e-02 2.23691567e-03 9.97547051e-01 -1.52655734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47629675700003 meters Centerline goodness [0,1] 0.8191419297172696 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.92928081e-01 9.57886295e-02 -7.01310529e-02 6.22062890e+00] [-9.57401460e-02 9.95398081e-01 4.06009258e-03 -2.38738273e-01] [ 7.01972262e-02 2.68297731e-03 9.97529524e-01 -1.52726959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50629675700003 meters Centerline goodness [0,1] 0.8148635626483653 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.92928289e-01 9.55125532e-02 -7.05036558e-02 6.22220047e+00] [-9.55055591e-02 9.95422821e-01 3.47788717e-03 -2.37605242e-01] [ 7.05131299e-02 3.28019852e-03 9.97505458e-01 -1.52832226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53629675700003 meters Centerline goodness [0,1] 0.8166701994865635 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.92971122e-01 9.48336233e-02 -7.08161990e-02 6.22348020e+00] [-9.48470207e-02 9.95486777e-01 3.18098748e-03 -2.37729621e-01] [ 7.07982543e-02 3.55807678e-03 9.97484309e-01 -1.52872947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56629675700003 meters Centerline goodness [0,1] 0.8162157101395 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.92999134e-01 9.41199186e-02 -7.13733949e-02 6.22516078e+00] [-9.41502268e-02 9.95553640e-01 2.94695166e-03 -2.38146381e-01] [ 7.13334100e-02 3.79350087e-03 9.97445314e-01 -1.52900734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59629675700003 meters Centerline goodness [0,1] 0.8211530269323615 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.93327165e-01 9.05012029e-02 -7.14889834e-02 6.22414966e+00] [-9.07826290e-02 9.95870492e-01 -6.90652379e-04 -2.36754319e-01] [ 7.11312642e-02 7.17600163e-03 9.97441150e-01 -1.52833444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62629675700003 meters Centerline goodness [0,1] 0.825158698081358 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.93691612e-01 8.61782710e-02 -7.17654921e-02 6.22353624e+00] [-8.66886549e-02 9.96227334e-01 -4.02199066e-03 -2.37488949e-01] [ 7.11481366e-02 1.02178724e-02 9.97413424e-01 -1.52707121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65629675700004 meters Centerline goodness [0,1] 0.8244577823477367 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.93839229e-01 8.44631518e-02 -7.17604500e-02 6.22429902e+00] [-8.49260851e-02 9.96381387e-01 -3.41918964e-03 -2.41731653e-01] [ 7.12119812e-02 9.49245887e-03 9.97416035e-01 -1.52604780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68629675700004 meters Centerline goodness [0,1] 0.8240760648844931 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.93859895e-01 8.40465954e-02 -7.19630395e-02 6.22478331e+00] [-8.44731227e-02 9.96421541e-01 -2.89885875e-03 -2.43891373e-01] [ 7.14618836e-02 8.96000213e-03 9.97403087e-01 -1.52558020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71629675700004 meters Centerline goodness [0,1] 0.8201752274587204 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.53 [[ 9.94185400e-01 8.00918973e-02 -7.19769322e-02 6.22409390e+00] [-8.07395721e-02 9.96716383e-01 -6.12970870e-03 -2.44877931e-01] [ 7.12496476e-02 1.19054536e-02 9.97387461e-01 -1.52509686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74629675700004 meters Centerline goodness [0,1] 0.8231748481049281 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.25, Z:-1.52 [[ 9.94179352e-01 8.00677080e-02 -7.20872963e-02 6.22421518e+00] [-8.06781804e-02 9.96724514e-01 -5.59229865e-03 -2.46399944e-01] [ 7.14034128e-02 1.13756197e-02 9.97382649e-01 -1.52464694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77629675700004 meters Centerline goodness [0,1] 0.8215707212891952 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.25, Z:-1.52 [[ 9.94157608e-01 8.06254928e-02 -7.17647536e-02 6.22287852e+00] [-8.11634294e-02 9.96690160e-01 -4.60679623e-03 -2.47814491e-01] [ 7.11557986e-02 1.04045550e-02 9.97410947e-01 -1.52333321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.806296757 meters Centerline goodness [0,1] 0.8206641352456043 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.25, Z:-1.52 [[ 9.94136212e-01 8.09837320e-02 -7.16577093e-02 6.22239878e+00] [-8.15036175e-02 9.96663525e-01 -4.35634631e-03 -2.47300969e-01] [ 7.10658320e-02 1.01711641e-02 9.97419769e-01 -1.52287040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.836296757 meters Centerline goodness [0,1] 0.8193033909397194 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.25, Z:-1.52 [[ 9.94051105e-01 8.22300300e-02 -7.14186439e-02 6.22130565e+00] [-8.27200301e-02 9.96565094e-01 -3.92558228e-03 -2.45539018e-01] [ 7.08505268e-02 9.80998177e-03 9.97438703e-01 -1.52229715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86629675700001 meters Centerline goodness [0,1] 0.8178675048355899 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.52 [[ 9.94013332e-01 8.27811300e-02 -7.13076512e-02 6.22102857e+00] [-8.32743915e-02 9.96518758e-01 -3.96740759e-03 -2.44105250e-01] [ 7.07309855e-02 9.88175730e-03 9.97446479e-01 -1.52238336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89629675700002 meters Centerline goodness [0,1] 0.8210981472087349 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.52 [[ 9.93978814e-01 8.31747590e-02 -7.13307536e-02 6.22124191e+00] [-8.36902455e-02 9.96482697e-01 -4.26355767e-03 -2.42315900e-01] [ 7.07252414e-02 1.02075743e-02 9.97443605e-01 -1.52276829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92629675700002 meters Centerline goodness [0,1] 0.819999516452697 Centerline is valid? [False, False] Translation: X:6.22, Y:-0.24, Z:-1.52 [[ 9.93649310e-01 8.71644904e-02 -7.11575690e-02 6.22294392e+00] [-8.74773330e-02 9.96165680e-01 -1.28612740e-03 -2.40419323e-01] [ 7.07726235e-02 7.50263396e-03 9.97464258e-01 -1.52465053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95629675700002 meters Centerline goodness [0,1] 0.821962831387902 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.93333043e-01 9.05161639e-02 -7.13883014e-02 6.22606536e+00] [-9.06574255e-02 9.95881333e-01 1.26549670e-03 -2.38445358e-01] [ 7.12088247e-02 5.21481993e-03 9.97447798e-01 -1.52723328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98629675700002 meters Centerline goodness [0,1] 0.8221396336607381 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.93327627e-01 9.04953554e-02 -7.14899763e-02 6.22686701e+00] [-9.06682590e-02 9.95880805e-01 8.29499480e-04 -2.37048430e-01] [ 7.12705611e-02 5.65790694e-03 9.97440973e-01 -1.52807476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01629675700002 meters Centerline goodness [0,1] 0.8240025118346054 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.93331258e-01 9.03768663e-02 -7.15893447e-02 6.22742673e+00] [-9.05655241e-02 9.95890310e-01 6.12933511e-04 -2.36533743e-01] [ 7.13505297e-02 5.87468050e-03 9.97434003e-01 -1.52846818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04629675700002 meters Centerline goodness [0,1] 0.8234339028232158 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.93409924e-01 8.92012532e-02 -7.19712449e-02 6.22936823e+00] [-8.94141447e-02 9.95994498e-01 2.64810786e-04 -2.37685515e-01] [ 7.17065854e-02 6.17218164e-03 9.97406672e-01 -1.52926903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07629675700002 meters Centerline goodness [0,1] 0.820342274547882 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.93424388e-01 8.88146864e-02 -7.22491249e-02 6.23031642e+00] [-8.90093512e-02 9.96030651e-01 5.27198268e-04 -2.39418014e-01] [ 7.20091658e-02 5.90711612e-03 9.97386478e-01 -1.52941147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10629675700002 meters Centerline goodness [0,1] 0.8197991251435693 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.93786502e-01 8.45245041e-02 -7.24154502e-02 6.23014480e+00] [-8.49479011e-02 9.96381512e-01 -2.78150952e-03 -2.40932842e-01] [ 7.19183101e-02 8.91576712e-03 9.97370676e-01 -1.52913777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13629675700003 meters Centerline goodness [0,1] 0.8146554902780168 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.24, Z:-1.53 [[ 9.94131012e-01 8.01034161e-02 -7.27115820e-02 6.23041735e+00] [-8.07222786e-02 9.96720855e-01 -5.60811777e-03 -2.43524144e-01] [ 7.20239208e-02 1.14446484e-02 9.97337242e-01 -1.52851725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16629675700003 meters Centerline goodness [0,1] 0.8158667489204194 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.25, Z:-1.53 [[ 9.94134281e-01 7.98173745e-02 -7.29809398e-02 6.23089135e+00] [-8.03649742e-02 9.96754922e-01 -4.59318561e-03 -2.46556801e-01] [ 7.23774949e-02 1.04313546e-02 9.97322759e-01 -1.52761686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19629675700003 meters Centerline goodness [0,1] 0.8092227593901078 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.25, Z:-1.52 [[ 9.94230452e-01 7.83867953e-02 -7.32210277e-02 6.23195769e+00] [-7.87698551e-02 9.96890048e-01 -2.35413952e-03 -2.52574092e-01] [ 7.28087803e-02 8.10816694e-03 9.97312959e-01 -1.52489787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22629675700003 meters Centerline goodness [0,1] 0.8092318428792183 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.94234808e-01 7.83644426e-02 -7.31857961e-02 6.23185155e+00] [-7.86888844e-02 9.96898008e-01 -1.55591815e-03 -2.55314253e-01] [ 7.28368457e-02 7.30585664e-03 9.97317110e-01 -1.52446220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25629675700003 meters Centerline goodness [0,1] 0.8086793864571642 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.94230821e-01 7.82875364e-02 -7.33221366e-02 6.23207181e+00] [-7.85061983e-02 9.96913620e-01 -1.00524676e-04 -2.59204667e-01] [ 7.30879668e-02 5.85618693e-03 9.97308304e-01 -1.52328789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28629675700003 meters Centerline goodness [0,1] 0.8118082102790896 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.94214081e-01 7.85886191e-02 -7.32269814e-02 6.23188513e+00] [-7.87808861e-02 9.96891921e-01 2.63471713e-04 -2.59962907e-01] [ 7.30200921e-02 5.50693919e-03 9.97315266e-01 -1.52325468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31629675700003 meters Centerline goodness [0,1] 0.8059764623920778 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.93904844e-01 8.24967961e-02 -7.31261905e-02 6.23309323e+00] [-8.24011965e-02 9.96589839e-01 4.32841309e-03 -2.61605389e-01] [ 7.32338986e-02 1.72365485e-03 9.97313303e-01 -1.52382314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34629675700003 meters Centerline goodness [0,1] 0.803081725171551 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.93877340e-01 8.27765909e-02 -7.31838018e-02 6.23340010e+00] [-8.27045206e-02 9.96566005e-01 4.01984646e-03 -2.60467927e-01] [ 7.32652382e-02 2.05739693e-03 9.97310369e-01 -1.52431378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37629675700003 meters Centerline goodness [0,1] 0.8032709934036614 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.93816810e-01 8.33291015e-02 -7.33785338e-02 6.23373592e+00] [-8.32678761e-02 9.96519575e-01 3.89849457e-03 -2.59487311e-01] [ 7.34480033e-02 2.23568523e-03 9.97296542e-01 -1.52461200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40629675700004 meters Centerline goodness [0,1] 0.7967003067181162 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.52 [[ 9.93418100e-01 8.84046749e-02 -7.28360685e-02 6.23312506e+00] [-8.80622007e-02 9.96083601e-01 7.90628619e-03 -2.58629014e-01] [ 7.32497660e-02 -1.44014332e-03 9.97312588e-01 -1.52460527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43629675700004 meters Centerline goodness [0,1] 0.794121261274546 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.53 [[ 9.93317129e-01 8.93221905e-02 -7.30932784e-02 6.23371305e+00] [-8.89984231e-02 9.96002149e-01 7.68108396e-03 -2.56432958e-01] [ 7.34871536e-02 -1.12456575e-03 9.97295530e-01 -1.52524097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46629675700004 meters Centerline goodness [0,1] 0.794121261274546 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.26, Z:-1.53 [[ 9.93317129e-01 8.93221905e-02 -7.30932784e-02 6.23371305e+00] [-8.89984231e-02 9.96002149e-01 7.68108396e-03 -2.56432958e-01] [ 7.34871536e-02 -1.12456575e-03 9.97295530e-01 -1.52524097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49629675700004 meters Centerline goodness [0,1] 0.7917862662839479 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.25, Z:-1.53 [[ 9.92855477e-01 9.44737242e-02 -7.28883956e-02 6.23439221e+00] [-9.39165315e-02 9.95518840e-01 1.10419456e-02 -2.54246262e-01] [ 7.36049447e-02 -4.11763087e-03 9.97278977e-01 -1.52655103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52629675700004 meters Centerline goodness [0,1] 0.7857317849968151 Centerline is valid? [False, False] Translation: X:6.23, Y:-0.25, Z:-1.53 [[ 9.92786633e-01 9.51493894e-02 -7.29472060e-02 6.23478043e+00] [-9.46358513e-02 9.95456876e-01 1.04720362e-02 -2.52005490e-01] [ 7.36122056e-02 -3.49307667e-03 9.97280824e-01 -1.52760445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.556296757 meters Centerline goodness [0,1] 0.7820431626638087 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.25, Z:-1.53 [[ 0.99236801 0.0994674 -0.07288329 6.23649132] [-0.0987253 0.99502009 0.01372376 -0.250803 ] [ 0.0738854 -0.0064236 0.99724605 -1.5293323 ] [ 0. 0. 0. 1. ]] SLAMing on 187.586296757 meters Centerline goodness [0,1] 0.7710373727037958 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.25, Z:-1.53 [[ 0.99233161 0.09991813 -0.07276228 6.23633876] [-0.09918429 0.99497561 0.01363895 -0.24992111] [ 0.07375947 -0.00631748 0.99725605 -1.5296737 ] [ 0. 0. 0. 1. ]] SLAMing on 187.61629675700001 meters Centerline goodness [0,1] 0.770608882172281 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.25, Z:-1.53 [[ 9.92321926e-01 9.99970664e-02 -7.27858585e-02 6.23686862e+00] [-9.92735424e-02 9.94968596e-01 1.35002585e-02 -2.49803361e-01] [ 7.37696296e-02 -6.17089248e-03 9.97256217e-01 -1.53041389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64629675700002 meters Centerline goodness [0,1] 0.7715945424812672 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.25, Z:-1.53 [[ 0.99233096 0.09971937 -0.07304319 6.23779178] [-0.09898701 0.99499595 0.01358773 -0.25073768] [ 0.07403264 -0.0062532 0.99723621 -1.5307139 ] [ 0. 0. 0. 1. ]] SLAMing on 187.67629675700002 meters Centerline goodness [0,1] 0.7768142067184721 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.25, Z:-1.53 [[ 0.99235131 0.09918992 -0.07348636 6.23927441] [-0.09844758 0.99504841 0.01366499 -0.25208783] [ 0.07447792 -0.00632592 0.9972026 -1.53111543] [ 0. 0. 0. 1. ]] SLAMing on 187.70629675700002 meters Centerline goodness [0,1] 0.7792764124155488 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.25, Z:-1.53 [[ 9.92728269e-01 9.51114739e-02 -7.37861159e-02 6.23965298e+00] [-9.46216156e-02 9.95461928e-01 1.01143472e-02 -2.53488884e-01] [ 7.44132596e-02 -3.05903685e-03 9.97222798e-01 -1.53173087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73629675700002 meters Centerline goodness [0,1] 0.7780407237588128 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.26, Z:-1.53 [[ 9.93063020e-01 9.14770334e-02 -7.38768683e-02 6.23893272e+00] [-9.11917508e-02 9.95807087e-01 7.23261131e-03 -2.55657530e-01] [ 7.42287268e-02 -4.45477866e-04 9.97241143e-01 -1.53134559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76629675700002 meters Centerline goodness [0,1] 0.7796090834960093 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.26, Z:-1.53 [[ 9.93065504e-01 9.13090310e-02 -7.40511002e-02 6.23927559e+00] [-9.09745265e-02 9.95822005e-01 7.88480145e-03 -2.57865537e-01] [ 7.44616686e-02 -1.09336055e-03 9.97223277e-01 -1.53091199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79629675700002 meters Centerline goodness [0,1] 0.7797958273452599 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.26, Z:-1.53 [[ 9.93067250e-01 9.11563704e-02 -7.42155823e-02 6.23973591e+00] [-9.07786080e-02 9.95835210e-01 8.45456669e-03 -2.60063098e-01] [ 7.46771776e-02 -1.65876605e-03 9.97206382e-01 -1.53074857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82629675700002 meters Centerline goodness [0,1] 0.7803504069882867 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.26, Z:-1.53 [[ 9.93081666e-01 9.05753283e-02 -7.47322814e-02 6.24140890e+00] [-9.01524844e-02 9.95887134e-01 9.01919049e-03 -2.63102776e-01] [ 7.52418336e-02 -2.21949189e-03 9.97162845e-01 -1.53085714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85629675700002 meters Centerline goodness [0,1] 0.7792622133599203 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.27, Z:-1.53 [[ 9.93036167e-01 9.11265592e-02 -7.46667389e-02 6.24119400e+00] [-9.06400045e-02 9.95834650e-01 9.88636258e-03 -2.65644422e-01] [ 7.52566359e-02 -3.04972205e-03 9.97159535e-01 -1.53068936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88629675700003 meters Centerline goodness [0,1] 0.7780217586585487 Centerline is valid? [False, False] Translation: X:6.24, Y:-0.27, Z:-1.53 [[ 9.93009744e-01 9.14397208e-02 -7.46352790e-02 6.24113278e+00] [-9.09395747e-02 9.95805402e-01 1.00794697e-02 -2.66165862e-01] [ 7.52438779e-02 -3.22171110e-03 9.97159957e-01 -1.53082662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91629675700003 meters Centerline goodness [0,1] 0.7772866118657958 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-1.54 [[ 9.92992540e-01 9.52780140e-02 -6.99136237e-02 6.25417911e+00] [-9.52829125e-02 9.95444854e-01 3.27242933e-03 -2.66080921e-01] [ 6.99069475e-02 3.41207577e-03 9.97547681e-01 -1.53541383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94629675700003 meters Centerline goodness [0,1] 0.777408969527565 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-1.54 [[ 9.92948748e-01 9.56893465e-02 -6.99738075e-02 6.25431677e+00] [-9.56869812e-02 9.95405689e-01 3.39343754e-03 -2.65913575e-01] [ 6.99770420e-02 3.32607286e-03 9.97543057e-01 -1.53564227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97629675700003 meters Centerline goodness [0,1] 0.7718196096028719 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-1.54 [[ 9.92868221e-01 9.66591554e-02 -6.97832541e-02 6.25405084e+00] [-9.66398211e-02 9.95312686e-01 3.66099747e-03 -2.66162539e-01] [ 6.98100270e-02 3.10895315e-03 9.97555459e-01 -1.53636864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00629675700003 meters Centerline goodness [0,1] 0.7655992406454514 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-1.54 [[ 9.92828757e-01 9.69766054e-02 -6.99042041e-02 6.25437507e+00] [-9.69502448e-02 9.95282060e-01 3.77780624e-03 -2.66321871e-01] [ 6.99407590e-02 3.02651502e-03 9.97546556e-01 -1.53660297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03629675700003 meters Centerline goodness [0,1] 0.7573988121974348 Centerline is valid? [False, False] Translation: X:6.25, Y:-0.27, Z:-1.54 [[ 9.92750464e-01 9.77285401e-02 -6.99689109e-02 6.25451289e+00] [-9.76892820e-02 9.95208961e-01 3.99089826e-03 -2.66955994e-01] [ 7.00237118e-02 2.87324656e-03 9.97541189e-01 -1.53712162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06629675700003 meters Centerline goodness [0,1] 0.7456602642555636 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-1.54 [[ 9.92719195e-01 9.78718785e-02 -7.02117946e-02 6.25503139e+00] [-9.78287906e-02 9.95194977e-01 4.06033773e-03 -2.67171357e-01] [ 7.02718182e-02 2.83795975e-03 9.97523843e-01 -1.53720897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09629675700003 meters Centerline goodness [0,1] 0.7476182140981721 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-1.54 [[ 9.92698246e-01 9.76899027e-02 -7.07592815e-02 6.25644219e+00] [-9.76364538e-02 9.95213192e-01 4.22196976e-03 -2.68418518e-01] [ 7.08330142e-02 2.71754334e-03 9.97484486e-01 -1.53744869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12629675700003 meters Centerline goodness [0,1] 0.7432997172242937 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-1.54 [[ 9.92679304e-01 9.76003768e-02 -7.11474922e-02 6.25720309e+00] [-9.75217878e-02 9.95222825e-01 4.58571763e-03 -2.69776980e-01] [ 7.12551760e-02 2.38628365e-03 9.97455265e-01 -1.53718897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15629675700004 meters Centerline goodness [0,1] 0.7492517041024223 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.27, Z:-1.54 [[ 9.92672049e-01 9.74910200e-02 -7.13982108e-02 6.25755010e+00] [-9.73757407e-02 9.95234614e-01 5.10183173e-03 -2.71478259e-01] [ 7.15553535e-02 1.88800791e-03 9.97434843e-01 -1.53661774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18629675700004 meters Centerline goodness [0,1] 0.7616571154477292 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.28, Z:-1.54 [[ 9.92732952e-01 9.62316343e-02 -7.22548233e-02 6.25940985e+00] [-9.60455596e-02 9.95358532e-01 6.05338617e-03 -2.75504499e-01] [ 7.25019821e-02 9.30359028e-04 9.97367834e-01 -1.53508315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21629675700004 meters Centerline goodness [0,1] 0.7721781852255173 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.28, Z:-1.53 [[ 9.92813089e-01 9.47066759e-02 -7.31629354e-02 6.26168158e+00] [-9.44117271e-02 9.95505082e-01 7.48710800e-03 -2.80117443e-01] [ 7.35431531e-02 -5.25859741e-04 9.97291897e-01 -1.53311459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24629675700004 meters Centerline goodness [0,1] 0.7748349435366693 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.28, Z:-1.53 [[ 9.92824814e-01 9.42396662e-02 -7.36055240e-02 6.26275526e+00] [-9.39037601e-02 9.95548986e-01 8.01870369e-03 -2.82452647e-01] [ 7.40335848e-02 -1.04933253e-03 9.97255197e-01 -1.53277342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27629675700004 meters Centerline goodness [0,1] 0.7827260805841969 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.29, Z:-1.53 [[ 9.93202368e-01 8.98016153e-02 -7.40589345e-02 6.26305295e+00] [-8.96856059e-02 9.95958086e-01 4.89729845e-03 -2.85773020e-01] [ 7.41993800e-02 1.77801200e-03 9.97241842e-01 -1.53244543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.306296757 meters Centerline goodness [0,1] 0.7825436151543306 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.29, Z:-1.53 [[ 9.93238357e-01 8.89090006e-02 -7.46508895e-02 6.26493692e+00] [-8.87749267e-02 9.96038558e-01 5.11889892e-03 -2.88775308e-01] [ 7.48102805e-02 1.54284049e-03 9.97196591e-01 -1.53272413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.336296757 meters Centerline goodness [0,1] 0.7878180777436645 Centerline is valid? [False, False] Translation: X:6.26, Y:-0.29, Z:-1.53 [[ 9.93564491e-01 8.50301285e-02 -7.48296661e-02 6.26474039e+00] [-8.51241186e-02 9.96368470e-01 1.93823520e-03 -2.91678009e-01] [ 7.47227283e-02 4.44404769e-03 9.97194447e-01 -1.53292202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36629675700001 meters Centerline goodness [0,1] 0.790215977101223 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93554242e-01 8.48609969e-02 -7.51570367e-02 6.26565890e+00] [-8.49318144e-02 9.96384205e-01 2.25916796e-03 -2.93016277e-01] [ 7.50769995e-02 4.13861758e-03 9.97169151e-01 -1.53297487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39629675700002 meters Centerline goodness [0,1] 0.7916525545163223 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93538660e-01 8.48552178e-02 -7.53692515e-02 6.26637006e+00] [-8.49139407e-02 9.96385324e-01 2.43084380e-03 -2.93647893e-01] [ 7.53030859e-02 3.98476287e-03 9.97152730e-01 -1.53322700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42629675700002 meters Centerline goodness [0,1] 0.7894983958056185 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93484083e-01 8.53386820e-02 -7.55426101e-02 6.26693046e+00] [-8.53889750e-02 9.96344378e-01 2.56978728e-03 -2.94110009e-01] [ 7.54857571e-02 3.89746328e-03 9.97139263e-01 -1.53385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45629675700002 meters Centerline goodness [0,1] 0.7859565807327001 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93396211e-01 8.62882977e-02 -7.56194320e-02 6.26687924e+00] [-8.63291905e-02 9.96262915e-01 2.73395790e-03 -2.93848874e-01] [ 7.55727444e-02 3.81226093e-03 9.97133004e-01 -1.53426387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48629675700002 meters Centerline goodness [0,1] 0.7838808767636799 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93342485e-01 8.68307356e-02 -7.57042315e-02 6.26692568e+00] [-8.68690752e-02 9.96215823e-01 2.79257487e-03 -2.93477330e-01] [ 7.56602346e-02 3.80237332e-03 9.97126407e-01 -1.53443889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51629675700002 meters Centerline goodness [0,1] 0.7794109968147878 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93256770e-01 8.76814542e-02 -7.58482184e-02 6.26700764e+00] [-8.77139907e-02 9.96141454e-01 2.90865483e-03 -2.93386365e-01] [ 7.58105897e-02 3.76390882e-03 9.97115133e-01 -1.53476938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54629675700002 meters Centerline goodness [0,1] 0.7731672858563131 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.29, Z:-1.53 [[ 9.93209889e-01 8.79910401e-02 -7.61031709e-02 6.26721575e+00] [-8.80036078e-02 9.96115032e-01 3.19492844e-03 -2.93736753e-01] [ 7.60886376e-02 3.52411908e-03 9.97094830e-01 -1.53441458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57629675700002 meters Centerline goodness [0,1] 0.7805782641627707 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93177542e-01 8.81920375e-02 -7.62924312e-02 6.26761515e+00] [-8.81687317e-02 9.96098755e-01 3.68024208e-03 -2.95254880e-01] [ 7.63193638e-02 3.07147311e-03 9.97078693e-01 -1.53424911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60629675700002 meters Centerline goodness [0,1] 0.7843795046520771 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93157511e-01 8.82688671e-02 -7.64641443e-02 6.26783124e+00] [-8.82121204e-02 9.96093168e-01 4.12592768e-03 -2.96434593e-01] [ 7.65296027e-02 2.64736823e-03 9.97063795e-01 -1.53386781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63629675700003 meters Centerline goodness [0,1] 0.7945431239699688 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93195181e-01 8.75713789e-02 -7.67762055e-02 6.26895913e+00] [-8.74796254e-02 9.96155854e-01 4.56390655e-03 -2.98401927e-01] [ 7.68807342e-02 2.18350371e-03 9.97037906e-01 -1.53355174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66629675700003 meters Centerline goodness [0,1] 0.7963739258017187 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93205540e-01 8.71227556e-02 -7.71516752e-02 6.26991234e+00] [-8.70112527e-02 9.96195707e-01 4.81203920e-03 -2.99418431e-01] [ 7.72774057e-02 1.93371991e-03 9.97007755e-01 -1.53325734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69629675700003 meters Centerline goodness [0,1] 0.8013877978528411 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93282130e-01 8.59995571e-02 -7.74253627e-02 6.27097677e+00] [-8.58674356e-02 9.96293822e-01 5.04018548e-03 -3.01449030e-01] [ 7.75718643e-02 1.64199118e-03 9.96985411e-01 -1.53274259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72629675700003 meters Centerline goodness [0,1] 0.8026108839257629 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93288857e-01 8.57018861e-02 -7.76687370e-02 6.27135022e+00] [-8.55431963e-02 9.96319969e-01 5.37406388e-03 -3.02554817e-01] [ 7.78434810e-02 1.30603425e-03 9.96964737e-01 -1.53210811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75629675700003 meters Centerline goodness [0,1] 0.804213167455111 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93304820e-01 8.51985634e-02 -7.80175553e-02 6.27121917e+00] [-8.49424883e-02 9.96363990e-01 6.60104620e-03 -3.04279239e-01] [ 7.82962823e-02 7.01542610e-05 9.96930132e-01 -1.52916935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78629675700003 meters Centerline goodness [0,1] 0.8075727901814859 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93303356e-01 8.51508434e-02 -7.80882581e-02 6.27093436e+00] [-8.48701221e-02 9.96368043e-01 6.91271757e-03 -3.04570455e-01] [ 7.83932686e-02 -2.39065570e-04 9.96922484e-01 -1.52824627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81629675700003 meters Centerline goodness [0,1] 0.8042719458192238 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93327931e-01 8.47664578e-02 -7.81937949e-02 6.27094347e+00] [-8.44779894e-02 9.96400788e-01 6.99568257e-03 -3.03851543e-01] [ 7.85053581e-02 -3.43352317e-04 9.96913633e-01 -1.52723345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84629675700003 meters Centerline goodness [0,1] 0.8058993668082446 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93329935e-01 8.45814212e-02 -7.83685164e-02 6.27145581e+00] [-8.43133255e-02 9.96416568e-01 6.72948018e-03 -3.03001544e-01] [ 7.86568771e-02 -7.70838790e-05 9.96901745e-01 -1.52734008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87629675700003 meters Centerline goodness [0,1] 0.8053785170216073 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93341980e-01 8.40075854e-02 -7.88317002e-02 6.27305772e+00] [-8.38044958e-02 9.96464826e-01 5.88697472e-03 -3.00924482e-01] [ 7.90475670e-02 7.58671769e-04 9.96870557e-01 -1.52807851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90629675700004 meters Centerline goodness [0,1] 0.8041976139333868 Centerline is valid? [False, False] Translation: X:6.27, Y:-0.30, Z:-1.53 [[ 9.93335188e-01 8.37991061e-02 -7.91385699e-02 6.27380538e+00] [-8.36218590e-02 9.96482064e-01 5.55697648e-03 -3.00009362e-01] [ 7.93258351e-02 1.09777405e-03 9.96848136e-01 -1.52819830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93629675700004 meters Centerline goodness [0,1] 0.800985653834245 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.30, Z:-1.53 [[ 9.93351300e-01 8.33419976e-02 -7.94185460e-02 6.27522233e+00] [-8.32599560e-02 9.96518369e-01 4.34968890e-03 -2.97192285e-01] [ 7.95045517e-02 2.29161552e-03 9.96831869e-01 -1.52958971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96629675700004 meters Centerline goodness [0,1] 0.8031461599855823 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.30, Z:-1.53 [[ 9.93348033e-01 8.32147463e-02 -7.95926616e-02 6.27589929e+00] [-8.31725359e-02 9.96527720e-01 3.85118967e-03 -2.95418964e-01] [ 7.96367694e-02 2.79435183e-03 9.96820032e-01 -1.53006230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99629675700004 meters Centerline goodness [0,1] 0.8034505742411813 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93313218e-01 8.35974676e-02 -7.96260904e-02 6.27599055e+00] [-8.35991246e-02 9.96493940e-01 3.31869198e-03 -2.91955646e-01] [ 7.96243508e-02 3.36017085e-03 9.96819278e-01 -1.53037169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02629675700004 meters Centerline goodness [0,1] 0.8016784791341504 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93301548e-01 8.36504369e-02 -7.97159920e-02 6.27619783e+00] [-8.36804615e-02 9.96488214e-01 2.96982461e-03 -2.90561283e-01] [ 7.96844736e-02 3.72073962e-03 9.96813193e-01 -1.53056424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.056296757 meters Centerline goodness [0,1] 0.8075026192727366 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93267251e-01 8.36227641e-02 -8.01710782e-02 6.27737609e+00] [-8.37134611e-02 9.96487361e-01 2.23507148e-03 -2.87853381e-01] [ 8.00763690e-02 4.49137514e-03 9.96778613e-01 -1.53116407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.086296757 meters Centerline goodness [0,1] 0.801729415365779 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93257771e-01 8.35827193e-02 -8.03301258e-02 6.27791203e+00] [-8.37005222e-02 9.96489133e-01 1.90560318e-03 -2.86646994e-01] [ 8.02073729e-02 4.83091831e-03 9.96766492e-01 -1.53148432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11629675700001 meters Centerline goodness [0,1] 0.8055300479542904 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93254159e-01 8.30365337e-02 -8.09389234e-02 6.28006296e+00] [-8.32090376e-02 9.96531337e-01 1.24520146e-03 -2.85657696e-01] [ 8.07615708e-02 5.49804840e-03 9.96718285e-01 -1.53263913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14629675700002 meters Centerline goodness [0,1] 0.8094606317293463 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93250652e-01 8.28018639e-02 -8.12218730e-02 6.28105440e+00] [-8.29779898e-02 9.96550645e-01 1.21036775e-03 -2.86007698e-01] [ 8.10419306e-02 5.53742919e-03 9.96695311e-01 -1.53298679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17629675700002 meters Centerline goodness [0,1] 0.8105314331039071 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93272579e-01 8.21657127e-02 -8.15988879e-02 6.28198481e+00] [-8.23202824e-02 9.96604836e-01 1.47388505e-03 -2.87412275e-01] [ 8.14429491e-02 5.25327389e-03 9.96664161e-01 -1.53243850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20629675700002 meters Centerline goodness [0,1] 0.8132454728884121 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93270888e-01 8.19643611e-02 -8.18216760e-02 6.28234205e+00] [-8.20866000e-02 9.96623438e-01 1.87448250e-03 -2.88789231e-01] [ 8.16990408e-02 4.85459429e-03 9.96645223e-01 -1.53190407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23629675700002 meters Centerline goodness [0,1] 0.8133309378368667 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93299843e-01 8.15156477e-02 -8.19183788e-02 6.28243627e+00] [-8.15851853e-02 9.96663228e-01 2.50367191e-03 -2.90979742e-01] [ 8.18491242e-02 4.19642920e-03 9.96635897e-01 -1.53092333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26629675700002 meters Centerline goodness [0,1] 0.811035583706679 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93285274e-01 8.15712056e-02 -8.20396479e-02 6.28244212e+00] [-8.16151192e-02 9.96659921e-01 2.82370044e-03 -2.91498576e-01] [ 8.19959617e-02 3.89093557e-03 9.96625066e-01 -1.53038964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29629675700002 meters Centerline goodness [0,1] 0.8109779568374862 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93240178e-01 8.22478591e-02 -8.19099447e-02 6.28143508e+00] [-8.22270946e-02 9.96606999e-01 3.63250133e-03 -2.91840718e-01] [ 8.19307896e-02 3.12727050e-03 9.96633115e-01 -1.52914745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32629675700002 meters Centerline goodness [0,1] 0.8130060403547101 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93205960e-01 8.26460274e-02 -8.19240843e-02 6.28079808e+00] [-8.26014469e-02 9.96574877e-01 3.93907597e-03 -2.91660619e-01] [ 8.19690332e-02 2.85473417e-03 9.96630788e-01 -1.52830660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35629675700002 meters Centerline goodness [0,1] 0.8084816025954631 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93180010e-01 8.30868260e-02 -8.17927064e-02 6.27997462e+00] [-8.30406051e-02 9.96538246e-01 3.97261322e-03 -2.90914773e-01] [ 8.18396321e-02 2.84659580e-03 9.96641446e-01 -1.52772360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38629675700003 meters Centerline goodness [0,1] 0.8084816025954631 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93180010e-01 8.30868260e-02 -8.17927064e-02 6.27997462e+00] [-8.30406051e-02 9.96538246e-01 3.97261322e-03 -2.90914773e-01] [ 8.18396321e-02 2.84659580e-03 9.96641446e-01 -1.52772360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41629675700003 meters Centerline goodness [0,1] 0.8080370942812983 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93168195e-01 8.32024351e-02 -8.18186495e-02 6.27996559e+00] [-8.31608731e-02 9.96528419e-01 3.92156250e-03 -2.90556757e-01] [ 8.18608931e-02 2.90933918e-03 9.96639519e-01 -1.52768530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44629675700003 meters Centerline goodness [0,1] 0.8062025446336959 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93172080e-01 8.31212772e-02 -8.18539697e-02 6.28028497e+00] [-8.31149566e-02 9.96533853e-01 3.49051276e-03 -2.88988931e-01] [ 8.18603877e-02 3.33660932e-03 9.96638221e-01 -1.52795271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47629675700003 meters Centerline goodness [0,1] 0.804361210877373 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93176719e-01 8.30331469e-02 -8.18871204e-02 6.28038244e+00] [-8.30490224e-02 9.96540267e-01 3.21807414e-03 -2.87812385e-01] [ 8.18710196e-02 3.60452898e-03 9.96636415e-01 -1.52794096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50629675700003 meters Centerline goodness [0,1] 0.8041189579651118 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93185960e-01 8.29441777e-02 -8.18652126e-02 6.28032158e+00] [-8.29937967e-02 9.96546123e-01 2.80247337e-03 -2.85940819e-01] [ 8.18149091e-02 4.01092761e-03 9.96639470e-01 -1.52786941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53629675700003 meters Centerline goodness [0,1] 0.8046848971014121 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93175180e-01 8.29194192e-02 -8.20209268e-02 6.28053512e+00] [-8.29797744e-02 9.96547632e-01 2.67856618e-03 -2.85216396e-01] [ 8.19598655e-02 4.14579255e-03 9.96627008e-01 -1.52768133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56629675700003 meters Centerline goodness [0,1] 0.8025472810209625 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.28, Z:-1.53 [[ 9.93158616e-01 8.28556868e-02 -8.22854753e-02 6.28130899e+00] [-8.29569741e-02 9.96550717e-01 2.19310254e-03 -2.83627085e-01] [ 8.21833604e-02 4.64805536e-03 9.96606387e-01 -1.52807173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59629675700003 meters Centerline goodness [0,1] 0.8028320487542571 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.28, Z:-1.53 [[ 9.93147847e-01 8.27366377e-02 -8.25348632e-02 6.28217337e+00] [-8.28778557e-02 9.96558229e-01 1.71943487e-03 -2.82274781e-01] [ 8.23930574e-02 5.13265944e-03 9.96586695e-01 -1.52862423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62629675700003 meters Centerline goodness [0,1] 0.8013172338090011 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.28, Z:-1.53 [[ 9.93108989e-01 8.28723939e-02 -8.28655716e-02 6.28308778e+00] [-8.30593557e-02 9.96543886e-01 1.19452153e-03 -2.79839895e-01] [ 8.26781716e-02 5.69647092e-03 9.96560018e-01 -1.52917011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65629675700004 meters Centerline goodness [0,1] 0.800940238636654 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.28, Z:-1.53 [[ 9.93098056e-01 8.27237405e-02 -8.31446625e-02 6.28397774e+00] [-8.29331685e-02 9.96554670e-01 9.37661882e-04 -2.79130121e-01] [ 8.29357686e-02 5.96426011e-03 9.96537047e-01 -1.52953797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68629675700004 meters Centerline goodness [0,1] 0.7884752314108432 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.28, Z:-1.53 [[ 9.93115295e-01 8.20628743e-02 -8.35924343e-02 6.28557605e+00] [-8.23117423e-02 9.96606520e-01 4.70680362e-04 -2.78594581e-01] [ 8.33473904e-02 6.41319904e-03 9.96499916e-01 -1.53002110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71629675700004 meters Centerline goodness [0,1] 0.787513466372544 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.28, Z:-1.53 [[ 9.93112535e-01 8.19193357e-02 -8.37658362e-02 6.28599717e+00] [-8.21611974e-02 9.96618895e-01 5.61599681e-04 -2.79026056e-01] [ 8.35286210e-02 6.32456972e-03 9.96485308e-01 -1.52990263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74629675700004 meters Centerline goodness [0,1] 0.7882001226492232 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.28, Z:-1.53 [[ 9.93130699e-01 8.11770827e-02 -8.42715592e-02 6.28755638e+00] [-8.14152690e-02 9.96680079e-01 6.12047398e-04 -2.79863756e-01] [ 8.40414685e-02 6.25314860e-03 9.96442637e-01 -1.52973839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77629675700004 meters Centerline goodness [0,1] 0.7847013100661467 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.28, Z:-1.53 [[ 9.93135935e-01 8.10773595e-02 -8.43058494e-02 6.28779386e+00] [-8.12975890e-02 9.96689533e-01 8.23174617e-04 -2.80761936e-01] [ 8.40934984e-02 6.03633800e-03 9.96439585e-01 -1.52973426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.806296757 meters Centerline goodness [0,1] 0.7873160385898663 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.28, Z:-1.53 [[ 9.93147237e-01 8.09674803e-02 -8.42783078e-02 6.28791679e+00] [-8.11365075e-02 9.96701982e-01 1.42325931e-03 -2.82553744e-01] [ 8.41155942e-02 5.42454151e-03 9.96441238e-01 -1.52940809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.836296757 meters Centerline goodness [0,1] 0.7863756271659856 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.29, Z:-1.53 [[ 9.93133396e-01 8.15422844e-02 -8.38863180e-02 6.28665351e+00] [-8.15888175e-02 9.96661917e-01 2.87901688e-03 -2.85896772e-01] [ 8.38410601e-02 3.98493768e-03 9.96471172e-01 -1.52819848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86629675700001 meters Centerline goodness [0,1] 0.7910560037353116 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.29, Z:-1.53 [[ 9.93111497e-01 8.20202935e-02 -8.36793050e-02 6.28568228e+00] [-8.20034334e-02 9.96625384e-01 3.64431811e-03 -2.87512612e-01] [ 8.36958275e-02 3.24277611e-03 9.96486073e-01 -1.52740429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89629675700002 meters Centerline goodness [0,1] 0.7908563097190763 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93076363e-01 8.30467802e-02 -8.30817097e-02 6.28377201e+00] [-8.29298875e-02 9.96543519e-01 4.86291864e-03 -2.90207210e-01] [ 8.31983891e-02 2.06070728e-03 9.96530873e-01 -1.52656156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92629675700002 meters Centerline goodness [0,1] 0.791993332117834 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.93059852e-01 8.34301563e-02 -8.28947546e-02 6.28337193e+00] [-8.32818916e-02 9.96512195e-01 5.25081825e-03 -2.90919120e-01] [ 8.30437105e-02 1.68925518e-03 9.96544474e-01 -1.52652578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95629675700002 meters Centerline goodness [0,1] 0.7932142764573236 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.29, Z:-1.53 [[ 9.92756460e-01 8.68304515e-02 -8.30366413e-02 6.28526513e+00] [-8.63410035e-02 9.96220595e-01 9.47407077e-03 -2.93638739e-01] [ 8.35454500e-02 -2.23597803e-03 9.96501459e-01 -1.52670426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98629675700002 meters Centerline goodness [0,1] 0.7910896737721073 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.92731359e-01 8.72836187e-02 -8.28614480e-02 6.28481129e+00] [-8.67757948e-02 9.96180474e-01 9.71723315e-03 -2.93811086e-01] [ 8.33931118e-02 -2.45623405e-03 9.96513701e-01 -1.52667249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01629675700002 meters Centerline goodness [0,1] 0.7933281412253375 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.92705921e-01 8.80343531e-02 -8.23705470e-02 6.28375983e+00] [-8.75058744e-02 9.96113698e-01 1.00111685e-02 -2.93787862e-01] [ 8.29317569e-02 -2.73023947e-03 9.96551489e-01 -1.52685012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04629675700002 meters Centerline goodness [0,1] 0.7937732076549557 Centerline is valid? [False, False] Translation: X:6.28, Y:-0.29, Z:-1.53 [[ 9.92705390e-01 8.79764171e-02 -8.24388176e-02 6.28431011e+00] [-8.74483476e-02 9.96118845e-01 1.00016107e-02 -2.93866816e-01] [ 8.29987657e-02 -2.71951448e-03 9.96545939e-01 -1.52722252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07629675700002 meters Centerline goodness [0,1] 0.7947520049832594 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.29, Z:-1.53 [[ 9.92709442e-01 8.76984443e-02 -8.26858314e-02 6.28521372e+00] [-8.71693337e-02 9.96143372e-01 9.99449780e-03 -2.94450218e-01] [ 8.32434448e-02 -2.71396350e-03 9.96525546e-01 -1.52751912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10629675700002 meters Centerline goodness [0,1] 0.8007687712645768 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.29, Z:-1.53 [[ 9.93053845e-01 8.30206117e-02 -8.33764854e-02 6.28696540e+00] [-8.28382303e-02 9.96546988e-01 5.65048323e-03 -2.94126186e-01] [ 8.35576920e-02 1.29552639e-03 9.96502099e-01 -1.52872338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13629675700003 meters Centerline goodness [0,1] 0.8004781456265266 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.30, Z:-1.53 [[ 9.93081159e-01 8.20615241e-02 -8.39983190e-02 6.28907817e+00] [-8.18750863e-02 9.96626483e-01 5.66776283e-03 -2.95762376e-01] [ 8.41800545e-02 1.24882114e-03 9.96449777e-01 -1.52905620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16629675700003 meters Centerline goodness [0,1] 0.7987686072792456 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.30, Z:-1.53 [[ 9.93423926e-01 7.65658219e-02 -8.51268321e-02 6.29188713e+00] [-7.67063018e-02 9.97052408e-01 1.62418392e-03 -2.97277952e-01] [ 8.50002699e-02 4.91626130e-03 9.96368799e-01 -1.52954480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19629675700003 meters Centerline goodness [0,1] 0.8022482460029733 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.30, Z:-1.53 [[ 9.93750950e-01 7.11756928e-02 -8.59829650e-02 6.29401252e+00] [-7.16472242e-02 9.97427132e-01 -2.40664008e-03 -2.98251617e-01] [ 8.55904479e-02 8.55204164e-03 9.96293701e-01 -1.52982956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22629675700003 meters Centerline goodness [0,1] 0.8013297036959481 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.30, Z:-1.53 [[ 9.93766872e-01 7.02592195e-02 -8.65508308e-02 6.29596684e+00] [-7.07191704e-02 9.97493714e-01 -2.25577159e-03 -2.99941216e-01] [ 8.61754210e-02 8.36251403e-03 9.96244882e-01 -1.52995956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25629675700003 meters Centerline goodness [0,1] 0.8010159993715468 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.30, Z:-1.53 [[ 9.93783038e-01 6.94590034e-02 -8.70098873e-02 6.29773447e+00] [-6.99095482e-02 9.97551043e-01 -2.13793919e-03 -3.01287486e-01] [ 8.66483048e-02 8.20746961e-03 9.96205154e-01 -1.53020316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28629675700003 meters Centerline goodness [0,1] 0.8023062949214121 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.30, Z:-1.53 [[ 9.93866732e-01 6.75483456e-02 -8.75564955e-02 6.30044972e+00] [-6.80252222e-02 9.97680542e-01 -2.47080699e-03 -3.03515482e-01] [ 8.71865130e-02 8.41170293e-03 9.96156491e-01 -1.53071730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31629675700003 meters Centerline goodness [0,1] 0.8042554314828014 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.31, Z:-1.53 [[ 9.93870189e-01 6.72934344e-02 -8.77134034e-02 6.30105491e+00] [-6.77419484e-02 9.97700573e-01 -2.14339992e-03 -3.05172239e-01] [ 8.73674762e-02 8.07213813e-03 9.96143446e-01 -1.53062587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34629675700003 meters Centerline goodness [0,1] 0.8014598926238397 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.31, Z:-1.53 [[ 9.93879956e-01 6.70248001e-02 -8.78083650e-02 6.30163886e+00] [-6.74374156e-02 9.97721993e-01 -1.73762998e-03 -3.06866534e-01] [ 8.74918726e-02 7.64856481e-03 9.96135870e-01 -1.53049440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37629675700003 meters Centerline goodness [0,1] 0.8009837105986883 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.31, Z:-1.53 [[ 9.93877002e-01 6.71274937e-02 -8.77633390e-02 6.30171430e+00] [-6.75262993e-02 9.97716244e-01 -1.57976064e-03 -3.06992949e-01] [ 8.74568636e-02 7.49642127e-03 9.96140101e-01 -1.53054202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40629675700004 meters Centerline goodness [0,1] 0.7997047503558813 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.31, Z:-1.53 [[ 9.93660974e-01 6.98002306e-02 -8.81237553e-02 6.30452124e+00] [-6.99044855e-02 9.97551868e-01 1.90631033e-03 -3.08352658e-01] [ 8.80410776e-02 4.26601959e-03 9.96107710e-01 -1.53110437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43629675700004 meters Centerline goodness [0,1] 0.7995234312946783 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.31, Z:-1.53 [[ 9.93645917e-01 6.99184781e-02 -8.81997601e-02 6.30491553e+00] [-7.00238715e-02 9.97543502e-01 1.90237953e-03 -3.08423193e-01] [ 8.81161090e-02 4.28579702e-03 9.96100990e-01 -1.53142330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46629675700004 meters Centerline goodness [0,1] 0.7958553087208993 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93630470e-01 7.00677222e-02 -8.82553253e-02 6.30572213e+00] [-7.01982910e-02 9.97531730e-01 1.62727030e-03 -3.08187297e-01] [ 8.81515064e-02 4.57846765e-03 9.96096556e-01 -1.53252117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49629675700004 meters Centerline goodness [0,1] 0.7977420129714148 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93616216e-01 7.01704185e-02 -8.83341775e-02 6.30625415e+00] [-7.03071493e-02 9.97524161e-01 1.56637211e-03 -3.08170479e-01] [ 8.82253892e-02 4.65415148e-03 9.96089664e-01 -1.53300065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52629675700004 meters Centerline goodness [0,1] 0.7975171232876712 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93591030e-01 7.04752608e-02 -8.83747866e-02 6.30689363e+00] [-7.06025987e-02 9.97503094e-01 1.68806054e-03 -3.08864309e-01] [ 8.82730896e-02 4.56224778e-03 9.96085864e-01 -1.53383019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.556296757 meters Centerline goodness [0,1] 0.79793648666756 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93576501e-01 7.06417696e-02 -8.84051817e-02 6.30718849e+00] [-7.07433059e-02 9.97492573e-01 1.98805167e-03 -3.09426789e-01] [ 8.83239516e-02 4.27879338e-03 9.96082613e-01 -1.53394837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.586296757 meters Centerline goodness [0,1] 0.8003959442467696 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93556364e-01 7.06762392e-02 -8.86037288e-02 6.30777838e+00] [-7.07481998e-02 9.97491481e-01 2.33198175e-03 -3.10139212e-01] [ 8.85462803e-02 3.95159901e-03 9.96064225e-01 -1.53382990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61629675700001 meters Centerline goodness [0,1] 0.797409731010528 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93561488e-01 7.04865616e-02 -8.86973139e-02 6.30813764e+00] [-7.04704192e-02 9.97508353e-01 3.31734324e-03 -3.12969669e-01] [ 8.87101397e-02 2.95455241e-03 9.96053102e-01 -1.53291907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64629675700002 meters Centerline goodness [0,1] 0.7994658177305347 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.31, Z:-1.53 [[ 9.93555525e-01 7.04454174e-02 -8.87967394e-02 6.30826903e+00] [-7.03739557e-02 9.97512902e-01 3.93911169e-03 -3.14770720e-01] [ 8.88533856e-02 2.33525162e-03 9.96041978e-01 -1.53229666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67629675700002 meters Centerline goodness [0,1] 0.8012150668286756 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93576663e-01 6.96970922e-02 -8.91500397e-02 6.30959763e+00] [-6.95599655e-02 9.97566944e-01 4.64785924e-03 -3.17244590e-01] [ 8.92570750e-02 1.58326921e-03 9.96007363e-01 -1.53153387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70629675700002 meters Centerline goodness [0,1] 0.8040918217832529 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93600801e-01 6.88904335e-02 -8.95072973e-02 6.31101255e+00] [-6.87079575e-02 9.97623668e-01 5.12187664e-03 -3.19182896e-01] [ 8.96474466e-02 1.06076284e-03 9.95972997e-01 -1.53107577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73629675700002 meters Centerline goodness [0,1] 0.8009938090583252 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93601965e-01 6.85760304e-02 -8.97355198e-02 6.31171808e+00] [-6.83741314e-02 9.97645536e-01 5.32564261e-03 -3.19809462e-01] [ 8.98894522e-02 8.44019260e-04 9.95951391e-01 -1.53081109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76629675700002 meters Centerline goodness [0,1] 0.8016807636868014 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93599045e-01 6.83280391e-02 -8.99567494e-02 6.31227191e+00] [-6.81028544e-02 9.97662735e-01 5.57387073e-03 -3.20557240e-01] [ 9.01273483e-02 5.88118780e-04 9.95930075e-01 -1.53039861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79629675700002 meters Centerline goodness [0,1] 0.7995859889960233 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93621311e-01 6.77698996e-02 -9.01328481e-02 6.31282848e+00] [-6.75006968e-02 9.97700974e-01 6.03513546e-03 -3.22128949e-01] [ 9.03346309e-02 8.73908393e-05 9.95911465e-01 -1.52942026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82629675700002 meters Centerline goodness [0,1] 0.7998578807838421 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93612592e-01 6.75444942e-02 -9.03977790e-02 6.31347196e+00] [-6.72708557e-02 9.97716262e-01 6.07394264e-03 -3.22415234e-01] [ 9.06015955e-02 4.59900556e-05 9.95887217e-01 -1.52917574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85629675700002 meters Centerline goodness [0,1] 0.7956608247703671 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93610424e-01 6.73470574e-02 -9.05687542e-02 6.31421031e+00] [-6.70976053e-02 9.97729560e-01 5.79968142e-03 -3.20938777e-01] [ 9.07537147e-02 3.14322612e-04 9.95873317e-01 -1.52926017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88629675700003 meters Centerline goodness [0,1] 0.7963964453623937 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.32, Z:-1.53 [[ 9.93610269e-01 6.72242529e-02 -9.06616395e-02 6.31488145e+00] [-6.70144627e-02 9.97737609e-01 5.35956552e-03 -3.19329254e-01] [ 9.08168203e-02 7.50321722e-04 9.95867332e-01 -1.52981478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91629675700003 meters Centerline goodness [0,1] 0.7948614037931594 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.32, Z:-1.53 [[ 9.93332648e-01 7.02940241e-02 -9.13728658e-02 6.31837573e+00] [-6.98065276e-02 9.97524128e-01 8.52421763e-03 -3.18378214e-01] [ 9.17458399e-02 -2.08896119e-03 9.95780265e-01 -1.53077695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94629675700003 meters Centerline goodness [0,1] 0.794453287290582 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.32, Z:-1.53 [[ 9.93325091e-01 7.01417212e-02 -9.15718475e-02 6.31949494e+00] [-6.97198430e-02 9.97536102e-01 7.80184943e-03 -3.16523800e-01] [ 9.18934590e-02 -1.36539795e-03 9.95767909e-01 -1.53190971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97629675700003 meters Centerline goodness [0,1] 0.7991162840823365 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.31, Z:-1.53 [[ 9.93299456e-01 6.99763706e-02 -9.19755275e-02 6.32143642e+00] [-6.96815550e-02 9.97548649e-01 6.41674156e-03 -3.13304057e-01] [ 9.21990834e-02 3.52518723e-05 9.95740593e-01 -1.53404693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00629675700003 meters Centerline goodness [0,1] 0.7940241405323849 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.31, Z:-1.53 [[ 9.93288848e-01 6.99746306e-02 -9.20913431e-02 6.32219679e+00] [-6.97286854e-02 9.97548608e-01 5.88947558e-03 -3.12035420e-01] [ 9.22777050e-02 5.71457871e-04 9.95733146e-01 -1.53493894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03629675700003 meters Centerline goodness [0,1] 0.794803518115065 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.31, Z:-1.54 [[ 9.93255792e-01 6.99497206e-02 -9.24660433e-02 6.32351367e+00] [-6.97838526e-02 9.97549455e-01 5.02984521e-03 -3.09743829e-01] [ 9.25912873e-02 1.45671385e-03 9.95703134e-01 -1.53597667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06629675700003 meters Centerline goodness [0,1] 0.7931600473576579 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.31, Z:-1.54 [[ 9.93244752e-01 7.01240292e-02 -9.24525957e-02 6.32357137e+00] [-6.99716041e-02 9.97536983e-01 4.89314396e-03 -3.08982153e-01] [ 9.25680104e-02 1.60896686e-03 9.95705064e-01 -1.53614661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09629675700003 meters Centerline goodness [0,1] 0.7930015844455783 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93562748e-01 7.27887976e-02 -8.68035485e-02 6.33583746e+00] [-7.32830162e-02 9.97308010e-01 -2.51630393e-03 -3.06576019e-01] [ 8.63867155e-02 8.86133170e-03 9.96222270e-01 -1.53938170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12629675700003 meters Centerline goodness [0,1] 0.7906939257985655 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93542965e-01 7.30191904e-02 -8.68364867e-02 6.33596212e+00] [-7.35092058e-02 9.97291518e-01 -2.45444064e-03 -3.06016180e-01] [ 8.64220704e-02 8.82187341e-03 9.96219554e-01 -1.53937526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15629675700004 meters Centerline goodness [0,1] 0.7947210139090275 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93223516e-01 7.68989164e-02 -8.71412905e-02 6.33744051e+00] [-7.69881193e-02 9.97029260e-01 2.34170535e-03 -3.08668241e-01] [ 8.70624910e-02 4.38300725e-03 9.96193210e-01 -1.53828051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18629675700004 meters Centerline goodness [0,1] 0.8047184293447524 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93205512e-01 7.72032963e-02 -8.70773310e-02 6.33720540e+00] [-7.72738416e-02 9.97006606e-01 2.56543224e-03 -3.08917735e-01] [ 8.70147340e-02 4.18079844e-03 9.96198252e-01 -1.53816041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21629675700004 meters Centerline goodness [0,1] 0.798202900110301 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93193797e-01 7.69979939e-02 -8.73921693e-02 6.33826533e+00] [-7.70732119e-02 9.97022256e-01 2.51827528e-03 -3.08929943e-01] [ 8.73258399e-02 4.23445980e-03 9.96170802e-01 -1.53841329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24629675700004 meters Centerline goodness [0,1] 0.7985082693762836 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93168323e-01 7.72697739e-02 -8.74417743e-02 6.33862995e+00] [-7.72908689e-02 9.97003612e-01 3.14953510e-03 -3.10615189e-01] [ 8.74231286e-02 3.63043222e-03 9.96164653e-01 -1.53831887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27629675700004 meters Centerline goodness [0,1] 0.7985082693762836 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93168323e-01 7.72697739e-02 -8.74417743e-02 6.33862995e+00] [-7.72908689e-02 9.97003612e-01 3.14953510e-03 -3.10615189e-01] [ 8.74231286e-02 3.63043222e-03 9.96164653e-01 -1.53831887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.306296757 meters Centerline goodness [0,1] 0.8021139482837651 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93136315e-01 7.73053497e-02 -8.77732443e-02 6.33980706e+00] [-7.72967988e-02 9.97001979e-01 3.50139327e-03 -3.11699197e-01] [ 8.77807747e-02 3.30723000e-03 9.96134327e-01 -1.53851224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.336296757 meters Centerline goodness [0,1] 0.800405131667792 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93125801e-01 7.73763879e-02 -8.78295939e-02 6.34022501e+00] [-7.73581237e-02 9.96996810e-01 3.61681435e-03 -3.12260213e-01] [ 8.78456810e-02 3.20238094e-03 9.96128948e-01 -1.53883842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36629675700001 meters Centerline goodness [0,1] 0.8051293115072409 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93116707e-01 7.73917193e-02 -8.79188705e-02 6.34076195e+00] [-7.73647577e-02 9.96995918e-01 3.71927945e-03 -3.12564283e-01] [ 8.79425964e-02 3.10814355e-03 9.96120695e-01 -1.53908107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39629675700002 meters Centerline goodness [0,1] 0.8023205728746029 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93093958e-01 7.75697037e-02 -8.80189298e-02 6.34150008e+00] [-7.75336376e-02 9.96982366e-01 3.83371796e-03 -3.12995550e-01] [ 8.80507013e-02 3.01718566e-03 9.96111425e-01 -1.53959203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42629675700002 meters Centerline goodness [0,1] 0.8045763260025873 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93051025e-01 7.80583426e-02 -8.80713182e-02 6.34158929e+00] [-7.80081465e-02 9.96944629e-01 4.01692147e-03 -3.12983560e-01] [ 8.81157819e-02 2.88127231e-03 9.96106072e-01 -1.53967729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45629675700002 meters Centerline goodness [0,1] 0.8038034268499341 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93035154e-01 7.81710419e-02 -8.81502709e-02 6.34210315e+00] [-7.81355677e-02 9.96935277e-01 3.85822708e-03 -3.12153317e-01] [ 8.81817164e-02 3.05631633e-03 9.96099716e-01 -1.54011361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48629675700002 meters Centerline goodness [0,1] 0.8019383497105936 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.93011233e-01 7.83533224e-02 -8.82578480e-02 6.34245259e+00] [-7.83306627e-02 9.96920472e-01 3.72548417e-03 -3.10956854e-01] [ 8.82779596e-02 3.21384810e-03 9.96090695e-01 -1.54031503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51629675700002 meters Centerline goodness [0,1] 0.8054936498133878 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.92687946e-01 8.20596002e-02 -8.85260616e-02 6.34424650e+00] [-8.17258040e-02 9.96627418e-01 7.39473699e-03 -3.10840999e-01] [ 8.88343094e-02 -1.05802716e-04 9.96046412e-01 -1.54051001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54629675700002 meters Centerline goodness [0,1] 0.8070787904828401 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.92676731e-01 8.22119897e-02 -8.85104318e-02 6.34440387e+00] [-8.18968369e-02 9.96614859e-01 7.19244263e-03 -3.10012792e-01] [ 8.88021165e-02 1.08953958e-04 9.96049282e-01 -1.54086085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57629675700002 meters Centerline goodness [0,1] 0.8045893524870201 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.31, Z:-1.54 [[ 9.92639613e-01 8.26106664e-02 -8.85554970e-02 6.34456549e+00] [-8.23282140e-02 9.96581773e-01 6.84359523e-03 -3.08334027e-01] [ 8.88181481e-02 4.97392182e-04 9.96047734e-01 -1.54132777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60629675700002 meters Centerline goodness [0,1] 0.8050071184892685 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.31, Z:-1.54 [[ 9.92614461e-01 8.27080566e-02 -8.87463154e-02 6.34522790e+00] [-8.24662061e-02 9.96573346e-01 6.39458584e-03 -3.06582890e-01] [ 8.89710963e-02 9.71213562e-04 9.96033735e-01 -1.54178692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63629675700003 meters Centerline goodness [0,1] 0.8015832550650744 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.31, Z:-1.54 [[ 9.92599467e-01 8.27606669e-02 -8.88648940e-02 6.34549027e+00] [-8.25255636e-02 9.96568890e-01 6.32280581e-03 -3.06121496e-01] [ 8.90832684e-02 1.05761179e-03 9.96023621e-01 -1.54176854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66629675700003 meters Centerline goodness [0,1] 0.8054348409249423 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.31, Z:-1.54 [[ 9.92578172e-01 8.28700767e-02 -8.90006927e-02 6.34581532e+00] [-8.26449328e-02 9.96559657e-01 6.21814140e-03 -3.05043332e-01] [ 8.92097977e-02 1.18346484e-03 9.96012154e-01 -1.54167701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69629675700003 meters Centerline goodness [0,1] 0.8029638347956345 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92569958e-01 8.29797858e-02 -8.89900786e-02 6.34578709e+00] [-8.27708702e-02 9.96550290e-01 6.04168997e-03 -3.03839544e-01] [ 8.91844268e-02 1.36898629e-03 9.96014189e-01 -1.54164362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72629675700003 meters Centerline goodness [0,1] 0.802740385901999 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92553153e-01 8.31235220e-02 -8.90433514e-02 6.34581753e+00] [-8.29273519e-02 9.96538090e-01 5.90668756e-03 -3.02740554e-01] [ 8.92260760e-02 1.52142797e-03 9.96010237e-01 -1.54156695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75629675700003 meters Centerline goodness [0,1] 0.8008064946856808 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92510961e-01 8.35987165e-02 -8.90687798e-02 6.34557419e+00] [-8.34022268e-02 9.96498309e-01 5.93199226e-03 -3.01420235e-01] [ 8.92527954e-02 1.54096724e-03 9.96007813e-01 -1.54122707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78629675700003 meters Centerline goodness [0,1] 0.8000693462779719 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92489266e-01 8.37708025e-02 -8.91488013e-02 6.34564366e+00] [-8.35781812e-02 9.96483769e-01 5.89797278e-03 -3.00575049e-01] [ 8.93294114e-02 1.59721999e-03 9.96000856e-01 -1.54107806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81629675700003 meters Centerline goodness [0,1] 0.7968098941054699 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92151851e-01 8.71734940e-02 -8.96408774e-02 6.34780693e+00] [-8.66646914e-02 9.96191666e-01 9.56008361e-03 -3.00729163e-01] [ 9.01328810e-02 -1.71635567e-03 9.95928269e-01 -1.54084042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84629675700003 meters Centerline goodness [0,1] 0.7955917151897052 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92117471e-01 8.74479210e-02 -8.97540206e-02 6.34793101e+00] [-8.69676250e-02 9.96168141e-01 9.25566008e-03 -2.98877669e-01] [ 9.02194840e-02 -1.37700807e-03 9.95920955e-01 -1.54085018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87629675700003 meters Centerline goodness [0,1] 0.7975474809810076 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92110157e-01 8.74507090e-02 -8.98321160e-02 6.34819120e+00] [-8.69943759e-02 9.96168236e-01 8.99026484e-03 -2.97949356e-01] [ 9.02741056e-02 -1.10444420e-03 9.95916345e-01 -1.54101954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90629675700004 meters Centerline goodness [0,1] 0.7977773051153887 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92094259e-01 8.74468251e-02 -9.00112964e-02 6.34861435e+00] [-8.70098804e-02 9.96168806e-01 8.77441548e-03 -2.97150241e-01] [ 9.04337404e-02 -8.73175095e-04 9.95902092e-01 -1.54109292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93629675700004 meters Centerline goodness [0,1] 0.7928343949044586 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.30, Z:-1.54 [[ 9.92048482e-01 8.76519021e-02 -9.03158501e-02 6.34928836e+00] [-8.72377273e-02 9.96150994e-01 8.53088813e-03 -2.95399381e-01] [ 9.07159724e-02 -5.84105118e-04 9.95876635e-01 -1.54115778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96629675700004 meters Centerline goodness [0,1] 0.7805367179460115 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91709838e-01 9.09372942e-02 -9.07854938e-02 6.35187608e+00] [-9.02388797e-02 9.95850516e-01 1.17768444e-02 -2.94380987e-01] [ 9.14797352e-02 -3.48683118e-03 9.95800834e-01 -1.54163886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99629675700004 meters Centerline goodness [0,1] 0.7846527466145765 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91685774e-01 9.11596832e-02 -9.08253130e-02 6.35205909e+00] [-9.04829191e-02 9.95831031e-01 1.15498384e-02 -2.92829112e-01] [ 9.14995447e-02 -3.23567099e-03 9.95799861e-01 -1.54187944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02629675700004 meters Centerline goodness [0,1] 0.7847717075745579 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91628852e-01 9.15824588e-02 -9.10212811e-02 6.35265179e+00] [-9.09278499e-02 9.95793125e-01 1.13215670e-02 -2.90572487e-01] [ 9.16752229e-02 -2.95042312e-03 9.95784589e-01 -1.54223831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.056296757 meters Centerline goodness [0,1] 0.778738662729382 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91610527e-01 9.16616873e-02 -9.11410892e-02 6.35292813e+00] [-9.10254771e-02 9.95786458e-01 1.11217195e-02 -2.89782503e-01] [ 9.17764979e-02 -2.73225302e-03 9.95775883e-01 -1.54236410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.086296757 meters Centerline goodness [0,1] 0.7796569983403145 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91609005e-01 9.12529521e-02 -9.15668027e-02 6.35420125e+00] [-9.06512707e-02 9.95825027e-01 1.07173891e-02 -2.89120216e-01] [ 9.21625072e-02 -2.32681253e-03 9.95741261e-01 -1.54263137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11629675700001 meters Centerline goodness [0,1] 0.7836483956866778 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91602030e-01 9.12226883e-02 -9.16724347e-02 6.35431659e+00] [-9.06122299e-02 9.95827601e-01 1.08080430e-02 -2.89275682e-01] [ 9.22758794e-02 -2.41063365e-03 9.95730561e-01 -1.54234195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14629675700002 meters Centerline goodness [0,1] 0.7898161022062489 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91606155e-01 9.09585283e-02 -9.18900398e-02 6.35493066e+00] [-9.03556116e-02 9.95851987e-01 1.07090013e-02 -2.88296502e-01] [ 9.24829537e-02 -2.31633085e-03 9.95711574e-01 -1.54197147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17629675700002 meters Centerline goodness [0,1] 0.7885321582205435 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.29, Z:-1.54 [[ 9.91602087e-01 9.09535902e-02 -9.19388186e-02 6.35505512e+00] [-9.03570055e-02 9.95852607e-01 1.06394092e-02 -2.87498182e-01] [ 9.25252046e-02 -2.24274406e-03 9.95707817e-01 -1.54189583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20629675700002 meters Centerline goodness [0,1] 0.7898094167472746 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.29, Z:-1.54 [[ 9.91600952e-01 9.10238324e-02 -9.18815213e-02 6.35491033e+00] [-9.04367792e-02 9.95846408e-01 1.05414032e-02 -2.86052915e-01] [ 9.24594019e-02 -2.14339655e-03 9.95714148e-01 -1.54164067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23629675700002 meters Centerline goodness [0,1] 0.7841368584758942 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.91595574e-01 9.07175074e-02 -9.22418149e-02 6.35636508e+00] [-9.01771888e-02 9.95875356e-01 1.00174607e-02 -2.84613184e-01] [ 9.27701093e-02 -1.61516212e-03 9.95686245e-01 -1.54242284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26629675700002 meters Centerline goodness [0,1] 0.7851669047928302 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.91598567e-01 9.07174699e-02 -9.22096658e-02 6.35650198e+00] [-9.01966368e-02 9.95875672e-01 9.80879225e-03 -2.83717618e-01] [ 9.27191917e-02 -1.40938261e-03 9.95691300e-01 -1.54265107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29629675700002 meters Centerline goodness [0,1] 0.7861369180464006 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.91590005e-01 9.07957286e-02 -9.22247179e-02 6.35648599e+00] [-9.02842926e-02 9.95868685e-01 9.71128747e-03 -2.82764971e-01] [ 9.27254519e-02 -1.30317218e-03 9.95690862e-01 -1.54253452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32629675700002 meters Centerline goodness [0,1] 0.7833484162895927 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.91301782e-01 9.36553510e-02 -9.24632436e-02 6.35861933e+00] [-9.28591714e-02 9.95595873e-01 1.28853239e-02 -2.82190040e-01] [ 9.32628032e-02 -4.18718434e-03 9.95632722e-01 -1.54274699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35629675700002 meters Centerline goodness [0,1] 0.7860272136893104 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.91290171e-01 9.36655252e-02 -9.25773566e-02 6.35888467e+00] [-9.28962025e-02 9.95596143e-01 1.25942592e-02 -2.80870880e-01] [ 9.33493070e-02 -3.88448045e-03 9.95625842e-01 -1.54277887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38629675700003 meters Centerline goodness [0,1] 0.7820265720967285 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.91266609e-01 9.39682612e-02 -9.25228387e-02 6.35861148e+00] [-9.32429671e-02 9.95569362e-01 1.21405925e-02 -2.78163207e-01] [ 9.32537339e-02 -3.40745993e-03 9.95636545e-01 -1.54271085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41629675700003 meters Centerline goodness [0,1] 0.7793589776227693 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.90968977e-01 9.66011941e-02 -9.29983666e-02 6.36150804e+00] [-9.55928227e-02 9.95303733e-01 1.52476587e-02 -2.78858743e-01] [ 9.40345635e-02 -6.21998039e-03 9.95549503e-01 -1.54333483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44629675700003 meters Centerline goodness [0,1] 0.7710190437601296 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.28, Z:-1.54 [[ 9.90951814e-01 9.67392615e-02 -9.30377194e-02 6.36222879e+00] [-9.57985892e-02 9.95294615e-01 1.45347536e-02 -2.75562407e-01] [ 9.40060224e-02 -5.49035824e-03 9.95556489e-01 -1.54428148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47629675700003 meters Centerline goodness [0,1] 0.7732991079370727 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.27, Z:-1.54 [[ 9.90946895e-01 9.66784341e-02 -9.31532661e-02 6.36290709e+00] [-9.57827463e-02 9.95303112e-01 1.40492258e-02 -2.73701137e-01] [ 9.40739928e-02 -4.99956100e-03 9.95552655e-01 -1.54488286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50629675700003 meters Centerline goodness [0,1] 0.7665280403276622 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 0.99060984 0.09990306 -0.09333552 6.36547789] [-0.09874085 0.99496796 0.01699987 -0.27226045] [ 0.0945642 -0.00762421 0.99548957 -1.54619244] [ 0. 0. 0. 1. ]] SLAMing on 192.53629675700003 meters Centerline goodness [0,1] 0.7671648528010432 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 0.99060206 0.09979287 -0.09353578 6.36623531] [-0.09868135 0.99498318 0.01644586 -0.27036468] [ 0.09470771 -0.00706107 0.99548008 -1.54668047] [ 0. 0. 0. 1. ]] SLAMing on 192.56629675700003 meters Centerline goodness [0,1] 0.7725744958362597 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 0.99059144 0.09994776 -0.0934829 6.36660178] [-0.0988893 0.99497142 0.01589884 -0.26790702] [ 0.09460187 -0.0065048 0.99549393 -1.54743857] [ 0. 0. 0. 1. ]] SLAMing on 192.59629675700003 meters Centerline goodness [0,1] 0.7711879277066152 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 9.90575703e-01 9.98666185e-02 -9.37359907e-02 6.36733205e+00] [-9.88238042e-02 9.94980876e-01 1.57134552e-02 -2.67125910e-01] [ 9.48347677e-02 -6.30201971e-03 9.95473079e-01 -1.54763441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62629675700003 meters Centerline goodness [0,1] 0.774706219904693 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 9.90623558e-01 9.89361503e-02 -9.42157335e-02 6.36939473e+00] [-9.79618596e-02 9.95078292e-01 1.49220243e-02 -2.66485359e-01] [ 9.52283588e-02 -5.55256033e-03 9.95439967e-01 -1.54870366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65629675700004 meters Centerline goodness [0,1] 0.7797411959051885 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 9.90639027e-01 9.84091168e-02 -9.46042479e-02 6.37066639e+00] [-9.74521094e-02 9.95131728e-01 1.46945997e-02 -2.66491654e-01] [ 9.55897712e-02 -5.33766040e-03 9.95406502e-01 -1.54904690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68629675700004 meters Centerline goodness [0,1] 0.7834329332596797 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 9.90787690e-01 9.62740298e-02 -9.52421409e-02 6.37360059e+00] [-9.54104111e-02 9.95345236e-01 1.35910009e-02 -2.66357031e-01] [ 9.61072716e-02 -4.37870452e-03 9.95361351e-01 -1.55011424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71629675700004 meters Centerline goodness [0,1] 0.78609062170706 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.27, Z:-1.55 [[ 9.90825857e-01 9.55669896e-02 -9.55566434e-02 6.37480802e+00] [-9.47100547e-02 9.95413713e-01 1.34739009e-02 -2.67092807e-01] [ 9.64060534e-02 -4.30011450e-03 9.95332800e-01 -1.55037502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74629675700004 meters Centerline goodness [0,1] 0.7865963403659634 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.27, Z:-1.55 [[ 9.90999959e-01 9.31040825e-02 -9.61806211e-02 6.37767362e+00] [-9.23488737e-02 9.95650943e-01 1.22835297e-02 -2.67746673e-01] [ 9.69059729e-02 -3.29080542e-03 9.95288101e-01 -1.55117040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77629675700004 meters Centerline goodness [0,1] 0.7840694601736504 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.27, Z:-1.55 [[ 9.91373936e-01 8.86281375e-02 -9.65545014e-02 6.37798586e+00] [-8.82521147e-02 9.96064693e-01 8.16649943e-03 -2.66311288e-01] [ 9.68983114e-02 4.25084237e-04 9.95294196e-01 -1.55129024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.806296757 meters Centerline goodness [0,1] 0.7852571342519389 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.27, Z:-1.55 [[ 9.91389604e-01 8.81210522e-02 -9.68572873e-02 6.37909330e+00] [-8.77539894e-02 9.96109639e-01 8.05139903e-03 -2.66561352e-01] [ 9.71899752e-02 5.17540068e-04 9.95265714e-01 -1.55154873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.836296757 meters Centerline goodness [0,1] 0.785596399099775 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.27, Z:-1.55 [[ 9.91410386e-01 8.75526151e-02 -9.71595923e-02 6.38037165e+00] [-8.72085697e-02 9.96159614e-01 7.79025015e-03 -2.66442959e-01] [ 9.74685188e-02 7.49814172e-04 9.95238326e-01 -1.55200718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86629675700001 meters Centerline goodness [0,1] 0.7865255873429782 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.27, Z:-1.55 [[ 9.91434753e-01 8.70376494e-02 -9.73733928e-02 6.38140492e+00] [-8.67205919e-02 9.96204504e-01 7.49167481e-03 -2.66033593e-01] [ 9.76558702e-02 1.01677148e-03 9.95219723e-01 -1.55238513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89629675700002 meters Centerline goodness [0,1] 0.7834785657051282 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.27, Z:-1.55 [[ 9.91436907e-01 8.68358455e-02 -9.75315115e-02 6.38217759e+00] [-8.65400551e-02 9.96221867e-01 7.26702169e-03 -2.65241886e-01] [ 9.77940625e-02 1.23558888e-03 9.95205906e-01 -1.55272937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92629675700002 meters Centerline goodness [0,1] 0.78178183181307 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91444070e-01 8.68864511e-02 -9.74135597e-02 6.38219270e+00] [-8.66288654e-02 9.96216906e-01 6.87867897e-03 -2.63096961e-01] [ 9.76426990e-02 1.61900068e-03 9.95220218e-01 -1.55303997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95629675700002 meters Centerline goodness [0,1] 0.7823929791318657 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91427537e-01 8.68561897e-02 -9.76086101e-02 6.38283431e+00] [-8.66109682e-02 9.96219310e-01 6.75467539e-03 -2.62505716e-01] [ 9.78262677e-02 1.75720504e-03 9.95201956e-01 -1.55320203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98629675700002 meters Centerline goodness [0,1] 0.7790686054064858 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91417304e-01 8.71453602e-02 -9.74546881e-02 6.38225084e+00] [-8.68960107e-02 9.96194124e-01 6.80816037e-03 -2.62405832e-01] [ 9.76770872e-02 1.71869562e-03 9.95216676e-01 -1.55289197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01629675700002 meters Centerline goodness [0,1] 0.7803439312137572 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91409659e-01 8.71165583e-02 -9.75581510e-02 6.38299056e+00] [-8.69048615e-02 9.96195895e-01 6.42528219e-03 -2.61106640e-01] [ 9.77467780e-02 2.10819078e-03 9.95209085e-01 -1.55352851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04629675700002 meters Centerline goodness [0,1] 0.7789492092837335 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91386379e-01 8.71557476e-02 -9.77595171e-02 6.38373819e+00] [-8.69579903e-02 9.96192122e-01 6.28994603e-03 -2.60186916e-01] [ 9.79354658e-02 2.26520432e-03 9.95190190e-01 -1.55391123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07629675700002 meters Centerline goodness [0,1] 0.7798704384582676 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91361336e-01 8.71748038e-02 -9.79961952e-02 6.38479510e+00] [-8.70120888e-02 9.96189540e-01 5.94111995e-03 -2.59092589e-01] [ 9.81407006e-02 2.63705702e-03 9.95169055e-01 -1.55470758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10629675700002 meters Centerline goodness [0,1] 0.7798413813874109 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91328112e-01 8.74115892e-02 -9.81212896e-02 6.38494038e+00] [-8.72329094e-02 9.96169158e-01 6.11787484e-03 -2.59401388e-01] [ 9.82801756e-02 2.49458426e-03 9.95155658e-01 -1.55463322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13629675700003 meters Centerline goodness [0,1] 0.7813583161701914 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.26, Z:-1.55 [[ 9.91293804e-01 8.78664127e-02 -9.80616505e-02 6.38455871e+00] [-8.76520889e-02 9.96129943e-01 6.49991082e-03 -2.59880458e-01] [ 9.82532701e-02 2.15198719e-03 9.95159115e-01 -1.55434066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16629675700003 meters Centerline goodness [0,1] 0.7845639092112162 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.55 [[ 9.90993113e-01 9.08198653e-02 -9.84093590e-02 6.38696240e+00] [-9.02759601e-02 9.95866833e-01 9.97503648e-03 -2.61595611e-01] [ 9.89085482e-02 -1.00119309e-03 9.95096024e-01 -1.55486768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19629675700003 meters Centerline goodness [0,1] 0.7845639092112162 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.55 [[ 9.90993113e-01 9.08198653e-02 -9.84093590e-02 6.38696240e+00] [-9.02759601e-02 9.95866833e-01 9.97503648e-03 -2.61595611e-01] [ 9.89085482e-02 -1.00119309e-03 9.95096024e-01 -1.55486768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22629675700003 meters Centerline goodness [0,1] 0.7820159390506741 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.55 [[ 9.90952556e-01 9.12681982e-02 -9.84029892e-02 6.38694552e+00] [-9.07064994e-02 9.95825675e-01 1.01762924e-02 -2.61028926e-01] [ 9.89209950e-02 -1.15843226e-03 9.95094616e-01 -1.55491823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25629675700003 meters Centerline goodness [0,1] 0.7827480839553174 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 9.90905475e-01 9.18635424e-02 -9.83230877e-02 6.38671271e+00] [-9.12892051e-02 9.95770803e-01 1.03338932e-02 -2.60269304e-01] [ 9.88565680e-02 -1.26407483e-03 9.95100890e-01 -1.55501925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28629675700003 meters Centerline goodness [0,1] 0.7782562162431241 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 9.90514549e-01 9.57016801e-02 -9.86007956e-02 6.38887284e+00] [-9.47754517e-02 9.95399580e-01 1.40460156e-02 -2.60856034e-01] [ 9.94914178e-02 -4.56784784e-03 9.95027936e-01 -1.55571998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31629675700003 meters Centerline goodness [0,1] 0.7762919141955209 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 9.90483300e-01 9.59107929e-02 -9.87114623e-02 6.38960878e+00] [-9.50060018e-02 9.95380528e-01 1.38370704e-02 -2.60345724e-01] [ 9.95825918e-02 -4.32720582e-03 9.95019891e-01 -1.55655567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34629675700003 meters Centerline goodness [0,1] 0.7742980292498194 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 9.90414967e-01 9.68453549e-02 -9.84843647e-02 6.38909382e+00] [-9.59350838e-02 9.95289864e-01 1.39479724e-02 -2.59407527e-01] [ 9.93712863e-02 -4.36617485e-03 9.95040845e-01 -1.55687878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37629675700003 meters Centerline goodness [0,1] 0.7716207161823461 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 9.90393456e-01 9.67379489e-02 -9.88057233e-02 6.39027791e+00] [-9.58581512e-02 9.95301759e-01 1.36243629e-02 -2.58800948e-01] [ 9.96595031e-02 -4.02214594e-03 9.95013470e-01 -1.55756393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40629675700004 meters Centerline goodness [0,1] 0.772563981864579 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 0.99148454 0.09585059 -0.08815366 6.39409069] [-0.09490145 0.99537508 0.01490545 -0.25867624] [ 0.08917466 -0.00641261 0.99599536 -1.56225653] [ 0. 0. 0. 1. ]] SLAMing on 193.43629675700004 meters Centerline goodness [0,1] 0.7715533282060187 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.26, Z:-1.56 [[ 0.9914783 0.09600434 -0.08805649 6.39396189] [-0.09505372 0.99536009 0.01493577 -0.25845056] [ 0.08908181 -0.00643839 0.9960035 -1.56229174] [ 0. 0. 0. 1. ]] SLAMing on 193.46629675700004 meters Centerline goodness [0,1] 0.7725278266689803 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.56 [[ 9.91475771e-01 9.55016231e-02 -8.86297717e-02 6.39571808e+00] [-9.45725501e-02 9.95410422e-01 1.46329949e-02 -2.57735994e-01] [ 8.96204732e-02 -6.12631641e-03 9.95957147e-01 -1.56260916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49629675700004 meters Centerline goodness [0,1] 0.7765191036915586 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.56 [[ 9.91478602e-01 9.52965706e-02 -8.88186044e-02 6.39642559e+00] [-9.43787153e-02 9.95430960e-01 1.44866047e-02 -2.57709885e-01] [ 8.97933124e-02 -5.98057276e-03 9.95942465e-01 -1.56292519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52629675700004 meters Centerline goodness [0,1] 0.7799601196410768 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.56 [[ 9.91496654e-01 9.48455425e-02 -8.90994316e-02 6.39791968e+00] [-9.39406685e-02 9.95475030e-01 1.43043662e-02 -2.57909583e-01] [ 9.00529648e-02 -5.81267104e-03 9.95920015e-01 -1.56380316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.556296757 meters Centerline goodness [0,1] 0.7797208008346167 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.56 [[ 9.91509046e-01 9.43614628e-02 -8.94747216e-02 6.39923285e+00] [-9.34772758e-02 9.95522544e-01 1.40307672e-02 -2.57869877e-01] [ 9.03980662e-02 -5.54777933e-03 9.95890261e-01 -1.56428255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.586296757 meters Centerline goodness [0,1] 0.7830433265194197 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.56 [[ 9.91561951e-01 9.35115485e-02 -8.97802162e-02 6.40072006e+00] [-9.26469084e-02 9.95603953e-01 1.37593570e-02 -2.58649102e-01] [ 9.06721969e-02 -5.32539544e-03 9.95866554e-01 -1.56484377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61629675700001 meters Centerline goodness [0,1] 0.7813511226166177 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.57 [[ 9.91594879e-01 9.25155021e-02 -9.04459981e-02 6.40305223e+00] [-9.16668667e-02 9.95698200e-01 1.35011315e-02 -2.59497202e-01] [ 9.13059815e-02 -5.09675164e-03 9.95809842e-01 -1.56535201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64629675700002 meters Centerline goodness [0,1] 0.7840029947591715 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.26, Z:-1.57 [[ 9.91597550e-01 9.22193895e-02 -9.07187015e-02 6.40386535e+00] [-9.13625409e-02 9.95725345e-01 1.35618311e-02 -2.60153194e-01] [ 9.15815741e-02 -5.15958739e-03 9.95784211e-01 -1.56539295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67629675700002 meters Centerline goodness [0,1] 0.7848243209568901 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.57 [[ 9.91589240e-01 9.17853419e-02 -9.12481736e-02 6.40531498e+00] [-9.09282635e-02 9.95765735e-01 1.35149075e-02 -2.60345056e-01] [ 9.21022750e-02 -5.10419888e-03 9.95736470e-01 -1.56546681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70629675700002 meters Centerline goodness [0,1] 0.7863809452699171 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.57 [[ 9.92800409e-01 9.08454660e-02 -7.80669501e-02 6.40908674e+00] [-9.03253199e-02 9.95860328e-01 1.01756371e-02 -2.58310075e-01] [ 7.86681890e-02 -3.05095439e-03 9.96896187e-01 -1.57283448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73629675700002 meters Centerline goodness [0,1] 0.7830148830968768 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.57 [[ 9.92800339e-01 9.04162017e-02 -7.85646098e-02 6.41065741e+00] [-8.99276359e-02 9.95900656e-01 9.74188269e-03 -2.57602056e-01] [ 7.91233704e-02 -2.60661481e-03 9.96861424e-01 -1.57338835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76629675700002 meters Centerline goodness [0,1] 0.7890657989517872 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.57 [[ 9.92761977e-01 9.03636318e-02 -7.91079741e-02 6.41210023e+00] [-8.98793568e-02 9.95905730e-01 9.66844025e-03 -2.57374823e-01] [ 7.96577600e-02 -2.48828602e-03 9.96819166e-01 -1.57364644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79629675700002 meters Centerline goodness [0,1] 0.7881747817700735 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.57 [[ 9.92746461e-01 9.03037766e-02 -7.93705936e-02 6.41336762e+00] [-8.98608584e-02 9.95912371e-01 9.14191262e-03 -2.56653616e-01] [ 7.98717053e-02 -1.94329173e-03 9.96803258e-01 -1.57483223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82629675700002 meters Centerline goodness [0,1] 0.7861694245492714 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.58 [[ 9.92738913e-01 9.02269892e-02 -7.95521282e-02 6.41426550e+00] [-8.98041609e-02 9.95919817e-01 8.88425691e-03 -2.56051003e-01] [ 8.00291407e-02 -1.67563543e-03 9.96791116e-01 -1.57546319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85629675700002 meters Centerline goodness [0,1] 0.7854305942718998 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.26, Z:-1.58 [[ 9.92729819e-01 9.02496239e-02 -7.96398863e-02 6.41496208e+00] [-8.98411252e-02 9.95918066e-01 8.70502177e-03 -2.55662981e-01] [ 8.01004265e-02 -1.48679769e-03 9.96785690e-01 -1.57611346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88629675700003 meters Centerline goodness [0,1] 0.7829846995343337 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92694745e-01 9.05079487e-02 -7.97837955e-02 6.41631151e+00] [-9.01170086e-02 9.95894958e-01 8.49456700e-03 -2.55100779e-01] [ 8.02251055e-02 -1.24263503e-03 9.96775997e-01 -1.57767552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91629675700003 meters Centerline goodness [0,1] 0.7789810484863402 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.25, Z:-1.58 [[ 9.92681415e-01 9.06080052e-02 -7.98360651e-02 6.41675794e+00] [-9.02233301e-02 9.95885965e-01 8.41997434e-03 -2.54937635e-01] [ 8.02705338e-02 -1.15527639e-03 9.96772445e-01 -1.57815767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94629675700003 meters Centerline goodness [0,1] 0.7733014259633888 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92632264e-01 9.10346413e-02 -7.99617522e-02 6.41744015e+00] [-9.06434655e-02 9.95846997e-01 8.51589457e-03 -2.55014481e-01] [ 8.04049122e-02 -1.20514139e-03 9.96761555e-01 -1.57883057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97629675700003 meters Centerline goodness [0,1] 0.7691965828847958 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92602763e-01 9.14514183e-02 -7.98523215e-02 6.41740133e+00] [-9.10323822e-02 9.95808340e-01 8.88003029e-03 -2.55306278e-01] [ 8.03296991e-02 -1.54519556e-03 9.96767150e-01 -1.57887658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00629675700003 meters Centerline goodness [0,1] 0.764814860558753 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92597036e-01 9.14954963e-02 -7.98730183e-02 6.41764686e+00] [-9.10689451e-02 9.95804149e-01 8.97461907e-03 -2.55422514e-01] [ 8.03590202e-02 -1.63422877e-03 9.96764645e-01 -1.57897229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03629675700003 meters Centerline goodness [0,1] 0.764300584911272 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92594126e-01 9.14005765e-02 -8.00177186e-02 6.41835649e+00] [-9.09631320e-02 9.95812657e-01 9.10273976e-03 -2.55678833e-01] [ 8.05146526e-02 -1.75666372e-03 9.96751877e-01 -1.57906545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06629675700003 meters Centerline goodness [0,1] 0.7629458863191294 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92589447e-01 9.13857367e-02 -8.00926825e-02 6.41874358e+00] [-9.09454016e-02 9.95813970e-01 9.13625820e-03 -2.55674675e-01] [ 8.05923358e-02 -1.78449230e-03 9.96745550e-01 -1.57923254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09629675700003 meters Centerline goodness [0,1] 0.7649624544620951 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92582029e-01 9.14133226e-02 -8.01531049e-02 6.41890622e+00] [-9.09645280e-02 9.95811261e-01 9.24056842e-03 -2.55529753e-01] [ 8.06620755e-02 -1.88093280e-03 9.96739731e-01 -1.57909732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12629675700003 meters Centerline goodness [0,1] 0.7616834045938152 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92587383e-01 9.12681086e-02 -8.02522301e-02 6.41950954e+00] [-9.08262961e-02 9.95824749e-01 9.14623454e-03 -2.55168431e-01] [ 8.07519164e-02 -1.78942419e-03 9.96732625e-01 -1.57933971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15629675700004 meters Centerline goodness [0,1] 0.7585829979629354 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92590958e-01 9.10445576e-02 -8.04616634e-02 6.42022363e+00] [-9.06116923e-02 9.95845428e-01 9.02243315e-03 -2.55141509e-01] [ 8.09488231e-02 -1.66481807e-03 9.96716869e-01 -1.57956157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18629675700004 meters Centerline goodness [0,1] 0.7608474534223126 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.26, Z:-1.58 [[ 9.92618389e-01 9.04376766e-02 -8.08069286e-02 6.42179934e+00] [-9.00394468e-02 9.95901361e-01 8.56603042e-03 -2.55016738e-01] [ 8.12504221e-02 -1.22698817e-03 9.96692963e-01 -1.58042845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21629675700004 meters Centerline goodness [0,1] 0.7620606691966167 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.25, Z:-1.58 [[ 9.92644242e-01 8.98582727e-02 -8.11350749e-02 6.42326747e+00] [-8.94996264e-02 9.95954293e-01 8.05377539e-03 -2.54291831e-01] [ 8.15305245e-02 -7.32974872e-04 9.96670576e-01 -1.58122684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24629675700004 meters Centerline goodness [0,1] 0.7652497657675428 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.25, Z:-1.58 [[ 9.92645676e-01 8.96642240e-02 -8.13319624e-02 6.42404822e+00] [-8.93229807e-02 9.95971921e-01 7.83183921e-03 -2.53669327e-01] [ 8.17065867e-02 -5.09428022e-04 9.96656297e-01 -1.58156599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27629675700004 meters Centerline goodness [0,1] 0.7611958752689236 Centerline is valid? [False, False] Translation: X:6.42, Y:-0.25, Z:-1.58 [[ 9.92637542e-01 8.96647066e-02 -8.14306472e-02 6.42443494e+00] [-8.93415676e-02 9.95971969e-01 7.61065137e-03 -2.52554179e-01] [ 8.17850488e-02 -2.79476594e-04 9.96649952e-01 -1.58173377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.306296757 meters Centerline goodness [0,1] 0.775386136167058 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92629100e-01 8.95331884e-02 -8.16778869e-02 6.42526154e+00] [-8.92381755e-02 9.95983836e-01 7.26265789e-03 -2.51679753e-01] [ 8.20001040e-02 7.96600366e-05 9.96632318e-01 -1.58218826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.336296757 meters Centerline goodness [0,1] 0.7715025268088254 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92619610e-01 8.94465325e-02 -8.18878967e-02 6.42629217e+00] [-8.92080876e-02 9.95991320e-01 6.57328906e-03 -2.49977618e-01] [ 8.21475922e-02 7.80287038e-04 9.96619869e-01 -1.58317358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36629675700001 meters Centerline goodness [0,1] 0.7429057468997313 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92608035e-01 8.94507379e-02 -8.20235004e-02 6.42668621e+00] [-8.92324935e-02 9.95990709e-01 6.33006116e-03 -2.49238074e-01] [ 8.22608729e-02 1.03589190e-03 9.96610293e-01 -1.58339608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39629675700002 meters Centerline goodness [0,1] 0.7639056608423491 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92601067e-01 8.94910744e-02 -8.20638175e-02 6.42682816e+00] [-8.92913170e-02 9.95986822e-01 6.10834705e-03 -2.48134097e-01] [ 8.22811233e-02 1.26443455e-03 9.96608357e-01 -1.58340287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42629675700002 meters Centerline goodness [0,1] 0.7584504274344109 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92601493e-01 8.93153576e-02 -8.22498810e-02 6.42752291e+00] [-8.91301536e-02 9.96002346e-01 5.92805911e-03 -2.47760494e-01] [ 8.24505412e-02 1.44674421e-03 9.96594108e-01 -1.58364284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45629675700002 meters Centerline goodness [0,1] 0.7559608672140012 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92619676e-01 8.90869301e-02 -8.22781678e-02 6.42818468e+00] [-8.89209577e-02 9.96022452e-01 5.68668835e-03 -2.47065173e-01] [ 8.24575121e-02 1.67153474e-03 9.96593179e-01 -1.58413042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48629675700002 meters Centerline goodness [0,1] 0.7589336218981333 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92613750e-01 8.89378425e-02 -8.25106312e-02 6.42884638e+00] [-8.87742872e-02 9.96035709e-01 5.65610710e-03 -2.46742534e-01] [ 8.26865770e-02 1.71049280e-03 9.96574134e-01 -1.58415895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51629675700002 meters Centerline goodness [0,1] 0.7593639402280771 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92633777e-01 8.83573866e-02 -8.28924429e-02 6.43025115e+00] [-8.82068538e-02 9.96087085e-01 5.48360290e-03 -2.46759116e-01] [ 8.30526087e-02 1.86847214e-03 9.96543413e-01 -1.58445439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54629675700002 meters Centerline goodness [0,1] 0.7813428985578459 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.58 [[ 9.92646170e-01 8.79675298e-02 -8.31582514e-02 6.43111223e+00] [-8.78330814e-02 9.96121208e-01 5.28089781e-03 -2.46655017e-01] [ 8.33002454e-02 2.06198247e-03 9.96522362e-01 -1.58464208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57629675700002 meters Centerline goodness [0,1] 0.7839655172413793 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.59 [[ 9.92683740e-01 8.72597237e-02 -8.34549745e-02 6.43258262e+00] [-8.71561424e-02 9.96182659e-01 4.89052026e-03 -2.46464093e-01] [ 8.35631438e-02 2.41887369e-03 9.96499548e-01 -1.58532369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60629675700002 meters Centerline goodness [0,1] 0.784140644209491 Centerline is valid? [False, False] Translation: X:6.43, Y:-0.25, Z:-1.59 [[ 9.92688276e-01 8.69737328e-02 -8.36992017e-02 6.43338872e+00] [-8.68745533e-02 9.96207535e-01 4.83322850e-03 -2.46518060e-01] [ 8.38021393e-02 2.47344149e-03 9.96479344e-01 -1.58542794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63629675700003 meters Centerline goodness [0,1] 0.7688282194959394 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92738262e-01 8.59464857e-02 -8.41661764e-02 6.43549904e+00] [-8.58825960e-02 9.96295609e-01 4.38617078e-03 -2.46949911e-01] [ 8.42313680e-02 2.87409017e-03 9.96442079e-01 -1.58630370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66629675700003 meters Centerline goodness [0,1] 0.7891815894627794 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92807109e-01 8.46179927e-02 -8.46985211e-02 6.43804844e+00] [-8.46005650e-02 9.96407694e-01 3.80144389e-03 -2.47460412e-01] [ 8.47159286e-02 3.39144222e-03 9.96399373e-01 -1.58741912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69629675700003 meters Centerline goodness [0,1] 0.7890644224617354 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92819294e-01 8.41938371e-02 -8.49779221e-02 6.43919843e+00] [-8.41926553e-02 9.96442978e-01 3.60405567e-03 -2.47499404e-01] [ 8.49790930e-02 3.57634090e-03 9.96376316e-01 -1.58789432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72629675700003 meters Centerline goodness [0,1] 0.7899537765538945 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92864609e-01 8.36141267e-02 -8.50208527e-02 6.44006588e+00] [-8.36083426e-02 9.96492063e-01 3.63498183e-03 -2.47701106e-01] [ 8.50265408e-02 3.49940777e-03 9.96372542e-01 -1.58805088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75629675700003 meters Centerline goodness [0,1] 0.7941378633150039 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92866862e-01 8.33395921e-02 -8.52637514e-02 6.44080188e+00] [-8.33275952e-02 9.96515318e-01 3.70582146e-03 -2.48072566e-01] [ 8.52754759e-02 3.42543603e-03 9.96351524e-01 -1.58803220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78629675700003 meters Centerline goodness [0,1] 0.796818528261992 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92890154e-01 8.26618193e-02 -8.56514208e-02 6.44207282e+00] [-8.26503162e-02 9.96571791e-01 3.68647892e-03 -2.48645456e-01] [ 8.56625209e-02 3.41884838e-03 9.96318345e-01 -1.58794259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81629675700003 meters Centerline goodness [0,1] 0.7990926924963218 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92890134e-01 8.23416179e-02 -8.59595188e-02 6.44306551e+00] [-8.23382353e-02 9.96597973e-01 3.59085390e-03 -2.48728677e-01] [ 8.59627590e-02 3.51243168e-03 9.96292159e-01 -1.58813769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84629675700003 meters Centerline goodness [0,1] 0.8038039753255655 Centerline is valid? [False, False] Translation: X:6.44, Y:-0.25, Z:-1.59 [[ 9.92902292e-01 8.16701217e-02 -8.64582595e-02 6.44484455e+00] [-8.16959461e-02 9.96652015e-01 3.24548846e-03 -2.48497844e-01] [ 8.64338580e-02 3.84083639e-03 9.96250188e-01 -1.58860132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87629675700003 meters Centerline goodness [0,1] 0.8050214329454991 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.25, Z:-1.59 [[ 9.92901347e-01 8.12842357e-02 -8.68319585e-02 6.44616167e+00] [-8.13357412e-02 9.96682393e-01 2.95052106e-03 -2.48142356e-01] [ 8.67837150e-02 4.13296537e-03 9.96218603e-01 -1.58913629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90629675700004 meters Centerline goodness [0,1] 0.8054444336032783 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.25, Z:-1.59 [[ 9.92901065e-01 8.07667997e-02 -8.73166587e-02 6.44805881e+00] [-8.08914034e-02 9.96720674e-01 2.11618792e-03 -2.46138628e-01] [ 8.72012367e-02 4.96200182e-03 9.96178359e-01 -1.59030309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93629675700004 meters Centerline goodness [0,1] 0.8049006687167473 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92897368e-01 8.06395141e-02 -8.74761992e-02 6.44862331e+00] [-8.07947792e-02 9.96729186e-01 1.77000939e-03 -2.44883165e-01] [ 8.73328136e-02 5.31018254e-03 9.96165037e-01 -1.59055638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96629675700004 meters Centerline goodness [0,1] 0.8057923285548237 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.25, Z:-1.59 [[ 9.92709659e-01 8.25580472e-02 -8.78162975e-02 6.45143080e+00] [-8.25100695e-02 9.96581455e-01 4.18232042e-03 -2.45214146e-01] [ 8.78613778e-02 3.09389893e-03 9.96127906e-01 -1.59137095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99629675700004 meters Centerline goodness [0,1] 0.8027902462695621 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92690802e-01 8.26882509e-02 -8.79069129e-02 6.45121169e+00] [-8.26325997e-02 9.96570896e-01 4.27819202e-03 -2.44930415e-01] [ 8.79592272e-02 3.01705488e-03 9.96119507e-01 -1.59079099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02629675700004 meters Centerline goodness [0,1] 0.80562814556717 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92660108e-01 8.24676565e-02 -8.84590099e-02 6.45230110e+00] [-8.24329498e-02 9.96588377e-01 4.05167378e-03 -2.43608325e-01] [ 8.84913531e-02 3.27000219e-03 9.96071578e-01 -1.59044794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.056296757 meters Centerline goodness [0,1] 0.8033668402567519 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92639920e-01 8.25323859e-02 -8.86250255e-02 6.45245017e+00] [-8.24946437e-02 9.96583095e-01 4.09482649e-03 -2.43147469e-01] [ 8.86601580e-02 3.24640167e-03 9.96056644e-01 -1.59009518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.086296757 meters Centerline goodness [0,1] 0.8033668402567519 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92639920e-01 8.25323859e-02 -8.86250255e-02 6.45245017e+00] [-8.24946437e-02 9.96583095e-01 4.09482649e-03 -2.43147469e-01] [ 8.86601580e-02 3.24640167e-03 9.96056644e-01 -1.59009518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11629675700001 meters Centerline goodness [0,1] 0.8072654129507562 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92602269e-01 8.26389398e-02 -8.89468419e-02 6.45284502e+00] [-8.26005859e-02 9.96574224e-01 4.11828316e-03 -2.42225734e-01] [ 8.89824605e-02 3.25924405e-03 9.96027861e-01 -1.58951422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14629675700002 meters Centerline goodness [0,1] 0.8076347305389222 Centerline is valid? [False, False] Translation: X:6.45, Y:-0.24, Z:-1.59 [[ 9.92570001e-01 8.24604589e-02 -8.94710352e-02 6.45406178e+00] [-8.24408043e-02 9.96588248e-01 3.92143753e-03 -2.41544723e-01] [ 8.94891458e-02 3.48376284e-03 9.95981705e-01 -1.58955979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17629675700002 meters Centerline goodness [0,1] 0.8063992636729158 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92526999e-01 8.23698003e-02 -9.00298459e-02 6.45527627e+00] [-8.23706955e-02 9.96594848e-01 3.71187356e-03 -2.40679162e-01] [ 9.00290269e-02 3.73168631e-03 9.95932151e-01 -1.58959062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20629675700002 meters Centerline goodness [0,1] 0.8082431185979901 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92506563e-01 8.23689136e-02 -9.02556607e-02 6.45583104e+00] [-8.23815832e-02 9.96594390e-01 3.59129981e-03 -2.40181429e-01] [ 9.02440965e-02 3.87101559e-03 9.95912154e-01 -1.58966627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23629675700002 meters Centerline goodness [0,1] 0.8058546759798215 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92482283e-01 8.21703103e-02 -9.07025841e-02 6.45692803e+00] [-8.22054612e-02 9.96609758e-01 3.35458229e-03 -2.38925286e-01] [ 9.06707274e-02 4.12688427e-03 9.95872375e-01 -1.58963232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26629675700002 meters Centerline goodness [0,1] 0.7999613498562698 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92470235e-01 8.16994846e-02 -9.12580273e-02 6.45849117e+00] [-8.17613347e-02 9.96647219e-01 3.06683264e-03 -2.38271333e-01] [ 9.12026177e-02 4.41763800e-03 9.95822558e-01 -1.58982807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29629675700002 meters Centerline goodness [0,1] 0.804230750570084 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92459769e-01 8.15368681e-02 -9.15169175e-02 6.45886917e+00] [-8.16036096e-02 9.96660292e-01 3.01866886e-03 -2.38081953e-01] [ 9.14574106e-02 4.47220340e-03 9.95798946e-01 -1.58949787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32629675700002 meters Centerline goodness [0,1] 0.7994380389497142 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92445843e-01 8.13813794e-02 -9.18058838e-02 6.45913876e+00] [-8.14465223e-02 9.96673068e-01 3.04301448e-03 -2.37469985e-01] [ 9.17480965e-02 4.45724289e-03 9.95772273e-01 -1.58875472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35629675700002 meters Centerline goodness [0,1] 0.80258789890717 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92435404e-01 8.13042030e-02 -9.19869262e-02 6.45928844e+00] [-8.13770970e-02 9.96678976e-01 2.96430855e-03 -2.36898969e-01] [ 9.19224462e-02 4.54374426e-03 9.95755803e-01 -1.58838520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38629675700003 meters Centerline goodness [0,1] 0.8016750986420081 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.24, Z:-1.59 [[ 9.92420722e-01 8.10542643e-02 -9.23651291e-02 6.46005015e+00] [-8.11580503e-02 9.96697753e-01 2.63814151e-03 -2.35389676e-01] [ 9.22739493e-02 4.87802749e-03 9.95721710e-01 -1.58818113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41629675700003 meters Centerline goodness [0,1] 0.800956221476348 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92409457e-01 8.10503211e-02 -9.24895427e-02 6.46025399e+00] [-8.11697573e-02 9.96697216e-01 2.47589758e-03 -2.34517277e-01] [ 9.23847420e-02 5.05024956e-03 9.95710578e-01 -1.58807757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44629675700003 meters Centerline goodness [0,1] 0.8016636528028933 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92364542e-01 8.15051653e-02 -9.25717260e-02 6.45967547e+00] [-8.16137762e-02 9.96660593e-01 2.61817245e-03 -2.32937198e-01] [ 9.24759859e-02 4.95694662e-03 9.95702576e-01 -1.58704809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47629675700003 meters Centerline goodness [0,1] 0.8002891217925552 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92334344e-01 8.17666322e-02 -9.26648143e-02 6.45935314e+00] [-8.18633171e-02 9.96639734e-01 2.76365450e-03 -2.32348615e-01] [ 9.25794106e-02 4.84337980e-03 9.95693524e-01 -1.58640426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50629675700003 meters Centerline goodness [0,1] 0.7980829439815038 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92314405e-01 8.18175909e-02 -9.28331975e-02 6.45959266e+00] [-8.19307305e-02 9.96634640e-01 2.59822080e-03 -2.30863623e-01] [ 9.27333604e-02 5.02763975e-03 9.95678285e-01 -1.58615875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53629675700003 meters Centerline goodness [0,1] 0.7995381728965218 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92293582e-01 8.17983322e-02 -9.30724430e-02 6.46010773e+00] [-8.19295277e-02 9.96635194e-01 2.41695811e-03 -2.29756135e-01] [ 9.29569755e-02 5.22704927e-03 9.95656406e-01 -1.58613870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56629675700003 meters Centerline goodness [0,1] 0.7985105203538116 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92263525e-01 8.21129603e-02 -9.31158354e-02 6.46000192e+00] [-8.22454983e-02 9.96609162e-01 2.41978758e-03 -2.28266615e-01] [ 9.29987906e-02 5.25729133e-03 9.95652342e-01 -1.58586364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59629675700003 meters Centerline goodness [0,1] 0.8011153309937022 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92237581e-01 8.22035940e-02 -9.33121193e-02 6.46034621e+00] [-8.23418960e-02 9.96601314e-01 2.37360431e-03 -2.27473727e-01] [ 9.31900994e-02 5.32831742e-03 9.95634077e-01 -1.58575095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62629675700003 meters Centerline goodness [0,1] 0.8000240413511239 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.23, Z:-1.59 [[ 9.92211250e-01 8.23947188e-02 -9.34234784e-02 6.46053786e+00] [-8.25553707e-02 9.96584159e-01 2.15046605e-03 -2.25834159e-01] [ 9.32815457e-02 5.57889329e-03 9.95624141e-01 -1.58566086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65629675700004 meters Centerline goodness [0,1] 0.8027763791987341 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.59 [[ 9.92194890e-01 8.24571298e-02 -9.35420919e-02 6.46077712e+00] [-8.26350357e-02 9.96577917e-01 1.97659244e-03 -2.24358227e-01] [ 9.33849672e-02 5.76868918e-03 9.95613364e-01 -1.58552310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68629675700004 meters Centerline goodness [0,1] 0.8011416784592138 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.59 [[ 9.92172943e-01 8.26246887e-02 -9.36269848e-02 6.46063153e+00] [-8.27953101e-02 9.96564430e-01 2.06734518e-03 -2.23920408e-01] [ 9.34761364e-02 5.70071129e-03 9.95605200e-01 -1.58507436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71629675700004 meters Centerline goodness [0,1] 0.8033424853766264 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92137458e-01 8.26958834e-02 -9.39396314e-02 6.46099592e+00] [-8.28672765e-02 9.96558418e-01 2.08165294e-03 -2.23180308e-01] [ 9.37884746e-02 5.71923555e-03 9.95575719e-01 -1.58451024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74629675700004 meters Centerline goodness [0,1] 0.805935747552514 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92102189e-01 8.27126815e-02 -9.42966513e-02 6.46160460e+00] [-8.28818399e-02 9.96557110e-01 2.12792278e-03 -2.23042840e-01] [ 9.41480045e-02 5.70436311e-03 9.95541869e-01 -1.58424765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77629675700004 meters Centerline goodness [0,1] 0.7960123065181617 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92092736e-01 8.29026797e-02 -9.42292380e-02 6.46138073e+00] [-8.30819490e-02 9.96540659e-01 2.02583586e-03 -2.22103560e-01] [ 9.40712142e-02 5.81893171e-03 9.95548465e-01 -1.58413531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80629675700004 meters Centerline goodness [0,1] 0.799775993136811 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92073807e-01 8.29683181e-02 -9.43706535e-02 6.46174714e+00] [-8.31529178e-02 9.96534829e-01 1.98141063e-03 -2.21476218e-01] [ 9.42080373e-02 5.88148961e-03 9.95535159e-01 -1.58417246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.836296757 meters Centerline goodness [0,1] 0.8055178652193578 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92053062e-01 8.30623800e-02 -9.45058863e-02 6.46207590e+00] [-8.32497967e-02 9.96526774e-01 1.96463810e-03 -2.21082820e-01] [ 9.43408335e-02 5.91857058e-03 9.95522364e-01 -1.58424193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86629675700001 meters Centerline goodness [0,1] 0.7993710242298621 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92032295e-01 8.31260240e-02 -9.46677865e-02 6.46264039e+00] [-8.33191125e-02 9.96521072e-01 1.91811949e-03 -2.20568292e-01] [ 9.44978897e-02 5.98479948e-03 9.95507072e-01 -1.58445343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89629675700002 meters Centerline goodness [0,1] 0.7998711770599742 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.92014410e-01 8.32298258e-02 -9.47639547e-02 6.46286606e+00] [-8.34372765e-02 9.96511445e-01 1.77803266e-03 -2.19810421e-01] [ 9.45813508e-02 6.14301228e-03 9.95498183e-01 -1.58450761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92629675700002 meters Centerline goodness [0,1] 0.8004485374815098 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.91999013e-01 8.33534037e-02 -9.48164973e-02 6.46294728e+00] [-8.35666516e-02 9.96500695e-01 1.72637420e-03 -2.19133633e-01] [ 9.46286046e-02 6.21093570e-03 9.95493270e-01 -1.58446179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95629675700002 meters Centerline goodness [0,1] 0.8006687059827844 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.91675180e-01 8.70873642e-02 -9.48479272e-02 6.46400952e+00] [-8.69720624e-02 9.96196349e-01 5.35677146e-03 -2.18729324e-01] [ 9.49536659e-02 2.93694255e-03 9.95477361e-01 -1.58437634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98629675700002 meters Centerline goodness [0,1] 0.8047480275783638 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.22, Z:-1.58 [[ 9.91652458e-01 8.73469328e-02 -9.48468045e-02 6.46396048e+00] [-8.72619068e-02 9.96172596e-01 5.05168752e-03 -2.17131998e-01] [ 9.49250368e-02 3.26699467e-03 9.95479063e-01 -1.58449366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01629675700002 meters Centerline goodness [0,1] 0.8028714461131576 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91578483e-01 8.80674031e-02 -9.49539108e-02 6.46397230e+00] [-8.80054923e-02 9.96108193e-01 4.84771271e-03 -2.13914937e-01] [ 9.50112940e-02 3.54957805e-03 9.95469866e-01 -1.58444082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04629675700002 meters Centerline goodness [0,1] 0.7966001791861178 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91572537e-01 8.80724296e-02 -9.50113238e-02 6.46425107e+00] [-8.80468376e-02 9.96106307e-01 4.46974661e-03 -2.12483394e-01] [ 9.50350403e-02 3.93336860e-03 9.95466157e-01 -1.58469442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07629675700002 meters Centerline goodness [0,1] 0.7978605854002586 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91576648e-01 8.80426393e-02 -9.49960253e-02 6.46424909e+00] [-8.80562012e-02 9.96107245e-01 4.05741229e-03 -2.10808170e-01] [ 9.49834543e-02 4.34175383e-03 9.95469383e-01 -1.58474647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10629675700002 meters Centerline goodness [0,1] 0.7975790339640381 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91574409e-01 8.79288756e-02 -9.51246797e-02 6.46445678e+00] [-8.79596689e-02 9.96116490e-01 3.87750378e-03 -2.10095671e-01] [ 9.50962066e-02 4.52230182e-03 9.95457814e-01 -1.58460769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13629675700003 meters Centerline goodness [0,1] 0.7968779298706169 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91574616e-01 8.78520714e-02 -9.51934582e-02 6.46469937e+00] [-8.79066670e-02 9.96122108e-01 3.62809556e-03 -2.08854110e-01] [ 9.51430440e-02 4.77061217e-03 9.95452180e-01 -1.58457032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16629675700003 meters Centerline goodness [0,1] 0.7974339126967372 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91563213e-01 8.78890509e-02 -9.52780656e-02 6.46467517e+00] [-8.79546086e-02 9.96118266e-01 3.51953799e-03 -2.07799261e-01] [ 9.52175503e-02 4.89030056e-03 9.95444475e-01 -1.58425817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19629675700003 meters Centerline goodness [0,1] 0.7935681972669526 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.21, Z:-1.58 [[ 9.91541752e-01 8.81178914e-02 -9.52900357e-02 6.46460213e+00] [-8.82035090e-02 9.96096938e-01 3.32143692e-03 -2.05759453e-01] [ 9.52107907e-02 5.11157214e-03 9.95444010e-01 -1.58411573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22629675700003 meters Centerline goodness [0,1] 0.7987723761290172 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.20, Z:-1.58 [[ 9.91538320e-01 8.80944503e-02 -9.53474085e-02 6.46492061e+00] [-8.81971013e-02 9.96098076e-01 3.14541172e-03 -2.04946455e-01] [ 9.52524635e-02 5.29056879e-03 9.95439088e-01 -1.58426733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25629675700003 meters Centerline goodness [0,1] 0.7966097721091625 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.20, Z:-1.58 [[ 9.91521666e-01 8.82466373e-02 -9.53798562e-02 6.46447579e+00] [-8.83294087e-02 9.96085644e-01 3.36219965e-03 -2.04839423e-01] [ 9.53032083e-02 5.09115250e-03 9.95435271e-01 -1.58341900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28629675700003 meters Centerline goodness [0,1] 0.8006237835049129 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.20, Z:-1.58 [[ 9.91504745e-01 8.82675493e-02 -9.55362798e-02 6.46453531e+00] [-8.83359163e-02 9.96084516e-01 3.52179176e-03 -2.04922682e-01] [ 9.54730689e-02 4.94741158e-03 9.95419719e-01 -1.58295877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31629675700003 meters Centerline goodness [0,1] 0.8027054858640704 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.20, Z:-1.58 [[ 9.91488971e-01 8.83342585e-02 -9.56382776e-02 6.46469739e+00] [-8.83885066e-02 9.96079288e-01 3.67735534e-03 -2.04752106e-01] [ 9.55881439e-02 4.80726727e-03 9.95409361e-01 -1.58259826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34629675700003 meters Centerline goodness [0,1] 0.8009902384081096 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.20, Z:-1.58 [[ 9.91477613e-01 8.84183291e-02 -9.56783299e-02 6.46472337e+00] [-8.84556592e-02 9.96072638e-01 3.85952123e-03 -2.04784614e-01] [ 9.56438189e-02 4.63666085e-03 9.95404823e-01 -1.58236492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37629675700003 meters Centerline goodness [0,1] 0.804590687194893 Centerline is valid? [False, False] Translation: X:6.46, Y:-0.20, Z:-1.58 [[ 9.91464748e-01 8.84281393e-02 -9.58024915e-02 6.46486443e+00] [-8.84535539e-02 9.96072311e-01 3.98988153e-03 -2.04841049e-01] [ 9.57790270e-02 4.51824396e-03 9.95392367e-01 -1.58210234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40629675700004 meters Centerline goodness [0,1] 0.8050777665356832 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91493419e-01 8.78720030e-02 -9.60172434e-02 6.46578306e+00] [-8.78949161e-02 9.96121725e-01 3.99907711e-03 -2.05665371e-01] [ 9.59962690e-02 4.47436891e-03 9.95371637e-01 -1.58221831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43629675700004 meters Centerline goodness [0,1] 0.8029257456161081 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91540426e-01 8.69359151e-02 -9.63832469e-02 6.46700025e+00] [-8.69536995e-02 9.96204228e-01 4.02370711e-03 -2.08195108e-01] [ 9.63672028e-02 4.39121163e-03 9.95336164e-01 -1.58231119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46629675700004 meters Centerline goodness [0,1] 0.8022350072211568 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91540216e-01 8.67566155e-02 -9.65468279e-02 6.46723986e+00] [-8.67451527e-02 9.96221151e-01 4.32399386e-03 -2.09583902e-01] [ 9.65571271e-02 4.08755552e-03 9.95319051e-01 -1.58194471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49629675700004 meters Centerline goodness [0,1] 0.8007751200722811 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91575239e-01 8.62251641e-02 -9.66631577e-02 6.46779612e+00] [-8.61886563e-02 9.96268395e-01 4.56087224e-03 -2.11313232e-01] [ 9.66957109e-02 3.80881969e-03 9.95306703e-01 -1.58179095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52629675700004 meters Centerline goodness [0,1] 0.8052805280528053 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91571866e-01 8.59936913e-02 -9.69036586e-02 6.46855123e+00] [-8.59465323e-02 9.96288813e-01 4.66844356e-03 -2.11890994e-01] [ 9.69454877e-02 3.69943613e-03 9.95282817e-01 -1.58188037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55629675700004 meters Centerline goodness [0,1] 0.7987107905394072 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91592914e-01 8.57031465e-02 -9.69456778e-02 6.46883544e+00] [-8.56184312e-02 9.96315247e-01 5.04119299e-03 -2.13297854e-01] [ 9.70205030e-02 3.30152560e-03 9.95276907e-01 -1.58164594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.586296757 meters Centerline goodness [0,1] 0.8014663461538462 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.21, Z:-1.58 [[ 9.91586518e-01 8.56507126e-02 -9.70573735e-02 6.46896473e+00] [-8.55188603e-02 9.96321231e-01 5.52533491e-03 -2.14891629e-01] [ 9.71735707e-02 2.82138836e-03 9.95263451e-01 -1.58126512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61629675700001 meters Centerline goodness [0,1] 0.7979977860133802 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91593188e-01 8.53073152e-02 -9.72913703e-02 6.46960132e+00] [-8.51570413e-02 9.96351217e-01 5.70353998e-03 -2.16414223e-01] [ 9.74229289e-02 2.62945385e-03 9.95239599e-01 -1.58117837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64629675700002 meters Centerline goodness [0,1] 0.7957894736842105 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91896138e-01 8.16368843e-02 -9.73523004e-02 6.46838681e+00] [-8.18013261e-02 9.96645984e-01 2.30763387e-03 -2.16636488e-01] [ 9.72141673e-02 5.67461415e-03 9.95247308e-01 -1.58043933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67629675700002 meters Centerline goodness [0,1] 0.7936927969702119 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91957243e-01 8.10062499e-02 -9.72564402e-02 6.46836704e+00] [-8.11328142e-02 9.96699752e-01 2.65922160e-03 -2.18310198e-01] [ 9.71508834e-02 5.25285457e-03 9.95255803e-01 -1.57992292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70629675700002 meters Centerline goodness [0,1] 0.7913035033625483 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91967834e-01 8.08543170e-02 -9.72748505e-02 6.46847517e+00] [-8.09562546e-02 9.96713422e-01 2.90499077e-03 -2.18972722e-01] [ 9.71900302e-02 4.99335017e-03 9.95253317e-01 -1.57971532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73629675700002 meters Centerline goodness [0,1] 0.7899723743517666 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91985484e-01 8.08614430e-02 -9.70887589e-02 6.46800036e+00] [-8.09223308e-02 9.96714892e-01 3.31683086e-03 -2.19412859e-01] [ 9.70380156e-02 4.56640060e-03 9.95270200e-01 -1.57914575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76629675700002 meters Centerline goodness [0,1] 0.7877725668423343 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91973498e-01 8.09795384e-02 -9.71127838e-02 6.46788184e+00] [-8.10186358e-02 9.96706275e-01 3.54715907e-03 -2.19753105e-01] [ 9.70801682e-02 4.34925747e-03 9.95267062e-01 -1.57883097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79629675700002 meters Centerline goodness [0,1] 0.7894392953076979 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91923575e-01 8.17027812e-02 -9.70168850e-02 6.46697757e+00] [-8.16669549e-02 9.96650196e-01 4.34682116e-03 -2.21393337e-01] [ 9.70470448e-02 3.61135919e-03 9.95273243e-01 -1.57789244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82629675700002 meters Centerline goodness [0,1] 0.7891174550992289 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91602458e-01 8.53828103e-02 -9.71305345e-02 6.46858023e+00] [-8.49741235e-02 9.96348220e-01 8.34404245e-03 -2.23550995e-01] [ 9.74882729e-02 -2.03909709e-05 9.95236673e-01 -1.57833913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85629675700002 meters Centerline goodness [0,1] 0.7879437923304973 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91557455e-01 8.56683059e-02 -9.73383552e-02 6.46939214e+00] [-8.52653661e-02 9.96323711e-01 8.29945245e-03 -2.22933949e-01] [ 9.76915113e-02 7.02065484e-05 9.95216742e-01 -1.57896965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88629675700003 meters Centerline goodness [0,1] 0.7886845213701998 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91205339e-01 8.96816639e-02 -9.73096857e-02 6.47088082e+00] [-8.88908175e-02 9.95963676e-01 1.24409683e-02 -2.24569268e-01] [ 9.80326391e-02 -3.68161667e-03 9.95176390e-01 -1.57971592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91629675700003 meters Centerline goodness [0,1] 0.7835894953406752 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.22, Z:-1.58 [[ 9.91179947e-01 9.01255653e-02 -9.71580941e-02 6.47067701e+00] [-8.93159324e-02 9.95922892e-01 1.26592895e-02 -2.24950838e-01] [ 9.79028957e-02 -3.86986816e-03 9.95188448e-01 -1.58000397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94629675700003 meters Centerline goodness [0,1] 0.7855433915754368 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.23, Z:-1.58 [[ 9.91142471e-01 9.01864294e-02 -9.74833853e-02 6.47184179e+00] [-8.93697534e-02 9.95917280e-01 1.27207852e-02 -2.25803312e-01] [ 9.82326302e-02 -3.89604437e-03 9.95155853e-01 -1.58071502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97629675700003 meters Centerline goodness [0,1] 0.7901246520634152 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.23, Z:-1.58 [[ 9.91113560e-01 9.04610239e-02 -9.75228898e-02 6.47218779e+00] [-8.95838462e-02 9.95889875e-01 1.33451035e-02 -2.28642592e-01] [ 9.83292702e-02 -4.49003747e-03 9.95143806e-01 -1.58107535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00629675700003 meters Centerline goodness [0,1] 0.7901246520634152 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.23, Z:-1.58 [[ 9.91113560e-01 9.04610239e-02 -9.75228898e-02 6.47218779e+00] [-8.95838462e-02 9.95889875e-01 1.33451035e-02 -2.28642592e-01] [ 9.83292702e-02 -4.49003747e-03 9.95143806e-01 -1.58107535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03629675700003 meters Centerline goodness [0,1] 0.7851588051457228 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.23, Z:-1.58 [[ 9.91100945e-01 9.05596061e-02 -9.75595930e-02 6.47243377e+00] [-8.96452260e-02 9.95879195e-01 1.37245290e-02 -2.29958377e-01] [ 9.84004569e-02 -4.85664189e-03 9.95135048e-01 -1.58117637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06629675700003 meters Centerline goodness [0,1] 0.7886673151750972 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.23, Z:-1.58 [[ 9.91109488e-01 9.05087840e-02 -9.75199637e-02 6.47280376e+00] [-8.95359466e-02 9.95880709e-01 1.43152829e-02 -2.32514458e-01] [ 9.84139095e-02 -5.45647043e-03 9.95130609e-01 -1.58149720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09629675700003 meters Centerline goodness [0,1] 0.7936461602082269 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.24, Z:-1.58 [[ 0.99107529 0.09054207 -0.09783606 6.47317499] [-0.08944355 0.99587026 0.01556541 -0.2360847 ] [ 0.09884134 -0.00667569 0.99508081 -1.58048255] [ 0. 0. 0. 1. ]] SLAMing on 197.12629675700003 meters Centerline goodness [0,1] 0.795789524803924 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.24, Z:-1.58 [[ 0.9910677 0.09020721 -0.09822151 6.47404116] [-0.0890654 0.99589795 0.01595712 -0.23824406] [ 0.09925805 -0.00706645 0.99503663 -1.58025337] [ 0. 0. 0. 1. ]] SLAMing on 197.15629675700004 meters Centerline goodness [0,1] 0.7911009084692782 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.24, Z:-1.58 [[ 9.91409570e-01 8.66176215e-02 -9.80023091e-02 6.47208605e+00] [-8.57283544e-02 9.96230349e-01 1.32567519e-02 -2.41221350e-01] [ 9.87811429e-02 -4.74129406e-03 9.95097888e-01 -1.57911881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18629675700004 meters Centerline goodness [0,1] 0.7941176470588236 Centerline is valid? [False, False] Translation: X:6.47, Y:-0.24, Z:-1.58 [[ 9.91416606e-01 8.61552716e-02 -9.83381079e-02 6.47299131e+00] [-8.52206404e-02 9.96268279e-01 1.36732969e-02 -2.43270483e-01] [ 9.91491641e-02 -5.17549708e-03 9.95059123e-01 -1.57888829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21629675700004 meters Centerline goodness [0,1] 0.7987972634090522 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.91527307e-01 8.41726938e-02 -9.89371323e-02 6.47569765e+00] [-8.32119745e-02 9.96436251e-01 1.38045080e-02 -2.46602894e-01] [ 9.97465078e-02 -5.45479254e-03 9.94997929e-01 -1.57914435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24629675700004 meters Centerline goodness [0,1] 0.7958179280624862 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.91830431e-01 8.01731061e-02 -9.92203018e-02 6.47576735e+00] [-7.95714785e-02 9.96778877e-01 1.00125154e-02 -2.46367495e-01] [ 9.97034354e-02 -2.03561133e-03 9.95015116e-01 -1.57950207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27629675700004 meters Centerline goodness [0,1] 0.8004284975496836 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.92133488e-01 7.62448318e-02 -9.92867929e-02 6.47579913e+00] [-7.59501030e-02 9.97088769e-01 6.75039362e-03 -2.49102640e-01] [ 9.95124288e-02 8.43550579e-04 9.95035962e-01 -1.58023206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30629675700004 meters Centerline goodness [0,1] 0.8046973091410423 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.92113981e-01 7.62351045e-02 -9.94889775e-02 6.47634215e+00] [-7.58855893e-02 9.97089822e-01 7.29822297e-03 -2.51140664e-01] [ 9.97558277e-02 3.09110636e-04 9.95011899e-01 -1.58015962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.336296757 meters Centerline goodness [0,1] 0.800232201966306 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.92116082e-01 7.63622496e-02 -9.93704532e-02 6.47675668e+00] [-7.59784565e-02 9.97080140e-01 7.64647722e-03 -2.52742556e-01] [ 9.96642076e-02 -3.61793564e-05 9.95021128e-01 -1.58089134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36629675700001 meters Centerline goodness [0,1] 0.8007956314397964 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.92099359e-01 7.65103358e-02 -9.94234852e-02 6.47713948e+00] [-7.61306211e-02 9.97068788e-01 7.61316537e-03 -2.52776558e-01] [ 9.97145398e-02 1.61551957e-05 9.95016085e-01 -1.58134471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39629675700002 meters Centerline goodness [0,1] 0.8036791613094649 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.25, Z:-1.58 [[ 9.92069078e-01 7.69231393e-02 -9.94071220e-02 6.47702395e+00] [-7.65184963e-02 9.97037003e-01 7.88255634e-03 -2.53145124e-01] [ 9.97189300e-02 -2.13556906e-04 9.95015623e-01 -1.58136668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42629675700002 meters Centerline goodness [0,1] 0.8058461310186216 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.25, Z:-1.59 [[ 9.92266216e-01 8.06345401e-02 -9.43706956e-02 6.48855407e+00] [-8.09407732e-02 9.96718741e-01 5.84532113e-04 -2.53626668e-01] [ 9.41081745e-02 7.05842560e-03 9.95536956e-01 -1.58544078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45629675700002 meters Centerline goodness [0,1] 0.807257643873724 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.25, Z:-1.59 [[ 9.92138921e-01 8.26020153e-02 -9.40067438e-02 6.48715196e+00] [-8.28222241e-02 9.96563111e-01 1.56339086e-03 -2.54618492e-01] [ 9.38127923e-02 6.23474668e-03 9.95570333e-01 -1.58554606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48629675700002 meters Centerline goodness [0,1] 0.8109477448837672 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.25, Z:-1.59 [[ 9.92083701e-01 8.33919489e-02 -9.38920303e-02 6.48680000e+00] [-8.35873873e-02 9.96498722e-01 1.85623849e-03 -2.54708986e-01] [ 9.37180835e-02 6.00664555e-03 9.95580655e-01 -1.58580163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51629675700002 meters Centerline goodness [0,1] 0.8089154457722886 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.26, Z:-1.59 [[ 9.91974080e-01 8.51343687e-02 -9.34856299e-02 6.48562133e+00] [-8.52500186e-02 9.96355760e-01 2.76309594e-03 -2.55777849e-01] [ 9.33801802e-02 5.22873213e-03 9.95616795e-01 -1.58617862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54629675700002 meters Centerline goodness [0,1] 0.8030689896865926 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.26, Z:-1.59 [[ 9.91936102e-01 8.56297430e-02 -9.34361587e-02 6.48560796e+00] [-8.57127219e-02 9.96314970e-01 3.13210106e-03 -2.56672106e-01] [ 9.33600447e-02 4.90182338e-03 9.95620346e-01 -1.58646274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57629675700002 meters Centerline goodness [0,1] 0.8070030120481928 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.26, Z:-1.59 [[ 9.91899516e-01 8.61751401e-02 -9.33230749e-02 6.48539331e+00] [-8.62061976e-02 9.96270424e-01 3.70602479e-03 -2.58077986e-01] [ 9.32943865e-02 4.36902324e-03 9.95628982e-01 -1.58659785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60629675700002 meters Centerline goodness [0,1] 0.8108671623794212 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.26, Z:-1.59 [[ 9.91835425e-01 8.69378607e-02 -9.32968228e-02 6.48530360e+00] [-8.68702649e-02 9.96208102e-01 4.79325047e-03 -2.61526603e-01] [ 9.33597656e-02 3.35060409e-03 9.95626801e-01 -1.58662586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63629675700003 meters Centerline goodness [0,1] 0.8082191780821918 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.27, Z:-1.59 [[ 9.91803837e-01 8.76666852e-02 -9.29499945e-02 6.48421692e+00] [-8.74500245e-02 9.96148289e-01 6.40934592e-03 -2.65800816e-01] [ 9.31538641e-02 1.77166542e-03 9.95650149e-01 -1.58580949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66629675700003 meters Centerline goodness [0,1] 0.8076472386386795 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.27, Z:-1.59 [[ 9.91780490e-01 8.79603181e-02 -9.29217001e-02 6.48408540e+00] [-8.76680957e-02 9.96123502e-01 7.23009988e-03 -2.67958316e-01] [ 9.31974512e-02 9.75596495e-04 9.95647168e-01 -1.58547807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69629675700003 meters Centerline goodness [0,1] 0.8109083463438356 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.27, Z:-1.58 [[ 9.91783324e-01 8.81136228e-02 -9.27460414e-02 6.48362705e+00] [-8.77011932e-02 9.96110380e-01 8.52126267e-03 -2.72135608e-01] [ 9.31361338e-02 -3.17307719e-04 9.95653333e-01 -1.58468531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72629675700003 meters Centerline goodness [0,1] 0.812158662598395 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.27, Z:-1.58 [[ 9.91762333e-01 8.84377793e-02 -9.26619365e-02 6.48297989e+00] [-8.79499848e-02 9.96081078e-01 9.34273993e-03 -2.74208301e-01] [ 9.31250527e-02 -1.11616164e-03 9.95653795e-01 -1.58386170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75629675700003 meters Centerline goodness [0,1] 0.8140250942960511 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91731540e-01 8.88728973e-02 -9.25751622e-02 6.48230471e+00] [-8.83089297e-02 9.96041126e-01 1.01788627e-02 -2.76195158e-01] [ 9.31132938e-02 -1.91948571e-03 9.95653670e-01 -1.58305789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78629675700003 meters Centerline goodness [0,1] 0.815650826446281 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91707392e-01 8.91992921e-02 -9.25199117e-02 6.48189286e+00] [-8.85437885e-02 9.96009607e-01 1.11740521e-02 -2.79509123e-01] [ 9.31474384e-02 -2.88932659e-03 9.95648134e-01 -1.58243156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81629675700003 meters Centerline goodness [0,1] 0.8156896151165492 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91690949e-01 8.93035729e-02 -9.25955358e-02 6.48190124e+00] [-8.86156658e-02 9.95999244e-01 1.15225585e-02 -2.80618209e-01] [ 9.32540893e-02 -3.22140191e-03 9.95637131e-01 -1.58216480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84629675700003 meters Centerline goodness [0,1] 0.8159774338802339 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91668700e-01 8.96935036e-02 -9.24568240e-02 6.48164294e+00] [-8.89586617e-02 9.95962460e-01 1.20471598e-02 -2.81890715e-01] [ 9.31640779e-02 -3.72195599e-03 9.95643813e-01 -1.58215729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87629675700003 meters Centerline goodness [0,1] 0.8129974160206719 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91662022e-01 8.97548916e-02 -9.24688783e-02 6.48206580e+00] [-8.90328200e-02 9.95957447e-01 1.19130498e-02 -2.81995878e-01] [ 9.31643225e-02 -3.58095407e-03 9.95644307e-01 -1.58277925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90629675700004 meters Centerline goodness [0,1] 0.815395803033451 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91635718e-01 9.00975613e-02 -9.24177037e-02 6.48179722e+00] [-8.93540736e-02 9.95925694e-01 1.21598492e-02 -2.82685773e-01] [ 9.31367384e-02 -3.80024249e-03 9.95646075e-01 -1.58273405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93629675700004 meters Centerline goodness [0,1] 0.8098119675877831 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91607883e-01 9.03262856e-02 -9.24930740e-02 6.48178195e+00] [-8.95631137e-02 9.95904234e-01 1.23775833e-02 -2.83331552e-01] [ 9.32322651e-02 -3.98974152e-03 9.95636393e-01 -1.58258608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96629675700004 meters Centerline goodness [0,1] 0.815524664142331 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91557294e-01 9.08759772e-02 -9.24969648e-02 6.48158188e+00] [-9.00803872e-02 9.95852895e-01 1.27489579e-02 -2.84385191e-01] [ 9.32719442e-02 -4.30915984e-03 9.95631345e-01 -1.58253972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99629675700004 meters Centerline goodness [0,1] 0.8150935561726312 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91530762e-01 9.09716873e-02 -9.26871120e-02 6.48223718e+00] [-9.01783012e-02 9.95844389e-01 1.27211278e-02 -2.84639803e-01] [ 9.34592028e-02 -4.25502323e-03 9.95614018e-01 -1.58302706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02629675700004 meters Centerline goodness [0,1] 0.8156308459779671 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.28, Z:-1.58 [[ 9.91507245e-01 9.12126085e-02 -9.27019019e-02 6.48296382e+00] [-9.04382497e-02 9.95823252e-01 1.25289401e-02 -2.84550834e-01] [ 9.34575067e-02 -4.03873710e-03 9.95615078e-01 -1.58427620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05629675700004 meters Centerline goodness [0,1] 0.8196657192772027 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.29, Z:-1.59 [[ 9.91480202e-01 9.13926184e-02 -9.28137802e-02 6.48380452e+00] [-9.06228402e-02 9.95807038e-01 1.24837142e-02 -2.85032472e-01] [ 9.35655349e-02 -3.96630712e-03 9.95605223e-01 -1.58535800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.086296757 meters Centerline goodness [0,1] 0.815622708704305 Centerline is valid? [False, False] Translation: X:6.48, Y:-0.29, Z:-1.59 [[ 9.91458578e-01 9.14445168e-02 -9.29934901e-02 6.48447594e+00] [-9.06629356e-02 9.95801875e-01 1.26038521e-02 -2.85658979e-01] [ 9.37556450e-02 -4.06513452e-03 9.95586939e-01 -1.58575962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11629675700001 meters Centerline goodness [0,1] 0.8175431237875531 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.29, Z:-1.59 [[ 9.91438840e-01 9.14312590e-02 -9.32166959e-02 6.48561530e+00] [-9.06177033e-02 9.95801782e-01 1.29322333e-02 -2.87534904e-01] [ 9.40077623e-02 -4.37443553e-03 9.95561854e-01 -1.58651209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14629675700002 meters Centerline goodness [0,1] 0.8174268389137885 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.29, Z:-1.59 [[ 9.91428151e-01 9.14279669e-02 -9.33335316e-02 6.48606231e+00] [-9.05900454e-02 9.95800993e-01 1.31843189e-02 -2.88691337e-01] [ 9.41470389e-02 -4.61621601e-03 9.95547601e-01 -1.58665103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17629675700002 meters Centerline goodness [0,1] 0.8169479866659611 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.29, Z:-1.59 [[ 9.91421139e-01 9.14288142e-02 -9.34071596e-02 6.48639372e+00] [-9.05208236e-02 9.95797264e-01 1.39208275e-02 -2.91467132e-01] [ 9.42873587e-02 -5.34610966e-03 9.95530669e-01 -1.58638143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20629675700002 meters Centerline goodness [0,1] 0.8176283748014823 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.29, Z:-1.59 [[ 9.91412046e-01 9.14307319e-02 -9.35017500e-02 6.48653231e+00] [-9.04718858e-02 9.95794147e-01 1.44518175e-02 -2.93146445e-01] [ 9.44298356e-02 -5.86842631e-03 9.95514223e-01 -1.58597180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23629675700002 meters Centerline goodness [0,1] 0.8159041394335512 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.30, Z:-1.58 [[ 0.99146454 0.09085666 -0.09350469 6.48674261] [-0.08978997 0.99583915 0.01556131 -0.29683142] [ 0.09452948 -0.00703271 0.99549722 -1.58471208] [ 0. 0. 0. 1. ]] SLAMing on 198.26629675700002 meters Centerline goodness [0,1] 0.8150558860404941 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.30, Z:-1.58 [[ 9.91800228e-01 8.71310831e-02 -9.34905493e-02 6.48556266e+00] [-8.64107091e-02 9.96190498e-01 1.17337645e-02 -2.96117633e-01] [ 9.41567724e-02 -3.55896565e-03 9.95551021e-01 -1.58455170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29629675700002 meters Centerline goodness [0,1] 0.8176140912730184 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.30, Z:-1.58 [[ 9.91830217e-01 8.61276537e-02 -9.41002022e-02 6.48703946e+00] [-8.52664207e-02 9.96271505e-01 1.31425285e-02 -3.00236415e-01] [ 9.48812852e-02 -5.01156946e-03 9.95475980e-01 -1.58260581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32629675700002 meters Centerline goodness [0,1] 0.8110855491947997 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.30, Z:-1.58 [[ 9.91839235e-01 8.55769274e-02 -9.45067250e-02 6.48815746e+00] [-8.46798397e-02 9.96317165e-01 1.34696682e-02 -3.01960439e-01] [ 9.53113651e-02 -5.35693107e-03 9.95433095e-01 -1.58231607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35629675700002 meters Centerline goodness [0,1] 0.808433734939759 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.30, Z:-1.58 [[ 9.92182659e-01 8.09630698e-02 -9.49660574e-02 6.48897712e+00] [-8.04338645e-02 9.96715683e-01 9.39362833e-03 -3.02452862e-01] [ 9.54146958e-02 -1.68170814e-03 9.95436190e-01 -1.58298461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38629675700003 meters Centerline goodness [0,1] 0.8101398039530773 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.30, Z:-1.58 [[ 9.92183645e-01 8.05895078e-02 -9.52730065e-02 6.49006050e+00] [-8.00352733e-02 9.96745507e-01 9.63064625e-03 -3.03819574e-01] [ 9.57390702e-02 -1.93016859e-03 9.95404594e-01 -1.58310470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41629675700003 meters Centerline goodness [0,1] 0.8111269079106199 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.31, Z:-1.58 [[ 9.92224729e-01 7.95112886e-02 -9.57498943e-02 6.49226677e+00] [-7.89524135e-02 9.96831993e-01 9.61733958e-03 -3.05855786e-01] [ 9.62112450e-02 -1.98287691e-03 9.95358963e-01 -1.58376738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44629675700003 meters Centerline goodness [0,1] 0.8137970015880279 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.31, Z:-1.58 [[ 9.92223566e-01 7.93018061e-02 -9.59354895e-02 6.49295483e+00] [-7.87162213e-02 9.96848112e-01 9.87920047e-03 -3.07314182e-01] [ 9.64165500e-02 -2.25069630e-03 9.95338527e-01 -1.58384794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47629675700003 meters Centerline goodness [0,1] 0.8151475905239869 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.31, Z:-1.58 [[ 9.92236110e-01 7.89000699e-02 -9.61367867e-02 6.49398504e+00] [-7.82955518e-02 9.96879532e-01 1.00501692e-02 -3.09532338e-01] [ 9.66297539e-02 -2.44505801e-03 9.95317393e-01 -1.58427040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50629675700003 meters Centerline goodness [0,1] 0.8182701652089407 Centerline is valid? [False, False] Translation: X:6.49, Y:-0.31, Z:-1.58 [[ 9.92222472e-01 7.88603918e-02 -9.63099422e-02 6.49449231e+00] [-7.82518856e-02 9.96882610e-01 1.00848765e-02 -3.09812154e-01] [ 9.68050038e-02 -2.47000649e-03 9.95300302e-01 -1.58439822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53629675700003 meters Centerline goodness [0,1] 0.8185004448518509 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92204737e-01 7.90431948e-02 -9.63427922e-02 6.49508792e+00] [-7.84593564e-02 9.96868756e-01 9.83930622e-03 -3.09448001e-01] [ 9.68188496e-02 -2.20361277e-03 9.95299580e-01 -1.58536107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56629675700003 meters Centerline goodness [0,1] 0.8189833606623478 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92186021e-01 7.90160706e-02 -9.65575544e-02 6.49587685e+00] [-7.84525039e-02 9.96871386e-01 9.62516318e-03 -3.09100230e-01] [ 9.70160056e-02 -1.97477044e-03 9.95280862e-01 -1.58588487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59629675700003 meters Centerline goodness [0,1] 0.8221427803461994 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92131213e-01 7.94596434e-02 -9.67565030e-02 6.49686143e+00] [-7.89324517e-02 9.96836863e-01 9.27020474e-03 -3.08508187e-01] [ 9.71870561e-02 -1.56003148e-03 9.95264911e-01 -1.58731457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62629675700003 meters Centerline goodness [0,1] 0.8253600753802666 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92114277e-01 7.97177982e-02 -9.67178084e-02 6.49707732e+00] [-7.92081874e-02 9.96816530e-01 9.10323956e-03 -3.08105323e-01] [ 9.71356004e-02 -1.37061164e-03 9.95270213e-01 -1.58797730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65629675700004 meters Centerline goodness [0,1] 0.8207089001583086 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92071472e-01 7.96500359e-02 -9.72114557e-02 6.49897063e+00] [-7.91533298e-02 9.96822172e-01 8.96150932e-03 -3.08348393e-01] [ 9.76163189e-02 -1.19584733e-03 9.95223404e-01 -1.58912047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68629675700004 meters Centerline goodness [0,1] 0.8208834474947414 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92058288e-01 7.95969220e-02 -9.73893427e-02 6.49970668e+00] [-7.90812227e-02 9.96826182e-01 9.15001056e-03 -3.09254154e-01] [ 9.78085594e-02 -1.37567551e-03 9.95204297e-01 -1.58939711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71629675700004 meters Centerline goodness [0,1] 0.8214728891286754 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92053672e-01 7.93083866e-02 -9.76713465e-02 6.50026979e+00] [-7.87122333e-02 9.96847743e-01 9.94791328e-03 -3.11803278e-01] [ 9.81524143e-02 -2.18093408e-03 9.95169004e-01 -1.58843284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74629675700004 meters Centerline goodness [0,1] 0.8239273393704183 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.31, Z:-1.59 [[ 9.92037659e-01 7.92204338e-02 -9.79050824e-02 6.50052461e+00] [-7.85615014e-02 9.96853197e-01 1.05732487e-02 -3.13760956e-01] [ 9.84346118e-02 -2.79749060e-03 9.95139589e-01 -1.58758690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77629675700004 meters Centerline goodness [0,1] 0.8250547548873807 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.32, Z:-1.59 [[ 9.92029435e-01 7.86028279e-02 -9.84844939e-02 6.50161011e+00] [-7.77894268e-02 9.96896648e-01 1.20779880e-02 -3.17983227e-01] [ 9.91282259e-02 -4.32066732e-03 9.95065288e-01 -1.58541435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80629675700004 meters Centerline goodness [0,1] 0.8318847643029269 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.32, Z:-1.58 [[ 9.92023791e-01 7.83747814e-02 -9.87227997e-02 6.50212180e+00] [-7.75119019e-02 9.96912413e-01 1.25517270e-02 -3.19534820e-01] [ 9.94017233e-02 -4.79941982e-03 9.95035810e-01 -1.58482995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.836296757 meters Centerline goodness [0,1] 0.8322478676731068 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.32, Z:-1.58 [[ 9.92038920e-01 7.78029264e-02 -9.90226511e-02 6.50303712e+00] [-7.68977185e-02 9.96955125e-01 1.29313504e-02 -3.21287637e-01] [ 9.97272364e-02 -5.21378690e-03 9.95001153e-01 -1.58434986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86629675700001 meters Centerline goodness [0,1] 0.8370969063157032 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.32, Z:-1.58 [[ 9.92033339e-01 7.74968980e-02 -9.93181022e-02 6.50387143e+00] [-7.65915717e-02 9.96979073e-01 1.29019068e-02 -3.21538883e-01] [ 1.00017927e-01 -5.19219213e-03 9.94972088e-01 -1.58432973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89629675700002 meters Centerline goodness [0,1] 0.8370969063157032 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.32, Z:-1.58 [[ 9.92033339e-01 7.74968980e-02 -9.93181022e-02 6.50387143e+00] [-7.65915717e-02 9.96979073e-01 1.29019068e-02 -3.21538883e-01] [ 1.00017927e-01 -5.19219213e-03 9.94972088e-01 -1.58432973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92629675700002 meters Centerline goodness [0,1] 0.8355775271078578 Centerline is valid? [False, False] Translation: X:6.50, Y:-0.32, Z:-1.58 [[ 9.92035360e-01 7.72591204e-02 -9.94830316e-02 6.50461865e+00] [-7.63472430e-02 9.96997234e-01 1.29465762e-02 -3.22046549e-01] [ 1.00184548e-01 -5.24820618e-03 9.94955030e-01 -1.58453163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95629675700002 meters Centerline goodness [0,1] 0.8347685830667869 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.58 [[ 9.92030716e-01 7.68806758e-02 -9.98219463e-02 6.50584980e+00] [-7.59754416e-02 9.97026960e-01 1.28442164e-02 -3.22135873e-01] [ 1.00512644e-01 -5.15784074e-03 9.94922412e-01 -1.58483322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98629675700002 meters Centerline goodness [0,1] 0.8316132387965726 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.92038107e-01 7.59815999e-02 -1.00435005e-01 6.50806095e+00] [-7.51044403e-02 9.97097429e-01 1.24915725e-02 -3.22361580e-01] [ 1.01092615e-01 -4.84900116e-03 9.94865202e-01 -1.58533414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01629675700002 meters Centerline goodness [0,1] 0.8309607562932835 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.92043670e-01 7.54930978e-02 -1.00747949e-01 6.50906098e+00] [-7.46312582e-02 9.97135319e-01 1.23016587e-02 -3.22561405e-01] [ 1.01388028e-01 -4.68483652e-03 9.94835926e-01 -1.58541178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04629675700002 meters Centerline goodness [0,1] 0.8305500440917107 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.58 [[ 9.92029832e-01 7.50116235e-02 -1.01242622e-01 6.51008874e+00] [-7.41365263e-02 9.97171205e-01 1.23839671e-02 -3.23372916e-01] [ 1.01885169e-01 -4.77948851e-03 9.94784685e-01 -1.58480004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07629675700002 meters Centerline goodness [0,1] 0.8302439293903147 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.58 [[ 9.92021840e-01 7.48682873e-02 -1.01426867e-01 6.51041885e+00] [-7.39893662e-02 9.97181870e-01 1.24053093e-02 -3.23491494e-01] [ 1.02069797e-01 -4.80182822e-03 9.94765650e-01 -1.58451578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10629675700002 meters Centerline goodness [0,1] 0.8297960422818977 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.58 [[ 9.92019210e-01 7.43174694e-02 -1.01856767e-01 6.51181526e+00] [-7.34708635e-02 9.97224643e-01 1.20434200e-02 -3.23235731e-01] [ 1.02469115e-01 -4.46379935e-03 9.94726171e-01 -1.58480532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13629675700003 meters Centerline goodness [0,1] 0.829041428610858 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.92012604e-01 7.39570564e-02 -1.02182911e-01 6.51299337e+00] [-7.31452096e-02 9.97252970e-01 1.16744010e-02 -3.22728849e-01] [ 1.02765616e-01 -4.10696247e-03 9.94697120e-01 -1.58531130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16629675700003 meters Centerline goodness [0,1] 0.8280570390354016 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.32, Z:-1.59 [[ 9.91992990e-01 7.34957271e-02 -1.02704848e-01 6.51527482e+00] [-7.27563757e-02 9.97289833e-01 1.09315841e-02 -3.21401294e-01] [ 1.03229925e-01 -3.37162226e-03 9.94651806e-01 -1.58686642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19629675700003 meters Centerline goodness [0,1] 0.8231980115990059 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.32, Z:-1.59 [[ 9.91981765e-01 7.37615549e-02 -1.02622661e-01 6.51532026e+00] [-7.30616124e-02 9.97271438e-01 1.05678868e-02 -3.20566835e-01] [ 1.03122153e-01 -2.98537387e-03 9.94664219e-01 -1.58763232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22629675700003 meters Centerline goodness [0,1] 0.8220820015430398 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.32, Z:-1.59 [[ 9.91958465e-01 7.37231089e-02 -1.02875200e-01 6.51579172e+00] [-7.30404909e-02 9.97274834e-01 1.03918922e-02 -3.20079147e-01] [ 1.03360971e-01 -2.79427031e-03 9.94639986e-01 -1.58759322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25629675700003 meters Centerline goodness [0,1] 0.8234385345398367 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91934284e-01 7.43889261e-02 -1.02628770e-01 6.51478720e+00] [-7.36844857e-02 9.97224807e-01 1.06433604e-02 -3.20274417e-01] [ 1.03135704e-01 -2.99536589e-03 9.94662784e-01 -1.58732827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28629675700003 meters Centerline goodness [0,1] 0.8244538348938051 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91929536e-01 7.46305893e-02 -1.02499123e-01 6.51433030e+00] [-7.39231410e-02 9.97206660e-01 1.06886157e-02 -3.20173622e-01] [ 1.03010506e-01 -3.02529651e-03 9.94675667e-01 -1.58723937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31629675700003 meters Centerline goodness [0,1] 0.823638631010115 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91912144e-01 7.55301092e-02 -1.02007357e-01 6.51248202e+00] [-7.47602956e-02 9.97136891e-01 1.13542117e-02 -3.20515635e-01] [ 1.02572884e-01 -3.63628029e-03 9.94718845e-01 -1.58639787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34629675700003 meters Centerline goodness [0,1] 0.8230879991139171 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91895079e-01 7.58244993e-02 -1.01954880e-01 6.51209790e+00] [-7.50393509e-02 9.97114030e-01 1.15198908e-02 -3.20319356e-01] [ 1.02534131e-01 -3.77589490e-03 9.94722320e-01 -1.58611713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37629675700003 meters Centerline goodness [0,1] 0.8228079404191699 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91885069e-01 7.62418479e-02 -1.01740802e-01 6.51168583e+00] [-7.54643873e-02 9.97082477e-01 1.14743696e-02 -3.19674106e-01] [ 1.02318798e-01 -3.70344853e-03 9.94744765e-01 -1.58648863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40629675700004 meters Centerline goodness [0,1] 0.8235310329621872 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91868807e-01 7.61461475e-02 -1.01970747e-01 6.51237651e+00] [-7.53940005e-02 9.97090746e-01 1.12155859e-02 -3.19266812e-01] [ 1.02528112e-01 -3.43640725e-03 9.94724171e-01 -1.58682786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43629675700004 meters Centerline goodness [0,1] 0.8215614407363518 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91854096e-01 7.60908069e-02 -1.02154982e-01 6.51298744e+00] [-7.53583648e-02 9.97095668e-01 1.10157240e-02 -3.19109342e-01] [ 1.02696486e-01 -3.22775860e-03 9.94707501e-01 -1.58719650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46629675700004 meters Centerline goodness [0,1] 0.8215863897481219 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91830391e-01 7.64928836e-02 -1.02084841e-01 6.51305043e+00] [-7.58034330e-02 9.97066205e-01 1.06217594e-02 -3.18305753e-01] [ 1.02597834e-01 -2.79660237e-03 9.94718987e-01 -1.58812887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49629675700004 meters Centerline goodness [0,1] 0.8224953630650832 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91818971e-01 7.68882451e-02 -1.01898606e-01 6.51285862e+00] [-7.62510825e-02 9.97037096e-01 1.01391218e-02 -3.16498686e-01] [ 1.02376269e-01 -2.28629441e-03 9.94743119e-01 -1.58904866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52629675700004 meters Centerline goodness [0,1] 0.8240487062404871 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91819459e-01 7.67854070e-02 -1.01971378e-01 6.51321861e+00] [-7.61768608e-02 9.97045625e-01 9.85434559e-03 -3.15692565e-01] [ 1.02426787e-01 -2.00587222e-03 9.94738523e-01 -1.58934385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55629675700004 meters Centerline goodness [0,1] 0.8211814648399812 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91806817e-01 7.71932853e-02 -1.01786223e-01 6.51219745e+00] [-7.65509405e-02 9.97013419e-01 1.02076355e-02 -3.15477823e-01] [ 1.02270191e-01 -2.33217132e-03 9.94753924e-01 -1.58847857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586296757 meters Centerline goodness [0,1] 0.8213015794261143 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91804674e-01 7.72181494e-02 -1.01788239e-01 6.51195344e+00] [-7.65666743e-02 9.97011285e-01 1.02976623e-02 -3.15597296e-01] [ 1.02279190e-01 -2.41968258e-03 9.94752790e-01 -1.58805245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61629675700001 meters Centerline goodness [0,1] 0.8171989629874786 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91776575e-01 7.76644909e-02 -1.01722430e-01 6.51081792e+00] [-7.69343801e-02 9.96974512e-01 1.10870530e-02 -3.16717950e-01] [ 1.02275741e-01 -3.16992735e-03 9.94751036e-01 -1.58644281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64629675700002 meters Centerline goodness [0,1] 0.8179637747084608 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91760698e-01 7.79391090e-02 -1.01667173e-01 6.51013897e+00] [-7.71799486e-02 9.96952169e-01 1.13854271e-02 -3.16244820e-01] [ 1.02244679e-01 -3.44495193e-03 9.94753315e-01 -1.58557214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67629675700002 meters Centerline goodness [0,1] 0.8183663393493883 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.32, Z:-1.59 [[ 9.91761505e-01 7.77704888e-02 -1.01788348e-01 6.51071588e+00] [-7.70573637e-02 9.96966800e-01 1.09253015e-02 -3.15028113e-01] [ 1.02329269e-01 -2.99175173e-03 9.94746083e-01 -1.58607196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70629675700002 meters Centerline goodness [0,1] 0.8207951238262589 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91752174e-01 7.77883452e-02 -1.01865591e-01 6.51103727e+00] [-7.71161150e-02 9.96966546e-01 1.05266473e-02 -3.13586785e-01] [ 1.02375437e-01 -2.58434668e-03 9.94742475e-01 -1.58649910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73629675700002 meters Centerline goodness [0,1] 0.8178715909403638 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91720754e-01 7.82759084e-02 -1.01797982e-01 6.51090480e+00] [-7.76496753e-02 9.96929485e-01 1.01059620e-02 -3.11318949e-01] [ 1.02276463e-01 -2.11771201e-03 9.94753759e-01 -1.58715861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76629675700002 meters Centerline goodness [0,1] 0.8132705856450902 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91708552e-01 7.83551881e-02 -1.01855845e-01 6.51104160e+00] [-7.77535871e-02 9.96923756e-01 9.86935163e-03 -3.10519650e-01] [ 1.02315827e-01 -1.86786308e-03 9.94750211e-01 -1.58736925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79629675700002 meters Centerline goodness [0,1] 0.8071210914980647 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91688936e-01 7.83207485e-02 -1.02073086e-01 6.51145458e+00] [-7.77436382e-02 9.96926911e-01 9.62600511e-03 -3.09560464e-01] [ 1.02513323e-01 -1.61046967e-03 9.94730328e-01 -1.58733616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82629675700002 meters Centerline goodness [0,1] 0.8001313485113836 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91684500e-01 7.81248364e-02 -1.02266132e-01 6.51210162e+00] [-7.75641876e-02 9.96942540e-01 9.45347433e-03 -3.09355878e-01] [ 1.02692009e-01 -1.44267449e-03 9.94712154e-01 -1.58756141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85629675700002 meters Centerline goodness [0,1] 0.803533336979708 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91692481e-01 7.77288380e-02 -1.02490250e-01 6.51291955e+00] [-7.71838637e-02 9.96973702e-01 9.27844455e-03 -3.09302071e-01] [ 1.02901286e-01 -1.29077023e-03 9.94690735e-01 -1.58763556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88629675700003 meters Centerline goodness [0,1] 0.8153032130716087 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91683006e-01 7.76863450e-02 -1.02614067e-01 6.51276404e+00] [-7.70937840e-02 9.96976327e-01 9.73405890e-03 -3.09619084e-01] [ 1.03059999e-01 -1.74219409e-03 9.94673616e-01 -1.58652164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91629675700003 meters Centerline goodness [0,1] 0.8176414189837009 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91672926e-01 7.73666300e-02 -1.02952478e-01 6.51354462e+00] [-7.67819917e-02 9.97001344e-01 9.63562742e-03 -3.09356271e-01] [ 1.03389235e-01 -1.65049451e-03 9.94639604e-01 -1.58632766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94629675700003 meters Centerline goodness [0,1] 0.8174857989627069 Centerline is valid? [False, False] Translation: X:6.51, Y:-0.31, Z:-1.59 [[ 9.91655110e-01 7.69228627e-02 -1.03455384e-01 6.51473101e+00] [-7.63167374e-02 9.97035362e-01 9.81033152e-03 -3.09822363e-01] [ 1.03903315e-01 -1.83308804e-03 9.94585713e-01 -1.58585274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97629675700003 meters Centerline goodness [0,1] 0.8197241681260946 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.31, Z:-1.59 [[ 9.91638680e-01 7.66192788e-02 -1.03837447e-01 6.51573783e+00] [-7.60165792e-02 9.97058833e-01 9.75513721e-03 -3.09919396e-01] [ 1.04279475e-01 -1.78020389e-03 9.94546440e-01 -1.58584975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00629675700003 meters Centerline goodness [0,1] 0.8181495439401387 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.31, Z:-1.59 [[ 9.91637844e-01 7.61694568e-02 -1.04175814e-01 6.51703018e+00] [-7.56024540e-02 9.97093859e-01 9.38646959e-03 -3.09225857e-01] [ 1.04588026e-01 -1.43203131e-03 9.94514602e-01 -1.58630571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03629675700003 meters Centerline goodness [0,1] 0.8203708753749659 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.31, Z:-1.59 [[ 9.91624286e-01 7.60556996e-02 -1.04387771e-01 6.51766352e+00] [-7.55003128e-02 9.97102712e-01 9.26737485e-03 -3.08741230e-01] [ 1.04790167e-01 -1.30844457e-03 9.94493494e-01 -1.58645107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06629675700003 meters Centerline goodness [0,1] 0.8175865549886776 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.31, Z:-1.59 [[ 9.91621187e-01 7.58012639e-02 -1.04602056e-01 6.51830518e+00] [-7.52967717e-02 9.97122609e-01 8.76923384e-03 -3.07569763e-01] [ 1.04965794e-01 -8.19560929e-04 9.94475495e-01 -1.58669969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09629675700003 meters Centerline goodness [0,1] 0.8193028024606972 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.31, Z:-1.59 [[ 9.91603452e-01 7.59815909e-02 -1.04639341e-01 6.51805663e+00] [-7.54740247e-02 9.97108870e-01 8.80753703e-03 -3.07262951e-01] [ 1.05006025e-01 -8.36031950e-04 9.94471234e-01 -1.58637387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12629675700003 meters Centerline goodness [0,1] 0.814790522259572 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.31, Z:-1.59 [[ 9.91590490e-01 7.64887138e-02 -1.04392414e-01 6.51692216e+00] [-7.60023332e-02 9.97070249e-01 8.63501555e-03 -3.05378050e-01] [ 1.04747051e-01 -6.28332300e-04 9.94498698e-01 -1.58592068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15629675700004 meters Centerline goodness [0,1] 0.8109885910802992 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.30, Z:-1.59 [[ 9.91568994e-01 7.68398545e-02 -1.04338714e-01 6.51648987e+00] [-7.63769314e-02 9.97043371e-01 8.43091296e-03 -3.03963737e-01] [ 1.04678053e-01 -3.90761117e-04 9.94506085e-01 -1.58587969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18629675700004 meters Centerline goodness [0,1] 0.8074321548867651 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.30, Z:-1.59 [[ 9.91558352e-01 7.68124588e-02 -1.04459952e-01 6.51678512e+00] [-7.64048226e-02 9.97045548e-01 7.90427481e-03 -3.02039199e-01] [ 1.04758477e-01 1.43694400e-04 9.94497683e-01 -1.58616129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21629675700004 meters Centerline goodness [0,1] 0.7943678098249822 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.30, Z:-1.59 [[ 9.91222390e-01 8.04909718e-02 -1.04877917e-01 6.51883882e+00] [-7.97323734e-02 9.96750971e-01 1.14127039e-02 -3.01066419e-01] [ 1.05455785e-01 -2.95036245e-03 9.94419616e-01 -1.58626939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24629675700004 meters Centerline goodness [0,1] 0.7721687598542923 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.30, Z:-1.59 [[ 9.91171756e-01 8.08289392e-02 -1.05096299e-01 6.51896618e+00] [-8.01474193e-02 9.96725602e-01 1.06988988e-02 -2.97982819e-01] [ 1.05616952e-01 -2.18124915e-03 9.94404496e-01 -1.58649632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27629675700004 meters Centerline goodness [0,1] 0.7771668118466899 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.30, Z:-1.59 [[ 9.91149928e-01 8.07634197e-02 -1.05352216e-01 6.51947056e+00] [-8.01133917e-02 9.96731560e-01 1.03943404e-02 -2.96816647e-01] [ 1.05847361e-01 -1.86222634e-03 9.94380646e-01 -1.58653515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30629675700004 meters Centerline goodness [0,1] 0.769111696494039 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.30, Z:-1.59 [[ 9.91142315e-01 8.03298073e-02 -1.05754595e-01 6.52047198e+00] [-7.97348057e-02 9.96767452e-01 9.84919365e-03 -2.95090165e-01] [ 1.06203922e-01 -1.32963051e-03 9.94343481e-01 -1.58653143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.336296757 meters Centerline goodness [0,1] 0.7794816121590447 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.29, Z:-1.59 [[ 9.91128694e-01 7.98808460e-02 -1.06221291e-01 6.52160704e+00] [-7.93049869e-02 9.96803777e-01 9.64101388e-03 -2.94665484e-01] [ 1.06651916e-01 -1.13160740e-03 9.94295775e-01 -1.58637429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36629675700001 meters Centerline goodness [0,1] 0.7913953298275251 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.29, Z:-1.59 [[ 9.91141842e-01 7.89080232e-02 -1.06824025e-01 6.52311917e+00] [-7.83382106e-02 9.96881322e-01 9.52647316e-03 -2.94403877e-01] [ 1.07242590e-01 -1.07368320e-03 9.94232304e-01 -1.58565555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39629675700002 meters Centerline goodness [0,1] 0.798388198333561 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.29, Z:-1.59 [[ 9.91142101e-01 7.84787260e-02 -1.07137411e-01 6.52377777e+00] [-7.79126482e-02 9.96915252e-01 9.46572363e-03 -2.93904232e-01] [ 1.07549777e-01 -1.03451779e-03 9.94199163e-01 -1.58523280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42629675700002 meters Centerline goodness [0,1] 0.8052810671022186 Centerline is valid? [False, False] Translation: X:6.52, Y:-0.29, Z:-1.58 [[ 9.91167373e-01 7.75643943e-02 -1.07568596e-01 6.52484949e+00] [-7.69888741e-02 9.96986700e-01 9.49914220e-03 -2.93178561e-01] [ 1.07981255e-01 -1.13365473e-03 9.94152284e-01 -1.58418159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45629675700002 meters Centerline goodness [0,1] 0.8058107300103278 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91161919e-01 7.70929398e-02 -1.07957069e-01 6.52562560e+00] [-7.65081612e-02 9.97023176e-01 9.55446254e-03 -2.93231622e-01] [ 1.08372281e-01 -1.21042259e-03 9.94109644e-01 -1.58354285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48629675700002 meters Centerline goodness [0,1] 0.8108364761103726 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91176251e-01 7.61614016e-02 -1.08485390e-01 6.52670150e+00] [-7.55598933e-02 9.97094564e-01 9.65058745e-03 -2.93246304e-01] [ 1.08905195e-01 -1.36828858e-03 9.94051199e-01 -1.58229423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51629675700002 meters Centerline goodness [0,1] 0.808761378413524 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91161422e-01 7.57922279e-02 -1.08878708e-01 6.52742028e+00] [-7.51760031e-02 9.97122522e-01 9.75933051e-03 -2.93219408e-01] [ 1.09305093e-01 -1.48800585e-03 9.94007134e-01 -1.58161858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54629675700002 meters Centerline goodness [0,1] 0.8114225306299468 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91156226e-01 7.54675580e-02 -1.09151191e-01 6.52805371e+00] [-7.48533497e-02 9.97147184e-01 9.71953961e-03 -2.93065046e-01] [ 1.09573313e-01 -1.46324991e-03 9.93977640e-01 -1.58133901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57629675700002 meters Centerline goodness [0,1] 0.8129163281884646 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91152812e-01 7.51207917e-02 -1.09421066e-01 6.52829964e+00] [-7.45266510e-02 9.97173625e-01 9.51528379e-03 -2.91519265e-01] [ 1.09826597e-01 -1.27631470e-03 9.93949943e-01 -1.58052823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60629675700002 meters Centerline goodness [0,1] 0.8092254510100465 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91141324e-01 7.50022079e-02 -1.09606316e-01 6.52856646e+00] [-7.44326581e-02 9.97182821e-01 9.28441000e-03 -2.89912369e-01] [ 1.09993887e-01 -1.04387298e-03 9.93931716e-01 -1.58023702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63629675700003 meters Centerline goodness [0,1] 0.8077171282602851 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.29, Z:-1.58 [[ 9.91109670e-01 7.51885929e-02 -1.09764737e-01 6.52863946e+00] [-7.46760522e-02 9.97169204e-01 8.77870238e-03 -2.86480653e-01] [ 1.10114073e-01 -5.03859621e-04 9.93918828e-01 -1.58013132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66629675700003 meters Centerline goodness [0,1] 0.8119492800343864 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.28, Z:-1.58 [[ 9.91057415e-01 7.54961219e-02 -1.10025163e-01 6.52909881e+00] [-7.50519404e-02 9.97146084e-01 8.17885851e-03 -2.83525097e-01] [ 1.10328633e-01 1.51883611e-04 9.93895150e-01 -1.58056415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69629675700003 meters Centerline goodness [0,1] 0.8129666433904496 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.28, Z:-1.58 [[ 9.91039388e-01 7.54555756e-02 -1.10215186e-01 6.52983980e+00] [-7.50754962e-02 9.97148888e-01 7.60030890e-03 -2.81566551e-01] [ 1.10474436e-01 7.42254281e-04 9.93878689e-01 -1.58119612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72629675700003 meters Centerline goodness [0,1] 0.8123626226344287 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.28, Z:-1.58 [[ 9.90721514e-01 7.87353831e-02 -1.10777350e-01 6.53303421e+00] [-7.80640069e-02 9.96894190e-01 1.03916082e-02 -2.79771991e-01] [ 1.11251484e-01 -1.64746597e-03 9.93790920e-01 -1.58257609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75629675700003 meters Centerline goodness [0,1] 0.8161183507797479 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.28, Z:-1.58 [[ 9.90698530e-01 7.86563200e-02 -1.11038760e-01 6.53391347e+00] [-7.80571722e-02 9.96901309e-01 9.73950534e-03 -2.77576878e-01] [ 1.11460758e-01 -9.81542044e-04 9.93768351e-01 -1.58317288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78629675700003 meters Centerline goodness [0,1] 0.8159648187633262 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.27, Z:-1.58 [[ 9.90658742e-01 7.85674429e-02 -1.11455884e-01 6.53487828e+00] [-7.80629485e-02 9.96908795e-01 8.88990731e-03 -2.74886892e-01] [ 1.11809809e-01 -1.06289444e-04 9.93729619e-01 -1.58371913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81629675700003 meters Centerline goodness [0,1] 0.8159648187633262 Centerline is valid? [False, False] Translation: X:6.53, Y:-0.27, Z:-1.58 [[ 9.90658742e-01 7.85674429e-02 -1.11455884e-01 6.53487828e+00] [-7.80629485e-02 9.96908795e-01 8.88990731e-03 -2.74886892e-01] [ 1.11809809e-01 -1.06289444e-04 9.93729619e-01 -1.58371913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84629675700003 meters Centerline goodness [0,1] 0.8138303533418476 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 9.90626028e-01 7.85001152e-02 -1.11793578e-01 6.53529959e+00] [-7.79984356e-02 9.96914103e-01 8.86089837e-03 -2.74440936e-01] [ 1.12144176e-01 -5.81123674e-05 9.93691944e-01 -1.58322555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87629675700003 meters Centerline goodness [0,1] 0.8154877497273283 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 9.90611665e-01 7.78869947e-02 -1.12348320e-01 6.53639490e+00] [-7.73823329e-02 9.96962191e-01 8.85235540e-03 -2.74332086e-01] [ 1.12696510e-01 -7.54714551e-05 9.93629454e-01 -1.58231399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90629675700004 meters Centerline goodness [0,1] 0.8168253630512261 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 9.90588329e-01 7.75723983e-02 -1.12770940e-01 6.53703901e+00] [-7.70379148e-02 9.96986669e-01 9.09620533e-03 -2.74778269e-01] [ 1.13136738e-01 -3.22956799e-04 9.93579375e-01 -1.58146162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93629675700004 meters Centerline goodness [0,1] 0.8196432386242256 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.58 [[ 9.90567998e-01 7.72367593e-02 -1.13179173e-01 6.53717971e+00] [-7.65750098e-02 9.97011759e-01 1.01891818e-02 -2.76758089e-01] [ 1.13627946e-01 -1.42638110e-03 9.93522348e-01 -1.57917211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96629675700004 meters Centerline goodness [0,1] 0.8206107890025918 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.58 [[ 9.90559346e-01 7.68334140e-02 -1.13528887e-01 6.53780664e+00] [-7.61303090e-02 9.97042355e-01 1.05222470e-02 -2.77526419e-01] [ 1.14001569e-01 -1.77992086e-03 9.93478975e-01 -1.57836592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99629675700004 meters Centerline goodness [0,1] 0.8252284899677582 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.58 [[ 9.90565735e-01 7.58268152e-02 -1.14148230e-01 6.53913349e+00] [-7.50040111e-02 9.97117009e-01 1.14921080e-02 -2.79276076e-01] [ 1.14690551e-01 -2.82211327e-03 9.93397258e-01 -1.57631566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02629675700004 meters Centerline goodness [0,1] 0.8256919839092096 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.58 [[ 9.90545943e-01 7.53629480e-02 -1.14626179e-01 6.54013395e+00] [-7.44993357e-02 9.97151180e-01 1.18056608e-02 -2.79947081e-01] [ 1.15189339e-01 -3.15447521e-03 9.93338545e-01 -1.57549781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05629675700004 meters Centerline goodness [0,1] 0.8267292225201073 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90547309e-01 7.51352966e-02 -1.14763739e-01 6.53987110e+00] [-7.41799651e-02 9.97165539e-01 1.25785699e-02 -2.81225971e-01] [ 1.15383540e-01 -3.94649839e-03 9.93313175e-01 -1.57374488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.086296757 meters Centerline goodness [0,1] 0.8263692225487577 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90537099e-01 7.48945294e-02 -1.15008978e-01 6.54044222e+00] [-7.39377771e-02 9.97183653e-01 1.25684899e-02 -2.81287006e-01] [ 1.15626384e-01 -3.94604733e-03 9.93284938e-01 -1.57351269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11629675700001 meters Centerline goodness [0,1] 0.8286250335030823 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90537259e-01 7.47802682e-02 -1.15081927e-01 6.54038414e+00] [-7.38000638e-02 9.97191413e-01 1.27607214e-02 -2.81476283e-01] [ 1.15712960e-01 -4.14691641e-03 9.93274038e-01 -1.57285908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14629675700002 meters Centerline goodness [0,1] 0.8254873607540703 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90520044e-01 7.45873674e-02 -1.15354958e-01 6.54109328e+00] [-7.36105204e-02 9.97206058e-01 1.27110151e-02 -2.81118554e-01] [ 1.15980744e-01 -4.09917677e-03 9.93243003e-01 -1.57276651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17629675700002 meters Centerline goodness [0,1] 0.8251023849674777 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90514301e-01 7.45315978e-02 -1.15440294e-01 6.54152291e+00] [-7.35699244e-02 9.97210779e-01 1.25749025e-02 -2.80577240e-01] [ 1.16055533e-01 -3.96268704e-03 9.93234821e-01 -1.57300692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20629675700002 meters Centerline goodness [0,1] 0.8239619261517072 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90499037e-01 7.48121807e-02 -1.15389753e-01 6.54143369e+00] [-7.38588464e-02 9.97190094e-01 1.25214698e-02 -2.79757288e-01] [ 1.16002277e-01 -3.87994974e-03 9.93241369e-01 -1.57314083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23629675700002 meters Centerline goodness [0,1] 0.8252865578325808 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90473870e-01 7.53711751e-02 -1.15241917e-01 6.54106688e+00] [-7.44401788e-02 9.97148791e-01 1.23672371e-02 -2.78621102e-01] [ 1.15845471e-01 -3.67079631e-03 9.93260465e-01 -1.57355393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26629675700002 meters Centerline goodness [0,1] 0.8242582850428606 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90461166e-01 7.55143474e-02 -1.15257374e-01 6.54131913e+00] [-7.46236220e-02 9.97139208e-01 1.20297458e-02 -2.77529427e-01] [ 1.15836065e-01 -3.31407332e-03 9.93262817e-01 -1.57408042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29629675700002 meters Centerline goodness [0,1] 0.826359776774986 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 9.90375159e-01 7.66285391e-02 -1.15261054e-01 6.54097133e+00] [-7.57474657e-02 9.97054688e-01 1.20113052e-02 -2.75592812e-01] [ 1.15841983e-01 -3.16496550e-03 9.93262613e-01 -1.57445710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32629675700002 meters Centerline goodness [0,1] 0.8302576137393994 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.57 [[ 9.90336232e-01 7.71074861e-02 -1.15276119e-01 6.54091546e+00] [-7.62462171e-02 9.97018378e-01 1.18688013e-02 -2.74533542e-01] [ 1.15847583e-01 -2.96473593e-03 9.93262578e-01 -1.57479379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35629675700002 meters Centerline goodness [0,1] 0.8318896374719281 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 9.90308569e-01 7.75431243e-02 -1.15221538e-01 6.54078990e+00] [-7.67054656e-02 9.96985230e-01 1.16928637e-02 -2.73549361e-01] [ 1.15780872e-01 -2.74142139e-03 9.93270997e-01 -1.57516190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38629675700003 meters Centerline goodness [0,1] 0.8296215293521457 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 9.89934285e-01 8.21725446e-02 -1.15229268e-01 6.54178465e+00] [-8.08659435e-02 9.96596938e-01 1.59762911e-02 -2.74953323e-01] [ 1.16149949e-01 -6.49735478e-03 9.93210438e-01 -1.57539130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41629675700003 meters Centerline goodness [0,1] 0.825575188170608 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 0.98987374 0.08330728 -0.11493419 6.54078444] [-0.08198311 0.99650191 0.01620874 -0.27425222] [ 0.11588244 -0.00662195 0.99324086 -1.57559606] [ 0. 0. 0. 1. ]] SLAMing on 201.44629675700003 meters Centerline goodness [0,1] 0.8186786690242727 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.58 [[ 0.98984161 0.08385921 -0.11480949 6.54012014] [-0.08251052 0.99645429 0.01645797 -0.2742577 ] [ 0.11578256 -0.00681779 0.99325118 -1.57534527] [ 0. 0. 0. 1. ]] SLAMing on 201.47629675700003 meters Centerline goodness [0,1] 0.8017019910083494 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.57 [[ 0.98979488 0.08438471 -0.11482735 6.53979469] [-0.08298908 0.99640732 0.01688954 -0.27441849] [ 0.11584003 -0.00718777 0.99324188 -1.57484418] [ 0. 0. 0. 1. ]] SLAMing on 201.50629675700003 meters Centerline goodness [0,1] 0.8050529921849909 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.27, Z:-1.57 [[ 0.9897735 0.08469942 -0.11477993 6.53925367] [-0.08325976 0.99637791 0.0172881 -0.2748665 ] [ 0.11582848 -0.00755476 0.9932405 -1.57422356] [ 0. 0. 0. 1. ]] SLAMing on 201.53629675700003 meters Centerline goodness [0,1] 0.816089798542649 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98974716 0.08495584 -0.11481749 6.53890717] [-0.08346384 0.99635273 0.01774893 -0.27553895] [ 0.11590659 -0.00798385 0.99322803 -1.5735111 ] [ 0. 0. 0. 1. ]] SLAMing on 201.56629675700003 meters Centerline goodness [0,1] 0.8175588519832312 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.9897429 0.08495292 -0.11485643 6.53884556] [-0.08341036 0.99634945 0.0181791 -0.27629054] [ 0.11598151 -0.00841242 0.99321575 -1.5728579 ] [ 0. 0. 0. 1. ]] SLAMing on 201.59629675700003 meters Centerline goodness [0,1] 0.8216800128983716 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98975686 0.0846057 -0.1149923 6.53930849] [-0.08302952 0.99637653 0.01843687 -0.27663341] [ 0.11613549 -0.00870026 0.99319527 -1.57233356] [ 0. 0. 0. 1. ]] SLAMing on 201.62629675700003 meters Centerline goodness [0,1] 0.8223889426696784 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98975612 0.08437525 -0.11516786 6.53969197] [-0.08278354 0.99639502 0.01854304 -0.27697962] [ 0.11631725 -0.00881908 0.99317296 -1.57203565] [ 0. 0. 0. 1. ]] SLAMing on 201.65629675700004 meters Centerline goodness [0,1] 0.8244822306390522 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98978177 0.08382886 -0.11534629 6.54008275] [-0.082197 0.996438 0.01884041 -0.27833961] [ 0.11651479 -0.00916678 0.99314665 -1.57119477] [ 0. 0. 0. 1. ]] SLAMing on 201.68629675700004 meters Centerline goodness [0,1] 0.8274424359802023 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98978641 0.08364812 -0.11543765 6.54022577] [-0.08199776 0.99645176 0.01898035 -0.27899622] [ 0.11661572 -0.00932086 0.99313337 -1.57084633] [ 0. 0. 0. 1. ]] SLAMing on 201.71629675700004 meters Centerline goodness [0,1] 0.8269885982562039 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98980863 0.08293658 -0.11576013 6.54147325] [-0.0813109 0.99651327 0.018704 -0.27893998] [ 0.11690775 -0.00910082 0.99310108 -1.57100086] [ 0. 0. 0. 1. ]] SLAMing on 201.74629675700004 meters Centerline goodness [0,1] 0.8259659638231831 Centerline is valid? [False, False] Translation: X:6.54, Y:-0.28, Z:-1.57 [[ 0.98980119 0.08253282 -0.11611176 6.54267262] [-0.0809533 0.99655058 0.01826223 -0.27792103] [ 0.11721848 -0.00867634 0.99306825 -1.57146673] [ 0. 0. 0. 1. ]] SLAMing on 201.77629675700004 meters Centerline goodness [0,1] 0.8255866485954981 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.28, Z:-1.57 [[ 0.98948952 0.08539243 -0.1166989 6.54606323] [-0.08345347 0.99628164 0.02141043 -0.27709155] [ 0.11809326 -0.01144647 0.99293653 -1.57228144] [ 0. 0. 0. 1. ]] SLAMing on 201.80629675700004 meters Centerline goodness [0,1] 0.8230381300530992 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.28, Z:-1.57 [[ 0.98948227 0.08525548 -0.11686033 6.54664759] [-0.08337111 0.99629878 0.02092842 -0.27562347] [ 0.11821207 -0.01096553 0.99292782 -1.572714 ] [ 0. 0. 0. 1. ]] SLAMing on 201.836296757 meters Centerline goodness [0,1] 0.8216373488508661 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98945187 0.08502229 -0.11728688 6.54806739] [-0.08323386 0.99632788 0.02007204 -0.27374581] [ 0.11856276 -0.01009807 0.99289521 -1.57377313] [ 0. 0. 0. 1. ]] SLAMing on 201.86629675700001 meters Centerline goodness [0,1] 0.8226931402153871 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98942733 0.08490191 -0.11758072 6.54891218] [-0.08314633 0.99634132 0.01976542 -0.27291417] [ 0.11882865 -0.00978004 0.99286661 -1.5740859 ] [ 0. 0. 0. 1. ]] SLAMing on 201.89629675700002 meters Centerline goodness [0,1] 0.8231809813495558 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98937947 0.08489966 -0.11798436 6.54972684] [-0.08318033 0.99634507 0.01943009 -0.27132353] [ 0.11920275 -0.00940975 0.99282534 -1.57416068] [ 0. 0. 0. 1. ]] SLAMing on 201.92629675700002 meters Centerline goodness [0,1] 0.8212546243313017 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98935314 0.08479474 -0.11828028 6.55020838] [-0.08308376 0.99635506 0.01933114 -0.27073281] [ 0.11948834 -0.00929815 0.99279206 -1.57387536] [ 0. 0. 0. 1. ]] SLAMing on 201.95629675700002 meters Centerline goodness [0,1] 0.816847479259732 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98933017 0.08448565 -0.11869288 6.5509227 ] [-0.08280267 0.99638389 0.01904888 -0.26975297] [ 0.11987303 -0.00901754 0.99274828 -1.57346306] [ 0. 0. 0. 1. ]] SLAMing on 201.98629675700002 meters Centerline goodness [0,1] 0.8209089943718806 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98932223 0.08425858 -0.1189202 6.55115124] [-0.08255079 0.99640144 0.01922324 -0.26976934] [ 0.12011198 -0.00920102 0.99271771 -1.57263421] [ 0. 0. 0. 1. ]] SLAMing on 202.01629675700002 meters Centerline goodness [0,1] 0.8187513272456997 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98931737 0.0840805 -0.11908659 6.55149567] [-0.08235788 0.99641549 0.01932237 -0.27011745] [ 0.12028435 -0.00930824 0.99269584 -1.57237349] [ 0. 0. 0. 1. ]] SLAMing on 202.04629675700002 meters Centerline goodness [0,1] 0.8222952209388577 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98932361 0.0836382 -0.11934588 6.55229388] [-0.08191316 0.99645266 0.01929587 -0.27024018] [ 0.12053639 -0.00931386 0.99266522 -1.57224643] [ 0. 0. 0. 1. ]] SLAMing on 202.07629675700002 meters Centerline goodness [0,1] 0.8259177893650247 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98939739 0.08272912 -0.11936792 6.55295831] [-0.08098241 0.99652635 0.01941865 -0.27054952] [ 0.12055976 -0.00954606 0.99266017 -1.57177495] [ 0. 0. 0. 1. ]] SLAMing on 202.10629675700002 meters Centerline goodness [0,1] 0.8262789160608064 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98940267 0.08228946 -0.11962777 6.55362716] [-0.0805314 0.99656199 0.01946515 -0.27081622] [ 0.12081827 -0.00962508 0.99262798 -1.57147198] [ 0. 0. 0. 1. ]] SLAMing on 202.13629675700003 meters Centerline goodness [0,1] 0.8236518897264246 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98946879 0.08155966 -0.11958065 6.55387647] [-0.07976885 0.99661881 0.01969475 -0.27161294] [ 0.12078262 -0.00994853 0.99262913 -1.5707166 ] [ 0. 0. 0. 1. ]] SLAMing on 202.16629675700003 meters Centerline goodness [0,1] 0.8207554630044548 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98951234 0.08114933 -0.11949948 6.55375451] [-0.07934941 0.99665116 0.01975197 -0.27119964] [ 0.12070215 -0.01006261 0.99263777 -1.57003117] [ 0. 0. 0. 1. ]] SLAMing on 202.19629675700003 meters Centerline goodness [0,1] 0.8162548833280541 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98951337 0.08093307 -0.11963751 6.55407964] [-0.07914898 0.99667014 0.01959749 -0.27048622] [ 0.12082522 -0.00992279 0.9926242 -1.56985247] [ 0. 0. 0. 1. ]] SLAMing on 202.22629675700003 meters Centerline goodness [0,1] 0.8160274153156716 Centerline is valid? [False, False] Translation: X:6.55, Y:-0.27, Z:-1.57 [[ 0.98951103 0.08061141 -0.1198738 6.55468422] [-0.07888781 0.99670122 0.01906283 -0.26864458] [ 0.12101504 -0.0094063 0.99260611 -1.56989587] [ 0. 0. 0. 1. ]] SLAMing on 202.25629675700003 meters Centerline goodness [0,1] 0.8147112365775796 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.27, Z:-1.57 [[ 0.98950466 0.08051489 -0.11999114 6.55510162] [-0.07883598 0.99671254 0.01868164 -0.26744597] [ 0.12110082 -0.00902595 0.99259918 -1.57018591] [ 0. 0. 0. 1. ]] SLAMing on 202.28629675700003 meters Centerline goodness [0,1] 0.8111049621840989 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.27, Z:-1.57 [[ 0.98948709 0.0803615 -0.1202386 6.55603986] [-0.07874208 0.99672947 0.01816721 -0.26577881] [ 0.1213053 -0.00850838 0.99257878 -1.57080867] [ 0. 0. 0. 1. ]] SLAMing on 202.31629675700003 meters Centerline goodness [0,1] 0.8079020502333386 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.26, Z:-1.57 [[ 0.98915904 0.08370856 -0.12065351 6.55892776] [-0.08176231 0.99643057 0.02100101 -0.26365162] [ 0.12198081 -0.01090843 0.99247251 -1.57212194] [ 0. 0. 0. 1. ]] SLAMing on 202.34629675700003 meters Centerline goodness [0,1] 0.804313161678212 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.26, Z:-1.57 [[ 0.98912833 0.0837685 -0.12086349 6.55966136] [-0.08190681 0.99643326 0.02029871 -0.26085246] [ 0.12213279 -0.01017848 0.99246158 -1.57285699] [ 0. 0. 0. 1. ]] SLAMing on 202.37629675700003 meters Centerline goodness [0,1] 0.802577453788076 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.26, Z:-1.57 [[ 0.98878098 0.08714449 -0.12131784 6.56250285] [-0.08499887 0.99612106 0.02276002 -0.25718652] [ 0.12283066 -0.01219279 0.99235274 -1.57422017] [ 0. 0. 0. 1. ]] SLAMing on 202.40629675700004 meters Centerline goodness [0,1] 0.8029391944430045 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.25, Z:-1.57 [[ 0.98871753 0.08758378 -0.12151841 6.56256748] [-0.08555305 0.99609423 0.02183951 -0.25288145] [ 0.12295658 -0.01119684 0.99234889 -1.57454803] [ 0. 0. 0. 1. ]] SLAMing on 202.43629675700004 meters Centerline goodness [0,1] 0.8038292367399742 Centerline is valid? [False, False] Translation: X:6.56, Y:-0.25, Z:-1.57 [[ 0.98870058 0.08756064 -0.12167293 6.56274569] [-0.08558476 0.99610144 0.0213817 -0.25129253] [ 0.12307077 -0.01072675 0.99233992 -1.57454368] [ 0. 0. 0. 1. ]] SLAMing on 202.46629675700004 meters Centerline goodness [0,1] 0.8023291528026619 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.25, Z:-1.58 [[ 9.89121586e-01 8.99228862e-02 -1.16414617e-01 6.57495309e+00] [-8.89675725e-02 9.95944554e-01 1.33871712e-02 -2.46785825e-01] [ 1.17146317e-01 -2.88441414e-03 9.93110478e-01 -1.57745154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49629675700004 meters Centerline goodness [0,1] 0.8009215410213746 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.24, Z:-1.58 [[ 9.89109739e-01 9.00845102e-02 -1.16390311e-01 6.57456011e+00] [-8.91676767e-02 9.95930860e-01 1.30709008e-02 -2.44143645e-01] [ 1.17094188e-01 -2.55030171e-03 9.93117539e-01 -1.57703569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52629675700004 meters Centerline goodness [0,1] 0.8023383452888468 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.24, Z:-1.58 [[ 9.89094315e-01 9.02525047e-02 -1.16391239e-01 6.57428696e+00] [-8.93825671e-02 9.95916613e-01 1.26829112e-02 -2.41366045e-01] [ 1.17060633e-01 -2.14124764e-03 9.93122461e-01 -1.57680965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55629675700004 meters Centerline goodness [0,1] 0.7973178522537139 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.24, Z:-1.58 [[ 9.88743504e-01 9.38763535e-02 -1.16505420e-01 6.57513079e+00] [-9.26092085e-02 9.95569853e-01 1.62543011e-02 -2.39105659e-01] [ 1.17515178e-01 -5.28185993e-03 9.93057040e-01 -1.57570907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.586296757 meters Centerline goodness [0,1] 0.7993989291847661 Centerline is valid? [False, False] Translation: X:6.57, Y:-0.24, Z:-1.58 [[ 9.88739020e-01 9.39389478e-02 -1.16493024e-01 6.57466876e+00] [-9.27327249e-02 9.95566564e-01 1.57435342e-02 -2.35967534e-01] [ 1.17455491e-01 -4.76353098e-03 9.93066723e-01 -1.57516502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61629675700001 meters Centerline goodness [0,1] 0.7982101108625154 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.23, Z:-1.58 [[ 9.88735109e-01 9.36190183e-02 -1.16783406e-01 6.57526950e+00] [-9.24634462e-02 9.95598743e-01 1.52857450e-02 -2.34357796e-01] [ 1.17700449e-01 -4.31535656e-03 9.93039769e-01 -1.57506678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64629675700002 meters Centerline goodness [0,1] 0.7970880344232357 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.23, Z:-1.57 [[ 9.88748163e-01 9.31683289e-02 -1.17033037e-01 6.57569464e+00] [-9.20998084e-02 9.95643954e-01 1.45169860e-02 -2.30613267e-01] [ 1.17875759e-01 -3.57492300e-03 9.93021916e-01 -1.57470282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67629675700002 meters Centerline goodness [0,1] 0.7987810970126885 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.23, Z:-1.57 [[ 9.88762075e-01 9.28674419e-02 -1.17154586e-01 6.57593785e+00] [-9.18640821e-02 9.95673877e-01 1.39470887e-02 -2.28479576e-01] [ 1.17942991e-01 -3.02805388e-03 9.93015751e-01 -1.57463699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70629675700002 meters Centerline goodness [0,1] 0.7987810970126885 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.23, Z:-1.57 [[ 9.88762075e-01 9.28674419e-02 -1.17154586e-01 6.57593785e+00] [-9.18640821e-02 9.95673877e-01 1.39470887e-02 -2.28479576e-01] [ 1.17942991e-01 -3.02805388e-03 9.93015751e-01 -1.57463699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73629675700002 meters Centerline goodness [0,1] 0.7983528886463424 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.22, Z:-1.57 [[ 9.88768522e-01 9.26212695e-02 -1.17294971e-01 6.57583570e+00] [-9.17008806e-02 9.95698694e-01 1.32310265e-02 -2.24721233e-01] [ 1.18015924e-01 -2.32637041e-03 9.93008978e-01 -1.57399308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76629675700002 meters Centerline goodness [0,1] 0.8006626446444467 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.22, Z:-1.57 [[ 9.88762521e-01 9.22605066e-02 -1.17629401e-01 6.57639111e+00] [-9.13942971e-02 9.95733177e-01 1.27484431e-02 -2.23033583e-01] [ 1.18303675e-01 -1.85452629e-03 9.92975730e-01 -1.57371097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79629675700002 meters Centerline goodness [0,1] 0.8009428634566749 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.22, Z:-1.57 [[ 9.88774594e-01 9.12177652e-02 -1.18339009e-01 6.57860551e+00] [-9.05137594e-02 9.95830852e-01 1.13213655e-02 -2.19373362e-01] [ 1.18878346e-01 -4.82969928e-04 9.92908710e-01 -1.57452079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82629675700002 meters Centerline goodness [0,1] 0.801077111383109 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.22, Z:-1.58 [[ 9.88781573e-01 9.06131275e-02 -1.18744521e-01 6.58024521e+00] [-9.00138397e-02 9.95886091e-01 1.04116575e-02 -2.16955517e-01] [ 1.19199449e-01 3.93795134e-04 9.92870251e-01 -1.57542788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85629675700002 meters Centerline goodness [0,1] 0.8012559939634398 Centerline is valid? [False, False] Translation: X:6.58, Y:-0.21, Z:-1.58 [[ 9.88456125e-01 9.30202613e-02 -1.19589796e-01 6.58450244e+00] [-9.21688189e-02 9.95663124e-01 1.26433048e-02 -2.14216331e-01] [ 1.20247234e-01 -1.47490183e-03 9.92742881e-01 -1.57693543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88629675700003 meters Centerline goodness [0,1] 0.8012393681652491 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.21, Z:-1.58 [[ 9.88459058e-01 9.24061147e-02 -1.20040828e-01 6.58632350e+00] [-9.16773705e-02 9.95721299e-01 1.15911331e-02 -2.11679466e-01] [ 1.20598301e-01 -4.52332996e-04 9.92701287e-01 -1.57802569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91629675700003 meters Centerline goodness [0,1] 0.8007431715085417 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.21, Z:-1.58 [[ 9.88143740e-01 9.49403556e-02 -1.20657690e-01 6.58998632e+00] [-9.39491440e-02 9.95480094e-01 1.38903342e-02 -2.09254759e-01] [ 1.21431082e-01 -2.38996004e-03 9.92596988e-01 -1.57943579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94629675700003 meters Centerline goodness [0,1] 0.7984262957793926 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.21, Z:-1.58 [[ 9.88149642e-01 9.46872675e-02 -1.20808135e-01 6.59061231e+00] [-9.37746017e-02 9.95505538e-01 1.32305659e-02 -2.07204248e-01] [ 1.21517934e-01 -1.74504420e-03 9.92587702e-01 -1.57986285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97629675700003 meters Centerline goodness [0,1] 0.7983694475842331 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.20, Z:-1.58 [[ 9.88137727e-01 9.45549152e-02 -1.21009094e-01 6.59098702e+00] [-9.37449173e-02 9.95519248e-01 1.23821156e-02 -2.03585559e-01] [ 1.21637672e-01 -8.91248118e-04 9.92574170e-01 -1.57987179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00629675700003 meters Centerline goodness [0,1] 0.7960620868065535 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.20, Z:-1.58 [[ 9.88129992e-01 9.44929864e-02 -1.21120577e-01 6.59121029e+00] [-9.37391167e-02 9.95525437e-01 1.19198489e-02 -2.01656335e-01] [ 1.21704957e-01 -4.24624341e-04 9.92566231e-01 -1.57987284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03629675700003 meters Centerline goodness [0,1] 0.7976196155130468 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.20, Z:-1.58 [[ 9.88110164e-01 9.47213755e-02 -1.21103940e-01 6.59057459e+00] [-9.40082660e-02 9.95503820e-01 1.16013395e-02 -1.98110778e-01] [ 1.21658330e-01 -7.86300497e-05 9.92572035e-01 -1.57902803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06629675700003 meters Centerline goodness [0,1] 0.7961037722352043 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.20, Z:-1.58 [[ 9.88099403e-01 9.46522990e-02 -1.21245668e-01 6.59059017e+00] [-9.39794357e-02 9.95510359e-01 1.12690204e-02 -1.96538887e-01] [ 1.21767957e-01 2.59687103e-04 9.92558561e-01 -1.57866892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09629675700003 meters Centerline goodness [0,1] 0.795520679292086 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.20, Z:-1.58 [[ 9.88088231e-01 9.46169420e-02 -1.21364253e-01 6.59043066e+00] [-9.39704126e-02 9.95513636e-01 1.10526550e-02 -1.95040017e-01] [ 1.21865537e-01 4.83650656e-04 9.92546501e-01 -1.57808895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12629675700003 meters Centerline goodness [0,1] 0.7966577126964128 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.19, Z:-1.58 [[ 9.88070242e-01 9.47334836e-02 -1.21419785e-01 6.58992770e+00] [-9.41285159e-02 9.95502320e-01 1.07216235e-02 -1.92462932e-01] [ 1.21889374e-01 8.35347029e-04 9.92543340e-01 -1.57722246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15629675700004 meters Centerline goodness [0,1] 0.796978638026673 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.19, Z:-1.58 [[ 9.88059081e-01 9.48513724e-02 -1.21418568e-01 6.58974969e+00] [-9.43088277e-02 9.95490526e-01 1.02204213e-02 -1.89005720e-01] [ 1.21840455e-01 1.35246268e-03 9.92548777e-01 -1.57697476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18629675700004 meters Centerline goodness [0,1] 0.7961780426659099 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.19, Z:-1.58 [[ 9.88051831e-01 9.47085810e-02 -1.21588916e-01 6.59015050e+00] [-9.42244742e-02 9.95503349e-01 9.73810319e-03 -1.87110524e-01] [ 1.21964455e-01 1.83490097e-03 9.92532773e-01 -1.57704826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21629675700004 meters Centerline goodness [0,1] 0.7976078357506122 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.18, Z:-1.58 [[ 9.88058231e-01 9.41957182e-02 -1.21934814e-01 6.59132253e+00] [-9.38323666e-02 9.95549721e-01 8.73154092e-03 -1.83111513e-01] [ 1.22214644e-01 2.81416130e-03 9.92499703e-01 -1.57744661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24629675700004 meters Centerline goodness [0,1] 0.7970069431413023 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.18, Z:-1.58 [[ 9.88064278e-01 9.38570360e-02 -1.22146794e-01 6.59189118e+00] [-9.35572104e-02 9.95580133e-01 8.20048372e-03 -1.81305428e-01] [ 1.22376595e-01 3.32510828e-03 9.92478167e-01 -1.57751429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27629675700004 meters Centerline goodness [0,1] 0.7963765908078844 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.18, Z:-1.58 [[ 9.88083488e-01 9.34891342e-02 -1.22273478e-01 6.59230886e+00] [-9.32577448e-02 9.95612790e-01 7.62667430e-03 -1.79636332e-01] [ 1.22450050e-01 3.86715789e-03 9.92467143e-01 -1.57762170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30629675700004 meters Centerline goodness [0,1] 0.7981615080288573 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.18, Z:-1.58 [[ 9.88126310e-01 9.27390054e-02 -1.22498456e-01 6.59269651e+00] [-9.25934203e-02 9.95680141e-01 6.89307668e-03 -1.77187297e-01] [ 1.22608537e-01 4.53132056e-03 9.92444766e-01 -1.57709485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.336296757 meters Centerline goodness [0,1] 0.7961284625395055 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.17, Z:-1.58 [[ 9.88163634e-01 9.18307672e-02 -1.22881012e-01 6.59361395e+00] [-9.17999766e-02 9.95759844e-01 5.92436528e-03 -1.74657211e-01] [ 1.22904017e-01 5.42623172e-03 9.92403728e-01 -1.57694754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36629675700001 meters Centerline goodness [0,1] 0.7977462959957338 Centerline is valid? [False, False] Translation: X:6.59, Y:-0.17, Z:-1.58 [[ 9.88161759e-01 9.13351244e-02 -1.23264892e-01 6.59458461e+00] [-9.13753144e-02 9.95802212e-01 5.33913157e-03 -1.73015850e-01] [ 1.23235102e-01 5.98744259e-03 9.92359441e-01 -1.57706217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39629675700002 meters Centerline goodness [0,1] 0.7996087456846951 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.17, Z:-1.58 [[ 9.87886527e-01 9.35394578e-02 -1.23816714e-01 6.59811229e+00] [-9.33272513e-02 9.95607045e-01 7.52571214e-03 -1.70679144e-01] [ 1.23976744e-01 4.12092396e-03 9.92276567e-01 -1.57831839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42629675700002 meters Centerline goodness [0,1] 0.7992463408469475 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.17, Z:-1.58 [[ 9.87875739e-01 9.33137750e-02 -1.24072816e-01 6.59894608e+00] [-9.31831110e-02 9.95625295e-01 6.86870989e-03 -1.68324060e-01] [ 1.24170980e-01 4.77605916e-03 9.92249342e-01 -1.57867536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45629675700002 meters Centerline goodness [0,1] 0.7979411225238444 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.17, Z:-1.58 [[ 9.87855316e-01 9.31911023e-02 -1.24327365e-01 6.59984378e+00] [-9.31460360e-02 9.95633227e-01 6.18810811e-03 -1.65731063e-01] [ 1.24361132e-01 5.46764574e-03 9.92221958e-01 -1.57914863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48629675700002 meters Centerline goodness [0,1] 0.7967700671570195 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.16, Z:-1.58 [[ 9.87505160e-01 9.66181351e-02 -1.24492955e-01 6.60178148e+00] [-9.62524027e-02 9.95316598e-01 8.96347334e-03 -1.63332180e-01] [ 1.24775938e-01 3.13126984e-03 9.92180004e-01 -1.57987221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51629675700002 meters Centerline goodness [0,1] 0.7972034321514505 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.16, Z:-1.58 [[ 9.87141219e-01 1.00167035e-01 -1.24574395e-01 6.60363002e+00] [-9.94733778e-02 9.94970351e-01 1.17918155e-02 -1.61272442e-01] [ 1.25128981e-01 7.51648691e-04 9.92140198e-01 -1.58071163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54629675700002 meters Centerline goodness [0,1] 0.7949321799778084 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.16, Z:-1.58 [[ 9.87122983e-01 1.00261994e-01 -1.24642486e-01 6.60392791e+00] [-9.96222637e-02 9.94960356e-01 1.13707871e-02 -1.59471755e-01] [ 1.25154390e-01 1.19280136e-03 9.92136561e-01 -1.58094990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57629675700002 meters Centerline goodness [0,1] 0.7961780555178192 Centerline is valid? [False, False] Translation: X:6.60, Y:-0.16, Z:-1.58 [[ 9.86982374e-01 1.02047336e-01 -1.24306613e-01 6.60447308e+00] [-1.01244621e-01 9.94779544e-01 1.27744271e-02 -1.57604038e-01] [ 1.24961272e-01 -2.27584119e-05 9.92161620e-01 -1.58142637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60629675700002 meters Centerline goodness [0,1] 0.7951695414006972 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.16, Z:-1.59 [[ 9.88525317e-01 1.02417555e-01 -1.11033071e-01 6.60790217e+00] [-1.02008704e-01 9.94739359e-01 9.37186401e-03 -1.55728718e-01] [ 1.11408810e-01 2.06201490e-03 9.93772522e-01 -1.58842600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63629675700003 meters Centerline goodness [0,1] 0.7939947131786449 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.16, Z:-1.59 [[ 9.88203765e-01 1.05090137e-01 -1.11397403e-01 6.61037608e+00] [-1.04364114e-01 9.94462535e-01 1.23449292e-02 -1.56593618e-01] [ 1.12077875e-01 -5.73414204e-04 9.93699261e-01 -1.58913840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66629675700003 meters Centerline goodness [0,1] 0.7929573974361863 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.15, Z:-1.59 [[ 9.89595179e-01 1.05972504e-01 -9.73201467e-02 6.61102001e+00] [-1.05493072e-01 9.94369016e-01 1.00733365e-02 -1.54312283e-01] [ 9.78396352e-02 2.98075994e-04 9.95202149e-01 -1.59362758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69629675700003 meters Centerline goodness [0,1] 0.7909472597049777 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.15, Z:-1.60 [[ 9.90826629e-01 1.06077513e-01 -8.37266515e-02 6.61310734e+00] [-1.05876674e-01 9.94355689e-01 6.84788683e-03 -1.52695592e-01] [ 8.39804791e-02 2.07963075e-03 9.96465230e-01 -1.59948301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72629675700003 meters Centerline goodness [0,1] 0.7932683671636429 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.15, Z:-1.60 [[ 9.90794438e-01 1.06658914e-01 -8.33682011e-02 6.61168894e+00] [-1.06444499e-01 9.94293827e-01 7.02523731e-03 -1.51402634e-01] [ 8.36417919e-02 1.91352039e-03 9.96494049e-01 -1.59845818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75629675700003 meters Centerline goodness [0,1] 0.7926878444374748 Centerline is valid? [False, False] Translation: X:6.61, Y:-0.15, Z:-1.60 [[ 9.90788001e-01 1.06624216e-01 -8.34889986e-02 6.61202656e+00] [-1.06430954e-01 9.94297015e-01 6.77487602e-03 -1.50295712e-01] [ 8.37352279e-02 2.17334786e-03 9.96485669e-01 -1.59845188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78629675700003 meters Centerline goodness [0,1] 0.7874377804066873 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.15, Z:-1.60 [[ 9.91693483e-01 1.07276092e-01 -7.09639041e-02 6.61656072e+00] [-1.07353489e-01 9.94217158e-01 2.73344652e-03 -1.47138873e-01] [ 7.08467645e-02 4.90748160e-03 9.97475139e-01 -1.60455424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81629675700003 meters Centerline goodness [0,1] 0.7968701373760726 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.15, Z:-1.60 [[ 9.91686817e-01 1.07081243e-01 -7.13502928e-02 6.61762145e+00] [-1.07195401e-01 9.94235453e-01 2.23828114e-03 -1.45700226e-01] [ 7.11786686e-02 5.42874935e-03 9.97448809e-01 -1.60487972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84629675700003 meters Centerline goodness [0,1] 0.7958223851266312 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.14, Z:-1.61 [[ 9.91353708e-01 1.10094527e-01 -7.13934208e-02 6.61970417e+00] [-1.10009757e-01 9.93917267e-01 5.13032057e-03 -1.44293435e-01] [ 7.15239739e-02 2.76801055e-03 9.97435040e-01 -1.60588850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87629675700003 meters Centerline goodness [0,1] 0.7961752602275478 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.14, Z:-1.61 [[ 9.91348220e-01 1.10105782e-01 -7.14522516e-02 6.62020053e+00] [-1.10061139e-01 9.93914296e-01 4.57364168e-03 -1.42107088e-01] [ 7.15209987e-02 3.33004463e-03 9.97433535e-01 -1.60635246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90629675700004 meters Centerline goodness [0,1] 0.7987034319630303 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.14, Z:-1.61 [[ 9.91024253e-01 1.12960496e-01 -7.14902550e-02 6.62243681e+00] [-1.12736804e-01 9.93599021e-01 7.16924291e-03 -1.40127856e-01] [ 7.18424887e-02 9.54689273e-04 9.97415533e-01 -1.60758909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93629675700004 meters Centerline goodness [0,1] 0.7956356984189207 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.14, Z:-1.61 [[ 9.91035068e-01 1.12627151e-01 -7.18652864e-02 6.62375745e+00] [-1.12459331e-01 9.93635781e-01 6.39011343e-03 -1.37991861e-01] [ 7.21276202e-02 1.74909550e-03 9.97393878e-01 -1.60826530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96629675700004 meters Centerline goodness [0,1] 0.7976409878363435 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-1.61 [[ 9.91022639e-01 1.12783030e-01 -7.17921826e-02 6.62386312e+00] [-1.12665484e-01 9.93616639e-01 5.69769158e-03 -1.34813839e-01] [ 7.19765101e-02 2.44195964e-03 9.97403338e-01 -1.60854601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99629675700004 meters Centerline goodness [0,1] 0.8058773848452693 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-1.61 [[ 9.91037668e-01 1.12481178e-01 -7.20577874e-02 6.62488130e+00] [-1.12416238e-01 9.93648780e-01 4.96904733e-03 -1.33145432e-01] [ 7.21590568e-02 3.17595231e-03 9.97388081e-01 -1.60911977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02629675700004 meters Centerline goodness [0,1] 0.8034390622306499 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.13, Z:-1.61 [[ 9.91027363e-01 1.12445421e-01 -7.22550559e-02 6.62552994e+00] [-1.12411754e-01 9.93651316e-01 4.54523282e-03 -1.31804299e-01] [ 7.23074220e-02 3.61786750e-03 9.97375831e-01 -1.60939351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05629675700004 meters Centerline goodness [0,1] 0.8107612611652348 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.13, Z:-1.61 [[ 9.90981536e-01 1.12847433e-01 -7.22568526e-02 6.62576480e+00] [-1.12841045e-01 9.93604245e-01 4.18363513e-03 -1.28589615e-01] [ 7.22668280e-02 4.00763358e-03 9.97377283e-01 -1.60948510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086296757 meters Centerline goodness [0,1] 0.8092851378329015 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.13, Z:-1.61 [[ 9.90989612e-01 1.12650480e-01 -7.24531442e-02 6.62650292e+00] [-1.12685677e-01 9.93624110e-01 3.61472710e-03 -1.26602409e-01] [ 7.23983916e-02 4.58227457e-03 9.97365267e-01 -1.60981910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11629675700001 meters Centerline goodness [0,1] 0.81181808589216 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.61 [[ 9.90948924e-01 1.13137952e-01 -7.22497991e-02 6.62568212e+00] [-1.13183428e-01 9.93568024e-01 3.47759790e-03 -1.23878414e-01] [ 7.21785384e-02 4.73135801e-03 9.97380506e-01 -1.60903967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14629675700002 meters Centerline goodness [0,1] 0.8073154800783802 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.61 [[ 9.90960674e-01 1.12950014e-01 -7.23825749e-02 6.62605165e+00] [-1.13029832e-01 9.93587049e-01 3.00559749e-03 -1.22342900e-01] [ 7.22578713e-02 5.20296133e-03 9.97372413e-01 -1.60906180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17629675700002 meters Centerline goodness [0,1] 0.8078021931851602 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.61 [[ 9.90957510e-01 1.12945050e-01 -7.24336152e-02 6.62608177e+00] [-1.13041662e-01 9.93586367e-01 2.77741271e-03 -1.21063477e-01] [ 7.22827476e-02 5.43571824e-03 9.97369369e-01 -1.60880805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20629675700002 meters Centerline goodness [0,1] 0.8047707805399066 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.61 [[ 9.90637109e-01 1.15331477e-01 -7.30531909e-02 6.62874074e+00] [-1.15207847e-01 9.93323779e-01 5.91801101e-03 -1.20676066e-01] [ 7.32480046e-02 2.55369953e-03 9.97310487e-01 -1.60854227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23629675700002 meters Centerline goodness [0,1] 0.8064421730315001 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-1.61 [[ 9.90649485e-01 1.15217514e-01 -7.30651943e-02 6.62888343e+00] [-1.15121976e-01 9.93335961e-01 5.53168442e-03 -1.19434328e-01] [ 7.32156319e-02 2.93144924e-03 9.97311826e-01 -1.60859952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26629675700002 meters Centerline goodness [0,1] 0.7996508437941641 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.12, Z:-1.61 [[ 9.90709567e-01 1.18034273e-01 -6.75460187e-02 6.64048828e+00] [-1.18424194e-01 9.92961494e-01 -1.78388330e-03 -1.16483314e-01] [ 6.68600363e-02 9.76639308e-03 9.97714565e-01 -1.61176605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29629675700002 meters Centerline goodness [0,1] 0.8013147219737472 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-1.61 [[ 9.90690058e-01 1.18135913e-01 -6.76543820e-02 6.64080184e+00] [-1.18543568e-01 9.92946779e-01 -2.02883070e-03 -1.14980642e-01] [ 6.69375230e-02 1.00299342e-02 9.97706755e-01 -1.61183459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32629675700002 meters Centerline goodness [0,1] 0.785870039249891 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-1.61 [[ 9.90288603e-01 1.21598046e-01 -6.73973162e-02 6.64192260e+00] [-1.21805352e-01 9.92553462e-01 1.04024720e-03 -1.13732401e-01] [ 6.70219315e-02 7.17920886e-03 9.97725674e-01 -1.61249325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35629675700002 meters Centerline goodness [0,1] 0.7859576235978396 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-1.61 [[ 9.90282920e-01 1.21666213e-01 -6.73577844e-02 6.64196370e+00] [-1.21902083e-01 9.92541942e-01 6.12679252e-04 -1.11934354e-01] [ 6.69299685e-02 7.60432841e-03 9.97728697e-01 -1.61260458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38629675700003 meters Centerline goodness [0,1] 0.7794330943599519 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-1.61 [[ 9.89901475e-01 1.24756608e-01 -6.73116528e-02 6.64380183e+00] [-1.24822991e-01 9.92173752e-01 3.23523385e-03 -1.09938501e-01] [ 6.71884719e-02 5.19947905e-03 9.97726754e-01 -1.61357795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41629675700003 meters Centerline goodness [0,1] 0.7750433204059741 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-1.61 [[ 9.89911400e-01 1.24494069e-01 -6.76509211e-02 6.64488785e+00] [-1.24608879e-01 9.92202698e-01 2.53657419e-03 -1.07995397e-01] [ 6.74392149e-02 5.91892173e-03 9.97705828e-01 -1.61406539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44629675700003 meters Centerline goodness [0,1] 0.776721942736476 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-1.61 [[ 9.89905796e-01 1.24554960e-01 -6.76208301e-02 6.64474403e+00] [-1.24691309e-01 9.92193107e-01 2.21712055e-03 -1.06459968e-01] [ 6.73690749e-02 6.23698934e-03 9.97708629e-01 -1.61390350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47629675700003 meters Centerline goodness [0,1] 0.7723993532070152 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.10, Z:-1.62 [[ 9.90575465e-01 1.25520950e-01 -5.48155074e-02 6.64842489e+00] [-1.25783391e-01 9.92056810e-01 -1.35047312e-03 -1.02785285e-01] [ 5.42105848e-02 8.23262591e-03 9.98495587e-01 -1.61958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50629675700003 meters Centerline goodness [0,1] 0.7992768981423762 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.10, Z:-1.62 [[ 9.90577463e-01 1.25595935e-01 -5.46072426e-02 6.64806459e+00] [-1.25881395e-01 9.92043655e-01 -1.80604751e-03 -1.00431227e-01] [ 5.39459363e-02 8.66306584e-03 9.98506278e-01 -1.61940424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53629675700003 meters Centerline goodness [0,1] 0.8040139471171807 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.10, Z:-1.62 [[ 9.90610222e-01 1.25331809e-01 -5.46198360e-02 6.64853084e+00] [-1.25646158e-01 9.92072345e-01 -2.34615458e-03 -9.90680734e-02] [ 5.38927810e-02 9.18689724e-03 9.98504466e-01 -1.61988472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56629675700003 meters Centerline goodness [0,1] 0.7706391547132211 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.10, Z:-1.62 [[ 9.90627519e-01 1.25159886e-01 -5.47002854e-02 6.64898440e+00] [-1.25497194e-01 9.92090130e-01 -2.76207684e-03 -9.77195598e-02] [ 5.39219120e-02 9.60092165e-03 9.98498998e-01 -1.62018865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59629675700003 meters Centerline goodness [0,1] 0.8068262079853754 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.10, Z:-1.62 [[ 9.90707415e-01 1.24534759e-01 -5.46800891e-02 6.64991097e+00] [-1.24918600e-01 9.92160296e-01 -3.64555306e-03 -9.54526437e-02] [ 5.37974153e-02 1.04422366e-02 9.98497270e-01 -1.62118426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62629675700003 meters Centerline goodness [0,1] 0.8068262079853754 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.10, Z:-1.62 [[ 9.90707415e-01 1.24534759e-01 -5.46800891e-02 6.64991097e+00] [-1.24918600e-01 9.92160296e-01 -3.64555306e-03 -9.54526437e-02] [ 5.37974153e-02 1.04422366e-02 9.98497270e-01 -1.62118426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65629675700004 meters Centerline goodness [0,1] 0.806554789399352 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 9.90758690e-01 1.24031646e-01 -5.48941697e-02 6.65085039e+00] [-1.24441299e-01 9.92218521e-01 -4.09518980e-03 -9.49764425e-02] [ 5.39590787e-02 1.08884466e-02 9.98483780e-01 -1.62182777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68629675700004 meters Centerline goodness [0,1] 0.8101506871998675 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 9.90929271e-01 1.22573961e-01 -5.50890609e-02 6.65271619e+00] [-1.23043620e-01 9.92387623e-01 -5.20326130e-03 -9.43738041e-02] [ 5.40319178e-02 1.19344214e-02 9.98467887e-01 -1.62342339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71629675700004 meters Centerline goodness [0,1] 0.8171781437125749 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 9.90973228e-01 1.22157357e-01 -5.52235660e-02 6.65312411e+00] [-1.22638532e-01 9.92436729e-01 -5.39722627e-03 -9.42922479e-02] [ 5.41465843e-02 1.21210438e-02 9.98459427e-01 -1.62352038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74629675700004 meters Centerline goodness [0,1] 0.8167902465366481 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 9.91023826e-01 1.21726227e-01 -5.52675507e-02 6.65345367e+00] [-1.22218818e-01 9.92487327e-01 -5.60949816e-03 -9.42625796e-02] [ 5.41695206e-02 1.23138811e-02 9.98455823e-01 -1.62369280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77629675700004 meters Centerline goodness [0,1] 0.8331089896249664 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 9.91077335e-01 1.21239710e-01 -5.53773274e-02 6.65409413e+00] [-1.21747829e-01 9.92543626e-01 -5.88350662e-03 -9.44205147e-02] [ 5.42510988e-02 1.25730795e-02 9.98448164e-01 -1.62414039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80629675700004 meters Centerline goodness [0,1] 0.8232970961774304 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 0.99149199 0.11777998 -0.05542122 6.65269872] [-0.11846635 0.99291493 -0.00925525 -0.09373864] [ 0.05393847 0.01574205 0.99842017 -1.62321945] [ 0. 0. 0. 1. ]] SLAMing on 204.836296757 meters Centerline goodness [0,1] 0.8336380635778101 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 0.99155601 0.11726499 -0.05536779 6.65309722] [-0.11796169 0.99297293 -0.00947594 -0.093996 ] [ 0.05386752 0.01592721 0.99842106 -1.62362085] [ 0. 0. 0. 1. ]] SLAMing on 204.86629675700001 meters Centerline goodness [0,1] 0.8304267392795527 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 0.99156128 0.11723849 -0.05532957 6.65317758] [-0.11793223 0.99297684 -0.00943303 -0.0941502 ] [ 0.05383506 0.01587857 0.99842359 -1.62375773] [ 0. 0. 0. 1. ]] SLAMing on 204.89629675700002 meters Centerline goodness [0,1] 0.831071955451202 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 0.99156824 0.11716879 -0.05535242 6.65333671] [-0.11786378 0.9929848 -0.00945122 -0.09415372] [ 0.05385672 0.01589557 0.99842215 -1.62386349] [ 0. 0. 0. 1. ]] SLAMing on 204.92629675700002 meters Centerline goodness [0,1] 0.8300310880829016 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 0.99156303 0.11716697 -0.05544959 6.65392371] [-0.11786845 0.99298336 -0.00954296 -0.09402288] [ 0.0539424 0.0159982 0.99841588 -1.6242692 ] [ 0. 0. 0. 1. ]] SLAMing on 204.95629675700002 meters Centerline goodness [0,1] 0.8249698832717152 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.09, Z:-1.62 [[ 0.99155455 0.11726937 -0.05538471 6.65412933] [-0.11797084 0.99297105 -0.00955918 -0.09384675] [ 0.05387442 0.01601223 0.99841933 -1.62469049] [ 0. 0. 0. 1. ]] SLAMing on 204.98629675700002 meters Centerline goodness [0,1] 0.8297014056391916 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99149177 0.11774001 -0.05550998 6.65504098] [-0.11844305 0.99291503 -0.00953866 -0.0926252 ] [ 0.05399362 0.01603227 0.99841257 -1.62550925] [ 0. 0. 0. 1. ]] SLAMing on 205.01629675700002 meters Centerline goodness [0,1] 0.8312633922070357 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99147367 0.11789066 -0.05551363 6.65542122] [-0.11860404 0.99289401 -0.00972477 -0.09170662] [ 0.05397269 0.01622599 0.99841057 -1.62600191] [ 0. 0. 0. 1. ]] SLAMing on 205.04629675700002 meters Centerline goodness [0,1] 0.8255266161668569 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99142484 0.11825107 -0.05561904 6.65581648] [-0.11896503 0.99285112 -0.00969417 -0.09094163] [ 0.05407508 0.01622776 0.998405 -1.6262236 ] [ 0. 0. 0. 1. ]] SLAMing on 205.07629675700002 meters Centerline goodness [0,1] 0.8169052119902782 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 9.90986275e-01 1.22058634e-01 -5.52077239e-02 6.65635582e+00] [-1.22573767e-01 9.92441085e-01 -6.03026709e-03 -9.13050528e-02] [ 5.40543673e-02 1.27429306e-02 9.98456681e-01 -1.62660754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10629675700002 meters Centerline goodness [0,1] 0.8135417745108189 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 9.90956572e-01 1.22219726e-01 -5.53842148e-02 6.65692017e+00] [-1.22743787e-01 9.92419345e-01 -6.14871263e-03 -9.07356201e-02] [ 5.42128722e-02 1.28911755e-02 9.98446184e-01 -1.62690018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13629675700003 meters Centerline goodness [0,1] 0.824287638586675 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 9.90911895e-01 1.22538740e-01 -5.54785913e-02 6.65754859e+00] [-1.23077404e-01 9.92376526e-01 -6.38614286e-03 -8.93706253e-02] [ 5.42731018e-02 1.31562659e-02 9.98439454e-01 -1.62746690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16629675700003 meters Centerline goodness [0,1] 0.8299987521317749 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 9.90892478e-01 1.22625847e-01 -5.56327189e-02 6.65819693e+00] [-1.23179662e-01 9.92362276e-01 -6.62444840e-03 -8.83096413e-02] [ 5.43954830e-02 1.34169356e-02 9.98429325e-01 -1.62792126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19629675700003 meters Centerline goodness [0,1] 0.8188767032236623 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99087113 0.12270524 -0.0558375 6.659177 ] [-0.12327745 0.9923482 -0.00690837 -0.08727232] [ 0.05456255 0.01372881 0.99841597 -1.62869981] [ 0. 0. 0. 1. ]] SLAMing on 205.22629675700003 meters Centerline goodness [0,1] 0.7793533631354611 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99085933 0.12271079 -0.05603434 6.66007881] [-0.12330584 0.99234205 -0.00727521 -0.08634945] [ 0.05471249 0.01411807 0.99840234 -1.62939671] [ 0. 0. 0. 1. ]] SLAMing on 205.25629675700003 meters Centerline goodness [0,1] 0.8198475185408314 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99084803 0.12276249 -0.0561208 6.66049201] [-0.12337081 0.99233235 -0.00749337 -0.08570697] [ 0.05477058 0.01434846 0.99839587 -1.62957 ] [ 0. 0. 0. 1. ]] SLAMing on 205.28629675700003 meters Centerline goodness [0,1] 0.8224743853523703 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99085347 0.12271803 -0.05612201 6.66050195] [-0.12333354 0.99233598 -0.00762534 -0.08555416] [ 0.05475612 0.01447732 0.9983948 -1.6295919 ] [ 0. 0. 0. 1. ]] SLAMing on 205.31629675700003 meters Centerline goodness [0,1] 0.8206865121289334 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99087355 0.12241569 -0.05642693 6.6614082 ] [-0.123051 0.99236881 -0.00791225 -0.08536162] [ 0.05502774 0.01478343 0.99837538 -1.62993798] [ 0. 0. 0. 1. ]] SLAMing on 205.34629675700003 meters Centerline goodness [0,1] 0.8302917055953494 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99093927 0.12194501 -0.05629188 6.66113595] [-0.12259029 0.99242396 -0.0081429 -0.08550858] [ 0.05487243 0.01496995 0.99838115 -1.62969416] [ 0. 0. 0. 1. ]] SLAMing on 205.37629675700003 meters Centerline goodness [0,1] 0.833374880551747 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99095814 0.12175747 -0.05636562 6.66124667] [-0.12240386 0.99244693 -0.00814816 -0.08577735] [ 0.05494778 0.01497385 0.99837695 -1.62959761] [ 0. 0. 0. 1. ]] SLAMing on 205.40629675700004 meters Centerline goodness [0,1] 0.8377604382833901 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99106212 0.12077741 -0.05664528 6.66237994] [-0.12144925 0.99256074 -0.00855911 -0.0866021 ] [ 0.05519014 0.01536214 0.99835768 -1.63024851] [ 0. 0. 0. 1. ]] SLAMing on 205.43629675700004 meters Centerline goodness [0,1] 0.8377116533864541 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99109561 0.12038744 -0.05688908 6.66303189] [-0.12106646 0.99260688 -0.00863153 -0.0871995 ] [ 0.05542936 0.01544203 0.99834319 -1.63046905] [ 0. 0. 0. 1. ]] SLAMing on 205.46629675700004 meters Centerline goodness [0,1] 0.8403211787591574 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.99123544 0.11916327 -0.05702998 6.66378693] [-0.11987087 0.99274742 -0.00913954 -0.08827283] [ 0.05552727 0.01589567 0.99833063 -1.63092805] [ 0. 0. 0. 1. ]] SLAMing on 205.49629675700004 meters Centerline goodness [0,1] 0.8411094745140344 Centerline is valid? [False, False] Translation: X:6.66, Y:-0.09, Z:-1.63 [[ 0.9912644 0.11884846 -0.05718326 6.66428113] [-0.11956209 0.99278399 -0.0092123 -0.08864999] [ 0.05567576 0.01596877 0.99832119 -1.63115662] [ 0. 0. 0. 1. ]] SLAMing on 205.52629675700004 meters Centerline goodness [0,1] 0.8401676765999834 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.63 [[ 0.99133487 0.11812537 -0.05745935 6.66577139] [-0.11887339 0.99286138 -0.00976715 -0.08857332] [ 0.05589543 0.0165129 0.99830007 -1.63231132] [ 0. 0. 0. 1. ]] SLAMing on 205.55629675700004 meters Centerline goodness [0,1] 0.8408897381046335 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.63 [[ 0.99134333 0.11794469 -0.05768404 6.6666657 ] [-0.11871128 0.99287809 -0.01003636 -0.08817237] [ 0.05608949 0.01679722 0.99828444 -1.63290558] [ 0. 0. 0. 1. ]] SLAMing on 205.586296757 meters Centerline goodness [0,1] 0.8399883839117177 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.63 [[ 0.99133914 0.11785753 -0.05793369 6.66758974] [-0.11864466 0.99288306 -0.01032818 -0.08749876] [ 0.05630412 0.01711225 0.99826701 -1.63347484] [ 0. 0. 0. 1. ]] SLAMing on 205.61629675700001 meters Centerline goodness [0,1] 0.8403080499854694 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.64 [[ 0.99096928 0.12092305 -0.05794401 6.66989706] [-0.12154674 0.9925585 -0.00734993 -0.0872044 ] [ 0.05662404 0.01432646 0.99829278 -1.63514503] [ 0. 0. 0. 1. ]] SLAMing on 205.64629675700002 meters Centerline goodness [0,1] 0.8340046507765135 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.64 [[ 9.90601041e-01 1.23839805e-01 -5.80799414e-02 6.67263480e+00] [-1.24316929e-01 9.92231614e-01 -4.66098406e-03 -8.66749753e-02] [ 5.70515386e-02 1.18374956e-02 9.98301055e-01 -1.63711616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67629675700002 meters Centerline goodness [0,1] 0.8291031446018361 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.64 [[ 9.90579416e-01 1.23974773e-01 -5.81607739e-02 6.67318303e+00] [-1.24461169e-01 9.92212858e-01 -4.80235291e-03 -8.60730306e-02] [ 5.71124971e-02 1.19958698e-02 9.98295679e-01 -1.63762489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70629675700002 meters Centerline goodness [0,1] 0.8238655183835707 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.64 [[ 9.90579466e-01 1.23764270e-01 -5.86065401e-02 6.67465205e+00] [-1.24277447e-01 9.92233987e-01 -5.17982191e-03 -8.57615332e-02] [ 5.75103241e-02 1.24144964e-02 9.98267721e-01 -1.63846020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73629675700002 meters Centerline goodness [0,1] 0.8170169463366008 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.09, Z:-1.64 [[ 9.90544574e-01 1.24041853e-01 -5.86094367e-02 6.67460681e+00] [-1.24535417e-01 9.92203403e-01 -4.83084064e-03 -8.66985881e-02] [ 5.75532561e-02 1.20841136e-02 9.98269301e-01 -1.63839297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76629675700002 meters Centerline goodness [0,1] 0.8133860386183489 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.09, Z:-1.64 [[ 9.90545689e-01 1.23896949e-01 -5.88963851e-02 6.67537970e+00] [-1.24393705e-01 9.92221183e-01 -4.83002360e-03 -8.71640342e-02] [ 5.78398157e-02 1.21106986e-02 9.98252416e-01 -1.63862863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79629675700002 meters Centerline goodness [0,1] 0.816496256507041 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.09, Z:-1.64 [[ 9.90537764e-01 1.23966617e-01 -5.88830731e-02 6.67510901e+00] [-1.24430342e-01 9.92219197e-01 -4.26092076e-03 -8.88199575e-02] [ 5.78967036e-02 1.15474439e-02 9.98255793e-01 -1.63821959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82629675700002 meters Centerline goodness [0,1] 0.8350265383977442 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.09, Z:-1.64 [[ 9.90533199e-01 1.23929586e-01 -5.90376079e-02 6.67531009e+00] [-1.24379413e-01 9.92226700e-01 -3.99226477e-03 -8.98596908e-02] [ 5.80839311e-02 1.12975338e-02 9.98247776e-01 -1.63807205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85629675700002 meters Centerline goodness [0,1] 0.8363066838152927 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.09, Z:-1.64 [[ 9.90522058e-01 1.23957298e-01 -5.91662096e-02 6.67547566e+00] [-1.24385866e-01 9.92227384e-01 -3.60201850e-03 -9.13485363e-02] [ 5.82598369e-02 1.09273190e-02 9.98241647e-01 -1.63799458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88629675700003 meters Centerline goodness [0,1] 0.8347737776948745 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.09, Z:-1.64 [[ 9.90555546e-01 1.23652351e-01 -5.92436152e-02 6.67567609e+00] [-1.24048670e-01 9.92271463e-01 -3.04502590e-03 -9.44832208e-02] [ 5.84092241e-02 1.03653589e-02 9.98238910e-01 -1.63801335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91629675700003 meters Centerline goodness [0,1] 0.8366477860007442 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90603739e-01 1.23099411e-01 -5.95883085e-02 6.67697513e+00] [-1.23495030e-01 9.92340690e-01 -2.98857622e-03 -9.69839390e-02] [ 5.87640112e-02 1.03193547e-02 9.98218564e-01 -1.63878129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94629675700003 meters Centerline goodness [0,1] 0.8359658528538436 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90605236e-01 1.22961155e-01 -5.98483207e-02 6.67778066e+00] [-1.23355174e-01 9.92358289e-01 -2.92004896e-03 -9.77643734e-02] [ 5.90319246e-02 1.02752158e-02 9.98203212e-01 -1.63917142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97629675700003 meters Centerline goodness [0,1] 0.8358057641776839 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90590366e-01 1.23059284e-01 -5.98927250e-02 6.67796921e+00] [-1.23443075e-01 9.92347882e-01 -2.73657603e-03 -9.83036912e-02] [ 5.90976577e-02 1.01041680e-02 9.98201068e-01 -1.63930576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00629675700003 meters Centerline goodness [0,1] 0.8335815954981795 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90567447e-01 1.23143170e-01 -6.00990291e-02 6.67857208e+00] [-1.23529392e-01 9.92337132e-01 -2.73972822e-03 -9.83375138e-02] [ 5.93011193e-02 1.01378821e-02 9.98188660e-01 -1.63956645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03629675700003 meters Centerline goodness [0,1] 0.8316733479356945 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90555611e-01 1.23133555e-01 -6.03134222e-02 6.67933393e+00] [-1.23534387e-01 9.92335912e-01 -2.94844616e-03 -9.79893986e-02] [ 5.94881222e-02 1.03713815e-02 9.98175134e-01 -1.64005566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06629675700003 meters Centerline goodness [0,1] 0.8277717976318621 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90488188e-01 1.23556453e-01 -6.05553699e-02 6.68022550e+00] [-1.23972757e-01 9.92280615e-01 -3.15212634e-03 -9.69612593e-02] [ 5.96984542e-02 1.06293601e-02 9.98159863e-01 -1.64073716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09629675700003 meters Centerline goodness [0,1] 0.826048263587069 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90465791e-01 1.23603043e-01 -6.08260168e-02 6.68125205e+00] [-1.24039832e-01 9.92271264e-01 -3.44364086e-03 -9.61655146e-02] [ 5.99302641e-02 1.09556574e-02 9.98142443e-01 -1.64143324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12629675700003 meters Centerline goodness [0,1] 0.8206437475451182 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90445714e-01 1.23663737e-01 -6.10292351e-02 6.68197943e+00] [-1.24114688e-01 9.92261204e-01 -3.63976612e-03 -9.55773934e-02] [ 6.01068352e-02 1.11796152e-02 9.98129343e-01 -1.64185760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15629675700004 meters Centerline goodness [0,1] 0.8079953674022294 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90372303e-01 1.24125866e-01 -6.12818957e-02 6.68261597e+00] [-1.24573225e-01 9.92204176e-01 -3.51929336e-03 -9.55954252e-02] [ 6.03673174e-02 1.11194940e-02 9.98114294e-01 -1.64212121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18629675700004 meters Centerline goodness [0,1] 0.7956355362498707 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90334641e-01 1.24391994e-01 -6.13508763e-02 6.68290415e+00] [-1.24836181e-01 9.92171383e-01 -3.44604449e-03 -9.56115344e-02] [ 6.04419235e-02 1.10715463e-02 9.98110312e-01 -1.64231385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21629675700004 meters Centerline goodness [0,1] 0.7829380355147151 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90248033e-01 1.24976090e-01 -6.15614273e-02 6.68344534e+00] [-1.25396687e-01 9.92102143e-01 -3.00147745e-03 -9.65131216e-02] [ 6.07001111e-02 1.06918061e-02 9.98098784e-01 -1.64258689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24629675700004 meters Centerline goodness [0,1] 0.7800895225464191 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90218646e-01 1.25133749e-01 -6.17136733e-02 6.68374669e+00] [-1.25536391e-01 9.92085408e-01 -2.67539646e-03 -9.74852106e-02] [ 6.08904523e-02 1.03965393e-02 9.98090309e-01 -1.64260681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27629675700004 meters Centerline goodness [0,1] 0.7758120649651972 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90191857e-01 1.25412898e-01 -6.15767071e-02 6.68335440e+00] [-1.25753880e-01 9.92060051e-01 -1.67826374e-03 -1.00737902e-01] [ 6.08773152e-02 9.40531290e-03 9.98100943e-01 -1.64233396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30629675700004 meters Centerline goodness [0,1] 0.782241889125535 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90190997e-01 1.25300362e-01 -6.18191616e-02 6.68389393e+00] [-1.25623779e-01 9.92077025e-01 -1.35759294e-03 -1.02505943e-01] [ 6.11592630e-02 9.11023301e-03 9.98086443e-01 -1.64240548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.336296757 meters Centerline goodness [0,1] 0.7924954417371126 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.10, Z:-1.64 [[ 9.90524543e-01 1.22571242e-01 -6.19469222e-02 6.68228943e+00] [-1.23031961e-01 9.92395945e-01 -3.66399571e-03 -1.04981125e-01] [ 6.10267739e-02 1.12507290e-02 9.98072720e-01 -1.64134039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36629675700001 meters Centerline goodness [0,1] 0.7777984727137269 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.64 [[ 9.90510602e-01 1.22654935e-01 -6.20041533e-02 6.68240857e+00] [-1.23089141e-01 9.92390401e-01 -3.21784298e-03 -1.06592611e-01] [ 6.11376423e-02 1.08193456e-02 9.98070704e-01 -1.64135876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39629675700002 meters Centerline goodness [0,1] 0.7760724124360487 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.64 [[ 9.90479211e-01 1.22947585e-01 -6.19259512e-02 6.68199103e+00] [-1.23342431e-01 9.92360817e-01 -2.57965719e-03 -1.08113400e-01] [ 6.11357248e-02 1.01931942e-02 9.98077413e-01 -1.64094967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42629675700002 meters Centerline goodness [0,1] 0.7682147950641781 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.64 [[ 9.90432739e-01 1.23280002e-01 -6.20083030e-02 6.68211328e+00] [-1.23617541e-01 9.92328611e-01 -1.62214228e-03 -1.10830007e-01] [ 6.13326355e-02 9.27193677e-03 9.98074315e-01 -1.64076591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45629675700002 meters Centerline goodness [0,1] 0.772671834625323 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.64 [[ 9.90424932e-01 1.23275813e-01 -6.21411996e-02 6.68242951e+00] [-1.23598900e-01 9.92331316e-01 -1.36757441e-03 -1.12038012e-01] [ 6.14960695e-02 9.03506370e-03 9.98066431e-01 -1.64084715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48629675700002 meters Centerline goodness [0,1] 0.7652709768445514 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.64 [[ 9.90418270e-01 1.23305754e-01 -6.21879462e-02 6.68260930e+00] [-1.23595281e-01 9.92332374e-01 -8.15803978e-04 -1.14468682e-01] [ 6.16105189e-02 8.49412386e-03 9.98064123e-01 -1.64091624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51629675700002 meters Centerline goodness [0,1] 0.7652709768445514 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.11, Z:-1.64 [[ 9.90418270e-01 1.23305754e-01 -6.21879462e-02 6.68260930e+00] [-1.23595281e-01 9.92332374e-01 -8.15803978e-04 -1.14468682e-01] [ 6.16105189e-02 8.49412386e-03 9.98064123e-01 -1.64091624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54629675700002 meters Centerline goodness [0,1] 0.7809824619732358 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.12, Z:-1.64 [[ 9.90395261e-01 1.23390243e-01 -6.23864905e-02 6.68299581e+00] [-1.23665966e-01 9.92323744e-01 -5.62924008e-04 -1.15399230e-01] [ 6.18381365e-02 8.27260289e-03 9.98051907e-01 -1.64092710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57629675700002 meters Centerline goodness [0,1] 0.7780648925750724 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.12, Z:-1.64 [[ 9.90383182e-01 1.23365411e-01 -6.26268893e-02 6.68366565e+00] [-1.23638302e-01 9.92327231e-01 -4.86019422e-04 -1.16128407e-01] [ 6.20864096e-02 8.22442770e-03 9.98036891e-01 -1.64122595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60629675700002 meters Centerline goodness [0,1] 0.8038610038610039 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.12, Z:-1.64 [[ 9.90378399e-01 1.23321851e-01 -6.27881199e-02 6.68426297e+00] [-1.23585727e-01 9.92333847e-01 -3.21513607e-04 -1.17245602e-01] [ 6.22671269e-02 8.07813556e-03 9.98026828e-01 -1.64156509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63629675700003 meters Centerline goodness [0,1] 0.7669487099132978 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.12, Z:-1.64 [[ 9.90374226e-01 1.23255380e-01 -6.29841501e-02 6.68485135e+00] [-1.23522708e-01 9.92341683e-01 -3.53331513e-04 -1.17429699e-01] [ 6.24582475e-02 8.12990318e-03 9.98014465e-01 -1.64185010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66629675700003 meters Centerline goodness [0,1] 0.8011759536314369 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.12, Z:-1.64 [[ 9.90402361e-01 1.22891187e-01 -6.32528200e-02 6.68575181e+00] [-1.23162100e-01 9.92386491e-01 -3.87018231e-04 -1.18309619e-01] [ 6.27236830e-02 8.17365389e-03 9.97997460e-01 -1.64225337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69629675700003 meters Centerline goodness [0,1] 0.7959085388835379 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.12, Z:-1.64 [[ 9.90406112e-01 1.22756028e-01 -6.34562169e-02 6.68628080e+00] [-1.23025432e-01 9.92403460e-01 -3.40908733e-04 -1.18926543e-01] [ 6.29323205e-02 8.14436660e-03 9.97984565e-01 -1.64243099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72629675700003 meters Centerline goodness [0,1] 0.8001255230125524 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.12, Z:-1.64 [[ 9.90433035e-01 1.22461441e-01 -6.36050235e-02 6.68656502e+00] [-1.22729960e-01 9.92440052e-01 -3.17081356e-04 -1.19495823e-01] [ 6.30853426e-02 8.12028986e-03 9.97975100e-01 -1.64229430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75629675700003 meters Centerline goodness [0,1] 0.813544065312958 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.12, Z:-1.64 [[ 9.90464089e-01 1.22127954e-01 -6.37624581e-02 6.68697007e+00] [-1.22400160e-01 9.92480764e-01 -3.65698265e-04 -1.19990856e-01] [ 6.32383512e-02 8.16674605e-03 9.97965037e-01 -1.64234828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78629675700003 meters Centerline goodness [0,1] 0.8183473565239232 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.12, Z:-1.64 [[ 9.90473034e-01 1.21982537e-01 -6.39017208e-02 6.68718641e+00] [-1.22240115e-01 9.92500549e-01 -1.22112690e-04 -1.21155657e-01] [ 6.34075974e-02 7.93230305e-03 9.97956189e-01 -1.64221574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81629675700003 meters Centerline goodness [0,1] 0.8244215723191498 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.12, Z:-1.64 [[ 9.90568849e-01 1.21100463e-01 -6.40939419e-02 6.68783031e+00] [-1.21361016e-01 9.92608419e-01 -1.73227285e-04 -1.22937958e-01] [ 6.35992084e-02 7.95009947e-03 9.97943854e-01 -1.64231906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84629675700003 meters Centerline goodness [0,1] 0.8229923568212753 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90607789e-01 1.20765478e-01 -6.41241555e-02 6.68761442e+00] [-1.20991382e-01 9.92653491e-01 3.62855105e-04 -1.25269136e-01] [ 6.36968872e-02 7.39902310e-03 9.97941863e-01 -1.64168203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87629675700003 meters Centerline goodness [0,1] 0.8253379440427538 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90613430e-01 1.20569653e-01 -6.44048956e-02 6.68812066e+00] [-1.20782703e-01 9.92678795e-01 5.89557141e-04 -1.26730911e-01] [ 6.40044569e-02 7.19497417e-03 9.97923675e-01 -1.64161312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90629675700004 meters Centerline goodness [0,1] 0.8294400874666218 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90597531e-01 1.20620308e-01 -6.45544151e-02 6.68822138e+00] [-1.20811667e-01 9.92674996e-01 9.45325010e-04 -1.28160584e-01] [ 6.41955792e-02 6.86248989e-03 9.97913741e-01 -1.64138097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93629675700004 meters Centerline goodness [0,1] 0.8292667469421383 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90547137e-01 1.21044325e-01 -6.45340285e-02 6.68788375e+00] [-1.21194913e-01 9.92627454e-01 1.59058173e-03 -1.29685887e-01] [ 6.42507793e-02 6.24564977e-03 9.97914239e-01 -1.64101756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96629675700004 meters Centerline goodness [0,1] 0.832450568697377 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90511003e-01 1.21270882e-01 -6.46631802e-02 6.68818734e+00] [-1.21408411e-01 9.92600983e-01 1.81293122e-03 -1.30107846e-01] [ 6.44045919e-02 6.05492565e-03 9.97905500e-01 -1.64111259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99629675700004 meters Centerline goodness [0,1] 0.8149637121516684 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90406244e-01 1.22035601e-01 -6.48288810e-02 6.68816777e+00] [-1.22135141e-01 9.92510479e-01 2.44036310e-03 -1.31226825e-01] [ 6.46411549e-02 5.50093369e-03 9.97893412e-01 -1.64080236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02629675700004 meters Centerline goodness [0,1] 0.8074405203279591 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90334480e-01 1.22552668e-01 -6.49496810e-02 6.68835665e+00] [-1.22626018e-01 9.92448798e-01 2.87105948e-03 -1.32097273e-01] [ 6.48110889e-02 5.12121153e-03 9.97884410e-01 -1.64084776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05629675700004 meters Centerline goodness [0,1] 0.800131618052902 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90291933e-01 1.22701567e-01 -6.53162583e-02 6.68939064e+00] [-1.22778979e-01 9.92429968e-01 2.84278094e-03 -1.32472899e-01] [ 6.51706258e-02 5.20428047e-03 9.97860564e-01 -1.64139753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.086296757 meters Centerline goodness [0,1] 0.8098857691897086 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90161768e-01 1.23697642e-01 -6.54107527e-02 6.68956941e+00] [-1.23743822e-01 9.92308507e-01 3.36063383e-03 -1.33024335e-01] [ 6.53233489e-02 4.76660539e-03 9.97852764e-01 -1.64159874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11629675700001 meters Centerline goodness [0,1] 0.7861031334390672 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90113452e-01 1.24099903e-01 -6.53801661e-02 6.68958069e+00] [-1.24141239e-01 9.92258575e-01 3.44572290e-03 -1.32944182e-01] [ 6.53016443e-02 4.70471823e-03 9.97854479e-01 -1.64178389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14629675700002 meters Centerline goodness [0,1] 0.7979450582520098 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.89949573e-01 1.28458309e-01 -5.91464779e-02 6.69880532e+00] [-1.28832806e-01 9.91663059e-01 -2.54659766e-03 -1.33250966e-01] [ 5.83262456e-02 1.01410100e-02 9.98246066e-01 -1.64408140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17629675700002 meters Centerline goodness [0,1] 0.7905091597144578 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.89891294e-01 1.28876863e-01 -5.92113176e-02 6.69868316e+00] [-1.29227290e-01 9.91612751e-01 -2.11156372e-03 -1.33912186e-01] [ 5.84425659e-02 9.74193664e-03 9.98243237e-01 -1.64376536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20629675700002 meters Centerline goodness [0,1] 0.7929178775158756 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.89839940e-01 1.29290515e-01 -5.91680246e-02 6.69805166e+00] [-1.29606834e-01 9.91564293e-01 -1.52385489e-03 -1.34824415e-01] [ 5.84718805e-02 9.17695280e-03 9.98246875e-01 -1.64303662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23629675700002 meters Centerline goodness [0,1] 0.7831585307954594 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.89835572e-01 1.29296786e-01 -5.92273789e-02 6.69777458e+00] [-1.29568133e-01 9.91570239e-01 -7.48003560e-04 -1.37454937e-01] [ 5.86313918e-02 8.41438145e-03 9.98244238e-01 -1.64233347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26629675700002 meters Centerline goodness [0,1] 0.7895282978079468 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.89863670e-01 1.29042252e-01 -5.93128299e-02 6.69802030e+00] [-1.29300489e-01 9.91605321e-01 -5.20512077e-04 -1.38794966e-01] [ 5.87477497e-02 8.18441392e-03 9.98239309e-01 -1.64235421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29629675700002 meters Centerline goodness [0,1] 0.8068194134350681 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90327994e-01 1.25247096e-01 -5.96961440e-02 6.69706560e+00] [-1.25693500e-01 9.92061969e-01 -3.76759034e-03 -1.39260857e-01] [ 5.87503944e-02 1.12345675e-02 9.98209485e-01 -1.64127206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32629675700002 meters Centerline goodness [0,1] 0.8083190858527929 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90382108e-01 1.24754029e-01 -5.98306962e-02 6.69750515e+00] [-1.25197710e-01 9.92124874e-01 -3.71042270e-03 -1.40630247e-01] [ 5.88966318e-02 1.11654024e-02 9.98201643e-01 -1.64135721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35629675700002 meters Centerline goodness [0,1] 0.817243711412178 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.99079636 0.12128971 -0.06009475 6.69642835] [-0.12193558 0.99251201 -0.00718577 -0.14003095] [ 0.05877321 0.01444732 0.99816681 -1.64057339] [ 0. 0. 0. 1. ]] SLAMing on 207.38629675700003 meters Centerline goodness [0,1] 0.8227474473620919 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.99126557 0.11702173 -0.06081517 6.69697457] [-0.11790937 0.99296114 -0.01120554 -0.1397629 ] [ 0.05907581 0.01827834 0.99808614 -1.64069929] [ 0. 0. 0. 1. ]] SLAMing on 207.41629675700003 meters Centerline goodness [0,1] 0.8233259637064115 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.99127847 0.11680783 -0.06101582 6.69758992] [-0.11770328 0.99298473 -0.01128128 -0.13995997] [ 0.05927003 0.01836466 0.99807304 -1.64094167] [ 0. 0. 0. 1. ]] SLAMing on 207.44629675700003 meters Centerline goodness [0,1] 0.8251378025665047 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.9912595 0.11690762 -0.06113273 6.69783207] [-0.11781272 0.99297034 -0.01140436 -0.1385081 ] [ 0.05936973 0.01850689 0.99806449 -1.64084688] [ 0. 0. 0. 1. ]] SLAMing on 207.47629675700003 meters Centerline goodness [0,1] 0.8299055636736385 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.99122975 0.11717727 -0.06109887 6.69757059] [-0.11807792 0.99293967 -0.01133224 -0.1375015 ] [ 0.05933961 0.01844728 0.99806739 -1.64050012] [ 0. 0. 0. 1. ]] SLAMing on 207.50629675700003 meters Centerline goodness [0,1] 0.8208292523669605 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.99119708 0.11745047 -0.06110431 6.69738142] [-0.11835171 0.99290707 -0.01133257 -0.13648195] [ 0.05933988 0.01846461 0.99806705 -1.6401912 ] [ 0. 0. 0. 1. ]] SLAMing on 207.53629675700003 meters Centerline goodness [0,1] 0.8284611380985427 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 0.99110159 0.11835334 -0.06091076 6.69629502] [-0.11922636 0.99280737 -0.01089075 -0.13509124] [ 0.05918369 0.01805601 0.9980838 -1.63915999] [ 0. 0. 0. 1. ]] SLAMing on 207.56629675700003 meters Centerline goodness [0,1] 0.8223610270597389 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 0.99106848 0.11855901 -0.06104938 6.69665369] [-0.11943781 0.99278141 -0.01093978 -0.1345075 ] [ 0.05931168 0.01813367 0.99807479 -1.63928692] [ 0. 0. 0. 1. ]] SLAMing on 207.59629675700003 meters Centerline goodness [0,1] 0.8305589740268152 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 0.990958 0.11964909 -0.06071528 6.69549333] [-0.12049131 0.99265999 -0.01039202 -0.13337966] [ 0.05902623 0.01761372 0.99810103 -1.63863285] [ 0. 0. 0. 1. ]] SLAMing on 207.62629675700003 meters Centerline goodness [0,1] 0.8291637960730279 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 0.99091112 0.12002595 -0.0607365 6.69540729] [-0.12086255 0.99261602 -0.01027987 -0.13263254] [ 0.05905417 0.01752721 0.9981009 -1.63846627] [ 0. 0. 0. 1. ]] SLAMing on 207.65629675700004 meters Centerline goodness [0,1] 0.8269714089317552 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90490796e-01 1.23628100e-01 -6.03661785e-02 6.69608792e+00] [-1.24234603e-01 9.92232330e-01 -6.38491739e-03 -1.33954620e-01] [ 5.91079187e-02 1.38237701e-02 9.98155878e-01 -1.63883806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68629675700004 meters Centerline goodness [0,1] 0.8321102098622377 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90449657e-01 1.23982299e-01 -6.03147357e-02 6.69583355e+00] [-1.24568037e-01 9.92192711e-01 -6.03560051e-03 -1.34227491e-01] [ 5.90955335e-02 1.34912467e-02 9.98161161e-01 -1.63861568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71629675700004 meters Centerline goodness [0,1] 0.8302302687895908 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90393158e-01 1.24586535e-01 -5.99965607e-02 6.69476427e+00] [-1.25131862e-01 9.92125398e-01 -5.40487873e-03 -1.34755843e-01] [ 5.88507365e-02 1.28604363e-02 9.98183951e-01 -1.63791563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74629675700004 meters Centerline goodness [0,1] 0.8297301934542959 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.13, Z:-1.64 [[ 9.90363253e-01 1.24860579e-01 -5.99204777e-02 6.69438894e+00] [-1.25389060e-01 9.92094397e-01 -5.12740918e-03 -1.34863438e-01] [ 5.88065589e-02 1.25913700e-02 9.98189985e-01 -1.63758792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77629675700004 meters Centerline goodness [0,1] 0.833558573052749 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90339491e-01 1.25088277e-01 -5.98382491e-02 6.69408483e+00] [-1.25598424e-01 9.92069422e-01 -4.82674487e-03 -1.35046800e-01] [ 5.87599281e-02 1.22957058e-02 9.98196417e-01 -1.63728771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80629675700004 meters Centerline goodness [0,1] 0.8317400437261542 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90328994e-01 1.25298904e-01 -5.95706955e-02 6.69324951e+00] [-1.25783874e-01 9.92047700e-01 -4.44727964e-03 -1.35487536e-01] [ 5.85397322e-02 1.18973028e-02 9.98214182e-01 -1.63668504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.836296757 meters Centerline goodness [0,1] 0.8308315821074752 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90320406e-01 1.25368092e-01 -5.95679080e-02 6.69304960e+00] [-1.25836343e-01 9.92042289e-01 -4.16079018e-03 -1.36226813e-01] [ 5.85722535e-02 1.16163231e-02 9.98215584e-01 -1.63634778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86629675700001 meters Centerline goodness [0,1] 0.8287800687285223 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90357898e-01 1.25184758e-01 -5.93296750e-02 6.69239752e+00] [-1.25627973e-01 9.92070201e-01 -3.78541089e-03 -1.38092094e-01] [ 5.83853268e-02 1.12023784e-02 9.98231266e-01 -1.63587861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89629675700002 meters Centerline goodness [0,1] 0.8261898614338583 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90357748e-01 1.25168904e-01 -5.93656130e-02 6.69230235e+00] [-1.25605496e-01 9.92073496e-01 -3.66582039e-03 -1.38661993e-01] [ 5.84362045e-02 1.10871209e-02 9.98229576e-01 -1.63564768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92629675700002 meters Centerline goodness [0,1] 0.8243187937533656 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90368432e-01 1.25131913e-01 -5.92652707e-02 6.69235225e+00] [-1.25570346e-01 9.92077753e-01 -3.71752575e-03 -1.38286531e-01] [ 5.83305755e-02 1.11236807e-02 9.98235347e-01 -1.63577223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95629675700002 meters Centerline goodness [0,1] 0.8243523316062176 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90359334e-01 1.25165154e-01 -5.93470686e-02 6.69252932e+00] [-1.25607485e-01 9.92072863e-01 -3.76754899e-03 -1.37783146e-01] [ 5.84050504e-02 1.11856633e-02 9.98230300e-01 -1.63573078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98629675700002 meters Centerline goodness [0,1] 0.8199422089964203 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90346578e-01 1.25269740e-01 -5.93392591e-02 6.69271279e+00] [-1.25718530e-01 9.92058378e-01 -3.87637479e-03 -1.37052767e-01] [ 5.83824167e-02 1.12989990e-02 9.98230347e-01 -1.63591985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01629675700002 meters Centerline goodness [0,1] 0.8151556390815026 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90340709e-01 1.25354312e-01 -5.92585621e-02 6.69289485e+00] [-1.25818011e-01 9.92044680e-01 -4.14487727e-03 -1.36111032e-01] [ 5.82675630e-02 1.15606351e-02 9.98234062e-01 -1.63635926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04629675700002 meters Centerline goodness [0,1] 0.8010291224353014 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90332069e-01 1.25402578e-01 -5.93008169e-02 6.69294561e+00] [-1.25865322e-01 9.92038788e-01 -4.11871019e-03 -1.35916665e-01] [ 5.83122137e-02 1.15428072e-02 9.98231661e-01 -1.63625005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07629675700002 meters Centerline goodness [0,1] 0.8082458608375717 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90380523e-01 1.25030498e-01 -5.92772694e-02 6.69321816e+00] [-1.25513186e-01 9.92081854e-01 -4.47601861e-03 -1.35474283e-01] [ 5.82482645e-02 1.18730406e-02 9.98231522e-01 -1.63650834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10629675700002 meters Centerline goodness [0,1] 0.799343738531615 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.14, Z:-1.64 [[ 9.90421413e-01 1.24605819e-01 -5.94879404e-02 6.69400326e+00] [-1.25108499e-01 9.92131517e-01 -4.78711709e-03 -1.35400290e-01] [ 5.84233579e-02 1.21837102e-02 9.98217546e-01 -1.63693451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13629675700003 meters Centerline goodness [0,1] 0.8046952615437778 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90525517e-01 1.23540178e-01 -5.99751950e-02 6.69625845e+00] [-1.24100712e-01 9.92253263e-01 -5.69863878e-03 -1.34893005e-01] [ 5.88065722e-02 1.30876115e-02 9.98183601e-01 -1.63852373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16629675700003 meters Centerline goodness [0,1] 0.7971950664383414 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90555986e-01 1.23172706e-01 -6.02272694e-02 6.69727828e+00] [-1.23754090e-01 9.92294741e-01 -6.00602286e-03 -1.34534784e-01] [ 5.90234246e-02 1.34026728e-02 9.98166621e-01 -1.63913523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19629675700003 meters Centerline goodness [0,1] 0.8084371128643151 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90596231e-01 1.22763815e-01 -6.03999329e-02 6.69801050e+00] [-1.23364686e-01 9.92341356e-01 -6.30765854e-03 -1.34416550e-01] [ 5.91629991e-02 1.36995615e-02 9.98154328e-01 -1.63956850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22629675700003 meters Centerline goodness [0,1] 0.8091185410334346 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90614167e-01 1.22568388e-01 -6.05025873e-02 6.69839894e+00] [-1.23179775e-01 9.92363302e-01 -6.46682237e-03 -1.34438767e-01] [ 5.92479193e-02 1.38588209e-02 9.98147092e-01 -1.63979507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25629675700003 meters Centerline goodness [0,1] 0.8064607414179673 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90619526e-01 1.22553697e-01 -6.04445761e-02 6.69848134e+00] [-1.23164064e-01 9.92365273e-01 -6.46366603e-03 -1.34496535e-01] [ 5.91909520e-02 1.38476334e-02 9.98150627e-01 -1.63997240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28629675700003 meters Centerline goodness [0,1] 0.8053446771378708 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90585220e-01 1.22869459e-01 -6.03656996e-02 6.69840939e+00] [-1.23475698e-01 9.92326938e-01 -6.40309805e-03 -1.34207468e-01] [ 5.91157646e-02 1.37965112e-02 9.98155791e-01 -1.64004427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31629675700003 meters Centerline goodness [0,1] 0.8017953243131359 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90536730e-01 1.23225323e-01 -6.04359648e-02 6.69857416e+00] [-1.23822043e-01 9.92284973e-01 -6.21560520e-03 -1.34071828e-01] [ 5.92037798e-02 1.36400899e-02 9.98152724e-01 -1.64004750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34629675700003 meters Centerline goodness [0,1] 0.7973761572550568 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90446953e-01 1.24079278e-01 -6.01595071e-02 6.69776697e+00] [-1.24640847e-01 9.92185786e-01 -5.65913547e-03 -1.34326947e-01] [ 5.89872264e-02 1.31034054e-02 9.98172734e-01 -1.63967682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37629675700003 meters Centerline goodness [0,1] 0.7958431991581163 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.13, Z:-1.64 [[ 9.90397221e-01 1.24487270e-01 -6.01353866e-02 6.69755507e+00] [-1.25023403e-01 9.92140051e-01 -5.22195633e-03 -1.34799269e-01] [ 5.90126584e-02 1.26901417e-02 9.98176571e-01 -1.63939967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40629675700004 meters Centerline goodness [0,1] 0.8022708269154601 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90360022e-01 1.24755139e-01 -6.01928806e-02 6.69762913e+00] [-1.25270862e-01 9.92110691e-01 -4.85682469e-03 -1.35398953e-01] [ 5.91120865e-02 1.23504190e-02 9.98174949e-01 -1.63929962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43629675700004 meters Centerline goodness [0,1] 0.8022708269154601 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90360022e-01 1.24755139e-01 -6.01928806e-02 6.69762913e+00] [-1.25270862e-01 9.92110691e-01 -4.85682469e-03 -1.35398953e-01] [ 5.91120865e-02 1.23504190e-02 9.98174949e-01 -1.63929962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46629675700004 meters Centerline goodness [0,1] 0.798680013199868 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90330931e-01 1.24978303e-01 -6.02085592e-02 6.69765200e+00] [-1.25452526e-01 9.92090957e-01 -4.14680058e-03 -1.37659656e-01] [ 5.92141071e-02 1.16600207e-02 9.98177205e-01 -1.63916488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49629675700004 meters Centerline goodness [0,1] 0.7921274064936781 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90323956e-01 1.24888270e-01 -6.05093617e-02 6.69834885e+00] [-1.25349210e-01 9.92105144e-01 -3.86768174e-03 -1.39099415e-01] [ 5.95486210e-02 1.14150586e-02 9.98160137e-01 -1.63931200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52629675700004 meters Centerline goodness [0,1] 0.7985582964089677 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90373314e-01 1.24317495e-01 -6.08757718e-02 6.69930521e+00] [-1.24750604e-01 9.92182470e-01 -3.35158681e-03 -1.41771418e-01] [ 5.99832128e-02 1.09136115e-02 9.98139723e-01 -1.63924420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55629675700004 meters Centerline goodness [0,1] 0.8012689181151279 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90381258e-01 1.24164899e-01 -6.10576856e-02 6.69979219e+00] [-1.24583419e-01 9.92204353e-01 -3.08118875e-03 -1.42932259e-01] [ 6.01991259e-02 1.06583268e-02 9.98129483e-01 -1.63929082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.586296757 meters Centerline goodness [0,1] 0.7952006346268262 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.14, Z:-1.64 [[ 9.90439506e-01 1.23587958e-01 -6.12829695e-02 6.70050806e+00] [-1.23990039e-01 9.92279547e-01 -2.78755012e-03 -1.44806193e-01] [ 6.04653296e-02 1.03593775e-02 9.98116540e-01 -1.63927035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61629675700001 meters Centerline goodness [0,1] 0.8049086506713625 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90467936e-01 1.23299478e-01 -6.14044440e-02 6.70099874e+00] [-1.23701609e-01 9.92315577e-01 -2.77642330e-03 -1.45527854e-01] [ 6.05902547e-02 1.03457868e-02 9.98109105e-01 -1.63948872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64629675700002 meters Centerline goodness [0,1] 0.802547770700637 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90476044e-01 1.23191148e-01 -6.14910302e-02 6.70122964e+00] [-1.23583970e-01 9.92330681e-01 -2.61186443e-03 -1.46355802e-01] [ 6.06976773e-02 1.01862948e-02 9.98104219e-01 -1.63947863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67629675700002 meters Centerline goodness [0,1] 0.8047407799774879 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90507863e-01 1.22868756e-01 -6.16233841e-02 6.70166802e+00] [-1.23244691e-01 9.92373595e-01 -2.32259375e-03 -1.47873388e-01] [ 6.08680450e-02 9.89530230e-03 9.98096771e-01 -1.63933166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70629675700002 meters Centerline goodness [0,1] 0.8067152834387186 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90518278e-01 1.22679943e-01 -6.18318050e-02 6.70211562e+00] [-1.23053023e-01 9.92397552e-01 -2.24792767e-03 -1.48450577e-01] [ 6.10859563e-02 9.83520394e-03 9.98084052e-01 -1.63925572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73629675700002 meters Centerline goodness [0,1] 0.8123472017267581 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90584796e-01 1.22054020e-01 -6.20046579e-02 6.70306549e+00] [-1.22435749e-01 9.92473587e-01 -2.38047956e-03 -1.48843921e-01] [ 6.12474381e-02 9.94965358e-03 9.98073021e-01 -1.63963479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76629675700002 meters Centerline goodness [0,1] 0.814562077646747 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90604411e-01 1.21807298e-01 -6.21762212e-02 6.70355585e+00] [-1.22188502e-01 9.92504126e-01 -2.35175431e-03 -1.49110559e-01] [ 6.14236952e-02 9.92687751e-03 9.98062416e-01 -1.63966152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79629675700002 meters Centerline goodness [0,1] 0.8200079554494829 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.15, Z:-1.64 [[ 9.90688625e-01 1.20969654e-01 -6.24691216e-02 6.70438640e+00] [-1.21347780e-01 9.92607432e-01 -2.28093520e-03 -1.50793502e-01] [ 6.17313904e-02 9.84018578e-03 9.98044291e-01 -1.63953006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82629675700002 meters Centerline goodness [0,1] 0.8213222156045266 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90713317e-01 1.20630998e-01 -6.27318586e-02 6.70509983e+00] [-1.21005249e-01 9.92649457e-01 -2.18735892e-03 -1.51945863e-01] [ 6.20068821e-02 9.75792979e-03 9.98028020e-01 -1.63967498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85629675700002 meters Centerline goodness [0,1] 0.8244276491197144 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90725620e-01 1.20375983e-01 -6.30267284e-02 6.70584503e+00] [-1.20744736e-01 9.92681450e-01 -2.06100760e-03 -1.52964553e-01] [ 6.23173683e-02 9.65203873e-03 9.98009711e-01 -1.63980840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88629675700003 meters Centerline goodness [0,1] 0.8245795544598045 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90741395e-01 1.20132409e-01 -6.32431242e-02 6.70668960e+00] [-1.20506864e-01 9.92710217e-01 -2.12622773e-03 -1.53334376e-01] [ 6.25266667e-02 9.72777241e-03 9.97995885e-01 -1.64023585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91629675700003 meters Centerline goodness [0,1] 0.8261890652092798 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90748086e-01 1.19983989e-01 -6.34198173e-02 6.70770536e+00] [-1.20370442e-01 9.92726394e-01 -2.29442844e-03 -1.53150604e-01] [ 6.26832319e-02 9.90707201e-03 9.97984300e-01 -1.64103634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94629675700003 meters Centerline goodness [0,1] 0.825865401511158 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90702598e-01 1.20321534e-01 -6.34908692e-02 6.70812236e+00] [-1.20702667e-01 9.92686295e-01 -2.18783852e-03 -1.53028520e-01] [ 6.27632716e-02 9.83101454e-03 9.97980021e-01 -1.64134752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97629675700003 meters Centerline goodness [0,1] 0.8270227532284986 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90652317e-01 1.20752792e-01 -6.34566738e-02 6.70777905e+00] [-1.21121009e-01 9.92635786e-01 -1.97403002e-03 -1.53025899e-01] [ 6.27509957e-02 9.64151375e-03 9.97982642e-01 -1.64101468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00629675700003 meters Centerline goodness [0,1] 0.8256054146705929 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90592736e-01 1.21264019e-01 -6.34119012e-02 6.70746782e+00] [-1.21619708e-01 9.92575201e-01 -1.76531341e-03 -1.52740226e-01] [ 6.27270116e-02 9.46084356e-03 9.97985879e-01 -1.64075237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03629675700003 meters Centerline goodness [0,1] 0.8234675316136668 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90116941e-01 1.25161732e-01 -6.32691382e-02 6.70901552e+00] [-1.25289764e-01 9.92118265e-01 1.95550503e-03 -1.53460432e-01] [ 6.30152220e-02 5.99079670e-03 9.97994585e-01 -1.64170115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06629675700003 meters Centerline goodness [0,1] 0.8159295524742065 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90074524e-01 1.25498112e-01 -6.32665826e-02 6.70922990e+00] [-1.25633459e-01 9.92075003e-01 1.85014090e-03 -1.52458113e-01] [ 6.29973842e-02 6.11662226e-03 9.97994948e-01 -1.64205064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09629675700003 meters Centerline goodness [0,1] 0.819180424916135 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.89972461e-01 1.26429937e-01 -6.30079167e-02 6.70864928e+00] [-1.26546953e-01 9.91958297e-01 2.14618871e-03 -1.51851157e-01] [ 6.27725682e-02 5.84879213e-03 9.98010720e-01 -1.64197432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12629675700003 meters Centerline goodness [0,1] 0.8172959004905396 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.89945805e-01 1.26496341e-01 -6.32928099e-02 6.70920568e+00] [-1.26617970e-01 9.91949329e-01 2.10184813e-03 -1.51811390e-01] [ 6.30491364e-02 5.93329137e-03 9.97992787e-01 -1.64199074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15629675700004 meters Centerline goodness [0,1] 0.8160430154724021 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.89933589e-01 1.26660624e-01 -6.31551656e-02 6.70885520e+00] [-1.26771844e-01 9.91929330e-01 2.25922334e-03 -1.52209773e-01] [ 6.29316157e-02 5.76981574e-03 9.98001163e-01 -1.64185000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18629675700004 meters Centerline goodness [0,1] 0.8110931067706052 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.89936998e-01 1.26540210e-01 -6.33428442e-02 6.70953009e+00] [-1.26651557e-01 9.91944670e-01 2.27058506e-03 -1.52733539e-01] [ 6.31199169e-02 5.77473366e-03 9.97989243e-01 -1.64203232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21629675700004 meters Centerline goodness [0,1] 0.8124220885729907 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.89947147e-01 1.26416118e-01 -6.34319430e-02 6.70995308e+00] [-1.26529749e-01 9.91960287e-01 2.23870080e-03 -1.52927190e-01] [ 6.32049763e-02 5.80983234e-03 9.97983656e-01 -1.64228857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24629675700004 meters Centerline goodness [0,1] 0.812829525483304 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90007527e-01 1.25877675e-01 -6.35602716e-02 6.71052400e+00] [-1.25997541e-01 9.92028257e-01 2.13492458e-03 -1.53190582e-01] [ 6.33223247e-02 5.89484652e-03 9.97975718e-01 -1.64238776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27629675700004 meters Centerline goodness [0,1] 0.8145580589254766 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.15, Z:-1.64 [[ 9.90055147e-01 1.25337814e-01 -6.38845632e-02 6.71141934e+00] [-1.25466650e-01 9.92095808e-01 2.00700940e-03 -1.53925079e-01] [ 6.36311615e-02 6.02833213e-03 9.97955277e-01 -1.64254817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30629675700004 meters Centerline goodness [0,1] 0.8175838631878973 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.16, Z:-1.64 [[ 9.90111122e-01 1.24727553e-01 -6.42106180e-02 6.71229154e+00] [-1.24860821e-01 9.92172352e-01 1.94894087e-03 -1.55131480e-01] [ 6.39510865e-02 6.08772244e-03 9.97934466e-01 -1.64267606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.336296757 meters Centerline goodness [0,1] 0.8241014332965821 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.16, Z:-1.64 [[ 9.90639124e-01 1.20316043e-01 -6.44839128e-02 6.71190046e+00] [-1.20683140e-01 9.92689422e-01 -1.81404222e-03 -1.55722419e-01] [ 6.37942398e-02 9.57918228e-03 9.97917098e-01 -1.64237382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36629675700001 meters Centerline goodness [0,1] 0.8270837939420739 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.16, Z:-1.64 [[ 9.91161097e-01 1.15691296e-01 -6.49245979e-02 6.71220693e+00] [-1.16302977e-01 9.93197371e-01 -5.70962509e-03 -1.55616137e-01] [ 6.38223860e-02 1.32100823e-02 9.97873838e-01 -1.64235430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39629675700002 meters Centerline goodness [0,1] 0.8285315676417832 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.16, Z:-1.64 [[ 9.91218311e-01 1.14990735e-01 -6.52946532e-02 6.71336746e+00] [-1.15610737e-01 9.93277750e-01 -5.78517558e-03 -1.56662475e-01] [ 6.41904846e-02 1.32831350e-02 9.97849257e-01 -1.64270665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42629675700002 meters Centerline goodness [0,1] 0.8298599551678985 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.16, Z:-1.64 [[ 9.91274336e-01 1.14327142e-01 -6.56086514e-02 6.71444938e+00] [-1.14955065e-01 9.93353382e-01 -5.86436065e-03 -1.57685225e-01] [ 6.45021202e-02 1.33552370e-02 9.97828199e-01 -1.64308441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45629675700002 meters Centerline goodness [0,1] 0.8285911019302103 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99161288 0.11109586 -0.06604247 6.71681614] [-0.11188782 0.9936853 -0.00840495 -0.15865596] [ 0.06469168 0.0157238 0.99778141 -1.64509758] [ 0. 0. 0. 1. ]] SLAMing on 209.48629675700002 meters Centerline goodness [0,1] 0.8294070584051916 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99164035 0.11066616 -0.06635071 6.71795655] [-0.11146429 0.99373261 -0.00843872 -0.15960961] [ 0.06500098 0.01576391 0.99776068 -1.6456914 ] [ 0. 0. 0. 1. ]] SLAMing on 209.51629675700002 meters Centerline goodness [0,1] 0.8276768216639943 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99169816 0.1100978 -0.06643219 6.7187814 ] [-0.11089057 0.9937975 -0.00835516 -0.16154987] [ 0.06510026 0.0156525 0.99775596 -1.6462643 ] [ 0. 0. 0. 1. ]] SLAMing on 209.54629675700002 meters Centerline goodness [0,1] 0.8283824708292509 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99168544 0.11006493 -0.06667611 6.71923681] [-0.11085132 0.99380317 -0.00820027 -0.16218183] [ 0.06536036 0.01552322 0.99774097 -1.64617134] [ 0. 0. 0. 1. ]] SLAMing on 209.57629675700002 meters Centerline goodness [0,1] 0.8250914117542139 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99166846 0.11015562 -0.06677882 6.71971599] [-0.11093223 0.99379558 -0.00802383 -0.162753 ] [ 0.06548062 0.0153649 0.99773554 -1.64640501] [ 0. 0. 0. 1. ]] SLAMing on 209.60629675700002 meters Centerline goodness [0,1] 0.8244295242131561 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99163524 0.1103161 -0.06700685 6.72016133] [-0.11108443 0.99378005 -0.00783934 -0.16291862] [ 0.06572526 0.01521718 0.99772172 -1.64637458] [ 0. 0. 0. 1. ]] SLAMing on 209.63629675700003 meters Centerline goodness [0,1] 0.8271588426730864 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99160592 0.11054132 -0.06706956 6.72034523] [-0.1112983 0.99375763 -0.00764545 -0.16303921] [ 0.06580575 0.015046 0.99771901 -1.64643965] [ 0. 0. 0. 1. ]] SLAMing on 209.66629675700003 meters Centerline goodness [0,1] 0.8288592102912274 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99153038 0.11109649 -0.0672687 6.72097782] [-0.11183614 0.9936997 -0.00731953 -0.16317598] [ 0.06603171 0.01478061 0.99770805 -1.64683756] [ 0. 0. 0. 1. ]] SLAMing on 209.69629675700003 meters Centerline goodness [0,1] 0.8267464980675141 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 0.99148203 0.11148603 -0.06733687 6.72126413] [-0.11221328 0.99365875 -0.00710425 -0.16353165] [ 0.06611785 0.01459983 0.997705 -1.6471442 ] [ 0. 0. 0. 1. ]] SLAMing on 209.72629675700003 meters Centerline goodness [0,1] 0.8236583674473749 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.16, Z:-1.65 [[ 9.91357791e-01 1.12501421e-01 -6.74771130e-02 6.72147584e+00] [-1.13182293e-01 9.93554001e-01 -6.34157067e-03 -1.64980618e-01] [ 6.63287199e-02 1.39239799e-02 9.97700668e-01 -1.64732403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75629675700003 meters Centerline goodness [0,1] 0.8242712564234903 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.91295995e-01 1.13040723e-01 -6.74836653e-02 6.72134452e+00] [-1.13692027e-01 9.93498654e-01 -5.87763746e-03 -1.65704596e-01] [ 6.63805183e-02 1.34988332e-02 9.97703066e-01 -1.64724235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78629675700003 meters Centerline goodness [0,1] 0.8217387411585639 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.91222151e-01 1.13613595e-01 -6.76062065e-02 6.72147769e+00] [-1.14232396e-01 9.93439671e-01 -5.34608681e-03 -1.66507279e-01] [ 6.65552993e-02 1.30219786e-02 9.97697760e-01 -1.64714829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81629675700003 meters Centerline goodness [0,1] 0.8207540799099606 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.91099355e-01 1.14821111e-01 -6.73660279e-02 6.72066620e+00] [-1.15373660e-01 9.93312608e-01 -4.35682820e-03 -1.67463138e-01] [ 6.64152690e-02 1.20903148e-02 9.97718816e-01 -1.64682228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84629675700003 meters Centerline goodness [0,1] 0.819592388244567 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.90988178e-01 1.15782288e-01 -6.73564607e-02 6.72044018e+00] [-1.16283584e-01 9.93209685e-01 -3.55670542e-03 -1.68533637e-01] [ 6.64872856e-02 1.13571037e-02 9.97722635e-01 -1.64663179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87629675700003 meters Centerline goodness [0,1] 0.8186882583788173 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.90937527e-01 1.16196768e-01 -6.73878971e-02 6.72018427e+00] [-1.16667666e-01 9.93166229e-01 -3.08160076e-03 -1.69343608e-01] [ 6.65693116e-02 1.09156625e-02 9.97722093e-01 -1.64624376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90629675700004 meters Centerline goodness [0,1] 0.8183317518413086 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.90905061e-01 1.16454162e-01 -6.74209758e-02 6.72007364e+00] [-1.16898923e-01 9.93140212e-01 -2.67607360e-03 -1.70383451e-01] [ 6.66468423e-02 1.05331743e-02 9.97721028e-01 -1.64603580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93629675700004 meters Centerline goodness [0,1] 0.8185274879478532 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.17, Z:-1.65 [[ 9.90884304e-01 1.16638151e-01 -6.74079951e-02 6.71955494e+00] [-1.17019348e-01 9.93128144e-01 -1.72092739e-03 -1.73793554e-01] [ 6.67440513e-02 9.59327955e-03 9.97724010e-01 -1.64516911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96629675700004 meters Centerline goodness [0,1] 0.8198825370189801 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90874438e-01 1.16701930e-01 -6.74426300e-02 6.71921346e+00] [-1.17045822e-01 9.93125842e-01 -1.15669141e-03 -1.75669462e-01] [ 6.68440306e-02 9.04001404e-03 9.97722483e-01 -1.64452607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99629675700004 meters Centerline goodness [0,1] 0.8192149464736231 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90902276e-01 1.16557154e-01 -6.72837936e-02 6.71870010e+00] [-1.16849512e-01 9.93149546e-01 -4.12615322e-04 -1.78125077e-01] [ 6.67747758e-02 8.27093988e-03 9.97733793e-01 -1.64372226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02629675700004 meters Centerline goodness [0,1] 0.8226762002042901 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90896521e-01 1.16546556e-01 -6.73868344e-02 6.71882122e+00] [-1.16822230e-01 9.93152830e-01 -1.51350403e-04 -1.79023884e-01] [ 6.69077859e-02 8.02225286e-03 9.97726912e-01 -1.64354686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05629675700004 meters Centerline goodness [0,1] 0.8229853188491432 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90901431e-01 1.16389725e-01 -6.75854044e-02 6.71922594e+00] [-1.16653729e-01 9.93172647e-01 4.06068447e-05 -1.80011639e-01] [ 6.71287012e-02 7.84385204e-03 9.97713492e-01 -1.64345360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08629675700004 meters Centerline goodness [0,1] 0.824289288151012 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90956191e-01 1.15707657e-01 -6.79526783e-02 6.72026384e+00] [-1.15971056e-01 9.93252591e-01 6.90799512e-05 -1.82519501e-01] [ 6.75021669e-02 7.81208865e-03 9.97688543e-01 -1.64373426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11629675700001 meters Centerline goodness [0,1] 0.8201355407986901 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90951123e-01 1.15625498e-01 -6.81660901e-02 6.72089565e+00] [-1.15874559e-01 9.93263810e-01 3.02184792e-04 -1.83582274e-01] [ 6.77418506e-02 7.59926526e-03 9.97673941e-01 -1.64387786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14629675700002 meters Centerline goodness [0,1] 0.8198644776933921 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90959311e-01 1.15436624e-01 -6.83668817e-02 6.72165942e+00] [-1.15694784e-01 9.93284794e-01 1.84590891e-04 -1.83374779e-01] [ 6.79290926e-02 7.72676957e-03 9.97660230e-01 -1.64423406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17629675700002 meters Centerline goodness [0,1] 0.82206260086832 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.64 [[ 9.90947242e-01 1.15430951e-01 -6.85511410e-02 6.72234164e+00] [-1.15684913e-01 9.93285925e-01 2.66856729e-04 -1.83807812e-01] [ 6.81216871e-02 7.66589186e-03 9.97647568e-01 -1.64461304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20629675700002 meters Centerline goodness [0,1] 0.8201509382338859 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90952927e-01 1.15175017e-01 -6.88985616e-02 6.72366692e+00] [-1.15425507e-01 9.93316078e-01 3.47644502e-04 -1.85115393e-01] [ 6.84780890e-02 7.60815205e-03 9.97623610e-01 -1.64537638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23629675700002 meters Centerline goodness [0,1] 0.8204818177670301 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90947326e-01 1.15108529e-01 -6.90899700e-02 6.72431200e+00] [-1.15354677e-01 9.93324274e-01 4.29696535e-04 -1.85814370e-01] [ 6.86782061e-02 7.54404455e-03 9.97610340e-01 -1.64570893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26629675700002 meters Centerline goodness [0,1] 0.8173682768696923 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90946311e-01 1.15085330e-01 -6.91431520e-02 6.72469924e+00] [-1.15327292e-01 9.93327423e-01 4.95489227e-04 -1.86658050e-01] [ 6.87388125e-02 7.48308926e-03 9.97606625e-01 -1.64604478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29629675700002 meters Centerline goodness [0,1] 0.8167237834132968 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90918798e-01 1.15281590e-01 -6.92104796e-02 6.72497214e+00] [-1.15516578e-01 9.93305364e-01 6.10789879e-04 -1.86895062e-01] [ 6.88175535e-02 7.38971462e-03 9.97601893e-01 -1.64629422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32629675700002 meters Centerline goodness [0,1] 0.8167237834132968 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90918798e-01 1.15281590e-01 -6.92104796e-02 6.72497214e+00] [-1.15516578e-01 9.93305364e-01 6.10789879e-04 -1.86895062e-01] [ 6.88175535e-02 7.38971462e-03 9.97601893e-01 -1.64629422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35629675700002 meters Centerline goodness [0,1] 0.8184395217520517 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.65 [[ 9.90877352e-01 1.15688555e-01 -6.91247541e-02 6.72516415e+00] [-1.15923123e-01 9.93257994e-01 6.21855926e-04 -1.86336245e-01] [ 6.87306562e-02 7.39697440e-03 9.97607830e-01 -1.64688378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38629675700003 meters Centerline goodness [0,1] 0.8180488585205329 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.65 [[ 9.90854134e-01 1.15852808e-01 -6.91824579e-02 6.72529735e+00] [-1.16087128e-01 9.93238829e-01 6.37401098e-04 -1.86183358e-01] [ 6.87885482e-02 7.39962134e-03 9.97603820e-01 -1.64697261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41629675700003 meters Centerline goodness [0,1] 0.8191007638475964 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.65 [[ 9.90810478e-01 1.16158513e-01 -6.92949932e-02 6.72540855e+00] [-1.16379332e-01 9.93204470e-01 8.55658523e-04 -1.86534676e-01] [ 6.89234890e-02 7.21670956e-03 9.97595846e-01 -1.64689403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44629675700003 meters Centerline goodness [0,1] 0.8216007494230813 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90731825e-01 1.16940817e-01 -6.91035239e-02 6.72456965e+00] [-1.17116455e-01 9.93117028e-01 1.51825920e-03 -1.87651803e-01] [ 6.88054327e-02 6.58897205e-03 9.97608339e-01 -1.64635200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47629675700003 meters Centerline goodness [0,1] 0.8200481706617732 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90696489e-01 1.17277385e-01 -6.90397094e-02 6.72423441e+00] [-1.17435698e-01 9.93078902e-01 1.77525679e-03 -1.87902583e-01] [ 6.87700762e-02 6.34898576e-03 9.97612333e-01 -1.64613271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50629675700003 meters Centerline goodness [0,1] 0.8186543922322982 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90616728e-01 1.18107126e-01 -6.87692166e-02 6.72322657e+00] [-1.18230473e-01 9.92983545e-01 2.28805764e-03 -1.87602692e-01] [ 6.85569364e-02 5.86402883e-03 9.97629971e-01 -1.64554239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53629675700003 meters Centerline goodness [0,1] 0.819476564467749 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90591663e-01 1.18342244e-01 -6.87260534e-02 6.72316750e+00] [-1.18462569e-01 9.92955770e-01 2.33653970e-03 -1.87175950e-01] [ 6.85184426e-02 5.82690807e-03 9.97632833e-01 -1.64556862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56629675700003 meters Centerline goodness [0,1] 0.8211548987411057 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90519919e-01 1.19018283e-01 -6.85925509e-02 6.72298647e+00] [-1.19135244e-01 9.92875141e-01 2.39767984e-03 -1.86373335e-01] [ 6.83892064e-02 5.79684063e-03 9.97641876e-01 -1.64584400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59629675700003 meters Centerline goodness [0,1] 0.8205926808042872 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.65 [[ 9.90492445e-01 1.19194316e-01 -6.86835658e-02 6.72328764e+00] [-1.19314210e-01 9.92853719e-01 2.36878531e-03 -1.85968502e-01] [ 6.84750795e-02 5.84866144e-03 9.97635683e-01 -1.64600812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62629675700003 meters Centerline goodness [0,1] 0.8243422254704915 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.65 [[ 9.90438631e-01 1.19755672e-01 -6.84828224e-02 6.72286506e+00] [-1.19874264e-01 9.92786205e-01 2.39004208e-03 -1.84775176e-01] [ 6.82750225e-02 5.84213792e-03 9.97649433e-01 -1.64601965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65629675700004 meters Centerline goodness [0,1] 0.8249846237955306 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.65 [[ 9.90430673e-01 1.19719331e-01 -6.86612182e-02 6.72323186e+00] [-1.19848156e-01 9.92789673e-01 2.25492540e-03 -1.84139293e-01] [ 6.84361065e-02 5.99557308e-03 9.97637485e-01 -1.64599135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68629675700004 meters Centerline goodness [0,1] 0.8253957408040087 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.65 [[ 9.90478249e-01 1.19234374e-01 -6.88186157e-02 6.72380343e+00] [-1.19387134e-01 9.92845954e-01 1.90364133e-03 -1.83685041e-01] [ 6.85532636e-02 6.33054199e-03 9.97627372e-01 -1.64613367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71629675700004 meters Centerline goodness [0,1] 0.8263114791391784 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.65 [[ 9.90504694e-01 1.18877236e-01 -6.90554481e-02 6.72433337e+00] [-1.19037781e-01 9.92888093e-01 1.80015980e-03 -1.83976229e-01] [ 6.87783302e-02 6.43714059e-03 9.97611199e-01 -1.64611110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74629675700004 meters Centerline goodness [0,1] 0.8279417803531506 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.65 [[ 9.90531437e-01 1.18498913e-01 -6.93215719e-02 6.72487832e+00] [-1.18660685e-01 9.92933242e-01 1.79412245e-03 -1.84524823e-01] [ 6.90442947e-02 6.44861050e-03 9.97592753e-01 -1.64598292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77629675700004 meters Centerline goodness [0,1] 0.8281970506323335 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.65 [[ 9.91003502e-01 1.14230416e-01 -6.97385840e-02 6.72448680e+00] [-1.14661941e-01 9.93402127e-01 -2.20318219e-03 -1.83473893e-01] [ 6.90267872e-02 1.01797227e-02 9.97562868e-01 -1.64544939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80629675700004 meters Centerline goodness [0,1] 0.8289389508316578 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.91040290e-01 1.13690937e-01 -7.00964584e-02 6.72520321e+00] [-1.14126439e-01 9.93463738e-01 -2.22657976e-03 -1.84119152e-01] [ 6.93851476e-02 1.02064894e-02 9.97537733e-01 -1.64524418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83629675700004 meters Centerline goodness [0,1] 0.830538675926349 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.91517845e-01 1.09078343e-01 -7.06702047e-02 6.72575521e+00] [-1.09801404e-01 9.93932830e-01 -6.41721526e-03 -1.83195063e-01] [ 6.95414573e-02 1.41224711e-02 9.97479093e-01 -1.64538597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86629675700001 meters Centerline goodness [0,1] 0.8301912661959279 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.91563736e-01 1.08440572e-01 -7.10070394e-02 6.72682648e+00] [-1.09177597e-01 9.94000543e-01 -6.57059648e-03 -1.83790795e-01] [ 6.98685165e-02 1.42675431e-02 9.97454173e-01 -1.64571209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89629675700002 meters Centerline goodness [0,1] 0.8298591292038631 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99176222 0.10625309 -0.07154011 6.72948535] [-0.10707904 0.99421991 -0.00779994 -0.18453023] [ 0.07029784 0.01539613 0.99740723 -1.64725205] [ 0. 0. 0. 1. ]] SLAMing on 210.92629675700002 meters Centerline goodness [0,1] 0.8318404094876833 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99179169 0.10577609 -0.07183774 6.73051474] [-0.10661363 0.99426902 -0.00791539 -0.18493465] [ 0.07058878 0.0155093 0.99738492 -1.64763154] [ 0. 0. 0. 1. ]] SLAMing on 210.95629675700002 meters Centerline goodness [0,1] 0.8301266689489901 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99187013 0.1048617 -0.07209483 6.73173904] [-0.10574419 0.99435683 -0.00852418 -0.18411704] [ 0.07079412 0.01607849 0.99736136 -1.64820944] [ 0. 0. 0. 1. ]] SLAMing on 210.98629675700002 meters Centerline goodness [0,1] 0.8331664238892935 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99188108 0.10457281 -0.07236337 6.73245466] [-0.10547155 0.99438425 -0.00870159 -0.18371541] [ 0.07104704 0.01626322 0.99734038 -1.64831509] [ 0. 0. 0. 1. ]] SLAMing on 211.01629675700002 meters Centerline goodness [0,1] 0.8348753154054238 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99189508 0.10432438 -0.07252982 6.73288178] [-0.10523197 0.9944088 -0.00879632 -0.18346042] [ 0.07120662 0.01635748 0.99732745 -1.64826009] [ 0. 0. 0. 1. ]] SLAMing on 211.04629675700002 meters Centerline goodness [0,1] 0.8358185207073692 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99192256 0.10384652 -0.07283904 6.73348851] [-0.10476543 0.99445713 -0.00890021 -0.18377283] [ 0.07151105 0.01645933 0.997304 -1.64798772] [ 0. 0. 0. 1. ]] SLAMing on 211.07629675700002 meters Centerline goodness [0,1] 0.8354536971710781 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99194761 0.10341115 -0.07311683 6.73434608] [-0.1043601 0.99449638 -0.00926929 -0.18329187] [ 0.07175588 0.01682513 0.99728031 -1.64822224] [ 0. 0. 0. 1. ]] SLAMing on 211.10629675700002 meters Centerline goodness [0,1] 0.8357658416630616 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99194171 0.10333685 -0.07330164 6.73488057] [-0.10429863 0.99450154 -0.00940651 -0.18264615] [ 0.07192656 0.01697597 0.99726545 -1.64834691] [ 0. 0. 0. 1. ]] SLAMing on 211.13629675700003 meters Centerline goodness [0,1] 0.8340833674257921 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.65 [[ 0.99192566 0.10337897 -0.07345937 6.73528764] [-0.10435136 0.99449498 -0.00951442 -0.18185981] [ 0.07207138 0.01710318 0.99725283 -1.64844138] [ 0. 0. 0. 1. ]] SLAMing on 211.16629675700003 meters Centerline goodness [0,1] 0.8357550537781113 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99187499 0.103984 -0.07328935 6.73461085] [-0.10494306 0.99443429 -0.00934853 -0.18003114] [ 0.07190935 0.01696378 0.9972669 -1.64785929] [ 0. 0. 0. 1. ]] SLAMing on 211.19629675700003 meters Centerline goodness [0,1] 0.8356220350909049 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99184608 0.10416857 -0.07341847 6.73488701] [-0.10513051 0.99441447 -0.00935115 -0.17915486] [ 0.07203429 0.01699342 0.99725738 -1.64781333] [ 0. 0. 0. 1. ]] SLAMing on 211.22629675700003 meters Centerline goodness [0,1] 0.834584072406422 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.65 [[ 0.9918193 0.10439363 -0.07346055 6.7350538 ] [-0.10535826 0.99439018 -0.00937049 -0.17811088] [ 0.07207023 0.01703351 0.9972541 -1.64782963] [ 0. 0. 0. 1. ]] SLAMing on 211.25629675700003 meters Centerline goodness [0,1] 0.8368860477284619 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.65 [[ 0.99181754 0.10444053 -0.07341757 6.73510972] [-0.10540281 0.99438569 -0.00934632 -0.17798717] [ 0.07202924 0.01700826 0.99725749 -1.64793869] [ 0. 0. 0. 1. ]] SLAMing on 211.28629675700003 meters Centerline goodness [0,1] 0.8349704411095953 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.65 [[ 0.99180642 0.10453884 -0.07342788 6.73520207] [-0.10550061 0.99437544 -0.00933332 -0.1777988 ] [ 0.07203919 0.01700353 0.99725686 -1.6480032 ] [ 0. 0. 0. 1. ]] SLAMing on 211.31629675700003 meters Centerline goodness [0,1] 0.8398519124193695 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99177153 0.10508685 -0.07311621 6.73426908] [-0.10602609 0.99432194 -0.00907444 -0.17687955] [ 0.07174745 0.016752 0.99728214 -1.64753249] [ 0. 0. 0. 1. ]] SLAMing on 211.34629675700003 meters Centerline goodness [0,1] 0.837123359103997 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 0.99174864 0.10543121 -0.07293072 6.73365565] [-0.10635666 0.99428809 -0.00891368 -0.17617968] [ 0.07157437 0.01659679 0.99729718 -1.64715272] [ 0. 0. 0. 1. ]] SLAMing on 211.37629675700003 meters Centerline goodness [0,1] 0.8382087396171903 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 0.99168281 0.10640873 -0.07240431 6.73168386] [-0.10729199 0.99419199 -0.00840989 -0.17484543] [ 0.0710889 0.01610835 0.99733991 -1.64587613] [ 0. 0. 0. 1. ]] SLAMing on 211.40629675700004 meters Centerline goodness [0,1] 0.8395097753136854 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 0.99164316 0.10686342 -0.0722776 6.73104488] [-0.10772812 0.99414689 -0.00816182 -0.17439084] [ 0.07098235 0.01587994 0.99735116 -1.6453738 ] [ 0. 0. 0. 1. ]] SLAMing on 211.43629675700004 meters Centerline goodness [0,1] 0.8385150498660483 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99158858 0.10769326 -0.07179307 6.72943726] [-0.10852351 0.99406364 -0.0077545 -0.17318831] [ 0.07053177 0.01548051 0.9973894 -1.64444274] [ 0. 0. 0. 1. ]] SLAMing on 211.46629675700004 meters Centerline goodness [0,1] 0.8377303370786517 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99156107 0.10795949 -0.07177322 6.72926099] [-0.10879164 0.99403416 -0.00777634 -0.17239909] [ 0.0705055 0.01551904 0.99739066 -1.64429872] [ 0. 0. 0. 1. ]] SLAMing on 211.49629675700004 meters Centerline goodness [0,1] 0.8356837941130456 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99153384 0.10827707 -0.07167096 6.72887178] [-0.10910796 0.99399954 -0.00777003 -0.17100895] [ 0.07039958 0.01552412 0.99739807 -1.64394633] [ 0. 0. 0. 1. ]] SLAMing on 211.52629675700004 meters Centerline goodness [0,1] 0.8359791889007471 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99152382 0.10832452 -0.07173783 6.72918719] [-0.10915868 0.99399373 -0.00779986 -0.17070342] [ 0.07046204 0.01556456 0.99739302 -1.64412571] [ 0. 0. 0. 1. ]] SLAMing on 211.55629675700004 meters Centerline goodness [0,1] 0.8341788276309026 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99150846 0.10836656 -0.07188644 6.72937654] [-0.10919931 0.9939897 -0.00774554 -0.17063018] [ 0.07061503 0.01552972 0.99738275 -1.6439728 ] [ 0. 0. 0. 1. ]] SLAMing on 211.58629675700004 meters Centerline goodness [0,1] 0.8342580832052053 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99150349 0.1084416 -0.07184184 6.72945546] [-0.10927248 0.99398181 -0.00772621 -0.17050601] [ 0.07057164 0.0155109 0.99738611 -1.64412092] [ 0. 0. 0. 1. ]] SLAMing on 211.61629675700001 meters Centerline goodness [0,1] 0.834637942953993 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.9914946 0.10856359 -0.07178023 6.72953761] [-0.10939704 0.99396775 -0.00777196 -0.1700315 ] [ 0.07050348 0.0155584 0.99739019 -1.64438226] [ 0. 0. 0. 1. ]] SLAMing on 211.64629675700002 meters Centerline goodness [0,1] 0.8333630408627066 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99145068 0.10894098 -0.07181512 6.72983372] [-0.10978033 0.993925 -0.00783432 -0.1686005 ] [ 0.07052537 0.01565123 0.99738719 -1.64469157] [ 0. 0. 0. 1. ]] SLAMing on 211.67629675700002 meters Centerline goodness [0,1] 0.8355291022983125 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99141652 0.10927762 -0.07177528 6.72971626] [-0.11011341 0.99388857 -0.00778082 -0.16781617] [ 0.07048636 0.01561746 0.99739048 -1.64464569] [ 0. 0. 0. 1. ]] SLAMing on 211.70629675700002 meters Centerline goodness [0,1] 0.8327667044419261 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99137516 0.10967846 -0.07173518 6.72977078] [-0.11051537 0.99384387 -0.00779148 -0.16675803] [ 0.07043901 0.01565212 0.99739328 -1.64486237] [ 0. 0. 0. 1. ]] SLAMing on 211.73629675700002 meters Centerline goodness [0,1] 0.8341098686545971 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99134958 0.10987558 -0.07178691 6.72993673] [-0.11070895 0.99382287 -0.00772285 -0.16659864] [ 0.07049492 0.01560349 0.99739009 -1.64495556] [ 0. 0. 0. 1. ]] SLAMing on 211.76629675700002 meters Centerline goodness [0,1] 0.8326310653774506 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99131757 0.11014399 -0.07181762 6.72993182] [-0.11096485 0.99379581 -0.00752984 -0.1668342 ] [ 0.07054268 0.0154337 0.99738936 -1.64487839] [ 0. 0. 0. 1. ]] SLAMing on 211.79629675700002 meters Centerline goodness [0,1] 0.8315228257247584 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99129446 0.11030246 -0.0718934 6.73011055] [-0.11111631 0.99377979 -0.00740853 -0.16687761] [ 0.07062903 0.01533256 0.99738481 -1.64493213] [ 0. 0. 0. 1. ]] SLAMing on 211.82629675700002 meters Centerline goodness [0,1] 0.8320115517049872 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99122604 0.11105237 -0.07168205 6.7295358 ] [-0.11183563 0.9937021 -0.00699498 -0.16642344] [ 0.0704538 0.01495022 0.997403 -1.64474781] [ 0. 0. 0. 1. ]] SLAMing on 211.85629675700002 meters Centerline goodness [0,1] 0.8300595502621989 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 0.99119586 0.11135184 -0.07163473 6.72948221] [-0.11212886 0.99366967 -0.00690614 -0.16603253] [ 0.07041224 0.01487766 0.99740702 -1.64480262] [ 0. 0. 0. 1. ]] SLAMing on 211.88629675700003 meters Centerline goodness [0,1] 0.8293612964728313 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 9.90783288e-01 1.14996417e-01 -7.15842226e-02 6.73065616e+00] [-1.15514074e-01 9.93300942e-01 -3.12031083e-03 -1.67678883e-01] [ 7.07458512e-02 1.13605370e-02 9.97429678e-01 -1.64516173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91629675700003 meters Centerline goodness [0,1] 0.8292558273892852 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90737640e-01 1.15442324e-01 -7.14982362e-02 6.73016808e+00] [-1.15939590e-01 9.93252234e-01 -2.83041615e-03 -1.67772668e-01] [ 7.06890330e-02 1.10936760e-02 9.97436710e-01 -1.64479798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94629675700003 meters Centerline goodness [0,1] 0.8261333807892512 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90700606e-01 1.15754559e-01 -7.15065805e-02 6.73011630e+00] [-1.16239004e-01 9.93217771e-01 -2.63705384e-03 -1.67778194e-01] [ 7.07163555e-02 1.09243845e-02 9.97436642e-01 -1.64473326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97629675700003 meters Centerline goodness [0,1] 0.8239975035106881 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90641153e-01 1.16315342e-01 -7.14202112e-02 6.72982342e+00] [-1.16776678e-01 9.93155526e-01 -2.30408291e-03 -1.67722945e-01] [ 7.06633772e-02 1.06227344e-02 9.97443655e-01 -1.64460351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00629675700003 meters Centerline goodness [0,1] 0.8272816486751717 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90632799e-01 1.16295039e-01 -7.15689998e-02 6.73041099e+00] [-1.16754613e-01 9.93158227e-01 -2.25759861e-03 -1.68097963e-01] [ 7.08167934e-02 1.05924621e-02 9.97433096e-01 -1.64496208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03629675700003 meters Centerline goodness [0,1] 0.8253462078808287 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 9.90628710e-01 1.16234792e-01 -7.17232993e-02 6.73121359e+00] [-1.16684946e-01 9.93166751e-01 -2.10428700e-03 -1.69301744e-01] [ 7.09886048e-02 1.04535964e-02 9.97422348e-01 -1.64559899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06629675700003 meters Centerline goodness [0,1] 0.8268698679043198 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 9.90632078e-01 1.16091854e-01 -7.19080513e-02 6.73185457e+00] [-1.16540190e-01 9.93183847e-01 -2.05675535e-03 -1.69994096e-01] [ 7.11791425e-02 1.04176658e-02 9.97409145e-01 -1.64593049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09629675700003 meters Centerline goodness [0,1] 0.8189136154841011 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 9.90633312e-01 1.16169088e-01 -7.17661831e-02 6.73138275e+00] [-1.16585284e-01 9.93179357e-01 -1.62368087e-03 -1.71710805e-01] [ 7.10880701e-02 9.97535317e-03 9.97420162e-01 -1.64560749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12629675700003 meters Centerline goodness [0,1] 0.8198603464482341 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 9.90610125e-01 1.16393511e-01 -7.17225965e-02 6.73097544e+00] [-1.16784290e-01 9.93156498e-01 -1.26499781e-03 -1.72363403e-01] [ 7.10845253e-02 9.62919216e-03 9.97423816e-01 -1.64515487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15629675700004 meters Centerline goodness [0,1] 0.8199937225360954 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90581557e-01 1.16623831e-01 -7.17430257e-02 6.73078254e+00] [-1.16999093e-01 9.93131481e-01 -1.03628078e-03 -1.72480210e-01] [ 7.11294023e-02 9.42038960e-03 9.97422611e-01 -1.64481661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18629675700004 meters Centerline goodness [0,1] 0.821386103071504 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90552530e-01 1.16782588e-01 -7.18854057e-02 6.73102835e+00] [-1.17150336e-01 9.93113778e-01 -9.06506275e-04 -1.72490482e-01] [ 7.12845227e-02 9.31934155e-03 9.97412486e-01 -1.64475737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21629675700004 meters Centerline goodness [0,1] 0.8186528497409327 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90524234e-01 1.16992434e-01 -7.19340787e-02 6.73104846e+00] [-1.17350355e-01 9.93090290e-01 -7.55129175e-04 -1.72586341e-01] [ 7.13486907e-02 9.18946339e-03 9.97409103e-01 -1.64465511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24629675700004 meters Centerline goodness [0,1] 0.8186528497409327 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90524234e-01 1.16992434e-01 -7.19340787e-02 6.73104846e+00] [-1.17350355e-01 9.93090290e-01 -7.55129175e-04 -1.72586341e-01] [ 7.13486907e-02 9.18946339e-03 9.97409103e-01 -1.64465511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27629675700004 meters Centerline goodness [0,1] 0.819161354045075 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.64 [[ 9.90485124e-01 1.17291255e-01 -7.19859751e-02 6.73118958e+00] [-1.17631492e-01 9.93057194e-01 -4.90631883e-04 -1.73288162e-01] [ 7.14286436e-02 8.95378123e-03 9.97405524e-01 -1.64476221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30629675700004 meters Centerline goodness [0,1] 0.8214839623277664 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.65 [[ 9.90455463e-01 1.17398426e-01 -7.22190110e-02 6.73197468e+00] [-1.17732964e-01 9.93045219e-01 -3.78167866e-04 -1.74329769e-01] [ 7.16723472e-02 8.87711662e-03 9.97388726e-01 -1.64528952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33629675700004 meters Centerline goodness [0,1] 0.8228580433118725 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.90434147e-01 1.17541215e-01 -7.22790597e-02 6.73213547e+00] [-1.17859033e-01 9.93030327e-01 -1.33093931e-04 -1.75048489e-01] [ 7.17596542e-02 8.65056088e-03 9.97384439e-01 -1.64535277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36629675700001 meters Centerline goodness [0,1] 0.8245748567819928 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.90420210e-01 1.17655940e-01 -7.22833815e-02 6.73220828e+00] [-1.17963818e-01 9.93017894e-01 9.74139755e-06 -1.75469767e-01] [ 7.17798374e-02 8.51717559e-03 9.97384135e-01 -1.64542651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39629675700002 meters Centerline goodness [0,1] 0.8198051581112542 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.90388053e-01 1.17886596e-01 -7.23481498e-02 6.73247980e+00] [-1.18170042e-01 9.92993307e-01 3.64943805e-04 -1.76196280e-01] [ 7.18842505e-02 8.18794788e-03 9.97379372e-01 -1.64556614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42629675700002 meters Centerline goodness [0,1] 0.8210421701714363 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.65 [[ 9.90366184e-01 1.18017393e-01 -7.24342195e-02 6.73261552e+00] [-1.18287118e-01 9.92979271e-01 5.69662452e-04 -1.76612263e-01] [ 7.19929086e-02 8.00386066e-03 9.97373029e-01 -1.64550490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45629675700002 meters Centerline goodness [0,1] 0.8288801482888015 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.64 [[ 9.90322104e-01 1.18437424e-01 -7.23512804e-02 6.73208196e+00] [-1.18663035e-01 9.92933872e-01 1.18730615e-03 -1.78004241e-01] [ 7.19806585e-02 7.40960702e-03 9.97378505e-01 -1.64498560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48629675700002 meters Centerline goodness [0,1] 0.8223405460518862 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.64 [[ 9.90283534e-01 1.18768011e-01 -7.23372735e-02 6.73172930e+00] [-1.18963389e-01 9.92897325e-01 1.61680161e-03 -1.78894445e-01] [ 7.20155097e-02 7.00439517e-03 9.97378917e-01 -1.64458585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51629675700002 meters Centerline goodness [0,1] 0.8265280759236244 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.64 [[ 9.90258203e-01 1.18896712e-01 -7.24724963e-02 6.73187924e+00] [-1.19075595e-01 9.92883444e-01 1.86267084e-03 -1.79693168e-01] [ 7.21782071e-02 6.78518054e-03 9.97368672e-01 -1.64442300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54629675700002 meters Centerline goodness [0,1] 0.8253624509893316 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.64 [[ 9.90217808e-01 1.19275340e-01 -7.24022492e-02 6.73137267e+00] [-1.19395498e-01 9.92843152e-01 2.68163138e-03 -1.81876631e-01] [ 7.22039298e-02 5.98910347e-03 9.97371908e-01 -1.64384445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57629675700002 meters Centerline goodness [0,1] 0.8244769444888088 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.64 [[ 9.90185498e-01 1.19424779e-01 -7.25975272e-02 6.73166282e+00] [-1.19513321e-01 9.92827636e-01 3.13873630e-03 -1.83250665e-01] [ 7.24516742e-02 5.56844037e-03 9.97356379e-01 -1.64367345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60629675700002 meters Centerline goodness [0,1] 0.8245549893745858 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90168522e-01 1.19595310e-01 -7.25483301e-02 6.73129104e+00] [-1.19634151e-01 9.92810675e-01 3.82544825e-03 -1.85382702e-01] [ 7.24842622e-02 4.89141945e-03 9.97357562e-01 -1.64312857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63629675700003 meters Centerline goodness [0,1] 0.8257506616774665 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90161159e-01 1.19475355e-01 -7.28458583e-02 6.73188803e+00] [-1.19507987e-01 9.92825476e-01 3.92623106e-03 -1.86398156e-01] [ 7.27923118e-02 4.81806038e-03 9.97335483e-01 -1.64313677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66629675700003 meters Centerline goodness [0,1] 0.826449881899695 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90473142e-01 1.16897072e-01 -7.27875680e-02 6.72951639e+00] [-1.17109929e-01 9.93118039e-01 1.35120655e-03 -1.86763776e-01] [ 7.24445988e-02 7.18581312e-03 9.97346552e-01 -1.64151984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69629675700003 meters Centerline goodness [0,1] 0.8266993404177354 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90447433e-01 1.17004946e-01 -7.29638627e-02 6.72958078e+00] [-1.17188418e-01 9.93108111e-01 1.77611982e-03 -1.88032748e-01] [ 7.26688187e-02 6.79136635e-03 9.97333004e-01 -1.64108037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72629675700003 meters Centerline goodness [0,1] 0.8274849103802814 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90448761e-01 1.16885487e-01 -7.31370945e-02 6.73006549e+00] [-1.17045978e-01 9.93124271e-01 2.10249132e-03 -1.89725902e-01] [ 7.28799744e-02 6.47799281e-03 9.97319680e-01 -1.64113135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75629675700003 meters Centerline goodness [0,1] 0.827372875508843 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90431412e-01 1.16910221e-01 -7.33322446e-02 6.73044611e+00] [-1.17058273e-01 9.93122406e-01 2.29053157e-03 -1.90328988e-01] [ 7.30956817e-02 6.31553149e-03 9.97304936e-01 -1.64107864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78629675700003 meters Centerline goodness [0,1] 0.83072013957439 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90434088e-01 1.16755424e-01 -7.35424187e-02 6.73115400e+00] [-1.16898669e-01 9.93141023e-01 2.36836218e-03 -1.91291643e-01] [ 7.33145121e-02 6.25130419e-03 9.97289278e-01 -1.64134053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81629675700003 meters Centerline goodness [0,1] 0.8333486702861875 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90424614e-01 1.16732839e-01 -7.37056850e-02 6.73146352e+00] [-1.16859603e-01 9.93145028e-01 2.60510999e-03 -1.92068217e-01] [ 7.35045365e-02 6.03305202e-03 9.97276634e-01 -1.64121616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84629675700003 meters Centerline goodness [0,1] 0.8341428604313896 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90427164e-01 1.16649941e-01 -7.38026041e-02 6.73159442e+00] [-1.16764961e-01 9.93155716e-01 2.76909747e-03 -1.92716519e-01] [ 7.36204931e-02 5.87496883e-03 9.97269025e-01 -1.64101513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87629675700003 meters Centerline goodness [0,1] 0.8322483841181902 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90454852e-01 1.16481963e-01 -7.36962625e-02 6.73094053e+00] [-1.16555838e-01 9.93178617e-01 3.31224057e-03 -1.94697193e-01] [ 7.35793684e-02 5.30910489e-03 9.97275233e-01 -1.64009373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90629675700004 meters Centerline goodness [0,1] 0.8307820376451001 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90852439e-01 1.13005803e-01 -7.37640373e-02 6.72913775e+00] [-1.13306980e-01 9.93560022e-01 1.02366293e-04 -1.94895097e-01] [ 7.33005665e-02 8.25655041e-03 9.97275717e-01 -1.63873869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93629675700004 meters Centerline goodness [0,1] 0.8306406814183872 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.20, Z:-1.64 [[ 9.90862539e-01 1.12821270e-01 -7.39106838e-02 6.72937991e+00] [-1.13107363e-01 9.93582721e-01 3.16806037e-04 -1.95986230e-01] [ 7.34721208e-02 8.04593134e-03 9.97264815e-01 -1.63855270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96629675700004 meters Centerline goodness [0,1] 0.8331409575696016 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.20, Z:-1.64 [[ 9.90861165e-01 1.12678827e-01 -7.41460328e-02 6.72992220e+00] [-1.12955156e-01 9.93599976e-01 4.69365890e-04 -1.96666909e-01] [ 7.37243840e-02 7.91010030e-03 9.97247284e-01 -1.63851807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99629675700004 meters Centerline goodness [0,1] 0.8298808008332369 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.20, Z:-1.64 [[ 9.90873101e-01 1.12533388e-01 -7.42073677e-02 6.73043339e+00] [-1.12815431e-01 9.93615884e-01 3.93308040e-04 -1.96727296e-01] [ 7.37778795e-02 7.98201778e-03 9.97242755e-01 -1.63891623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02629675700004 meters Centerline goodness [0,1] 0.832370876836367 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.20, Z:-1.64 [[ 9.90860007e-01 1.12642795e-01 -7.42162170e-02 6.73055120e+00] [-1.12924461e-01 9.93603494e-01 4.03446884e-04 -1.96415376e-01] [ 7.37869379e-02 7.98106690e-03 9.97242092e-01 -1.63900716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05629675700004 meters Centerline goodness [0,1] 0.8321641082632956 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.20, Z:-1.64 [[ 9.90817923e-01 1.13041255e-01 -7.41722240e-02 6.73058101e+00] [-1.13320399e-01 9.93558396e-01 4.47683231e-04 -1.95586797e-01] [ 7.37450426e-02 7.96165347e-03 9.97245346e-01 -1.63919076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08629675700004 meters Centerline goodness [0,1] 0.8311971259705644 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.20, Z:-1.64 [[ 9.90779531e-01 1.13314368e-01 -7.42682640e-02 6.73073129e+00] [-1.13584723e-01 9.93528141e-01 5.86993012e-04 -1.95231962e-01] [ 7.38541249e-02 7.85415952e-03 9.97238126e-01 -1.63911355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11629675700001 meters Centerline goodness [0,1] 0.8338633673019337 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90719652e-01 1.13906104e-01 -7.41617911e-02 6.73057417e+00] [-1.14161863e-01 9.93461845e-01 7.95114738e-04 -1.94861188e-01] [ 7.37674783e-02 7.67871245e-03 9.97245906e-01 -1.63934217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14629675700002 meters Centerline goodness [0,1] 0.8346677806400705 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90686706e-01 1.14113213e-01 -7.42834076e-02 6.73081082e+00] [-1.14362041e-01 9.93438723e-01 9.09097343e-04 -1.94655315e-01] [ 7.38997536e-02 7.59457147e-03 9.97236757e-01 -1.63930123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17629675700002 meters Centerline goodness [0,1] 0.8345990385285307 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90653251e-01 1.14432399e-01 -7.42385553e-02 6.73067271e+00] [-1.14666982e-01 9.93403369e-01 1.10875646e-03 -1.94625599e-01] [ 7.38757086e-02 7.41431790e-03 9.97239895e-01 -1.63921804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20629675700002 meters Centerline goodness [0,1] 0.8366972050411571 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90588888e-01 1.15111501e-01 -7.40472691e-02 6.72978645e+00] [-1.15320172e-01 9.93327293e-01 1.46548763e-03 -1.94261276e-01] [ 7.37218678e-02 7.08744803e-03 9.97253656e-01 -1.63861171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23629675700002 meters Centerline goodness [0,1] 0.8365219410262363 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90557212e-01 1.15407320e-01 -7.40105372e-02 6.72958998e+00] [-1.15607297e-01 9.93293724e-01 1.59064920e-03 -1.93898600e-01] [ 7.36977747e-02 6.98052910e-03 9.97256191e-01 -1.63843217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26629675700002 meters Centerline goodness [0,1] 0.8378447454634169 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90473994e-01 1.16419303e-01 -7.35378341e-02 6.72794432e+00] [-1.16583253e-01 9.93178758e-01 2.07374647e-03 -1.92814679e-01] [ 7.32776388e-02 6.51928794e-03 9.97290272e-01 -1.63755712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29629675700002 meters Centerline goodness [0,1] 0.836293472196392 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90422917e-01 1.16887069e-01 -7.34837345e-02 6.72725586e+00] [-1.17035953e-01 9.93125035e-01 2.29144906e-03 -1.91941831e-01] [ 7.32463771e-02 6.33073526e-03 9.97293783e-01 -1.63679178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32629675700002 meters Centerline goodness [0,1] 0.8404511556811339 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90303185e-01 1.18159233e-01 -7.30616027e-02 6.72517958e+00] [-1.18268211e-01 9.92977602e-01 2.84809653e-03 -1.89802103e-01] [ 7.28850640e-02 5.82038597e-03 9.97323363e-01 -1.63516542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35629675700002 meters Centerline goodness [0,1] 0.8412229252297603 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.63 [[ 9.90264101e-01 1.18554718e-01 -7.29505998e-02 6.72463020e+00] [-1.18662209e-01 9.92930521e-01 2.87416213e-03 -1.88510612e-01] [ 7.27756225e-02 5.81029978e-03 9.97331414e-01 -1.63466722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38629675700003 meters Centerline goodness [0,1] 0.839785243559611 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.19, Z:-1.63 [[ 9.90226993e-01 1.18884716e-01 -7.29172648e-02 6.72428377e+00] [-1.18997941e-01 9.92890539e-01 2.80504068e-03 -1.87094527e-01] [ 7.27323388e-02 5.89937741e-03 9.97334048e-01 -1.63430406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41629675700003 meters Centerline goodness [0,1] 0.8370637068293354 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90135801e-01 1.19818073e-01 -7.26273029e-02 6.72284852e+00] [-1.19918056e-01 9.92779266e-01 2.99801483e-03 -1.84443955e-01] [ 7.24620968e-02 5.74088319e-03 9.97354644e-01 -1.63313409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44629675700003 meters Centerline goodness [0,1] 0.8326195983236769 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90086554e-01 1.20290120e-01 -7.25182870e-02 6.72210351e+00] [-1.20399861e-01 9.92721323e-01 2.87214604e-03 -1.82125081e-01] [ 7.23359405e-02 5.88751852e-03 9.97362947e-01 -1.63238680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47629675700003 meters Centerline goodness [0,1] 0.8356963183169449 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90079966e-01 1.20284042e-01 -7.26182464e-02 6.72239936e+00] [-1.20414099e-01 9.92720345e-01 2.60029211e-03 -1.80849207e-01] [ 7.24023842e-02 6.16976357e-03 9.97356420e-01 -1.63245272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50629675700003 meters Centerline goodness [0,1] 0.8364176376513593 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90078418e-01 1.20271074e-01 -7.26608256e-02 6.72266215e+00] [-1.20423462e-01 9.92719960e-01 2.29594056e-03 -1.79507430e-01] [ 7.24079871e-02 6.47690697e-03 9.97354066e-01 -1.63261907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53629675700003 meters Centerline goodness [0,1] 0.8312011128594559 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90091938e-01 1.20141059e-01 -7.26916758e-02 6.72320979e+00] [-1.20337261e-01 9.92731628e-01 1.69038012e-03 -1.76898741e-01] [ 7.23664097e-02 7.07388545e-03 9.97353028e-01 -1.63304854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56629675700003 meters Centerline goodness [0,1] 0.830973088657165 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90123609e-01 1.19695107e-01 -7.29953380e-02 6.72422078e+00] [-1.19932835e-01 9.92781361e-01 1.13349007e-03 -1.75288342e-01] [ 7.26040842e-02 7.63224256e-03 9.97331638e-01 -1.63337485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59629675700003 meters Centerline goodness [0,1] 0.8320640189146793 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90149740e-01 1.19318301e-01 -7.32573298e-02 6.72512139e+00] [-1.19580467e-01 9.92824180e-01 8.12560466e-04 -1.74683531e-01] [ 7.28286017e-02 7.95558917e-03 9.97312741e-01 -1.63372155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62629675700003 meters Centerline goodness [0,1] 0.8306295647425542 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90158115e-01 1.19114775e-01 -7.34750158e-02 6.72567752e+00] [-1.19384712e-01 9.92847807e-01 7.22719167e-04 -1.74446233e-01] [ 7.30355949e-02 8.05618736e-03 9.97296796e-01 -1.63372563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65629675700004 meters Centerline goodness [0,1] 0.8294334136035258 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90189586e-01 1.18738782e-01 -7.36592565e-02 6.72619304e+00] [-1.19024829e-01 9.92891147e-01 5.09645795e-04 -1.74072087e-01] [ 7.31961384e-02 8.26263441e-03 9.97283337e-01 -1.63361371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68629675700004 meters Centerline goodness [0,1] 0.8407308924797163 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90180058e-01 1.18723273e-01 -7.38121755e-02 6.72646493e+00] [-1.19013127e-01 9.92892567e-01 4.74592438e-04 -1.73882237e-01] [ 7.33439057e-02 8.31468582e-03 9.97272048e-01 -1.63353198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71629675700004 meters Centerline goodness [0,1] 0.8410605030591434 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90178187e-01 1.18773220e-01 -7.37569019e-02 6.72649649e+00] [-1.19061292e-01 9.92886783e-01 4.94416771e-04 -1.73175001e-01] [ 7.32909766e-02 8.29203132e-03 9.97276128e-01 -1.63346867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74629675700004 meters Centerline goodness [0,1] 0.8259794469272476 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90153140e-01 1.19018037e-01 -7.36984806e-02 6.72619604e+00] [-1.19290764e-01 9.92859112e-01 7.05825418e-04 -1.72985915e-01] [ 7.32562140e-02 8.09267281e-03 9.97280320e-01 -1.63312273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77629675700004 meters Centerline goodness [0,1] 0.8353318619308744 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90110752e-01 1.19422325e-01 -7.36139004e-02 6.72571217e+00] [-1.19670209e-01 9.92813144e-01 1.04998518e-03 -1.72692364e-01] [ 7.32102396e-02 7.76978921e-03 9.97286263e-01 -1.63255265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80629675700004 meters Centerline goodness [0,1] 0.8342130409064021 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90101713e-01 1.19456189e-01 -7.36805017e-02 6.72604879e+00] [-1.19707316e-01 9.92808708e-01 1.01418888e-03 -1.72514088e-01] [ 7.32717948e-02 7.81594498e-03 9.97281382e-01 -1.63275709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83629675700004 meters Centerline goodness [0,1] 0.8076248605069576 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90085365e-01 1.19590624e-01 -7.36821073e-02 6.72654022e+00] [-1.19839194e-01 9.92792756e-01 1.05417431e-03 -1.72829700e-01] [ 7.32771317e-02 7.78628178e-03 9.97281222e-01 -1.63337824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86629675700001 meters Centerline goodness [0,1] 0.8285844644690316 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90076733e-01 1.19555748e-01 -7.38544907e-02 6.72714465e+00] [-1.19802410e-01 9.92797149e-01 1.09711265e-03 -1.73042541e-01] [ 7.34536939e-02 7.76172029e-03 9.97268425e-01 -1.63362556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89629675700002 meters Centerline goodness [0,1] 0.7972889569570485 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90077140e-01 1.19557567e-01 -7.38460849e-02 6.72741241e+00] [-1.19803409e-01 9.92797017e-01 1.10742416e-03 -1.73111015e-01] [ 7.34465737e-02 7.75057738e-03 9.97269036e-01 -1.63391483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92629675700002 meters Centerline goodness [0,1] 0.8258766626360339 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90087602e-01 1.19522184e-01 -7.37630585e-02 6.72770156e+00] [-1.19771761e-01 9.92800902e-01 1.04655484e-03 -1.72797688e-01] [ 7.33571175e-02 7.79855042e-03 9.97275246e-01 -1.63433656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95629675700002 meters Centerline goodness [0,1] 0.8248822766668942 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90079893e-01 1.19769934e-01 -7.34640639e-02 6.72702320e+00] [-1.19998471e-01 9.92773211e-01 1.31096530e-03 -1.73142907e-01] [ 7.30901688e-02 7.51761494e-03 9.97297003e-01 -1.63405442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98629675700002 meters Centerline goodness [0,1] 0.823389946426536 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90067388e-01 1.19926469e-01 -7.33771674e-02 6.72665715e+00] [-1.20133846e-01 9.92756420e-01 1.59679978e-03 -1.73805411e-01] [ 7.30371526e-02 7.23414194e-03 9.97302984e-01 -1.63376526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01629675700002 meters Centerline goodness [0,1] 0.8227611515054818 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.17, Z:-1.63 [[ 9.90056589e-01 1.20083153e-01 -7.32665418e-02 6.72611113e+00] [-1.20266206e-01 9.92739813e-01 1.92417668e-03 -1.74446733e-01] [ 7.29656743e-02 6.90644519e-03 9.97310539e-01 -1.63323769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04629675700002 meters Centerline goodness [0,1] 0.8104528981378069 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90080599e-01 1.20200636e-01 -7.27476128e-02 6.72486674e+00] [-1.20344026e-01 9.92729286e-01 2.42490527e-03 -1.75789857e-01] [ 7.25101609e-02 6.35388898e-03 9.97347434e-01 -1.63256333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07629675700002 meters Centerline goodness [0,1] 0.8274389826251741 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90085398e-01 1.20142023e-01 -7.27791048e-02 6.72472453e+00] [-1.20272822e-01 9.92737476e-01 2.59859506e-03 -1.76273670e-01] [ 7.25627453e-02 6.18051729e-03 9.97344699e-01 -1.63217281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10629675700002 meters Centerline goodness [0,1] 0.8239134917180233 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90111977e-01 1.20181214e-01 -7.23515602e-02 6.72385927e+00] [-1.20292666e-01 9.92734436e-01 2.83090918e-03 -1.76562439e-01] [ 7.21661074e-02 5.90044496e-03 9.97375174e-01 -1.63184915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13629675700003 meters Centerline goodness [0,1] 0.8239134917180233 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90111977e-01 1.20181214e-01 -7.23515602e-02 6.72385927e+00] [-1.20292666e-01 9.92734436e-01 2.83090918e-03 -1.76562439e-01] [ 7.21661074e-02 5.90044496e-03 9.97375174e-01 -1.63184915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16629675700003 meters Centerline goodness [0,1] 0.823876365964062 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90122731e-01 1.20102769e-01 -7.23346590e-02 6.72402521e+00] [-1.20211778e-01 9.92744150e-01 2.86042437e-03 -1.76712577e-01] [ 7.21533544e-02 5.86330675e-03 9.97376316e-01 -1.63198303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19629675700003 meters Centerline goodness [0,1] 0.8200362959729848 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90146111e-01 1.19955734e-01 -7.22585727e-02 6.72420909e+00] [-1.20050559e-01 9.92763109e-01 3.04507935e-03 -1.78074772e-01] [ 7.21009200e-02 5.65960859e-03 9.97381284e-01 -1.63229456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22629675700003 meters Centerline goodness [0,1] 0.8171009884564872 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.18, Z:-1.63 [[ 9.90153513e-01 1.19812676e-01 -7.23943562e-02 6.72476733e+00] [-1.19900424e-01 9.92780931e-01 3.14822644e-03 -1.79045165e-01] [ 7.22489338e-02 5.56288655e-03 9.97371117e-01 -1.63260126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25629675700003 meters Centerline goodness [0,1] 0.8162681852765545 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.63 [[ 9.90255209e-01 1.18908893e-01 -7.24934276e-02 6.72593576e+00] [-1.19012222e-01 9.92888531e-01 2.90789902e-03 -1.80954922e-01] [ 7.23236679e-02 5.74804175e-03 9.97364651e-01 -1.63357718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28629675700003 meters Centerline goodness [0,1] 0.8154904858673564 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.63 [[ 9.90270407e-01 1.18659336e-01 -7.26944516e-02 6.72655713e+00] [-1.18749955e-01 9.92919384e-01 3.08948119e-03 -1.82225682e-01] [ 7.25463259e-02 5.57304108e-03 9.97349473e-01 -1.63373292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31629675700003 meters Centerline goodness [0,1] 0.8143174148213213 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.18, Z:-1.63 [[ 9.90282136e-01 1.18404132e-01 -7.29503458e-02 6.72723211e+00] [-1.18484027e-01 9.92950651e-01 3.24665345e-03 -1.83401185e-01] [ 7.28205105e-02 5.42834779e-03 9.97330289e-01 -1.63381323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34629675700003 meters Centerline goodness [0,1] 0.8148027917545853 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.63 [[ 9.90313687e-01 1.18176462e-01 -7.28911912e-02 6.72740429e+00] [-1.18228028e-01 9.92979866e-01 3.62201848e-03 -1.85861039e-01] [ 7.28075226e-02 5.03084730e-03 9.97333322e-01 -1.63403451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37629675700003 meters Centerline goodness [0,1] 0.8126422367748827 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.63 [[ 9.90310732e-01 1.18273960e-01 -7.27731065e-02 6.72727231e+00] [-1.18309197e-01 9.92969374e-01 3.84142656e-03 -1.86705170e-01] [ 7.27158067e-02 4.80552186e-03 9.97341124e-01 -1.63415634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40629675700004 meters Centerline goodness [0,1] 0.8138165975296053 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.63 [[ 9.90308832e-01 1.18256673e-01 -7.28270287e-02 6.72797582e+00] [-1.18288005e-01 9.92971679e-01 3.89788914e-03 -1.87466331e-01] [ 7.27761283e-02 4.75444987e-03 9.97336969e-01 -1.63483257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43629675700004 meters Centerline goodness [0,1] 0.8159162303664922 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90253657e-01 1.18876934e-01 -7.25670023e-02 6.72761452e+00] [-1.18869316e-01 9.92899985e-01 4.43908749e-03 -1.88470068e-01] [ 7.25794806e-02 4.23016731e-03 9.97353661e-01 -1.63509510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46629675700004 meters Centerline goodness [0,1] 0.8133193619746187 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90215930e-01 1.19173080e-01 -7.25960672e-02 6.72788697e+00] [-1.19158561e-01 9.92864828e-01 4.54645347e-03 -1.88567974e-01] [ 7.26198966e-02 4.14847222e-03 9.97351062e-01 -1.63544093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49629675700004 meters Centerline goodness [0,1] 0.8135652335666287 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90179161e-01 1.19447405e-01 -7.26467197e-02 6.72820074e+00] [-1.19435121e-01 9.92831679e-01 4.52876643e-03 -1.88389297e-01] [ 7.26669141e-02 4.19227961e-03 9.97347454e-01 -1.63586896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52629675700004 meters Centerline goodness [0,1] 0.8094505084429517 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.90025803e-01 1.21010514e-01 -7.21482147e-02 6.72737980e+00] [-1.20953071e-01 9.92644707e-01 5.18079026e-03 -1.87496652e-01] [ 7.22444736e-02 3.59743212e-03 9.97380466e-01 -1.63632727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55629675700004 meters Centerline goodness [0,1] 0.8065831159150205 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.89958861e-01 1.21648716e-01 -7.19933509e-02 6.72703472e+00] [-1.21582474e-01 9.92567086e-01 5.31804994e-03 -1.86648481e-01] [ 7.21051645e-02 3.48847906e-03 9.97390934e-01 -1.63642818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58629675700004 meters Centerline goodness [0,1] 0.7939267015706806 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.19, Z:-1.64 [[ 9.89427247e-01 1.26344331e-01 -7.12097818e-02 6.72642789e+00] [-1.25987725e-01 9.91986356e-01 9.49539257e-03 -1.86555697e-01] [ 7.18388210e-02 -4.23441721e-04 9.97416164e-01 -1.63630754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61629675700001 meters Centerline goodness [0,1] 0.7795817217500058 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.89361179e-01 1.29876995e-01 -6.55471113e-02 6.73637694e+00] [-1.30054305e-01 9.91505625e-01 1.57276698e-03 -1.84986728e-01] [ 6.51945958e-02 6.96864943e-03 9.97848236e-01 -1.63988044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64629675700002 meters Centerline goodness [0,1] 0.7414499733716164 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.18, Z:-1.64 [[ 9.89048685e-01 1.34983036e-01 -5.96848242e-02 6.74507058e+00] [-1.35543829e-01 9.90756468e-01 -5.43068687e-03 -1.83441901e-01] [ 5.84000750e-02 1.34611233e-02 9.98202499e-01 -1.64273768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67629675700002 meters Centerline goodness [0,1] 0.7429898942966663 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.88979580e-01 1.35595900e-01 -5.94402467e-02 6.74425664e+00] [-1.36137433e-01 9.90676633e-01 -5.13880825e-03 -1.83068204e-01] [ 5.81892622e-02 1.31742190e-02 9.98218638e-01 -1.64232638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70629675700002 meters Centerline goodness [0,1] 0.7330460369314891 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.88921512e-01 1.36068004e-01 -5.93274118e-02 6.74385826e+00] [-1.36592521e-01 9.90615406e-01 -4.85813973e-03 -1.82869665e-01] [ 5.81096107e-02 1.29079996e-02 9.98226756e-01 -1.64209399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73629675700002 meters Centerline goodness [0,1] 0.7244189276784887 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.88856086e-01 1.36665444e-01 -5.90440226e-02 6.74296802e+00] [-1.37173736e-01 9.90536211e-01 -4.62387465e-03 -1.82314413e-01] [ 5.78533186e-02 1.26716358e-02 9.98244671e-01 -1.64163906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76629675700002 meters Centerline goodness [0,1] 0.7476670140094941 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.88869375e-01 1.36589529e-01 -5.89971156e-02 6.74292888e+00] [-1.37095658e-01 9.90547136e-01 -4.59906843e-03 -1.82453479e-01] [ 5.78112393e-02 1.26361263e-02 9.98247559e-01 -1.64160150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79629675700002 meters Centerline goodness [0,1] 0.7521555720378268 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.88884074e-01 1.36441502e-01 -5.90931857e-02 6.74324069e+00] [-1.36939859e-01 9.90569375e-01 -4.44842695e-03 -1.83269280e-01] [ 5.79289500e-02 1.24911911e-02 9.98242559e-01 -1.64168487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82629675700002 meters Centerline goodness [0,1] 0.7819196997428353 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.18, Z:-1.64 [[ 9.88908303e-01 1.36160156e-01 -5.93361560e-02 6.74387530e+00] [-1.36649816e-01 9.90610277e-01 -4.25520494e-03 -1.84304032e-01] [ 5.81996166e-02 1.23162823e-02 9.98228989e-01 -1.64172644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85629675700002 meters Centerline goodness [0,1] 0.7878226217506139 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.19, Z:-1.64 [[ 0.98944154 0.13203307 -0.05977215 6.74402383] [-0.13273259 0.99112064 -0.0078705 -0.18505891] [ 0.05820225 0.01572112 0.99818102 -1.64209789] [ 0. 0. 0. 1. ]] SLAMing on 214.88629675700003 meters Centerline goodness [0,1] 0.7987526373142287 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.19, Z:-1.64 [[ 0.98948975 0.13156964 -0.0599955 6.74481637] [-0.13225543 0.99118661 -0.00758941 -0.18708756] [ 0.0584682 0.01544438 0.9981698 -1.64240621] [ 0. 0. 0. 1. ]] SLAMing on 214.91629675700003 meters Centerline goodness [0,1] 0.7986046294567855 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.19, Z:-1.64 [[ 0.99002835 0.12730651 -0.06030693 6.74470641] [-0.12819146 0.99168817 -0.01102383 -0.18884354] [ 0.05840227 0.01864474 0.99811901 -1.6426899 ] [ 0. 0. 0. 1. ]] SLAMing on 214.94629675700003 meters Centerline goodness [0,1] 0.7990092994999767 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.19, Z:-1.64 [[ 0.9900802 0.12668517 -0.06076234 6.74613585] [-0.12756152 0.99177239 -0.0107515 -0.19108287] [ 0.05890036 0.01839578 0.99809436 -1.64316687] [ 0. 0. 0. 1. ]] SLAMing on 214.97629675700003 meters Centerline goodness [0,1] 0.8027222040013119 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.19, Z:-1.64 [[ 0.99057032 0.12247878 -0.06139533 6.74700057] [-0.1235526 0.99223932 -0.01399569 -0.19370639] [ 0.05920468 0.02144927 0.9980154 -1.64392256] [ 0. 0. 0. 1. ]] SLAMing on 215.00629675700003 meters Centerline goodness [0,1] 0.8019860087328043 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.20, Z:-1.64 [[ 0.99060874 0.12188073 -0.06196302 6.74847236] [-0.12294194 0.9923207 -0.01359836 -0.19680874] [ 0.05982981 0.02108851 0.99798581 -1.6442226 ] [ 0. 0. 0. 1. ]] SLAMing on 215.03629675700003 meters Centerline goodness [0,1] 0.8014270137012279 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.20, Z:-1.64 [[ 0.99105852 0.11795343 -0.06236989 6.74811402] [-0.11917537 0.99274047 -0.01623574 -0.20138173] [ 0.06000206 0.02352352 0.99792104 -1.64384702] [ 0. 0. 0. 1. ]] SLAMing on 215.06629675700003 meters Centerline goodness [0,1] 0.8012962039740759 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.20, Z:-1.64 [[ 0.99106267 0.11774817 -0.06269086 6.74877626] [-0.11893423 0.99278078 -0.01552307 -0.20444248] [ 0.06041047 0.02284042 0.99791227 -1.64367219] [ 0. 0. 0. 1. ]] SLAMing on 215.09629675700003 meters Centerline goodness [0,1] 0.8035274128317419 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.21, Z:-1.64 [[ 0.9912114 0.11627067 -0.06309582 6.74946037] [-0.11749686 0.99294319 -0.01607169 -0.20926102] [ 0.0607819 0.02334401 0.99787806 -1.6440348 ] [ 0. 0. 0. 1. ]] SLAMing on 215.12629675700003 meters Centerline goodness [0,1] 0.7977501081678765 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.21, Z:-1.64 [[ 0.99117332 0.11649295 -0.0632838 6.74965172] [-0.11767541 0.99293458 -0.01527802 -0.21163212] [ 0.06105689 0.02259011 0.99787862 -1.64373205] [ 0. 0. 0. 1. ]] SLAMing on 215.15629675700004 meters Centerline goodness [0,1] 0.7986564206659901 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.22, Z:-1.64 [[ 0.99108337 0.11724642 -0.06330107 6.7493317 ] [-0.11833714 0.99287823 -0.01375258 -0.21589824] [ 0.06123782 0.02112083 0.99789971 -1.64324407] [ 0. 0. 0. 1. ]] SLAMing on 215.18629675700004 meters Centerline goodness [0,1] 0.8040547071331916 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.22, Z:-1.64 [[ 0.99101509 0.11782489 -0.06329597 6.7491421 ] [-0.11886559 0.99282626 -0.01292263 -0.21795818] [ 0.06131929 0.02033024 0.99791113 -1.64311207] [ 0. 0. 0. 1. ]] SLAMing on 215.21629675700004 meters Centerline goodness [0,1] 0.7989365318312047 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.22, Z:-1.64 [[ 0.99095123 0.11837807 -0.06326373 6.7490556 ] [-0.11937261 0.99277499 -0.01216564 -0.21988549] [ 0.06136651 0.01960752 0.99792269 -1.64318491] [ 0. 0. 0. 1. ]] SLAMing on 215.24629675700004 meters Centerline goodness [0,1] 0.8005027087705598 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.22, Z:-1.64 [[ 0.99084308 0.11933559 -0.06315854 6.74916039] [-0.12026392 0.99267997 -0.01109311 -0.22280914] [ 0.06137241 0.01858722 0.99794185 -1.64384457] [ 0. 0. 0. 1. ]] SLAMing on 215.27629675700004 meters Centerline goodness [0,1] 0.8024956655515127 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.22, Z:-1.64 [[ 0.99075021 0.12018791 -0.06299906 6.74866254] [-0.12107594 0.99258814 -0.01045916 -0.22396363] [ 0.06127505 0.01799008 0.99795878 -1.64390709] [ 0. 0. 0. 1. ]] SLAMing on 215.30629675700004 meters Centerline goodness [0,1] 0.7946413264431437 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.23, Z:-1.64 [[ 9.90135095e-01 1.25495523e-01 -6.23166751e-02 6.74770218e+00] [-1.26062317e-01 9.92008523e-01 -5.23287841e-03 -2.27583880e-01] [ 6.11619700e-02 1.30370410e-02 9.98042709e-01 -1.64340565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33629675700004 meters Centerline goodness [0,1] 0.7978295030445886 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.23, Z:-1.64 [[ 9.90005032e-01 1.26628581e-01 -6.20905719e-02 6.74648355e+00] [-1.27150954e-01 9.91873082e-01 -4.51925968e-03 -2.28054462e-01] [ 6.10136995e-02 1.23689653e-02 9.98060287e-01 -1.64268184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36629675700001 meters Centerline goodness [0,1] 0.7733356253530119 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.23, Z:-1.64 [[ 9.89854657e-01 1.27982252e-01 -6.17114300e-02 6.74484473e+00] [-1.28452419e-01 9.91708785e-01 -3.69625035e-03 -2.28630125e-01] [ 6.07267128e-02 1.15857331e-02 9.98087189e-01 -1.64192098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39629675700002 meters Centerline goodness [0,1] 0.7222864451385985 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.23, Z:-1.64 [[ 9.89449460e-01 1.31428366e-01 -6.09618835e-02 6.74101287e+00] [-1.31781837e-01 9.91277115e-01 -1.79678203e-03 -2.29783734e-01] [ 6.01939719e-02 9.81149398e-03 9.98138478e-01 -1.64014738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42629675700002 meters Centerline goodness [0,1] 0.7373829472646625 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.23, Z:-1.64 [[ 9.89292699e-01 1.32772070e-01 -6.05931721e-02 6.73963477e+00] [-1.33081867e-01 9.91104451e-01 -1.08807648e-03 -2.30023105e-01] [ 5.99096964e-02 9.14027862e-03 9.98161953e-01 -1.63967333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45629675700002 meters Centerline goodness [0,1] 0.6943089430894309 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.23, Z:-1.64 [[ 9.88550542e-01 1.38474136e-01 -5.99394682e-02 6.73870999e+00] [-1.38476993e-01 9.90357055e-01 4.12634913e-03 -2.32287811e-01] [ 5.99328679e-02 4.22113264e-03 9.98193485e-01 -1.63907560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48629675700002 meters Centerline goodness [0,1] 0.6833304602654715 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.23, Z:-1.64 [[ 9.88419217e-01 1.39453919e-01 -5.98335703e-02 6.73828022e+00] [-1.39426959e-01 9.90221460e-01 4.64583687e-03 -2.32421289e-01] [ 5.98963654e-02 3.75037833e-03 9.98197556e-01 -1.63902616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51629675700002 meters Centerline goodness [0,1] 0.6806755987022958 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.23, Z:-1.64 [[ 9.88234819e-01 1.40780041e-01 -5.97739250e-02 6.73775768e+00] [-1.40693137e-01 9.90036952e-01 5.68116804e-03 -2.34398914e-01] [ 5.99781896e-02 2.79545297e-03 9.98195773e-01 -1.63895253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54629675700002 meters Centerline goodness [0,1] 0.6785670075016712 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.24, Z:-1.64 [[ 9.88180300e-01 1.41109744e-01 -5.98976980e-02 6.73796929e+00] [-1.40990501e-01 9.89991323e-01 6.23373735e-03 -2.36290516e-01] [ 6.01778424e-02 2.28494999e-03 9.98185056e-01 -1.63900594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57629675700002 meters Centerline goodness [0,1] 0.6725172405208255 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.24, Z:-1.64 [[ 9.88136586e-01 1.41278661e-01 -6.02198288e-02 6.73855988e+00] [-1.41121536e-01 9.89968402e-01 6.87575815e-03 -2.38615580e-01] [ 6.05871255e-02 1.70412656e-03 9.98161458e-01 -1.63892078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60629675700002 meters Centerline goodness [0,1] 0.6752018859407132 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.24, Z:-1.64 [[ 9.88565992e-01 1.38154783e-01 -6.04196625e-02 6.73744407e+00] [-1.38161835e-01 9.90401258e-01 4.08111710e-03 -2.41623478e-01] [ 6.04035356e-02 4.31323785e-03 9.98164720e-01 -1.63872960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63629675700003 meters Centerline goodness [0,1] 0.6773802610649633 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.24, Z:-1.64 [[ 9.89001376e-01 1.35014641e-01 -6.03930932e-02 6.73540120e+00] [-1.35168902e-01 9.90821371e-01 1.54258436e-03 -2.44513499e-01] [ 6.00470388e-02 6.63765005e-03 9.98173479e-01 -1.63756883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66629675700003 meters Centerline goodness [0,1] 0.674733078162772 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.25, Z:-1.64 [[ 9.88984931e-01 1.35101660e-01 -6.04677343e-02 6.73521982e+00] [-1.35211573e-01 9.90814105e-01 2.28919377e-03 -2.46844101e-01] [ 6.02215579e-02 5.91195933e-03 9.98167527e-01 -1.63686216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69629675700003 meters Centerline goodness [0,1] 0.6836199877875025 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.25, Z:-1.64 [[ 9.89391766e-01 1.32089566e-01 -6.04671860e-02 6.73328620e+00] [-1.32381951e-01 9.91198425e-01 -8.37507732e-04 -2.47286343e-01] [ 5.98243535e-02 8.83338729e-03 9.98169834e-01 -1.63607171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72629675700003 meters Centerline goodness [0,1] 0.680249183006536 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.25, Z:-1.63 [[ 9.89790148e-01 1.29091876e-01 -6.04214387e-02 6.73090788e+00] [-1.29522370e-01 9.91571184e-01 -3.24688477e-03 -2.50101895e-01] [ 5.94930111e-02 1.10396625e-02 9.98167675e-01 -1.63445486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75629675700003 meters Centerline goodness [0,1] 0.683809231399038 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.25, Z:-1.63 [[ 9.89775766e-01 1.29079366e-01 -6.06832037e-02 6.73118578e+00] [-1.29475319e-01 9.91579178e-01 -2.62216940e-03 -2.52277686e-01] [ 5.98337333e-02 1.04523369e-02 9.98153632e-01 -1.63393751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78629675700003 meters Centerline goodness [0,1] 0.6928283890156663 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.25, Z:-1.63 [[ 9.90223180e-01 1.25345273e-01 -6.12096050e-02 6.73135506e+00] [-1.25944427e-01 9.92019061e-01 -6.01526386e-03 -2.53590977e-01] [ 5.99671100e-02 1.36654624e-02 9.98106808e-01 -1.63416846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81629675700003 meters Centerline goodness [0,1] 0.7149742353936472 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.26, Z:-1.63 [[ 9.90231342e-01 1.25086354e-01 -6.16059491e-02 6.73241743e+00] [-1.25674364e-01 9.92054890e-01 -5.74889087e-03 -2.55308612e-01] [ 6.03973752e-02 1.34350204e-02 9.98083993e-01 -1.63437928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84629675700003 meters Centerline goodness [0,1] 0.7142010003609549 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.26, Z:-1.64 [[ 9.90282487e-01 1.24339704e-01 -6.22915267e-02 6.73478142e+00] [-1.24926810e-01 9.92150125e-01 -5.60556042e-03 -2.58126531e-01] [ 6.11055523e-02 1.33329700e-02 9.98042255e-01 -1.63534212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87629675700003 meters Centerline goodness [0,1] 0.6933487416538264 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.26, Z:-1.64 [[ 9.90281126e-01 1.24130759e-01 -6.27283484e-02 6.73601121e+00] [-1.24712976e-01 9.92177960e-01 -5.43778118e-03 -2.59298169e-01] [ 6.15626888e-02 1.32079711e-02 9.98015824e-01 -1.63564570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90629675700004 meters Centerline goodness [0,1] 0.7134616379533344 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.26, Z:-1.64 [[ 9.90273838e-01 1.24013432e-01 -6.30745065e-02 6.73711590e+00] [-1.24580827e-01 9.92196208e-01 -5.12848222e-03 -2.60959530e-01] [ 6.19462856e-02 1.29364760e-02 9.97995644e-01 -1.63604305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93629675700004 meters Centerline goodness [0,1] 0.7237096899124732 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.26, Z:-1.64 [[ 9.90245704e-01 1.24119391e-01 -6.33073627e-02 6.73769923e+00] [-1.24671261e-01 9.92186360e-01 -4.82746986e-03 -2.61922221e-01] [ 6.22135192e-02 1.26729900e-02 9.97982401e-01 -1.63616156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96629675700004 meters Centerline goodness [0,1] 0.7188942468862013 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.26, Z:-1.64 [[ 9.90252032e-01 1.23862082e-01 -6.37110487e-02 6.73895848e+00] [-1.24399813e-01 9.92221841e-01 -4.52833054e-03 -2.63649118e-01] [ 6.26546056e-02 1.24098311e-02 9.97958114e-01 -1.63651735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99629675700004 meters Centerline goodness [0,1] 0.7176252510169404 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.27, Z:-1.64 [[ 9.90249852e-01 1.23727212e-01 -6.40063116e-02 6.73957826e+00] [-1.24246263e-01 9.92242616e-01 -4.17820130e-03 -2.65120543e-01] [ 6.29928329e-02 1.20900083e-02 9.97940747e-01 -1.63637917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02629675700004 meters Centerline goodness [0,1] 0.7214841722885315 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.27, Z:-1.64 [[ 0.99068791 0.12002567 -0.06427517 6.73902442] [-0.12075381 0.99265376 -0.00755206 -0.2667359 ] [ 0.06289654 0.01524321 0.99790364 -1.6364301 ] [ 0. 0. 0. 1. ]] SLAMing on 216.05629675700004 meters Centerline goodness [0,1] 0.7214841722885315 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.27, Z:-1.64 [[ 0.99068791 0.12002567 -0.06427517 6.73902442] [-0.12075381 0.99265376 -0.00755206 -0.2667359 ] [ 0.06289654 0.01524321 0.99790364 -1.6364301 ] [ 0. 0. 0. 1. ]] SLAMing on 216.08629675700004 meters Centerline goodness [0,1] 0.7228325956782088 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.27, Z:-1.64 [[ 0.99067441 0.11991201 -0.06469403 6.73976354] [-0.12060187 0.99267731 -0.00685146 -0.26913502] [ 0.06339872 0.01458978 0.99788163 -1.63593128] [ 0. 0. 0. 1. ]] SLAMing on 216.11629675700001 meters Centerline goodness [0,1] 0.7266335060808875 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.27, Z:-1.64 [[ 9.90711573e-01 1.19446022e-01 -6.49863666e-02 6.74056948e+00] [-1.20092557e-01 9.92743829e-01 -6.12105003e-03 -2.72946228e-01] [ 6.37836794e-02 1.38685741e-02 9.97867378e-01 -1.63570031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14629675700002 meters Centerline goodness [0,1] 0.7270974465867639 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.27, Z:-1.64 [[ 9.90681081e-01 1.19641391e-01 -6.50917279e-02 6.74060277e+00] [-1.20243529e-01 9.92729745e-01 -5.39887016e-03 -2.74827861e-01] [ 6.39725660e-02 1.31754176e-02 9.97864680e-01 -1.63522285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17629675700002 meters Centerline goodness [0,1] 0.7254840479736615 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.63 [[ 9.90615671e-01 1.20101532e-01 -6.52396647e-02 6.74043238e+00] [-1.20626785e-01 9.92689220e-01 -4.15831685e-03 -2.77855294e-01] [ 6.42632916e-02 1.19889448e-02 9.97860960e-01 -1.63421282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20629675700002 meters Centerline goodness [0,1] 0.7346007604562738 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.63 [[ 9.90576221e-01 1.20427838e-01 -6.52371589e-02 6.74022057e+00] [-1.20910058e-01 9.92657365e-01 -3.48034904e-03 -2.79582750e-01] [ 6.43390154e-02 1.13353797e-02 9.97863718e-01 -1.63383252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23629675700002 meters Centerline goodness [0,1] 0.7432765399737877 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.63 [[ 9.90531876e-01 1.20693868e-01 -6.54185962e-02 6.74044525e+00] [-1.21103920e-01 9.92637112e-01 -2.32471607e-03 -2.83476466e-01] [ 6.46563474e-02 1.02251538e-02 9.97855201e-01 -1.63331290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26629675700002 meters Centerline goodness [0,1] 0.7176070090251755 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90495678e-01 1.20943198e-01 -6.55061433e-02 6.74063548e+00] [-1.21314638e-01 9.92612634e-01 -1.70791075e-03 -2.85428345e-01] [ 6.48156653e-02 9.63853227e-03 9.97850704e-01 -1.63325129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29629675700002 meters Centerline goodness [0,1] 0.7410808250894548 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90465595e-01 1.21112019e-01 -6.56489382e-02 6.74100502e+00] [-1.21446240e-01 9.92597390e-01 -1.10967150e-03 -2.87186941e-01] [ 6.50285702e-02 9.07190816e-03 9.97842165e-01 -1.63317490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32629675700002 meters Centerline goodness [0,1] 0.7364164904862579 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90419388e-01 1.21574041e-01 -6.54918975e-02 6.74072627e+00] [-1.21833649e-01 9.92550533e-01 3.01064740e-05 -2.90316617e-01] [ 6.50076780e-02 7.94929880e-03 9.97853101e-01 -1.63290571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35629675700002 meters Centerline goodness [0,1] 0.7398599550799313 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90378745e-01 1.21917903e-01 -6.54672866e-02 6.74035632e+00] [-1.22129114e-01 9.92513914e-01 7.81101977e-04 -2.92092921e-01] [ 6.50724232e-02 7.22187489e-03 9.97854410e-01 -1.63230060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38629675700003 meters Centerline goodness [0,1] 0.7420444870157514 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90699206e-01 1.19577867e-01 -6.49324029e-02 6.73724064e+00] [-1.19947509e-01 9.92778584e-01 -1.81043067e-03 -2.93799956e-01] [ 6.42470116e-02 9.58207218e-03 9.97888022e-01 -1.63151731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41629675700003 meters Centerline goodness [0,1] 0.7221852098600933 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90651973e-01 1.19965172e-01 -6.49386277e-02 6.73693964e+00] [-1.20287129e-01 9.92738581e-01 -1.05678816e-03 -2.95623755e-01] [ 6.43403033e-02 8.85819034e-03 9.97888700e-01 -1.63097977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44629675700003 meters Centerline goodness [0,1] 0.737400176277343 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90619101e-01 1.20241198e-01 -6.49295802e-02 6.73686332e+00] [-1.20530752e-01 9.92709443e-01 -5.46625686e-04 -2.96965138e-01] [ 6.43904805e-02 8.36750898e-03 9.97889699e-01 -1.63083456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47629675700003 meters Centerline goodness [0,1] 0.7288732394366197 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90557524e-01 1.20943239e-01 -6.45641079e-02 6.73600471e+00] [-1.21189003e-01 9.92629444e-01 1.10617157e-04 -2.98354959e-01] [ 6.41016129e-02 7.71488718e-03 9.97913555e-01 -1.63078780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50629675700003 meters Centerline goodness [0,1] 0.7305045871559632 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90515038e-01 1.21409235e-01 -6.43409465e-02 6.73525206e+00] [-1.21631371e-01 9.92575232e-01 4.67766581e-04 -2.98451202e-01] [ 6.39200211e-02 7.36254774e-03 9.97927865e-01 -1.63041854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53629675700003 meters Centerline goodness [0,1] 0.7250351804157926 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90432566e-01 1.22463967e-01 -6.36074566e-02 6.73300147e+00] [-1.22637336e-01 9.92450843e-01 1.18628110e-03 -2.98352274e-01] [ 6.32725506e-02 6.62571758e-03 9.97974290e-01 -1.62949768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56629675700003 meters Centerline goodness [0,1] 0.7295818991968837 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90386165e-01 1.22939703e-01 -6.34119316e-02 6.73208496e+00] [-1.23090231e-01 9.92394285e-01 1.54224671e-03 -2.98381157e-01] [ 6.31192419e-02 6.27796953e-03 9.97986247e-01 -1.62888487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59629675700003 meters Centerline goodness [0,1] 0.7204341118263553 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90354341e-01 1.23326851e-01 -6.31566896e-02 6.73149179e+00] [-1.23455952e-01 9.92348293e-01 1.86919956e-03 -2.98699785e-01] [ 6.29039556e-02 5.94589934e-03 9.98001873e-01 -1.62871730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62629675700003 meters Centerline goodness [0,1] 0.7257711602092005 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90349823e-01 1.23294887e-01 -6.32898012e-02 6.73196297e+00] [-1.23416960e-01 9.92352904e-01 1.99202513e-03 -2.99205856e-01] [ 6.30514246e-02 5.83823311e-03 9.97993203e-01 -1.62887597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65629675700004 meters Centerline goodness [0,1] 0.7199468791500664 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90355728e-01 1.23042746e-01 -6.36868470e-02 6.73307602e+00] [-1.23163980e-01 9.92384249e-01 2.03387135e-03 -2.99712327e-01] [ 6.34520769e-02 5.82966939e-03 9.97967860e-01 -1.62903392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68629675700004 meters Centerline goodness [0,1] 0.7240771879253743 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90407803e-01 1.22387088e-01 -6.41387899e-02 6.73496075e+00] [-1.22523738e-01 9.92463927e-01 1.81332604e-03 -3.00334588e-01] [ 6.38773629e-02 6.06259200e-03 9.97939341e-01 -1.62991226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71629675700004 meters Centerline goodness [0,1] 0.7383045609548167 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90456666e-01 1.21757115e-01 -6.45817078e-02 6.73659418e+00] [-1.21900529e-01 9.92540815e-01 1.72981479e-03 -3.01097005e-01] [ 6.43105981e-02 6.15923773e-03 9.97910923e-01 -1.63042313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74629675700004 meters Centerline goodness [0,1] 0.7452885278972236 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90462908e-01 1.21525384e-01 -6.49215577e-02 6.73741477e+00] [-1.21657375e-01 9.92570277e-01 1.93105213e-03 -3.01748292e-01] [ 6.46738803e-02 5.98555077e-03 9.97888502e-01 -1.63023000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77629675700004 meters Centerline goodness [0,1] 0.7496934150893095 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90460105e-01 1.21378264e-01 -6.52387693e-02 6.73802267e+00] [-1.21493979e-01 9.92589718e-01 2.20539510e-03 -3.02574292e-01] [ 6.50230187e-02 5.74176184e-03 9.97867245e-01 -1.62988165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80629675700004 meters Centerline goodness [0,1] 0.7536874732791792 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90456555e-01 1.21258209e-01 -6.55153360e-02 6.73858147e+00] [-1.21358754e-01 9.92605668e-01 2.45763395e-03 -3.03364431e-01] [ 6.53289021e-02 5.51667987e-03 9.97848536e-01 -1.62961622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83629675700004 meters Centerline goodness [0,1] 0.75164169503337 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90470505e-01 1.21008510e-01 -6.57656416e-02 6.73919673e+00] [-1.21091191e-01 9.92637599e-01 2.74222068e-03 -3.04185763e-01] [ 6.56132807e-02 5.24755117e-03 9.97831329e-01 -1.62926959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86629675700001 meters Centerline goodness [0,1] 0.7430952508146802 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90446806e-01 1.21126879e-01 -6.59045001e-02 6.73944863e+00] [-1.21187527e-01 9.92624816e-01 3.09156055e-03 -3.04549250e-01] [ 6.57929134e-02 4.92477709e-03 9.97821146e-01 -1.62895371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89629675700002 meters Centerline goodness [0,1] 0.7395404755543682 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90421123e-01 1.21302100e-01 -6.59681751e-02 6.73957075e+00] [-1.21353165e-01 9.92604082e-01 3.24735413e-03 -3.04374208e-01] [ 6.58741908e-02 4.78919870e-03 9.97816443e-01 -1.62886523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92629675700002 meters Centerline goodness [0,1] 0.7561975718918339 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90404766e-01 1.21425214e-01 -6.59872454e-02 6.73972878e+00] [-1.21477547e-01 9.92588912e-01 3.23364122e-03 -3.04017667e-01] [ 6.58908538e-02 4.81335506e-03 9.97815227e-01 -1.62902905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95629675700002 meters Centerline goodness [0,1] 0.7419526611464629 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90339526e-01 1.22083536e-01 -6.57513071e-02 6.73884961e+00] [-1.22117329e-01 9.92509430e-01 3.51996845e-03 -3.03725556e-01] [ 6.56885225e-02 4.54341013e-03 9.97829833e-01 -1.62871041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98629675700002 meters Centerline goodness [0,1] 0.7492171399512887 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90287688e-01 1.22611710e-01 -6.55489466e-02 6.73791851e+00] [-1.22623447e-01 9.92445764e-01 3.85944200e-03 -3.03422802e-01] [ 6.55269872e-02 4.21587987e-03 9.97841891e-01 -1.62808621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01629675700002 meters Centerline goodness [0,1] 0.7253346818193915 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90163455e-01 1.24004469e-01 -6.48014155e-02 6.73512186e+00] [-1.23973412e-01 9.92275265e-01 4.51572876e-03 -3.02001973e-01] [ 6.48608123e-02 3.56234297e-03 9.97887962e-01 -1.62666891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04629675700002 meters Centerline goodness [0,1] 0.7286417453771452 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.90108943e-01 1.24596980e-01 -6.44970856e-02 6.73395111e+00] [-1.24560168e-01 9.92201359e-01 4.60729056e-03 -3.00773051e-01] [ 6.45681505e-02 3.47204824e-03 9.97907260e-01 -1.62617290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07629675700002 meters Centerline goodness [0,1] 0.7154966887417218 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.62 [[ 9.89953486e-01 1.26121449e-01 -6.39177190e-02 6.73157435e+00] [-1.26048846e-01 9.92010495e-01 5.18333130e-03 -2.98498383e-01] [ 6.40607773e-02 2.92549781e-03 9.97941711e-01 -1.62496063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10629675700002 meters Centerline goodness [0,1] 0.7299557955477911 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.62 [[ 9.89931778e-01 1.26297363e-01 -6.39065846e-02 6.73149962e+00] [-1.26240251e-01 9.91987361e-01 4.94708773e-03 -2.96983936e-01] [ 6.40193283e-02 3.17030394e-03 9.97943623e-01 -1.62498687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13629675700003 meters Centerline goodness [0,1] 0.7117746271016707 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.30, Z:-1.63 [[ 9.89913873e-01 1.26439923e-01 -6.39020290e-02 6.73159933e+00] [-1.26397245e-01 9.91968446e-01 4.72642158e-03 -2.95782478e-01] [ 6.39864047e-02 3.39829010e-03 9.97944984e-01 -1.62523248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16629675700003 meters Centerline goodness [0,1] 0.7216094986807388 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.29, Z:-1.63 [[ 9.89942657e-01 1.26074872e-01 -6.41768102e-02 6.73303173e+00] [-1.26089920e-01 9.92011415e-01 3.83195146e-03 -2.93105559e-01] [ 6.41472411e-02 4.29863662e-03 9.97931187e-01 -1.62642534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19629675700003 meters Centerline goodness [0,1] 0.7230051895366296 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.29, Z:-1.63 [[ 9.89978290e-01 1.25572969e-01 -6.46097075e-02 6.73445878e+00] [-1.25637885e-01 9.92071407e-01 3.07343054e-03 -2.91041593e-01] [ 6.44833832e-02 5.07479752e-03 9.97905877e-01 -1.62702779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22629675700003 meters Centerline goodness [0,1] 0.72270920529627 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.29, Z:-1.63 [[ 9.89984984e-01 1.25415238e-01 -6.48131954e-02 6.73499564e+00] [-1.25493903e-01 9.92090233e-01 2.87214031e-03 -2.90246146e-01] [ 6.46607483e-02 5.29028510e-03 9.97893281e-01 -1.62703007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25629675700003 meters Centerline goodness [0,1] 0.7178804806070826 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.89996547e-01 1.25180518e-01 -6.50897409e-02 6.73546989e+00] [-1.25277540e-01 9.92118316e-01 2.60490812e-03 -2.88794467e-01] [ 6.49028079e-02 5.57543258e-03 9.97876014e-01 -1.62661710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28629675700003 meters Centerline goodness [0,1] 0.7170451853996158 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.89999873e-01 1.25027525e-01 -6.53327628e-02 6.73592605e+00] [-1.25129831e-01 9.92137125e-01 2.53980642e-03 -2.88240452e-01] [ 6.51366052e-02 5.66066952e-03 9.97860301e-01 -1.62634295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31629675700003 meters Centerline goodness [0,1] 0.71543007222587 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.89993333e-01 1.24915179e-01 -6.56460065e-02 6.73640206e+00] [-1.25015784e-01 9.92151374e-01 2.58924359e-03 -2.87880746e-01] [ 6.54542114e-02 5.64345307e-03 9.97839615e-01 -1.62586973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34629675700003 meters Centerline goodness [0,1] 0.7280507715805551 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90042090e-01 1.24333369e-01 -6.60141870e-02 6.73734056e+00] [-1.24438386e-01 9.92224099e-01 2.53469009e-03 -2.87501428e-01] [ 6.58160138e-02 5.70524901e-03 9.97815465e-01 -1.62543334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37629675700003 meters Centerline goodness [0,1] 0.729190167632939 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90065953e-01 1.23989476e-01 -6.63024805e-02 6.73805127e+00] [-1.24095609e-01 9.92267037e-01 2.53131268e-03 -2.87459774e-01] [ 6.61036220e-02 5.72168020e-03 9.97796359e-01 -1.62520303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40629675700004 meters Centerline goodness [0,1] 0.7333716045194791 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.90147192e-01 1.23127492e-01 -6.66945227e-02 6.73928688e+00] [-1.23238012e-01 9.92374067e-01 2.47034681e-03 -2.87674277e-01] [ 6.64900823e-02 5.77329344e-03 9.97770383e-01 -1.62486622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43629675700004 meters Centerline goodness [0,1] 0.7368681863230921 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.90172207e-01 1.22714673e-01 -6.70828588e-02 6.74034393e+00] [-1.22831044e-01 9.92424688e-01 2.40276659e-03 -2.87914318e-01] [ 6.68695399e-02 5.86070490e-03 9.97744515e-01 -1.62491817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46629675700004 meters Centerline goodness [0,1] 0.7411358644493253 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90268586e-01 1.21585073e-01 -6.77140801e-02 6.74265631e+00] [-1.21726618e-01 9.92561554e-01 2.04718786e-03 -2.88146928e-01] [ 6.74593001e-02 6.21534014e-03 9.97702667e-01 -1.62544324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49629675700004 meters Centerline goodness [0,1] 0.7422378134980889 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.63 [[ 9.90288115e-01 1.21119288e-01 -6.82610255e-02 6.74419060e+00] [-1.21269792e-01 9.92617668e-01 1.95004032e-03 -2.88426533e-01] [ 6.79932875e-02 6.34689859e-03 9.97665590e-01 -1.62570937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52629675700004 meters Centerline goodness [0,1] 0.7419658499594697 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.29, Z:-1.63 [[ 9.90344649e-01 1.20387452e-01 -6.87338210e-02 6.74616079e+00] [-1.20568257e-01 9.92703865e-01 1.52706778e-03 -2.88464423e-01] [ 6.84161695e-02 6.77479357e-03 9.97633866e-01 -1.62664054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55629675700004 meters Centerline goodness [0,1] 0.7354945227737303 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.29, Z:-1.63 [[ 9.90335519e-01 1.20342655e-01 -6.89434993e-02 6.74671628e+00] [-1.20522366e-01 9.92709383e-01 1.56218898e-03 -2.88312565e-01] [ 6.86288566e-02 6.76214244e-03 9.97619343e-01 -1.62664250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58629675700004 meters Centerline goodness [0,1] 0.7473502394598415 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.29, Z:-1.63 [[ 9.90302207e-01 1.20605949e-01 -6.89619024e-02 6.74669236e+00] [-1.20786684e-01 9.92677263e-01 1.55831047e-03 -2.87532438e-01] [ 6.86448540e-02 6.78648118e-03 9.97618077e-01 -1.62654572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61629675700001 meters Centerline goodness [0,1] 0.737256234642129 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.29, Z:-1.63 [[ 9.90251879e-01 1.20996808e-01 -6.89999156e-02 6.74643479e+00] [-1.21159819e-01 9.92631320e-01 1.83308224e-03 -2.87479094e-01] [ 6.87132744e-02 6.54480415e-03 9.97614982e-01 -1.62613646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64629675700002 meters Centerline goodness [0,1] 0.7259450171821306 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.29, Z:-1.63 [[ 9.90158715e-01 1.21840856e-01 -6.88514646e-02 6.74538389e+00] [-1.21982343e-01 9.92529917e-01 2.16138378e-03 -2.86746576e-01] [ 6.86004833e-02 6.25854998e-03 9.97624581e-01 -1.62538341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67629675700002 meters Centerline goodness [0,1] 0.7309570440005222 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.90107038e-01 1.22275366e-01 -6.88243247e-02 6.74487700e+00] [-1.22399701e-01 9.92477929e-01 2.42352533e-03 -2.86432741e-01] [ 6.86029607e-02 6.02452725e-03 9.97625851e-01 -1.62482879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70629675700002 meters Centerline goodness [0,1] 0.7422903469669717 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.90050636e-01 1.22737614e-01 -6.88129048e-02 6.74444104e+00] [-1.22847041e-01 9.92422064e-01 2.65539245e-03 -2.86296461e-01] [ 6.86173616e-02 5.82448873e-03 9.97626049e-01 -1.62443379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73629675700002 meters Centerline goodness [0,1] 0.7307023689058405 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.89928559e-01 1.23943945e-01 -6.84057552e-02 6.74265573e+00] [-1.24021346e-01 9.92274611e-01 3.13069793e-03 -2.85783272e-01] [ 6.82653252e-02 5.38460654e-03 9.97652671e-01 -1.62361245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76629675700002 meters Centerline goodness [0,1] 0.7243202612685 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.89869419e-01 1.24483643e-01 -6.82814530e-02 6.74201880e+00] [-1.24551026e-01 9.92207762e-01 3.28618184e-03 -2.85393221e-01] [ 6.81584635e-02 5.25163411e-03 9.97660686e-01 -1.62334606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79629675700002 meters Centerline goodness [0,1] 0.7146808675645633 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89696250e-01 1.26125443e-01 -6.77768771e-02 6.74006584e+00] [-1.26161479e-01 9.92002571e-01 3.76559810e-03 -2.84039628e-01] [ 6.77097740e-02 4.82403275e-03 9.97693397e-01 -1.62286022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82629675700002 meters Centerline goodness [0,1] 0.714758335487206 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89637794e-01 1.26670579e-01 -6.76136180e-02 6.73943507e+00] [-1.26701560e-01 9.91933422e-01 3.84728523e-03 -2.83075182e-01] [ 6.75555453e-02 4.75933202e-03 9.97704163e-01 -1.62264429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85629675700002 meters Centerline goodness [0,1] 0.700726167791111 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89496963e-01 1.28093250e-01 -6.69916353e-02 6.73748534e+00] [-1.28101153e-01 9.91752233e-01 4.19553493e-03 -2.82114620e-01] [ 6.69765237e-02 4.43023663e-03 9.97744716e-01 -1.62242389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88629675700003 meters Centerline goodness [0,1] 0.6963121961311679 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89454291e-01 1.28423349e-01 -6.69899166e-02 6.73743319e+00] [-1.28426264e-01 9.91709821e-01 4.28092200e-03 -2.81960213e-01] [ 6.69843285e-02 4.36748805e-03 9.97744469e-01 -1.62248585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91629675700003 meters Centerline goodness [0,1] 0.6943380602422109 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89408933e-01 1.28779302e-01 -6.69765210e-02 6.73746990e+00] [-1.28774927e-01 9.91664082e-01 4.40072236e-03 -2.81999659e-01] [ 6.69849322e-02 4.27078257e-03 9.97744847e-01 -1.62271451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94629675700003 meters Centerline goodness [0,1] 0.6943380602422109 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89408933e-01 1.28779302e-01 -6.69765210e-02 6.73746990e+00] [-1.28774927e-01 9.91664082e-01 4.40072236e-03 -2.81999659e-01] [ 6.69849322e-02 4.27078257e-03 9.97744847e-01 -1.62271451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97629675700003 meters Centerline goodness [0,1] 0.6937615683411976 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89349689e-01 1.29272186e-01 -6.69021334e-02 6.73774385e+00] [-1.29252310e-01 9.91600865e-01 4.64378578e-03 -2.83438490e-01] [ 6.69405257e-02 4.05292724e-03 9.97748736e-01 -1.62368973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00629675700003 meters Centerline goodness [0,1] 0.6913283940310968 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.28, Z:-1.62 [[ 9.89328564e-01 1.29375681e-01 -6.70143620e-02 6.73825342e+00] [-1.29336682e-01 9.91588439e-01 4.93857429e-03 -2.84876913e-01] [ 6.70895981e-02 3.78154263e-03 9.97739789e-01 -1.62408372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03629675700003 meters Centerline goodness [0,1] 0.6998719188645215 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.89308995e-01 1.29543336e-01 -6.69793726e-02 6.73844259e+00] [-1.29443889e-01 9.91569545e-01 5.84095413e-03 -2.87927220e-01] [ 6.71713627e-02 2.89156200e-03 9.97737263e-01 -1.62402312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06629675700003 meters Centerline goodness [0,1] 0.6859836515107989 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.89280748e-01 1.29741321e-01 -6.70133610e-02 6.73840227e+00] [-1.29596172e-01 9.91545374e-01 6.52718462e-03 -2.89886531e-01] [ 6.72936336e-02 2.22745695e-03 9.97730728e-01 -1.62368193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09629675700003 meters Centerline goodness [0,1] 0.6861298592580967 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.89706677e-01 1.26358026e-01 -6.71888576e-02 6.73766557e+00] [-1.26411942e-01 9.91971779e-01 3.46565444e-03 -2.92408649e-01] [ 6.70873639e-02 5.06349263e-03 9.97734257e-01 -1.62395289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12629675700003 meters Centerline goodness [0,1] 0.688657620866816 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.29, Z:-1.62 [[ 9.90135551e-01 1.22871685e-01 -6.73360237e-02 6.73675433e+00] [-1.23158944e-01 9.92386951e-01 -1.15719915e-04 -2.93155950e-01] [ 6.68091726e-02 8.40761200e-03 9.97730348e-01 -1.62421726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15629675700004 meters Centerline goodness [0,1] 0.6948146577992105 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.62 [[ 9.90591821e-01 1.19056477e-01 -6.74788816e-02 6.73650605e+00] [-1.19539849e-01 9.92824385e-01 -3.15688619e-03 -2.97157131e-01] [ 6.66188313e-02 1.11936010e-02 9.97715708e-01 -1.62493794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18629675700004 meters Centerline goodness [0,1] 0.6976379209448316 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.90595753e-01 1.18810048e-01 -6.78544515e-02 6.73760166e+00] [-1.19258735e-01 9.92859842e-01 -2.58599043e-03 -3.00084869e-01] [ 6.70627184e-02 1.06539072e-02 9.97691879e-01 -1.62504680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21629675700004 meters Centerline goodness [0,1] 0.6955612737214538 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.30, Z:-1.63 [[ 9.91000039e-01 1.15268026e-01 -6.80602995e-02 6.73735863e+00] [-1.15940310e-01 9.93238069e-01 -5.99850796e-03 -3.02436856e-01] [ 6.69086443e-02 1.38354538e-02 9.97663176e-01 -1.62602914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24629675700004 meters Centerline goodness [0,1] 0.715693381661968 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.31, Z:-1.63 [[ 9.90961222e-01 1.15589491e-01 -6.80802936e-02 6.73736534e+00] [-1.16208546e-01 9.93211272e-01 -5.19058966e-03 -3.05075366e-01] [ 6.70181374e-02 1.30551850e-02 9.97666343e-01 -1.62585582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27629675700004 meters Centerline goodness [0,1] 0.7141469993256911 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.31, Z:-1.63 [[ 9.90912029e-01 1.16008736e-01 -6.80832071e-02 6.73719214e+00] [-1.16571908e-01 9.93172752e-01 -4.34453930e-03 -3.07732138e-01] [ 6.71143816e-02 1.22416456e-02 9.97670187e-01 -1.62560257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30629675700004 meters Centerline goodness [0,1] 0.7061098639547778 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.31, Z:-1.62 [[ 9.90845033e-01 1.16676260e-01 -6.79173814e-02 6.73654663e+00] [-1.17124507e-01 9.93113724e-01 -2.64204193e-03 -3.13055449e-01] [ 6.71414200e-02 1.05726439e-02 9.97687451e-01 -1.62483246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33629675700004 meters Centerline goodness [0,1] 0.7155071795010993 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.32, Z:-1.62 [[ 9.90811215e-01 1.16870296e-01 -6.80769389e-02 6.73697473e+00] [-1.17267106e-01 9.93098691e-01 -1.84829330e-03 -3.15796376e-01] [ 6.73911083e-02 9.81449535e-03 9.97678362e-01 -1.62477784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36629675700001 meters Centerline goodness [0,1] 0.7165440472608922 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.32, Z:-1.63 [[ 9.90801370e-01 1.16776970e-01 -6.83797085e-02 6.73819739e+00] [-1.17103677e-01 9.93119393e-01 -7.75234776e-04 -3.21221113e-01] [ 6.78186850e-02 8.77561899e-03 9.97659067e-01 -1.62519155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39629675700002 meters Centerline goodness [0,1] 0.7163991014191003 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.32, Z:-1.63 [[ 9.90782021e-01 1.16764745e-01 -6.86802758e-02 6.73906174e+00] [-1.17048874e-01 9.93126149e-01 -1.13542137e-04 -3.24209909e-01] [ 6.81949201e-02 8.15144442e-03 9.97638716e-01 -1.62530806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42629675700002 meters Centerline goodness [0,1] 0.7183957189749814 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.33, Z:-1.63 [[ 9.91155433e-01 1.13271292e-01 -6.91413227e-02 6.73959685e+00] [-1.13777739e-01 9.93500347e-01 -3.41845455e-03 -3.27892133e-01] [ 6.83047153e-02 1.12549631e-02 9.97601018e-01 -1.62679658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45629675700002 meters Centerline goodness [0,1] 0.7194758620689655 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.33, Z:-1.63 [[ 9.91143554e-01 1.13142671e-01 -6.95211533e-02 6.74092186e+00] [-1.13624149e-01 9.93519283e-01 -2.99790215e-03 -3.30797161e-01] [ 6.87314158e-02 1.08706333e-02 9.97575973e-01 -1.62740560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48629675700002 meters Centerline goodness [0,1] 0.723259904514616 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.33, Z:-1.63 [[ 9.91502105e-01 1.09930523e-01 -6.95618849e-02 6.74032868e+00] [-1.10621989e-01 9.93843490e-01 -6.15567438e-03 -3.34396480e-01] [ 6.84569299e-02 1.37984382e-02 9.97558646e-01 -1.62862155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51629675700002 meters Centerline goodness [0,1] 0.7208736506516025 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.34, Z:-1.63 [[ 9.91459346e-01 1.10328868e-01 -6.95406732e-02 6.74029305e+00] [-1.10961868e-01 9.93810561e-01 -5.29454939e-03 -3.37419222e-01] [ 6.85261138e-02 1.29656935e-02 9.97565067e-01 -1.62860164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54629675700002 meters Centerline goodness [0,1] 0.7163790205087974 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.34, Z:-1.63 [[ 9.91386765e-01 1.11153514e-01 -6.92616603e-02 6.73965456e+00] [-1.11686325e-01 9.93736028e-01 -3.85629839e-03 -3.42021984e-01] [ 6.83991661e-02 1.15586635e-02 9.97591074e-01 -1.62841536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57629675700002 meters Centerline goodness [0,1] 0.7127770131730472 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.34, Z:-1.63 [[ 9.91324138e-01 1.11745343e-01 -6.92057248e-02 6.73917503e+00] [-1.12216889e-01 9.93679354e-01 -2.95164257e-03 -3.44626350e-01] [ 6.84384676e-02 1.06920856e-02 9.97598043e-01 -1.62800231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60629675700002 meters Centerline goodness [0,1] 0.7097795364612776 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.35, Z:-1.63 [[ 9.91201621e-01 1.12977860e-01 -6.89590368e-02 6.73769470e+00] [-1.13314454e-01 9.93558695e-01 -9.76457982e-04 -3.50264634e-01] [ 6.84045325e-02 8.78192234e-03 9.97619014e-01 -1.62675657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63629675700003 meters Centerline goodness [0,1] 0.7037887811241563 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.35, Z:-1.63 [[ 9.91134842e-01 1.13551290e-01 -6.89770263e-02 6.73730942e+00] [-1.13822123e-01 9.93501145e-01 3.84106746e-06 -3.53026329e-01] [ 6.85291907e-02 7.84730452e-03 9.97618249e-01 -1.62618892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66629675700003 meters Centerline goodness [0,1] 0.6977485554891413 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.36, Z:-1.63 [[ 9.91076717e-01 1.14014785e-01 -6.90475951e-02 6.73717690e+00] [-1.14231939e-01 9.93453779e-01 8.08205984e-04 -3.55615196e-01] [ 6.86877417e-02 7.08644651e-03 9.97613039e-01 -1.62588028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69629675700003 meters Centerline goodness [0,1] 0.6909941453334865 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.36, Z:-1.63 [[ 9.90977081e-01 1.14985776e-01 -6.88672361e-02 6.73630746e+00] [-1.15089327e-01 9.93352062e-01 2.47537853e-03 -3.60963114e-01] [ 6.86940443e-02 5.47284047e-03 9.97622763e-01 -1.62527384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72629675700003 meters Centerline goodness [0,1] 0.6897549792233844 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.36, Z:-1.63 [[ 9.90928328e-01 1.15360047e-01 -6.89427923e-02 6.73640255e+00] [-1.15420711e-01 9.93311808e-01 3.11627387e-03 -3.63362308e-01] [ 6.88411832e-02 4.86942205e-03 9.97615748e-01 -1.62531143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75629675700003 meters Centerline goodness [0,1] 0.6841300080822076 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.37, Z:-1.63 [[ 9.90867007e-01 1.15884145e-01 -6.89451917e-02 6.73649604e+00] [-1.15848955e-01 9.93256548e-01 4.52212128e-03 -3.68498829e-01] [ 6.90043053e-02 3.50640765e-03 9.97610200e-01 -1.62517490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78629675700003 meters Centerline goodness [0,1] 0.6858643300644114 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.37, Z:-1.63 [[ 9.91247084e-01 1.12648708e-01 -6.88439333e-02 6.73505799e+00] [-1.12863431e-01 9.93610208e-01 7.75080236e-04 -3.69022015e-01] [ 6.84913467e-02 7.00166648e-03 9.97627141e-01 -1.62584204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81629675700003 meters Centerline goodness [0,1] 0.6847342542730039 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.37, Z:-1.63 [[ 9.91621249e-01 1.09325485e-01 -6.88130557e-02 6.73359070e+00] [-1.09706151e-01 9.93962495e-01 -1.76592862e-03 -3.73470333e-01] [ 6.82045356e-02 9.30034781e-03 9.97628009e-01 -1.62534249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84629675700003 meters Centerline goodness [0,1] 0.6919916659330341 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.37, Z:-1.63 [[ 9.92027023e-01 1.05507278e-01 -6.89245971e-02 6.73285071e+00] [-1.06137214e-01 9.94336105e-01 -5.53196046e-03 -3.74493233e-01] [ 6.79505533e-02 1.28033190e-02 9.97606534e-01 -1.62572909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87629675700003 meters Centerline goodness [0,1] 0.7138896262867593 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.38, Z:-1.63 [[ 0.99246283 0.10090832 -0.06953449 6.73360641] [-0.10172497 0.99477797 -0.00829619 -0.3796443 ] [ 0.06833423 0.01530706 0.99754505 -1.62513439] [ 0. 0. 0. 1. ]] SLAMing on 218.90629675700004 meters Centerline goodness [0,1] 0.7188148763271842 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.38, Z:-1.63 [[ 0.99286118 0.09670477 -0.06982025 6.73365781] [-0.09779371 0.99513017 -0.01234227 -0.3803191 ] [ 0.06828669 0.01908214 0.99748323 -1.62580991] [ 0. 0. 0. 1. ]] SLAMing on 218.93629675700004 meters Centerline goodness [0,1] 0.72251231234795 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.38, Z:-1.63 [[ 0.9929028 0.09570048 -0.07060775 6.73625776] [-0.09677727 0.99523393 -0.01198258 -0.38332493] [ 0.06912449 0.01873076 0.99743219 -1.62590945] [ 0. 0. 0. 1. ]] SLAMing on 218.96629675700004 meters Centerline goodness [0,1] 0.729141259406883 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.39, Z:-1.63 [[ 0.99322344 0.09253329 -0.07031923 6.73835449] [-0.09372536 0.9955019 -0.01383917 -0.38606399] [ 0.06872234 0.02033609 0.99742854 -1.62804731] [ 0. 0. 0. 1. ]] SLAMing on 218.99629675700004 meters Centerline goodness [0,1] 0.7294601113725023 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.39, Z:-1.63 [[ 0.99323711 0.09206254 -0.07074267 6.73991112] [-0.09324594 0.99555015 -0.01360493 -0.38740171] [ 0.06917537 0.02010939 0.99740182 -1.62823027] [ 0. 0. 0. 1. ]] SLAMing on 219.02629675700004 meters Centerline goodness [0,1] 0.7287208749405611 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.39, Z:-1.63 [[ 0.99324037 0.09182231 -0.07100873 6.74067565] [-0.09295378 0.99558827 -0.01279042 -0.38969911] [ 0.06952101 0.01930449 0.99739369 -1.62745531] [ 0. 0. 0. 1. ]] SLAMing on 219.05629675700004 meters Centerline goodness [0,1] 0.7451208942287576 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.39, Z:-1.63 [[ 0.9932257 0.09179618 -0.07124729 6.7410311 ] [-0.09289886 0.99559941 -0.01231364 -0.39077687] [ 0.06980342 0.01884902 0.99738267 -1.6267952 ] [ 0. 0. 0. 1. ]] SLAMing on 219.08629675700004 meters Centerline goodness [0,1] 0.7340435081839671 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.39, Z:-1.63 [[ 0.99320043 0.09184882 -0.0715311 6.74117215] [-0.09287809 0.99561459 -0.01119143 -0.39324991] [ 0.07018949 0.01775901 0.99737558 -1.62519417] [ 0. 0. 0. 1. ]] SLAMing on 219.11629675700001 meters Centerline goodness [0,1] 0.7318028278480255 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.39, Z:-1.62 [[ 0.99318826 0.09173358 -0.07184721 6.74176711] [-0.09273961 0.99563196 -0.01078693 -0.39426358] [ 0.07054385 0.01737654 0.99735732 -1.62460989] [ 0. 0. 0. 1. ]] SLAMing on 219.14629675700002 meters Centerline goodness [0,1] 0.744413240917782 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.40, Z:-1.62 [[ 0.99318781 0.09133984 -0.0723534 6.74318681] [-0.09232793 0.99567408 -0.01042463 -0.39561933] [ 0.07108822 0.01703386 0.99732458 -1.62429611] [ 0. 0. 0. 1. ]] SLAMing on 219.17629675700002 meters Centerline goodness [0,1] 0.7384334172360063 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.40, Z:-1.62 [[ 0.99318427 0.09109648 -0.07270784 6.74414158] [-0.09208974 0.99569618 -0.01042076 -0.39584028] [ 0.07144562 0.01704538 0.99729884 -1.62432077] [ 0. 0. 0. 1. ]] SLAMing on 219.20629675700002 meters Centerline goodness [0,1] 0.7519719281408391 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-1.62 [[ 0.99320292 0.09057795 -0.07309991 6.74557923] [-0.09158092 0.99574248 -0.01048056 -0.39629953] [ 0.07183938 0.01710388 0.99726955 -1.62458417] [ 0. 0. 0. 1. ]] SLAMing on 219.23629675700002 meters Centerline goodness [0,1] 0.7679300816914945 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-1.62 [[ 0.99358098 0.08557577 -0.07398396 6.74715895] [-0.08688974 0.99610915 -0.01472178 -0.39611031] [ 0.07243627 0.02105573 0.99715076 -1.62460634] [ 0. 0. 0. 1. ]] SLAMing on 219.26629675700002 meters Centerline goodness [0,1] 0.7762885048835462 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-1.63 [[ 0.99360543 0.08472653 -0.07463021 6.74954607] [-0.08607324 0.99617571 -0.01501164 -0.39620287] [ 0.07307292 0.02133932 0.99709828 -1.62518343] [ 0. 0. 0. 1. ]] SLAMing on 219.29629675700002 meters Centerline goodness [0,1] 0.7767696190361735 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-1.63 [[ 0.99364131 0.08366352 -0.07534826 6.75246891] [-0.0850522 0.99625735 -0.0154082 -0.39615611] [ 0.07377716 0.02171876 0.99703823 -1.6260765 ] [ 0. 0. 0. 1. ]] SLAMing on 219.32629675700002 meters Centerline goodness [0,1] 0.7660104435508073 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-1.63 [[ 0.99363869 0.08348246 -0.07558329 6.75319772] [-0.08487724 0.99627197 -0.01542761 -0.39613388] [ 0.07401358 0.02174477 0.99702014 -1.62614333] [ 0. 0. 0. 1. ]] SLAMing on 219.35629675700002 meters Centerline goodness [0,1] 0.7789083073976538 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.40, Z:-1.63 [[ 0.99363048 0.08340919 -0.07577184 6.75358035] [-0.08480611 0.9962784 -0.01540362 -0.39577292] [ 0.07420505 0.02173142 0.9970062 -1.62590403] [ 0. 0. 0. 1. ]] SLAMing on 219.38629675700003 meters Centerline goodness [0,1] 0.7707579608312154 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.39, Z:-1.63 [[ 0.9936079 0.08388505 -0.07554228 6.75247588] [-0.0852689 0.99624083 -0.01527804 -0.39484394] [ 0.0739767 0.02162179 0.99702555 -1.62536314] [ 0. 0. 0. 1. ]] SLAMing on 219.41629675700003 meters Centerline goodness [0,1] 0.7656543939801128 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.39, Z:-1.62 [[ 0.99358724 0.08416131 -0.07550676 6.75180184] [-0.08553142 0.99622114 -0.01509332 -0.39421755] [ 0.07395116 0.02145473 0.99703105 -1.62460824] [ 0. 0. 0. 1. ]] SLAMing on 219.44629675700003 meters Centerline goodness [0,1] 0.7674091371774145 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.39, Z:-1.62 [[ 0.9935625 0.08475476 -0.07516772 6.74990287] [-0.08610586 0.99617436 -0.0149137 -0.39231233] [ 0.07361615 0.02129008 0.99705937 -1.62323352] [ 0. 0. 0. 1. ]] SLAMing on 219.47629675700003 meters Centerline goodness [0,1] 0.7617560453288124 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.39, Z:-1.62 [[ 0.9935555 0.08478168 -0.07522993 6.74973149] [-0.08612807 0.99617368 -0.01483103 -0.39142406] [ 0.07368468 0.02121486 0.99705592 -1.62259173] [ 0. 0. 0. 1. ]] SLAMing on 219.50629675700003 meters Centerline goodness [0,1] 0.7561055127445169 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.39, Z:-1.62 [[ 0.99354483 0.08507114 -0.07504379 6.74863934] [-0.08643224 0.99614368 -0.01507429 -0.38832044] [ 0.07347201 0.02146319 0.99706629 -1.62176816] [ 0. 0. 0. 1. ]] SLAMing on 219.53629675700003 meters Centerline goodness [0,1] 0.7524130988334221 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.39, Z:-1.62 [[ 0.99354387 0.08515832 -0.07495753 6.74837279] [-0.08655916 0.99612399 -0.01563663 -0.38597759] [ 0.07333541 0.02202394 0.99706412 -1.62203882] [ 0. 0. 0. 1. ]] SLAMing on 219.56629675700003 meters Centerline goodness [0,1] 0.7561804058244972 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.62 [[ 0.99354222 0.08510855 -0.07503599 6.74848223] [-0.0865355 0.99612077 -0.01596945 -0.384181 ] [ 0.07338577 0.0223596 0.99705295 -1.62197654] [ 0. 0. 0. 1. ]] SLAMing on 219.59629675700003 meters Centerline goodness [0,1] 0.769533544824345 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.62 [[ 0.99355159 0.08486115 -0.07519187 6.74891527] [-0.08636384 0.99611933 -0.01695791 -0.38021186] [ 0.07346101 0.02334242 0.99702488 -1.62234252] [ 0. 0. 0. 1. ]] SLAMing on 219.62629675700003 meters Centerline goodness [0,1] 0.7476994314518493 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.62 [[ 0.99355703 0.08462569 -0.07538516 6.74945581] [-0.08616339 0.99612943 -0.01737877 -0.37875652] [ 0.07362269 0.02376224 0.99700304 -1.62247458] [ 0. 0. 0. 1. ]] SLAMing on 219.65629675700004 meters Centerline goodness [0,1] 0.7781091908646958 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.62 [[ 0.99359411 0.08376865 -0.07585222 6.75128174] [-0.08540965 0.99617137 -0.01864941 -0.3751404 ] [ 0.07399957 0.02500846 0.99694465 -1.62344025] [ 0. 0. 0. 1. ]] SLAMing on 219.68629675700004 meters Centerline goodness [0,1] 0.7751214373500321 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.37, Z:-1.62 [[ 0.99361232 0.08332998 -0.07609651 6.75222344] [-0.08501189 0.99619625 -0.01913153 -0.37368315] [ 0.07421282 0.02547843 0.9969169 -1.62376161] [ 0. 0. 0. 1. ]] SLAMing on 219.71629675700004 meters Centerline goodness [0,1] 0.7751899473991818 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.37, Z:-1.62 [[ 0.99362736 0.08293121 -0.07633531 6.75307248] [-0.08463579 0.99622372 -0.01936716 -0.37297534] [ 0.07444091 0.02570444 0.99689409 -1.62384384] [ 0. 0. 0. 1. ]] SLAMing on 219.74629675700004 meters Centerline goodness [0,1] 0.8061413027539079 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.37, Z:-1.62 [[ 0.99369242 0.08165194 -0.07686572 6.75513925] [-0.0833945 0.99632118 -0.0197347 -0.37239018] [ 0.07497157 0.0260204 0.99684613 -1.62372491] [ 0. 0. 0. 1. ]] SLAMing on 219.77629675700004 meters Centerline goodness [0,1] 0.811831893395812 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.37, Z:-1.62 [[ 0.99375207 0.08024164 -0.07757639 6.75763128] [-0.0819961 0.996438 -0.01969647 -0.3727674 ] [ 0.07571959 0.02593437 0.99679183 -1.62312186] [ 0. 0. 0. 1. ]] SLAMing on 219.80629675700004 meters Centerline goodness [0,1] 0.8360328051970958 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.37, Z:-1.62 [[ 0.99376208 0.0795468 -0.07816156 6.75931239] [-0.08130437 0.99649732 -0.0195624 -0.37342174] [ 0.07633166 0.02579525 0.99674876 -1.62278014] [ 0. 0. 0. 1. ]] SLAMing on 219.83629675700004 meters Centerline goodness [0,1] 0.8666273062730627 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.37, Z:-1.62 [[ 0.99412928 0.0741465 -0.07879899 6.7613798 ] [-0.07628495 0.99678552 -0.02447938 -0.37242163] [ 0.07673063 0.03034685 0.99658993 -1.62416241] [ 0. 0. 0. 1. ]] SLAMing on 219.86629675700001 meters Centerline goodness [0,1] 0.8666273062730627 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.37, Z:-1.62 [[ 0.99412928 0.0741465 -0.07879899 6.7613798 ] [-0.07628495 0.99678552 -0.02447938 -0.37242163] [ 0.07673063 0.03034685 0.99658993 -1.62416241] [ 0. 0. 0. 1. ]] SLAMing on 219.89629675700002 meters Centerline goodness [0,1] 0.8730716945445949 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.37, Z:-1.62 [[ 0.99414396 0.07318444 -0.07950991 6.76363484] [-0.0753268 0.99686316 -0.02428397 -0.37370518] [ 0.07748329 0.03013099 0.99653824 -1.62392845] [ 0. 0. 0. 1. ]] SLAMing on 219.92629675700002 meters Centerline goodness [0,1] 0.8696996729110913 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.37, Z:-1.62 [[ 0.99448348 0.06791799 -0.07993589 6.76507801] [-0.07040276 0.99710613 -0.02868481 -0.37396563] [ 0.07775635 0.03415427 0.99638719 -1.62473561] [ 0. 0. 0. 1. ]] SLAMing on 219.95629675700002 meters Centerline goodness [0,1] 0.8647849462365591 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.62 [[ 0.99448632 0.06733978 -0.08038851 6.76640263] [-0.06980595 0.99715995 -0.02826934 -0.37574375] [ 0.07825655 0.03372507 0.99636265 -1.62429276] [ 0. 0. 0. 1. ]] SLAMing on 219.98629675700002 meters Centerline goodness [0,1] 0.864995207284927 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.62 [[ 0.99448465 0.06676774 -0.08088479 6.76776375] [-0.06920866 0.99721599 -0.02775669 -0.37756548] [ 0.07880635 0.03320153 0.9963369 -1.62364542] [ 0. 0. 0. 1. ]] SLAMing on 220.01629675700002 meters Centerline goodness [0,1] 0.8663311464605614 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.62 [[ 0.99454231 0.06578362 -0.08098213 6.76885474] [-0.06815381 0.99731326 -0.0268574 -0.38090778] [ 0.07899778 0.03223006 0.99635364 -1.62268066] [ 0. 0. 0. 1. ]] SLAMing on 220.04629675700002 meters Centerline goodness [0,1] 0.8622138206259189 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.62 [[ 0.99452746 0.06569177 -0.08123865 6.7694257 ] [-0.06802185 0.99733839 -0.02625202 -0.38252145] [ 0.07929788 0.03163436 0.99634889 -1.62210016] [ 0. 0. 0. 1. ]] SLAMing on 220.07629675700002 meters Centerline goodness [0,1] 0.8589528041311396 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.62 [[ 0.99452296 0.06523949 -0.08165715 6.77093624] [-0.06752921 0.99738888 -0.02559736 -0.3845734 ] [ 0.07977398 0.0309714 0.99633171 -1.62174476] [ 0. 0. 0. 1. ]] SLAMing on 220.10629675700002 meters Centerline goodness [0,1] 0.8578199052132701 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.39, Z:-1.62 [[ 0.99451558 0.06505536 -0.08189364 6.77194507] [-0.06733537 0.99740725 -0.02539131 -0.38550163] [ 0.08002947 0.0307664 0.99631758 -1.6220268 ] [ 0. 0. 0. 1. ]] SLAMing on 220.13629675700003 meters Centerline goodness [0,1] 0.8584710433974148 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.39, Z:-1.62 [[ 0.99451403 0.06431026 -0.0824987 6.77438045] [-0.06657604 0.99746783 -0.02501121 -0.38757721] [ 0.08068132 0.03036644 0.99627727 -1.62236089] [ 0. 0. 0. 1. ]] SLAMing on 220.16629675700003 meters Centerline goodness [0,1] 0.8575854186717998 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.62 [[ 0.99450039 0.0639352 -0.08295341 6.77583619] [-0.06618926 0.99750107 -0.02471035 -0.38905483] [ 0.08116625 0.03006507 0.99624702 -1.6223611 ] [ 0. 0. 0. 1. ]] SLAMing on 220.19629675700003 meters Centerline goodness [0,1] 0.859119686463672 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.62 [[ 0.99449234 0.06352758 -0.08336202 6.77721081] [-0.0657762 0.99753338 -0.02450814 -0.39039733] [ 0.08159946 0.0298564 0.99621791 -1.62247313] [ 0. 0. 0. 1. ]] SLAMing on 220.22629675700003 meters Centerline goodness [0,1] 0.8612479226469255 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.62 [[ 0.99450893 0.06237164 -0.08403426 6.77996952] [-0.06460814 0.9976182 -0.02416018 -0.39285656] [ 0.0823272 0.02945681 0.99616993 -1.6224975 ] [ 0. 0. 0. 1. ]] SLAMing on 220.25629675700003 meters Centerline goodness [0,1] 0.8629446250113909 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.62 [[ 0.99450491 0.06201061 -0.08434853 6.78102076] [-0.06423221 0.99764917 -0.02388204 -0.39421204] [ 0.0826693 0.02916869 0.99615008 -1.62237045] [ 0. 0. 0. 1. ]] SLAMing on 220.28629675700003 meters Centerline goodness [0,1] 0.8595104150828645 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99452773 0.06132554 -0.08458003 6.7821871 ] [-0.06349679 0.99771184 -0.02322172 -0.39703318] [ 0.08296241 0.02846521 0.99614606 -1.6218365 ] [ 0. 0. 0. 1. ]] SLAMing on 220.31629675700003 meters Centerline goodness [0,1] 0.8601882023327344 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99451756 0.06118075 -0.08480417 6.78266921] [-0.06331273 0.99773599 -0.02268034 -0.39843338] [ 0.08322457 0.02792518 0.99613948 -1.62120136] [ 0. 0. 0. 1. ]] SLAMing on 220.34629675700003 meters Centerline goodness [0,1] 0.855431212747841 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99451995 0.0607573 -0.08508008 6.78322534] [-0.0627784 0.99780055 -0.02128229 -0.40153338] [ 0.0835999 0.02650686 0.9961468 -1.61909605] [ 0. 0. 0. 1. ]] SLAMing on 220.37629675700003 meters Centerline goodness [0,1] 0.8577796775769418 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99450183 0.06075444 -0.08529364 6.78350604] [-0.06273373 0.99781524 -0.0207179 -0.40288565] [ 0.08384859 0.02595477 0.99614043 -1.61837835] [ 0. 0. 0. 1. ]] SLAMing on 220.40629675700004 meters Centerline goodness [0,1] 0.8574083665945583 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99448604 0.06085083 -0.08540901 6.78353579] [-0.06278577 0.99782355 -0.02015215 -0.40365359] [ 0.08399685 0.0254035 0.99614215 -1.61758577] [ 0. 0. 0. 1. ]] SLAMing on 220.43629675700004 meters Centerline goodness [0,1] 0.859939987270027 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99448267 0.06031763 -0.08582542 6.78505377] [-0.06226177 0.9978563 -0.02015635 -0.40328824] [ 0.08442566 0.02538878 0.99610628 -1.61756194] [ 0. 0. 0. 1. ]] SLAMing on 220.46629675700004 meters Centerline goodness [0,1] 0.8581015425725738 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99447844 0.06013487 -0.0860025 6.78566037] [-0.06208702 0.99786621 -0.02020464 -0.40283914] [ 0.08460399 0.02543271 0.99609003 -1.61755768] [ 0. 0. 0. 1. ]] SLAMing on 220.49629675700004 meters Centerline goodness [0,1] 0.8548612376267687 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99447986 0.05976277 -0.08624511 6.78646952] [-0.06172459 0.99788757 -0.02026007 -0.40206865] [ 0.08485213 0.02547168 0.99606792 -1.6173274 ] [ 0. 0. 0. 1. ]] SLAMing on 220.52629675700004 meters Centerline goodness [0,1] 0.8556428853215186 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99447827 0.05966194 -0.08633323 6.78672248] [-0.06162038 0.99789527 -0.02019801 -0.40192695] [ 0.08494647 0.02540637 0.99606155 -1.61715149] [ 0. 0. 0. 1. ]] SLAMing on 220.55629675700004 meters Centerline goodness [0,1] 0.8553064457170708 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99447795 0.05951491 -0.0864383 6.78684875] [-0.06146556 0.99790717 -0.02008121 -0.40145977] [ 0.08506227 0.0252833 0.9960548 -1.61656495] [ 0. 0. 0. 1. ]] SLAMing on 220.58629675700004 meters Centerline goodness [0,1] 0.8614679177674531 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99446707 0.05956396 -0.08652964 6.78684124] [-0.06149586 0.99791028 -0.01983276 -0.4013329 ] [ 0.0851675 0.02504424 0.99605185 -1.61599389] [ 0. 0. 0. 1. ]] SLAMing on 220.61629675700001 meters Centerline goodness [0,1] 0.8559311765418636 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99445045 0.05965491 -0.08665786 6.78676313] [-0.06160192 0.99790104 -0.01996769 -0.39951441] [ 0.0852848 0.02519517 0.996038 -1.6155236 ] [ 0. 0. 0. 1. ]] SLAMing on 220.64629675700002 meters Centerline goodness [0,1] 0.8582024036569491 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99443754 0.05969202 -0.08678046 6.78696893] [-0.06165754 0.99789403 -0.02014581 -0.39818307] [ 0.08539516 0.02538442 0.99602374 -1.61544906] [ 0. 0. 0. 1. ]] SLAMing on 220.67629675700002 meters Centerline goodness [0,1] 0.8599727396637892 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99443677 0.05972765 -0.08676468 6.78697977] [-0.06171734 0.99788453 -0.02043109 -0.39672808] [ 0.08536083 0.02567231 0.99601931 -1.6156017 ] [ 0. 0. 0. 1. ]] SLAMing on 220.70629675700002 meters Centerline goodness [0,1] 0.8601212925806354 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.61 [[ 0.99416687 0.0637987 -0.0869595 6.78777819] [-0.06540327 0.99773498 -0.01572651 -0.39722174] [ 0.0857592 0.02132222 0.99608771 -1.61403052] [ 0. 0. 0. 1. ]] SLAMing on 220.73629675700002 meters Centerline goodness [0,1] 0.8624039218059675 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.61 [[ 0.9941539 0.06397693 -0.08697685 6.78755214] [-0.06559818 0.9977193 -0.01590842 -0.39586558] [ 0.08576071 0.02152094 0.9960833 -1.61389394] [ 0. 0. 0. 1. ]] SLAMing on 220.76629675700002 meters Centerline goodness [0,1] 0.864205350948632 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.61 [[ 0.99385917 0.06808971 -0.08722242 6.78826674] [-0.06934406 0.99752733 -0.01142918 -0.39646744] [ 0.08622854 0.01740735 0.9961233 -1.61252354] [ 0. 0. 0. 1. ]] SLAMing on 220.79629675700002 meters Centerline goodness [0,1] 0.8642596666767126 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.61 [[ 0.99383995 0.06853648 -0.08709136 6.78754581] [-0.06978416 0.99749743 -0.01135957 -0.39545511] [ 0.08609487 0.01736719 0.99613556 -1.61223784] [ 0. 0. 0. 1. ]] SLAMing on 220.82629675700002 meters Centerline goodness [0,1] 0.8675640600006036 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.39, Z:-1.61 [[ 0.99382641 0.06891632 -0.08694604 6.78690651] [-0.07017008 0.9974694 -0.01144344 -0.39411991] [ 0.08593737 0.01747381 0.9961473 -1.61210829] [ 0. 0. 0. 1. ]] SLAMing on 220.85629675700002 meters Centerline goodness [0,1] 0.8638499066433777 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.39, Z:-1.61 [[ 0.99351393 0.07338556 -0.08685983 6.78674366] [-0.07426491 0.99721446 -0.00693163 -0.39390059] [ 0.08610919 0.01333731 0.99619643 -1.61068198] [ 0. 0. 0. 1. ]] SLAMing on 220.88629675700003 meters Centerline goodness [0,1] 0.863842435524064 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.39, Z:-1.61 [[ 9.93168621e-01 7.80875617e-02 -8.67088400e-02 6.78631425e+00] [-7.85972338e-02 9.96903382e-01 -2.47439530e-03 -3.93388863e-01] [ 8.62471163e-02 9.27256674e-03 9.96230623e-01 -1.60936956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91629675700003 meters Centerline goodness [0,1] 0.8595066095141033 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.39, Z:-1.61 [[ 9.93150729e-01 7.86894137e-02 -8.63690038e-02 6.78521242e+00] [-7.92127664e-02 9.96854226e-01 -2.64379728e-03 -3.91572313e-01] [ 8.58892676e-02 9.46721691e-03 9.96259708e-01 -1.60942439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94629675700003 meters Centerline goodness [0,1] 0.8599058596343009 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.61 [[ 9.93137682e-01 7.91917707e-02 -8.60593229e-02 6.78427217e+00] [-7.97326356e-02 9.96812181e-01 -2.86039020e-03 -3.89823815e-01] [ 8.55584620e-02 9.70249794e-03 9.96285908e-01 -1.60951377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97629675700003 meters Centerline goodness [0,1] 0.8580757248981548 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.61 [[ 9.92774304e-01 8.35987228e-02 -8.60838802e-02 6.78468207e+00] [-8.37885830e-02 9.96482554e-01 1.41160655e-03 -3.89933425e-01] [ 8.58990934e-02 5.81143963e-03 9.96286893e-01 -1.60868622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00629675700003 meters Centerline goodness [0,1] 0.8612884851755254 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.61 [[ 9.92750772e-01 8.42641011e-02 -8.57056911e-02 6.78339726e+00] [-8.44617508e-02 9.96425843e-01 1.32382858e-03 -3.88721125e-01] [ 8.55109167e-02 5.92462088e-03 9.96319618e-01 -1.60869796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03629675700003 meters Centerline goodness [0,1] 0.8596880623875225 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.61 [[ 9.92673186e-01 8.60554070e-02 -8.48198840e-02 6.78015573e+00] [-8.62209480e-02 9.96274562e-01 1.71645736e-03 -3.87283271e-01] [ 8.46516032e-02 5.60936961e-03 9.96394822e-01 -1.60829384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06629675700003 meters Centerline goodness [0,1] 0.8604741779815963 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.61 [[ 9.92658984e-01 8.66619142e-02 -8.43673739e-02 6.77894881e+00] [-8.68269390e-02 9.96221928e-01 1.71817829e-03 -3.86511317e-01] [ 8.41975286e-02 5.61979571e-03 9.96433236e-01 -1.60843301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09629675700003 meters Centerline goodness [0,1] 0.8635220125786164 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.39, Z:-1.61 [[ 9.92586604e-01 8.81870075e-02 -8.36354333e-02 6.77636156e+00] [-8.83215485e-02 9.96089808e-01 2.09711965e-03 -3.85157601e-01] [ 8.34933414e-02 5.30523811e-03 9.96494213e-01 -1.60814968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12629675700003 meters Centerline goodness [0,1] 0.858881144093258 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.38, Z:-1.61 [[ 9.92570511e-01 8.87570859e-02 -8.32223521e-02 6.77523286e+00] [-8.88903854e-02 9.96039181e-01 2.10952656e-03 -3.84464202e-01] [ 8.30799589e-02 5.30381310e-03 9.96528770e-01 -1.60827923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15629675700004 meters Centerline goodness [0,1] 0.8550263915547025 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.92498987e-01 9.03607244e-02 -8.23450130e-02 6.77231958e+00] [-9.04515018e-02 9.95897375e-01 2.63506376e-03 -3.83323777e-01] [ 8.22452886e-02 4.83293198e-03 9.96600399e-01 -1.60782258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18629675700004 meters Centerline goodness [0,1] 0.8547218396311156 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.92470827e-01 9.09551895e-02 -8.20293336e-02 6.77132638e+00] [-9.10448208e-02 9.95843257e-01 2.65494709e-03 -3.82483841e-01] [ 8.19298399e-02 4.83338845e-03 9.96626379e-01 -1.60788473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21629675700004 meters Centerline goodness [0,1] 0.85249328157659 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.92449336e-01 9.15507414e-02 -8.16258319e-02 6.77019106e+00] [-9.16408924e-02 9.95788596e-01 2.64917903e-03 -3.81401978e-01] [ 8.15246069e-02 4.85108812e-03 9.96659523e-01 -1.60795905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24629675700004 meters Centerline goodness [0,1] 0.8476352055243028 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.92373785e-01 9.29938802e-02 -8.09098864e-02 6.76796627e+00] [-9.30729150e-02 9.95655352e-01 2.80229797e-03 -3.79760020e-01] [ 8.08189580e-02 4.74959194e-03 9.96717481e-01 -1.60825209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27629675700004 meters Centerline goodness [0,1] 0.8463810489886031 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.92356814e-01 9.35350737e-02 -8.04931295e-02 6.76693453e+00] [-9.36190587e-02 9.95604326e-01 2.73828620e-03 -3.79044974e-01] [ 8.03954338e-02 4.81833405e-03 9.96751402e-01 -1.60856486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30629675700004 meters Centerline goodness [0,1] 0.8325606118772702 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.91953941e-01 9.77609164e-02 -8.04374365e-02 6.76778804e+00] [-9.75136541e-02 9.95209528e-01 7.00596471e-03 -3.80391676e-01] [ 8.07370127e-02 8.94154056e-04 9.96735038e-01 -1.60844626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33629675700004 meters Centerline goodness [0,1] 0.8269760009469417 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.91927649e-01 9.83821597e-02 -8.00030617e-02 6.76675196e+00] [-9.81386442e-02 9.95148275e-01 6.97975611e-03 -3.80016479e-01] [ 8.03015923e-02 9.27978943e-04 9.96770181e-01 -1.60889812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36629675700001 meters Centerline goodness [0,1] 0.8249911253106141 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.38, Z:-1.61 [[ 9.91895118e-01 9.88876914e-02 -7.97828315e-02 6.76614640e+00] [-9.86578753e-02 9.95097993e-01 6.82701278e-03 -3.79599375e-01] [ 8.00668431e-02 1.09952400e-03 9.96788890e-01 -1.60940204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39629675700002 meters Centerline goodness [0,1] 0.8079172821270311 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91820514e-01 1.00173248e-01 -7.91036506e-02 6.76437221e+00] [-9.99741921e-02 9.94968911e-01 6.48279986e-03 -3.79122557e-01] [ 7.93550762e-02 1.47854966e-03 9.96845317e-01 -1.61087365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42629675700002 meters Centerline goodness [0,1] 0.8021265252932117 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91784552e-01 1.00795191e-01 -7.87637763e-02 6.76352951e+00] [-1.00602325e-01 9.94905984e-01 6.42309685e-03 -3.78911627e-01] [ 7.90099696e-02 1.55349076e-03 9.96872615e-01 -1.61144002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45629675700002 meters Centerline goodness [0,1] 0.7709251101321586 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91681835e-01 1.02312102e-01 -7.80984717e-02 6.76173250e+00] [-1.02157517e-01 9.94750245e-01 5.98263200e-03 -3.77726378e-01] [ 7.83005695e-02 2.04547846e-03 9.96927699e-01 -1.61317459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48629675700002 meters Centerline goodness [0,1] 0.7576052639343779 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91642100e-01 1.03021824e-01 -7.76688421e-02 6.76066844e+00] [-1.02877887e-01 9.94676715e-01 5.86290639e-03 -3.77214304e-01] [ 7.78593960e-02 2.17650157e-03 9.96961974e-01 -1.61381231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51629675700002 meters Centerline goodness [0,1] 0.763425639210829 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91588879e-01 1.03805419e-01 -7.73041376e-02 6.75955111e+00] [-1.03653188e-01 9.94595464e-01 5.98998627e-03 -3.77090673e-01] [ 7.75081376e-02 2.07321651e-03 9.96989564e-01 -1.61412231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54629675700002 meters Centerline goodness [0,1] 0.7371354427766801 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91464557e-01 1.05466724e-01 -7.66472598e-02 6.75701626e+00] [-1.05269760e-01 9.94421689e-01 6.61683225e-03 -3.77847608e-01] [ 7.69175532e-02 1.50828396e-03 9.97036316e-01 -1.61401275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57629675700002 meters Centerline goodness [0,1] 0.7316835771590373 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.61 [[ 9.91420208e-01 1.06026171e-01 -7.64488205e-02 6.75615864e+00] [-1.05814153e-01 9.94362466e-01 6.83012763e-03 -3.78168523e-01] [ 7.67420099e-02 1.31784065e-03 9.97050113e-01 -1.61389444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60629675700002 meters Centerline goodness [0,1] 0.7286215745848206 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.61 [[ 9.91325986e-01 1.07243400e-01 -7.59713214e-02 6.75458488e+00] [-1.07004838e-01 9.94232317e-01 7.21558407e-03 -3.78896336e-01] [ 7.63069667e-02 9.76302971e-04 9.97083895e-01 -1.61424609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63629675700003 meters Centerline goodness [0,1] 0.7269989370497225 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.61 [[ 9.91292456e-01 1.07629910e-01 -7.58621701e-02 6.75442615e+00] [-1.07399280e-01 9.94190438e-01 7.12517620e-03 -3.78672101e-01] [ 7.61883262e-02 1.08440906e-03 9.97092856e-01 -1.61485369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66629675700003 meters Centerline goodness [0,1] 0.721938025518904 Centerline is valid? [False, False] Translation: X:6.75, Y:-0.38, Z:-1.62 [[ 9.91273459e-01 1.07810622e-01 -7.58538003e-02 6.75476143e+00] [-1.07600217e-01 9.94170526e-01 6.86719927e-03 -3.78458446e-01] [ 7.61519695e-02 1.35461301e-03 9.97095303e-01 -1.61580619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69629675700003 meters Centerline goodness [0,1] 0.7258503401360544 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.62 [[ 9.91279028e-01 1.07578945e-01 -7.61095273e-02 6.75645463e+00] [-1.07376770e-01 9.94195450e-01 6.75549626e-03 -3.80182554e-01] [ 7.63944949e-02 1.47581345e-03 9.97076578e-01 -1.61741352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72629675700003 meters Centerline goodness [0,1] 0.7201787352410263 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.62 [[ 9.91294072e-01 1.07095339e-01 -7.65940620e-02 6.75822115e+00] [-1.06881694e-01 9.94247837e-01 6.89504135e-03 -3.81910750e-01] [ 7.68919072e-02 1.35148947e-03 9.97038519e-01 -1.61792026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75629675700003 meters Centerline goodness [0,1] 0.7201787352410263 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.62 [[ 9.91294072e-01 1.07095339e-01 -7.65940620e-02 6.75822115e+00] [-1.06881694e-01 9.94247837e-01 6.89504135e-03 -3.81910750e-01] [ 7.68919072e-02 1.35148947e-03 9.97038519e-01 -1.61792026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78629675700003 meters Centerline goodness [0,1] 0.7269525770734473 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.62 [[ 9.91726074e-01 1.02948756e-01 -7.66873358e-02 6.75848204e+00] [-1.03023820e-01 9.94674403e-01 2.98724547e-03 -3.83942312e-01] [ 7.65864632e-02 4.93809308e-03 9.97050715e-01 -1.61957382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81629675700003 meters Centerline goodness [0,1] 0.7248022531160114 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.38, Z:-1.62 [[ 9.92116519e-01 9.90615869e-02 -7.67568510e-02 6.75807003e+00] [-9.94451561e-02 9.95042343e-01 -1.18176554e-03 -3.83862925e-01] [ 7.62592492e-02 8.80554614e-03 9.97049141e-01 -1.62070350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84629675700003 meters Centerline goodness [0,1] 0.7348788198103267 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.39, Z:-1.62 [[ 9.92500379e-01 9.50711111e-02 -7.68406232e-02 6.75789990e+00] [-9.56690877e-02 9.95404624e-01 -4.13039689e-03 -3.87909433e-01] [ 7.60948302e-02 1.14506928e-02 9.97034833e-01 -1.62100668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87629675700003 meters Centerline goodness [0,1] 0.75 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.39, Z:-1.62 [[ 0.99286255 0.09107951 -0.07699663 6.75757946] [-0.09196965 0.99572897 -0.00808754 -0.38848507] [ 0.07593116 0.01511117 0.99699855 -1.62167818] [ 0. 0. 0. 1. ]] SLAMing on 221.90629675700004 meters Centerline goodness [0,1] 0.7490727792302547 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.39, Z:-1.62 [[ 0.99284073 0.09090691 -0.07748047 6.75860898] [-0.09171724 0.99576079 -0.00695749 -0.39202259] [ 0.07651953 0.01401397 0.99696959 -1.62069812] [ 0. 0. 0. 1. ]] SLAMing on 221.93629675700004 meters Centerline goodness [0,1] 0.7696773405035444 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.39, Z:-1.62 [[ 0.99318915 0.08683185 -0.07768872 6.75885808] [-0.08789242 0.99607639 -0.01033162 -0.39480649] [ 0.07648678 0.0170895 0.99692413 -1.6213911 ] [ 0. 0. 0. 1. ]] SLAMing on 221.96629675700004 meters Centerline goodness [0,1] 0.7725096667280427 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99316231 0.08688754 -0.07796909 6.75937675] [-0.08789718 0.99608324 -0.00960571 -0.39670028] [ 0.07682909 0.01639329 0.9969095 -1.62076775] [ 0. 0. 0. 1. ]] SLAMing on 221.99629675700004 meters Centerline goodness [0,1] 0.7643223961376426 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99307952 0.08822564 -0.07751971 6.75675483] [-0.08918386 0.99597469 -0.00898044 -0.39619706] [ 0.07641536 0.0158318 0.99695037 -1.61943593] [ 0. 0. 0. 1. ]] SLAMing on 222.02629675700004 meters Centerline goodness [0,1] 0.7669604741869107 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99305393 0.0884332 -0.077611 6.75665353] [-0.08936609 0.99596151 -0.0086235 -0.39667667] [ 0.07653497 0.01549939 0.99694642 -1.61893312] [ 0. 0. 0. 1. ]] SLAMing on 222.05629675700004 meters Centerline goodness [0,1] 0.7586947187634178 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99303627 0.08839581 -0.07787904 6.75719027] [-0.08931839 0.99596739 -0.00843681 -0.39690178] [ 0.0768192 0.01533409 0.99692712 -1.61866402] [ 0. 0. 0. 1. ]] SLAMing on 222.08629675700004 meters Centerline goodness [0,1] 0.790146995510179 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99303112 0.08806488 -0.07831842 6.75819574] [-0.08896983 0.9960011 -0.00813471 -0.39712273] [ 0.07728885 0.01504599 0.99689521 -1.61800646] [ 0. 0. 0. 1. ]] SLAMing on 222.11629675700001 meters Centerline goodness [0,1] 0.77867339404381 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99302535 0.0879884 -0.07847735 6.75863855] [-0.08887927 0.99601087 -0.00792542 -0.3974187 ] [ 0.07746695 0.01484515 0.99688439 -1.61780931] [ 0. 0. 0. 1. ]] SLAMing on 222.14629675700002 meters Centerline goodness [0,1] 0.7927241442880846 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99302287 0.08756366 -0.07898219 6.76013652] [-0.08844892 0.99605038 -0.00777379 -0.39790806] [ 0.07798953 0.01470544 0.99684572 -1.61769453] [ 0. 0. 0. 1. ]] SLAMing on 222.17629675700002 meters Centerline goodness [0,1] 0.7974045144227813 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99301985 0.08717137 -0.07945264 6.76145796] [-0.08807424 0.99608239 -0.0079242 -0.39771048] [ 0.07845061 0.01486662 0.99680715 -1.61781892] [ 0. 0. 0. 1. ]] SLAMing on 222.20629675700002 meters Centerline goodness [0,1] 0.8108921225517284 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.99300832 0.0869889 -0.07979602 6.76243989] [-0.0879035 0.99609675 -0.00801478 -0.3978261 ] [ 0.07878736 0.01497309 0.99677899 -1.61808352] [ 0. 0. 0. 1. ]] SLAMing on 222.23629675700002 meters Centerline goodness [0,1] 0.8033850579989594 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.40, Z:-1.62 [[ 0.9930075 0.08646074 -0.08037812 6.76416262] [-0.08741933 0.99613553 -0.00847786 -0.3971816 ] [ 0.0793345 0.01544518 0.99672839 -1.61859234] [ 0. 0. 0. 1. ]] SLAMing on 222.26629675700002 meters Centerline goodness [0,1] 0.81734587890267 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99301402 0.08577091 -0.08103401 6.76604625] [-0.08675548 0.99619163 -0.00870177 -0.39680845] [ 0.07997904 0.01567112 0.99667335 -1.61858167] [ 0. 0. 0. 1. ]] SLAMing on 222.29629675700002 meters Centerline goodness [0,1] 0.8162142333088774 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99301188 0.08556308 -0.08127954 6.76669627] [-0.0865559 0.99620844 -0.00876446 -0.39684825] [ 0.08022145 0.01573843 0.99665281 -1.61862056] [ 0. 0. 0. 1. ]] SLAMing on 222.32629675700002 meters Centerline goodness [0,1] 0.8311609209404313 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99300314 0.08519851 -0.08176782 6.76779181] [-0.0861881 0.99624139 -0.00864363 -0.39678008] [ 0.08072406 0.01563056 0.99661392 -1.61809516] [ 0. 0. 0. 1. ]] SLAMing on 222.35629675700002 meters Centerline goodness [0,1] 0.8451858622790981 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99301287 0.08473626 -0.08212924 6.7686655 ] [-0.08571385 0.99628401 -0.00844493 -0.39694467] [ 0.08110845 0.01542554 0.99658591 -1.61736072] [ 0. 0. 0. 1. ]] SLAMing on 222.38629675700003 meters Centerline goodness [0,1] 0.8433352655825732 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99299776 0.08456025 -0.08249247 6.76926604] [-0.08551918 0.99630315 -0.00815479 -0.39710566] [ 0.08149794 0.01515238 0.99655832 -1.61660456] [ 0. 0. 0. 1. ]] SLAMing on 222.41629675700003 meters Centerline goodness [0,1] 0.8450489927575924 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99300401 0.08381853 -0.08317141 6.77102012] [-0.08476188 0.99637015 -0.00787053 -0.3977778 ] [ 0.08220981 0.01486524 0.99650418 -1.61576271] [ 0. 0. 0. 1. ]] SLAMing on 222.44629675700003 meters Centerline goodness [0,1] 0.8479820082664722 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99300194 0.0833793 -0.08363632 6.77234877] [-0.08431828 0.99640872 -0.00775205 -0.39821316] [ 0.08268959 0.01474987 0.99646619 -1.61557772] [ 0. 0. 0. 1. ]] SLAMing on 222.47629675700003 meters Centerline goodness [0,1] 0.8453172939639721 Centerline is valid? [False, False] Translation: X:6.77, Y:-0.40, Z:-1.62 [[ 0.99300599 0.082781 -0.08418082 6.77420953] [-0.08373599 0.99645688 -0.00787163 -0.39841312] [ 0.08323093 0.01486554 0.9964194 -1.61590505] [ 0. 0. 0. 1. ]] SLAMing on 222.50629675700003 meters Centerline goodness [0,1] 0.841128591386746 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99306031 0.08085625 -0.08540195 6.77885067] [-0.08188356 0.99660489 -0.00858974 -0.39851143] [ 0.08441746 0.01552315 0.99630955 -1.61699749] [ 0. 0. 0. 1. ]] SLAMing on 222.53629675700003 meters Centerline goodness [0,1] 0.8391638095816014 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99305666 0.08007574 -0.08617624 6.78112523] [-0.08110478 0.99666933 -0.00850121 -0.39942125] [ 0.08520848 0.01543149 0.99624364 -1.61689734] [ 0. 0. 0. 1. ]] SLAMing on 222.56629675700003 meters Centerline goodness [0,1] 0.8374375228574912 Centerline is valid? [False, False] Translation: X:6.78, Y:-0.40, Z:-1.62 [[ 0.99337057 0.07607662 -0.08618153 6.78415367] [-0.07729361 0.99694913 -0.01086864 -0.39999987] [ 0.08509175 0.01745787 0.99622016 -1.61843983] [ 0. 0. 0. 1. ]] SLAMing on 222.59629675700003 meters Centerline goodness [0,1] 0.8352765230130631 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99337088 0.07519386 -0.08694924 6.78652811] [-0.07642077 0.99701647 -0.0108644 -0.40102883] [ 0.08587289 0.0174371 0.9961535 -1.61848722] [ 0. 0. 0. 1. ]] SLAMing on 222.62629675700003 meters Centerline goodness [0,1] 0.8345165909991163 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.9933706 0.07438773 -0.08764307 6.78871403] [-0.07561493 0.99707902 -0.01076179 -0.40201193] [ 0.08658652 0.01731757 0.99609381 -1.61836377] [ 0. 0. 0. 1. ]] SLAMing on 222.65629675700004 meters Centerline goodness [0,1] 0.8341149957363869 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.40, Z:-1.62 [[ 0.99344707 0.0726209 -0.08825606 6.79153754] [-0.07382644 0.99721616 -0.0104688 -0.40411662] [ 0.08725011 0.01691583 0.99604281 -1.61768712] [ 0. 0. 0. 1. ]] SLAMing on 222.68629675700004 meters Centerline goodness [0,1] 0.8329164887451961 Centerline is valid? [False, False] Translation: X:6.79, Y:-0.41, Z:-1.62 [[ 0.99343972 0.07192932 -0.08890271 6.79346989] [-0.07312603 0.99726979 -0.01027383 -0.40520775] [ 0.08792099 0.01670754 0.99598733 -1.61744457] [ 0. 0. 0. 1. ]] SLAMing on 222.71629675700004 meters Centerline goodness [0,1] 0.8309038789948768 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.41, Z:-1.62 [[ 0.99350096 0.07026767 -0.0895449 6.79672206] [-0.07147957 0.99738789 -0.01039589 -0.40656905] [ 0.0885805 0.01672896 0.99592853 -1.6178301 ] [ 0. 0. 0. 1. ]] SLAMing on 222.74629675700004 meters Centerline goodness [0,1] 0.8274159631853228 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.41, Z:-1.62 [[ 0.99348689 0.06968607 -0.09015347 6.7986138 ] [-0.07089553 0.99743077 -0.01027973 -0.40725974] [ 0.08920549 0.01660425 0.99587483 -1.61776127] [ 0. 0. 0. 1. ]] SLAMing on 222.77629675700004 meters Centerline goodness [0,1] 0.828647150211716 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.41, Z:-1.62 [[ 0.99352816 0.06829361 -0.09076216 6.80149235] [-0.06949449 0.99753086 -0.01013364 -0.40887772] [ 0.08984599 0.01637553 0.99582104 -1.61775146] [ 0. 0. 0. 1. ]] SLAMing on 222.80629675700004 meters Centerline goodness [0,1] 0.8289063931122916 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.41, Z:-1.62 [[ 0.99349947 0.06790869 -0.09136304 6.80291233] [-0.06906959 0.99756564 -0.00960149 -0.4104134 ] [ 0.0904886 0.01584949 0.99577136 -1.61697852] [ 0. 0. 0. 1. ]] SLAMing on 222.83629675700004 meters Centerline goodness [0,1] 0.8284231415051138 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.41, Z:-1.62 [[ 0.9935334 0.06654203 -0.09199749 6.80553941] [-0.06765274 0.9976683 -0.00900437 -0.41391899] [ 0.09118381 0.01517002 0.99571853 -1.61633587] [ 0. 0. 0. 1. ]] SLAMing on 222.86629675700001 meters Centerline goodness [0,1] 0.8257225875516134 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.62 [[ 0.99351886 0.06595488 -0.09257548 6.80739852] [-0.06704001 0.99771272 -0.00865771 -0.41570696] [ 0.09179272 0.01480786 0.99566803 -1.61614714] [ 0. 0. 0. 1. ]] SLAMing on 222.89629675700002 meters Centerline goodness [0,1] 0.8288238542241855 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.62 [[ 0.99350141 0.06547391 -0.09310274 6.80915175] [-0.06654579 0.99774758 -0.00845192 -0.41705455] [ 0.09233965 0.01459259 0.99562063 -1.6162334 ] [ 0. 0. 0. 1. ]] SLAMing on 222.92629675700002 meters Centerline goodness [0,1] 0.8282896348934085 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.62 [[ 0.9934693 0.0652593 -0.09359471 6.81071417] [-0.06634262 0.99776064 -0.00850674 -0.41681061] [ 0.09282997 0.0146605 0.99557404 -1.61652764] [ 0. 0. 0. 1. ]] SLAMing on 222.95629675700002 meters Centerline goodness [0,1] 0.8282589326861041 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.62 [[ 0.99345111 0.06537834 -0.09370462 6.81093305] [-0.06647055 0.9977515 -0.00857911 -0.41626561] [ 0.09293304 0.01475152 0.99556308 -1.61663428] [ 0. 0. 0. 1. ]] SLAMing on 222.98629675700002 meters Centerline goodness [0,1] 0.8287065283709579 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.61 [[ 9.93172283e-01 6.84916593e-02 -9.44336173e-02 6.81387555e+00] [-6.91111909e-02 9.97603499e-01 -3.30179359e-03 -4.18536380e-01] [ 9.39811617e-02 9.80566963e-03 9.95525685e-01 -1.61405392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01629675700002 meters Centerline goodness [0,1] 0.8299313473090597 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.61 [[ 9.93163107e-01 6.85353930e-02 -9.44983746e-02 6.81408489e+00] [-6.91578009e-02 9.97600197e-01 -3.32338901e-03 -4.18059921e-01] [ 9.40438274e-02 9.83596713e-03 9.95519469e-01 -1.61407467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04629675700002 meters Centerline goodness [0,1] 0.8312425236941385 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.42, Z:-1.61 [[ 9.93152935e-01 6.83216579e-02 -9.47596940e-02 6.81499044e+00] [-6.89632198e-02 9.97613034e-01 -3.50832433e-03 -4.17459986e-01] [ 9.42938113e-02 1.00192362e-02 9.95493994e-01 -1.61433647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07629675700002 meters Centerline goodness [0,1] 0.831687104369897 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.42, Z:-1.61 [[ 9.93156654e-01 6.79652847e-02 -9.49767346e-02 6.81625732e+00] [-6.86150988e-02 9.97636751e-01 -3.58904978e-03 -4.16705087e-01] [ 9.45083501e-02 1.00813267e-02 9.95473023e-01 -1.61461239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10629675700002 meters Centerline goodness [0,1] 0.8315960015895821 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.42, Z:-1.61 [[ 9.93141422e-01 6.75261971e-02 -9.54480389e-02 6.81773568e+00] [-6.81943095e-02 9.97665005e-01 -3.75146233e-03 -4.16603934e-01] [ 9.49718463e-02 1.02347457e-02 9.95427345e-01 -1.61480324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13629675700003 meters Centerline goodness [0,1] 0.8358250022929469 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.42, Z:-1.61 [[ 9.93137443e-01 6.68730653e-02 -9.59479695e-02 6.81947228e+00] [-6.75565234e-02 9.97707869e-01 -3.88887152e-03 -4.16443923e-01] [ 9.54679834e-02 1.03440952e-02 9.95378754e-01 -1.61478734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16629675700003 meters Centerline goodness [0,1] 0.8371710024703407 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.42, Z:-1.61 [[ 9.93115996e-01 6.67910555e-02 -9.62266765e-02 6.82005711e+00] [-6.74696746e-02 9.97714042e-01 -3.81223915e-03 -4.16447140e-01] [ 9.57520829e-02 1.02783782e-02 9.95352146e-01 -1.61454947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19629675700003 meters Centerline goodness [0,1] 0.8404829804016747 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.42, Z:-1.61 [[ 9.93095615e-01 6.64164143e-02 -9.66951834e-02 6.82137449e+00] [-6.70875148e-02 9.97740226e-01 -3.70223758e-03 -4.15503709e-01] [ 9.62307848e-02 1.01637155e-02 9.95307156e-01 -1.61395008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22629675700003 meters Centerline goodness [0,1] 0.8422266039739117 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.93086438e-01 6.63283162e-02 -9.68497906e-02 6.82184607e+00] [-6.70044525e-02 9.97745659e-01 -3.74211935e-03 -4.14780723e-01] [ 9.63832497e-02 1.02056152e-02 9.95291975e-01 -1.61388778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25629675700003 meters Centerline goodness [0,1] 0.8415658449316231 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.93067687e-01 6.62182168e-02 -9.71170280e-02 6.82252405e+00] [-6.68934802e-02 9.97753225e-01 -3.71010427e-03 -4.14232083e-01] [ 9.66531514e-02 1.01808807e-02 9.95266054e-01 -1.61372278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28629675700003 meters Centerline goodness [0,1] 0.8496734002661183 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.93045190e-01 6.64488239e-02 -9.71895326e-02 6.82243657e+00] [-6.71228733e-02 9.97737935e-01 -3.67872988e-03 -4.13196183e-01] [ 9.67252363e-02 1.01767857e-02 9.95259093e-01 -1.61340697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31629675700003 meters Centerline goodness [0,1] 0.8503553606532588 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.93022945e-01 6.64807854e-02 -9.73947440e-02 6.82269599e+00] [-6.71549569e-02 9.97735857e-01 -3.65676436e-03 -4.12495383e-01] [ 9.69311238e-02 1.01717908e-02 9.95239113e-01 -1.61306981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34629675700003 meters Centerline goodness [0,1] 0.8542395368471837 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.93007923e-01 6.64849827e-02 -9.75449242e-02 6.82348722e+00] [-6.72121448e-02 9.97729934e-01 -4.18407143e-03 -4.10398149e-01] [ 9.70453129e-02 1.07110196e-02 9.95222328e-01 -1.61391204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37629675700003 meters Centerline goodness [0,1] 0.8557985220931986 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92999759e-01 6.65315349e-02 -9.75962816e-02 6.82382709e+00] [-6.72696125e-02 9.97725620e-01 -4.28799127e-03 -4.09736355e-01] [ 9.70890239e-02 1.08232383e-02 9.95216850e-01 -1.61419764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40629675700004 meters Centerline goodness [0,1] 0.8577423542553513 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92985195e-01 6.63585301e-02 -9.78618852e-02 6.82466998e+00] [-6.70814020e-02 9.97739035e-01 -4.11133740e-03 -4.09836265e-01] [ 9.73678006e-02 1.06472096e-02 9.95191513e-01 -1.61396429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43629675700004 meters Centerline goodness [0,1] 0.8604117611543802 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.61 [[ 9.92971975e-01 6.62804256e-02 -9.80487770e-02 6.82530824e+00] [-6.69766438e-02 9.97747220e-01 -3.82278931e-03 -4.10848168e-01] [ 9.75745185e-02 1.03629007e-02 9.95174268e-01 -1.61389544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46629675700004 meters Centerline goodness [0,1] 0.8640709142615115 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.61 [[ 9.92947254e-01 6.62787840e-02 -9.82999117e-02 6.82583899e+00] [-6.69296386e-02 9.97752125e-01 -3.33472653e-03 -4.12184905e-01] [ 9.78579242e-02 9.89038512e-03 9.95151248e-01 -1.61341940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49629675700004 meters Centerline goodness [0,1] 0.8582215778663767 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.61 [[ 9.92957805e-01 6.61891359e-02 -9.82537266e-02 6.82642771e+00] [-6.67808844e-02 9.97763896e-01 -2.74259677e-03 -4.14407107e-01] [ 9.78524909e-02 9.28475363e-03 9.95157617e-01 -1.61343725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52629675700004 meters Centerline goodness [0,1] 0.864312606266699 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.42, Z:-1.61 [[ 9.92941710e-01 6.62557139e-02 -9.83714433e-02 6.82683257e+00] [-6.68252571e-02 9.97761556e-01 -2.50256515e-03 -4.15375037e-01] [ 9.79854351e-02 9.05859832e-03 9.95146621e-01 -1.61351274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55629675700004 meters Centerline goodness [0,1] 0.8591890500560215 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.42, Z:-1.61 [[ 9.92614045e-01 7.09181846e-02 -9.84274816e-02 6.82691735e+00] [-7.10093585e-02 9.97472310e-01 2.58097488e-03 -4.16979986e-01] [ 9.83617255e-02 4.42736042e-03 9.95140879e-01 -1.61156508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58629675700004 meters Centerline goodness [0,1] 0.8676693553277943 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.42, Z:-1.61 [[ 9.92601173e-01 7.15724360e-02 -9.80831183e-02 6.82563701e+00] [-7.16627345e-02 9.97425515e-01 2.60655994e-03 -4.15978472e-01] [ 9.80171626e-02 4.44163001e-03 9.95174813e-01 -1.61147710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61629675700001 meters Centerline goodness [0,1] 0.8617430553451879 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92552834e-01 7.30381299e-02 -9.74900128e-02 6.82344045e+00] [-7.31326065e-02 9.97318814e-01 2.60873034e-03 -4.12893301e-01] [ 9.74191607e-02 4.54039606e-03 9.95233084e-01 -1.61156866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64629675700002 meters Centerline goodness [0,1] 0.8662950958713234 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92539607e-01 7.36487603e-02 -9.71647450e-02 6.82243803e+00] [-7.37626393e-02 9.97272879e-01 2.42444072e-03 -4.11084319e-01] [ 9.70783221e-02 4.76077461e-03 9.95265359e-01 -1.61183683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67629675700002 meters Centerline goodness [0,1] 0.8662950958713234 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92539607e-01 7.36487603e-02 -9.71647450e-02 6.82243803e+00] [-7.37626393e-02 9.97272879e-01 2.42444072e-03 -4.11084319e-01] [ 9.70783221e-02 4.76077461e-03 9.95265359e-01 -1.61183683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70629675700002 meters Centerline goodness [0,1] 0.8628305197555515 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92532267e-01 7.39167786e-02 -9.70361161e-02 6.82215013e+00] [-7.40628510e-02 9.97251363e-01 2.10064807e-03 -4.09366297e-01] [ 9.69246722e-02 5.10181041e-03 9.95278644e-01 -1.61222478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73629675700002 meters Centerline goodness [0,1] 0.8687287930198739 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92524973e-01 7.43555730e-02 -9.67751375e-02 6.82145393e+00] [-7.45191505e-02 9.97217719e-01 1.92794426e-03 -4.08355227e-01] [ 9.66492353e-02 5.29806822e-03 9.95304404e-01 -1.61255183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76629675700002 meters Centerline goodness [0,1] 0.8642525702847784 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92516297e-01 7.43021842e-02 -9.69050344e-02 6.82189777e+00] [-7.44573743e-02 9.97222154e-01 2.01874696e-03 -4.08558495e-01] [ 9.67858444e-02 5.21165515e-03 9.95291585e-01 -1.61251701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79629675700002 meters Centerline goodness [0,1] 0.8626139081468923 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92528387e-01 7.38723636e-02 -9.71096019e-02 6.82295061e+00] [-7.40283981e-02 9.97254128e-01 2.00014174e-03 -4.09262474e-01] [ 9.69907066e-02 5.20367081e-03 9.95271684e-01 -1.61267911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82629675700002 meters Centerline goodness [0,1] 0.863813582373742 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92520269e-01 7.36890220e-02 -9.73316168e-02 6.82377590e+00] [-7.38530626e-02 9.97267283e-01 1.92115644e-03 -4.09269843e-01] [ 9.72072052e-02 5.28145127e-03 9.95250152e-01 -1.61292455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85629675700002 meters Centerline goodness [0,1] 0.8633497269408321 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.41, Z:-1.61 [[ 9.92518225e-01 7.35048307e-02 -9.74916016e-02 6.82463463e+00] [-7.37006270e-02 9.97279133e-01 1.59622326e-03 -4.08799682e-01] [ 9.73436701e-02 5.60091149e-03 9.95235068e-01 -1.61364626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88629675700003 meters Centerline goodness [0,1] 0.8655208804462535 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.61 [[ 9.92518804e-01 7.32063628e-02 -9.77100457e-02 6.82586587e+00] [-7.34541198e-02 9.97298030e-01 1.06402803e-03 -4.07683994e-01] [ 9.75239297e-02 6.12113757e-03 9.95214356e-01 -1.61461546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91629675700003 meters Centerline goodness [0,1] 0.8639640454860797 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.61 [[ 9.92496925e-01 7.33284550e-02 -9.78406446e-02 6.82613223e+00] [-7.35910649e-02 9.97288071e-01 9.26893493e-04 -4.07116023e-01] [ 9.76432753e-02 6.28025828e-03 9.95201663e-01 -1.61478118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94629675700003 meters Centerline goodness [0,1] 0.863750491575158 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.62 [[ 9.92486699e-01 7.33088325e-02 -9.79590057e-02 6.82656888e+00] [-7.35834657e-02 9.97288732e-01 8.11171760e-04 -4.06870173e-01] [ 9.77528786e-02 6.40308595e-03 9.95190120e-01 -1.61502880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97629675700003 meters Centerline goodness [0,1] 0.8629549670082404 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.62 [[ 9.92476893e-01 7.33613362e-02 -9.80190400e-02 6.82667816e+00] [-7.36429977e-02 9.97284389e-01 7.46201084e-04 -4.06503381e-01] [ 9.78076007e-02 6.47782860e-03 9.95184260e-01 -1.61506816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00629675700003 meters Centerline goodness [0,1] 0.8642418344382945 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.62 [[ 9.92473603e-01 7.37381383e-02 -9.77692957e-02 6.82619929e+00] [-7.40345553e-02 9.97255498e-01 5.97548831e-04 -4.05244652e-01] [ 9.75450298e-02 6.64525489e-03 9.95208927e-01 -1.61544302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03629675700003 meters Centerline goodness [0,1] 0.859560938682816 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.92468402e-01 7.38488351e-02 -9.77385344e-02 6.82634816e+00] [-7.41606437e-02 9.97246209e-01 4.43789874e-04 -4.04272207e-01] [ 9.75021563e-02 6.80790520e-03 9.95212029e-01 -1.61571899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06629675700003 meters Centerline goodness [0,1] 0.8555666696977964 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92443865e-01 7.47579624e-02 -9.72955360e-02 6.82476009e+00] [-7.50687976e-02 9.97178248e-01 4.67094698e-04 -4.02350149e-01] [ 9.70559111e-02 6.84029363e-03 9.95255425e-01 -1.61559894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09629675700003 meters Centerline goodness [0,1] 0.8561756633119854 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92433844e-01 7.51502849e-02 -9.70953169e-02 6.82415372e+00] [-7.54695580e-02 9.97148032e-01 3.85344766e-04 -4.01269806e-01] [ 9.68473630e-02 6.94531147e-03 9.95275013e-01 -1.61572622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12629675700003 meters Centerline goodness [0,1] 0.8526126784138288 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92403653e-01 7.60281983e-02 -9.67197112e-02 6.82296105e+00] [-7.63471215e-02 9.97081217e-01 4.04531939e-04 -3.99103203e-01] [ 9.64681632e-02 6.98281257e-03 9.95311576e-01 -1.61581303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15629675700004 meters Centerline goodness [0,1] 0.8498592055598826 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.61 [[ 9.92062093e-01 7.96619404e-02 -9.72973777e-02 6.82525626e+00] [-7.95615132e-02 9.96817828e-01 4.91771923e-03 -4.00993108e-01] [ 9.73795158e-02 2.86244377e-03 9.95243205e-01 -1.61485877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18629675700004 meters Centerline goodness [0,1] 0.8490835154163632 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92047766e-01 7.99748603e-02 -9.71866833e-02 6.82495332e+00] [-7.98846456e-02 9.96792436e-01 4.82526604e-03 -4.00191029e-01] [ 9.72608507e-02 2.97682935e-03 9.95254473e-01 -1.61509102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21629675700004 meters Centerline goodness [0,1] 0.8512464118446895 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.92019015e-01 8.03797081e-02 -9.71461634e-02 6.82505182e+00] [-8.03413100e-02 9.96758080e-01 4.31325645e-03 -3.98512191e-01] [ 9.71779216e-02 3.52601762e-03 9.95260779e-01 -1.61613729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24629675700004 meters Centerline goodness [0,1] 0.852034001214329 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.92002791e-01 8.06121701e-02 -9.71192071e-02 6.82507551e+00] [-8.05930131e-02 9.96738551e-01 4.12651262e-03 -3.97939091e-01] [ 9.71351048e-02 3.73361750e-03 9.95264202e-01 -1.61660739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27629675700004 meters Centerline goodness [0,1] 0.8484977238239757 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.91965604e-01 8.10424005e-02 -9.71409751e-02 6.82501416e+00] [-8.10401010e-02 9.96702913e-01 3.97570568e-03 -3.97680605e-01] [ 9.71428935e-02 3.92855114e-03 9.95262691e-01 -1.61709688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30629675700004 meters Centerline goodness [0,1] 0.8480954984508839 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.91949514e-01 8.12587800e-02 -9.71245160e-02 6.82502625e+00] [-8.12644638e-02 9.96684929e-01 3.90381273e-03 -3.97599845e-01] [ 9.71197603e-02 4.02038657e-03 9.95264582e-01 -1.61743001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33629675700004 meters Centerline goodness [0,1] 0.8454893849990875 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91918663e-01 8.17578471e-02 -9.70207237e-02 6.82498955e+00] [-8.17964367e-02 9.96642605e-01 3.58626099e-03 -3.96858122e-01] [ 9.69881918e-02 4.37867028e-03 9.95275900e-01 -1.61850445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36629675700004 meters Centerline goodness [0,1] 0.8457848881333293 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.91902883e-01 8.19432740e-02 -9.70256137e-02 6.82520400e+00] [-8.20125505e-02 9.96625897e-01 3.28061478e-03 -3.96415607e-01] [ 9.69670637e-02 4.70326679e-03 9.95276478e-01 -1.61928093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39629675700002 meters Centerline goodness [0,1] 0.8325956466379676 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.39, Z:-1.62 [[ 9.91807656e-01 8.35335364e-02 -9.66422339e-02 6.82347092e+00] [-8.36051473e-02 9.96493446e-01 3.31528337e-03 -3.94778456e-01] [ 9.65802900e-02 4.79166477e-03 9.95313663e-01 -1.61979980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42629675700002 meters Centerline goodness [0,1] 0.8239233869745735 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.39, Z:-1.62 [[ 9.91796638e-01 8.39948191e-02 -9.63550701e-02 6.82286551e+00] [-8.40876972e-02 9.96453525e-01 3.10350163e-03 -3.94104228e-01] [ 9.62740273e-02 5.02423348e-03 9.95342187e-01 -1.62044521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45629675700002 meters Centerline goodness [0,1] 0.811955732946299 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.39, Z:-1.62 [[ 9.91776313e-01 8.43285344e-02 -9.62727527e-02 6.82278986e+00] [-8.44526078e-02 9.96423584e-01 2.79252973e-03 -3.93315096e-01] [ 9.61639313e-02 5.36092019e-03 9.95351073e-01 -1.62121166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48629675700002 meters Centerline goodness [0,1] 0.8099141059762884 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.39, Z:-1.62 [[ 9.91711246e-01 8.58430849e-02 -9.56021392e-02 6.82059212e+00] [-8.59390144e-02 9.96295510e-01 3.12119629e-03 -3.92809436e-01] [ 9.55159152e-02 5.12062816e-03 9.95414732e-01 -1.62161121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51629675700002 meters Centerline goodness [0,1] 0.8028207378711298 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.39, Z:-1.62 [[ 9.91692090e-01 8.61722147e-02 -9.55047010e-02 6.82039050e+00] [-8.62657887e-02 9.96267158e-01 3.15635882e-03 -3.92905774e-01] [ 9.54201875e-02 5.10865228e-03 9.95423975e-01 -1.62198476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54629675700002 meters Centerline goodness [0,1] 0.757146754782187 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91654948e-01 8.67996025e-02 -9.53220534e-02 6.81975232e+00] [-8.68286715e-02 9.96215817e-01 3.85068482e-03 -3.95222636e-01] [ 9.52955752e-02 4.45813661e-03 9.95439038e-01 -1.62188527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57629675700002 meters Centerline goodness [0,1] 0.7511446678189151 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91613174e-01 8.72417617e-02 -9.53529684e-02 6.81938135e+00] [-8.72218648e-02 9.96179262e-01 4.38458918e-03 -3.96472126e-01] [ 9.53711689e-02 3.96904732e-03 9.95433869e-01 -1.62140167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60629675700002 meters Centerline goodness [0,1] 0.740870786516854 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91568477e-01 8.76388290e-02 -9.54536041e-02 6.81935025e+00] [-8.75732062e-02 9.96146111e-01 4.88455000e-03 -3.98568110e-01] [ 9.55138128e-02 3.51581236e-03 9.95421896e-01 -1.62129250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63629675700003 meters Centerline goodness [0,1] 0.7335917943708408 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91542795e-01 8.78180831e-02 -9.55555879e-02 6.81945784e+00] [-8.77335972e-02 9.96130952e-01 5.09331331e-03 -3.99269173e-01] [ 9.56331638e-02 3.33319736e-03 9.95411065e-01 -1.62120838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66629675700003 meters Centerline goodness [0,1] 0.7580002452182443 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91523010e-01 8.79333696e-02 -9.56548153e-02 6.81979004e+00] [-8.78409909e-02 9.96121018e-01 5.18441176e-03 -3.99808082e-01] [ 9.57396548e-02 3.26195021e-03 9.95401064e-01 -1.62145748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69629675700003 meters Centerline goodness [0,1] 0.7403237156931739 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91472278e-01 8.86186484e-02 -9.55481952e-02 6.81900084e+00] [-8.84688087e-02 9.96061993e-01 5.81168778e-03 -4.01033339e-01] [ 9.56869496e-02 2.69090769e-03 9.95407839e-01 -1.62100417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72629675700003 meters Centerline goodness [0,1] 0.7360418515005966 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91464354e-01 8.87140931e-02 -9.55418473e-02 6.81924638e+00] [-8.85627376e-02 9.96053528e-01 5.83187349e-03 -4.01115422e-01] [ 9.56821635e-02 2.67935288e-03 9.95408331e-01 -1.62137062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75629675700003 meters Centerline goodness [0,1] 0.7283353733170135 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91444012e-01 8.90275499e-02 -9.54613379e-02 6.81926581e+00] [-8.89064489e-02 9.96024631e-01 5.52963341e-03 -4.00201043e-01] [ 9.55741336e-02 3.00480662e-03 9.95417780e-01 -1.62226161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78629675700003 meters Centerline goodness [0,1] 0.7237035674880471 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91426019e-01 8.91326748e-02 -9.55500690e-02 6.81937808e+00] [-8.90141233e-02 9.96015118e-01 5.51097255e-03 -3.99721594e-01] [ 9.56605210e-02 3.04158404e-03 9.95409370e-01 -1.62222960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81629675700003 meters Centerline goodness [0,1] 0.7215896885069817 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91407978e-01 8.93941902e-02 -9.54929333e-02 6.81904258e+00] [-8.92651310e-02 9.95991981e-01 5.63113437e-03 -3.99849159e-01] [ 9.56135866e-02 2.94143767e-03 9.95414180e-01 -1.62216602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84629675700003 meters Centerline goodness [0,1] 0.7226436534504468 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91397754e-01 8.93312220e-02 -9.56578638e-02 6.81923691e+00] [-8.91202015e-02 9.95999768e-01 6.48466119e-03 -4.01543628e-01] [ 9.58544929e-02 2.09616956e-03 9.95393150e-01 -1.62090579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87629675700003 meters Centerline goodness [0,1] 0.7256161591203905 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.91748119e-01 8.54092914e-02 -9.56081631e-02 6.81835764e+00] [-8.55907607e-02 9.96327929e-01 2.20887414e-03 -4.00183179e-01] [ 9.54457415e-02 5.99252864e-03 9.95416596e-01 -1.62162887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90629675700004 meters Centerline goodness [0,1] 0.7410237296558579 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92095066e-01 8.12931307e-02 -9.55971103e-02 6.81775360e+00] [-8.18038769e-02 9.96647422e-01 -1.42926470e-03 -4.01247969e-01] [ 9.51604241e-02 9.23818071e-03 9.95419082e-01 -1.62176005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93629675700004 meters Centerline goodness [0,1] 0.7468806257371656 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92072024e-01 8.13190258e-02 -9.58139584e-02 6.81796413e+00] [-8.17954502e-02 9.96648586e-01 -1.04875905e-03 -4.01876301e-01] [ 9.54075621e-02 8.87759037e-03 9.95398707e-01 -1.62107611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96629675700004 meters Centerline goodness [0,1] 0.7792522609317214 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92061212e-01 8.10849471e-02 -9.61237899e-02 6.81878060e+00] [-8.15309619e-02 9.96670553e-01 -7.14971242e-04 -4.03017950e-01] [ 9.57457775e-02 8.54636029e-03 9.95369130e-01 -1.62065778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99629675700004 meters Centerline goodness [0,1] 0.775948505291824 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92046376e-01 8.09722203e-02 -9.63716097e-02 6.81952378e+00] [-8.14072875e-02 9.96680747e-01 -5.84731634e-04 -4.03242960e-01] [ 9.60043809e-02 8.42543224e-03 9.95345252e-01 -1.62058725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02629675700004 meters Centerline goodness [0,1] 0.769378108684235 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92034192e-01 8.07934706e-02 -9.66466592e-02 6.82041764e+00] [-8.12582301e-02 9.96692697e-01 -8.76186991e-04 -4.02535524e-01] [ 9.62562292e-02 8.72254392e-03 9.95318369e-01 -1.62103338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05629675700004 meters Centerline goodness [0,1] 0.7471726098510598 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92031522e-01 8.06107849e-02 -9.68264436e-02 6.82106231e+00] [-8.10754947e-02 9.96707585e-01 -8.68209784e-04 -4.02505953e-01] [ 9.64376637e-02 8.71154329e-03 9.95300902e-01 -1.62105682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08629675700004 meters Centerline goodness [0,1] 0.7873004107600605 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92017328e-01 8.03483423e-02 -9.71893245e-02 6.82191474e+00] [-8.07915822e-02 9.96730820e-01 -6.27439196e-04 -4.02889795e-01] [ 9.68211813e-02 8.47450985e-03 9.95265714e-01 -1.62054536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11629675700004 meters Centerline goodness [0,1] 0.791414266287551 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92014858e-01 7.98480056e-02 -9.76259083e-02 6.82310146e+00] [-8.02669923e-02 9.96773332e-01 -3.65542276e-04 -4.03364698e-01] [ 9.72817141e-02 8.19876140e-03 9.95223115e-01 -1.61984372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14629675700002 meters Centerline goodness [0,1] 0.7926942046855734 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.40, Z:-1.62 [[ 9.92019175e-01 7.94273066e-02 -9.79247607e-02 6.82408748e+00] [-7.98417859e-02 9.96807499e-01 -3.15014445e-04 -4.03180716e-01] [ 9.75871151e-02 8.13098815e-03 9.95193771e-01 -1.61950562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17629675700002 meters Centerline goodness [0,1] 0.8018428919227095 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.92010052e-01 7.88880624e-02 -9.84516690e-02 6.82551316e+00] [-7.93060082e-02 9.96850263e-01 -3.32870009e-04 -4.03301183e-01] [ 9.81153127e-02 8.13801927e-03 9.95141778e-01 -1.61924273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20629675700002 meters Centerline goodness [0,1] 0.8076140567200987 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.40, Z:-1.62 [[ 9.92002811e-01 7.83606625e-02 -9.89445815e-02 6.82703000e+00] [-7.87711628e-02 9.96892695e-01 -2.42993151e-04 -4.03882579e-01] [ 9.86180894e-02 8.03502963e-03 9.95092916e-01 -1.61907794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23629675700002 meters Centerline goodness [0,1] 0.8254994305414474 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.62 [[ 9.92051412e-01 7.66670642e-02 -9.97805411e-02 6.83053040e+00] [-7.71038918e-02 9.97022927e-01 -5.23189304e-04 -4.05398419e-01] [ 9.94433757e-02 8.21249874e-03 9.95009332e-01 -1.61942907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26629675700002 meters Centerline goodness [0,1] 0.8296769415902989 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.62 [[ 9.92034775e-01 7.60782139e-02 -1.00394777e-01 6.83237017e+00] [-7.64739329e-02 9.97071577e-01 -9.33930738e-05 -4.07152856e-01] [ 1.00093673e-01 7.77023260e-03 9.94947677e-01 -1.61898307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29629675700002 meters Centerline goodness [0,1] 0.8309080236042883 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.41, Z:-1.62 [[ 9.92365136e-01 7.09547313e-02 -1.00880436e-01 6.83420730e+00] [-7.17794255e-02 9.97410087e-01 -4.56416201e-03 -4.07368077e-01] [ 1.00295316e-01 1.17704550e-02 9.94888087e-01 -1.62031917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32629675700002 meters Centerline goodness [0,1] 0.8315886984715146 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92337572e-01 7.06870087e-02 -1.01338495e-01 6.83517821e+00] [-7.14951472e-02 9.97431417e-01 -4.36041062e-03 -4.07832633e-01] [ 1.00769974e-01 1.15722099e-02 9.94842448e-01 -1.61975094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35629675700002 meters Centerline goodness [0,1] 0.8323822449797957 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92325927e-01 7.04132381e-02 -1.01642658e-01 6.83616422e+00] [-7.12035975e-02 9.97453110e-01 -4.16432107e-03 -4.08623487e-01] [ 1.01090562e-01 1.13696867e-02 9.94812258e-01 -1.61955992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38629675700003 meters Centerline goodness [0,1] 0.8334926754047802 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92330388e-01 6.95481088e-02 -1.02193254e-01 6.83828939e+00] [-7.03645693e-02 9.97511629e-01 -4.40198486e-03 -4.09138748e-01] [ 1.01632810e-01 1.15590077e-02 9.94754825e-01 -1.61983927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41629675700003 meters Centerline goodness [0,1] 0.833518347209374 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92325407e-01 6.92057368e-02 -1.02473664e-01 6.83927346e+00] [-7.00354265e-02 9.97534280e-01 -4.51665657e-03 -4.08933143e-01] [ 1.01908414e-01 1.16587799e-02 9.94725464e-01 -1.61992857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44629675700003 meters Centerline goodness [0,1] 0.8300080054190528 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92339703e-01 6.85277946e-02 -1.02790344e-01 6.84096172e+00] [-6.93750142e-02 9.97579647e-01 -4.68573157e-03 -4.08754680e-01] [ 1.02220452e-01 1.17809190e-02 9.94692007e-01 -1.62029304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47629675700003 meters Centerline goodness [0,1] 0.8299169654073597 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92343216e-01 6.82679004e-02 -1.02929271e-01 6.84166604e+00] [-6.91137761e-02 9.97597854e-01 -4.66996368e-03 -4.08570321e-01] [ 1.02363211e-01 1.17480373e-02 9.94677715e-01 -1.62025966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50629675700003 meters Centerline goodness [0,1] 0.8312709184143459 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92355729e-01 6.76394497e-02 -1.03223119e-01 6.84280794e+00] [-6.84751153e-02 9.97642359e-01 -4.56964281e-03 -4.08657797e-01] [ 1.02670668e-01 1.16029262e-02 9.94647730e-01 -1.61971826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53629675700003 meters Centerline goodness [0,1] 0.8321680466114689 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92352061e-01 6.73692092e-02 -1.03434894e-01 6.84358671e+00] [-6.81931132e-02 9.97662234e-01 -4.44589522e-03 -4.09177194e-01] [ 1.02893571e-01 1.14654407e-02 9.94626290e-01 -1.61959962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56629675700003 meters Centerline goodness [0,1] 0.8321680466114689 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.41, Z:-1.62 [[ 9.92352061e-01 6.73692092e-02 -1.03434894e-01 6.84358671e+00] [-6.81931132e-02 9.97662234e-01 -4.44589522e-03 -4.09177194e-01] [ 1.02893571e-01 1.14654407e-02 9.94626290e-01 -1.61959962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59629675700003 meters Centerline goodness [0,1] 0.8293470241023119 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.41, Z:-1.62 [[ 9.92359343e-01 6.63185159e-02 -1.04042243e-01 6.84599298e+00] [-6.71760878e-02 9.97729798e-01 -4.75632599e-03 -4.09411733e-01] [ 1.03490614e-01 1.17091354e-02 9.94561506e-01 -1.61983549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62629675700003 meters Centerline goodness [0,1] 0.8307512602975532 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.41, Z:-1.62 [[ 9.92351989e-01 6.58048639e-02 -1.04437782e-01 6.84752878e+00] [-6.66876971e-02 9.97761469e-01 -4.98010522e-03 -4.09370382e-01] [ 1.03876280e-01 1.19067325e-02 9.94518953e-01 -1.62022743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65629675700004 meters Centerline goodness [0,1] 0.8352742356736826 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.41, Z:-1.62 [[ 9.92340967e-01 6.52909463e-02 -1.04864183e-01 6.84912752e+00] [-6.61900572e-02 9.97793932e-01 -5.11323635e-03 -4.09421229e-01] [ 1.04298998e-01 1.20150402e-02 9.94473407e-01 -1.62050662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68629675700004 meters Centerline goodness [0,1] 0.8360776377518168 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.41, Z:-1.62 [[ 9.92345796e-01 6.43177528e-02 -1.05418438e-01 6.85164878e+00] [-6.52363807e-02 9.97855840e-01 -5.28563015e-03 -4.09516861e-01] [ 1.04852444e-01 1.21222902e-02 9.94413905e-01 -1.62082323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71629675700004 meters Centerline goodness [0,1] 0.8359542969469869 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.41, Z:-1.62 [[ 9.92341315e-01 6.39394568e-02 -1.05690403e-01 6.85274256e+00] [-6.48533738e-02 9.97881101e-01 -5.22948739e-03 -4.10010819e-01] [ 1.05132085e-01 1.20438156e-02 9.94385333e-01 -1.62085700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74629675700004 meters Centerline goodness [0,1] 0.8336514778325124 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.41, Z:-1.62 [[ 9.92341276e-01 6.30355416e-02 -1.06232352e-01 6.85459875e+00] [-6.38520217e-02 9.97950119e-01 -4.29878847e-03 -4.11908771e-01] [ 1.05743612e-01 1.10490157e-02 9.94332041e-01 -1.61912730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77629675700004 meters Centerline goodness [0,1] 0.8308084687951326 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.41, Z:-1.62 [[ 9.92326860e-01 6.28202033e-02 -1.06494249e-01 6.85520245e+00] [-6.35761491e-02 9.97970075e-01 -3.71510549e-03 -4.13168689e-01] [ 1.06044690e-01 1.04570932e-02 9.94306378e-01 -1.61821316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80629675700004 meters Centerline goodness [0,1] 0.8300563094249054 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.41, Z:-1.62 [[ 9.92353368e-01 6.18099100e-02 -1.06837855e-01 6.85701112e+00] [-6.25471202e-02 9.98035662e-01 -3.56007702e-03 -4.14498655e-01] [ 1.06407941e-01 1.02152546e-02 9.94270083e-01 -1.61789354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83629675700004 meters Centerline goodness [0,1] 0.832861625546053 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.41, Z:-1.62 [[ 9.92342140e-01 6.13675026e-02 -1.07196577e-01 6.85829417e+00] [-6.20938325e-02 9.98064360e-01 -3.44795942e-03 -4.14769108e-01] [ 1.06777491e-01 1.00778017e-02 9.94231867e-01 -1.61772329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86629675700004 meters Centerline goodness [0,1] 0.8292367797705109 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.42, Z:-1.62 [[ 9.92329914e-01 6.08197451e-02 -1.07621093e-01 6.85988580e+00] [-6.15519151e-02 9.98097777e-01 -3.49145588e-03 -4.15013158e-01] [ 1.07204024e-01 1.00889605e-02 9.94185853e-01 -1.61783464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89629675700002 meters Centerline goodness [0,1] 0.8280246951500445 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.41, Z:-1.62 [[ 9.92342098e-01 5.98669396e-02 -1.08042170e-01 6.86238302e+00] [-6.06526602e-02 9.98150926e-01 -3.99794730e-03 -4.14432177e-01] [ 1.07603047e-01 1.05203765e-02 9.94138273e-01 -1.61888176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92629675700002 meters Centerline goodness [0,1] 0.8299457371470615 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.41, Z:-1.62 [[ 9.92340757e-01 5.94397907e-02 -1.08290042e-01 6.86363204e+00] [-6.02522353e-02 9.98174165e-01 -4.24309843e-03 -4.13975553e-01] [ 1.07840114e-01 1.07353166e-02 9.94110287e-01 -1.61935425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95629675700002 meters Centerline goodness [0,1] 0.8236103467253715 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.92355043e-01 5.86601525e-02 -1.08583863e-01 6.86544152e+00] [-5.94872328e-02 9.98219410e-01 -4.39064006e-03 -4.13676871e-01] [ 1.08132964e-01 1.08164273e-02 9.94077596e-01 -1.61964955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98629675700002 meters Centerline goodness [0,1] 0.823486126015637 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.92337354e-01 5.85182258e-02 -1.08821845e-01 6.86602335e+00] [-5.93301937e-02 9.98229425e-01 -4.23584561e-03 -4.13636428e-01] [ 1.08381293e-01 1.06598089e-02 9.94052244e-01 -1.61927698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01629675700002 meters Centerline goodness [0,1] 0.826363608553336 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.92319894e-01 5.84555085e-02 -1.09014594e-01 6.86652049e+00] [-5.92373599e-02 9.98236132e-01 -3.94451771e-03 -4.12951192e-01] [ 1.08591728e-01 1.03719601e-02 9.94032323e-01 -1.61855852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04629675700002 meters Centerline goodness [0,1] 0.8271056661562022 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.92312997e-01 5.84689355e-02 -1.09070156e-01 6.86672649e+00] [-5.92521442e-02 9.98235230e-01 -3.95086616e-03 -4.12489246e-01] [ 1.08646669e-01 1.03831364e-02 9.94026203e-01 -1.61854577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07629675700002 meters Centerline goodness [0,1] 0.8273782186705857 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.92293858e-01 5.85829589e-02 -1.09183044e-01 6.86706641e+00] [-5.93587741e-02 9.98229226e-01 -3.86621556e-03 -4.12133410e-01] [ 1.08763211e-01 1.03173936e-02 9.94014142e-01 -1.61855458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10629675700002 meters Centerline goodness [0,1] 0.8290311766677841 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.92021790e-01 6.25007711e-02 -1.09482514e-01 6.86859727e+00] [-6.28691947e-02 9.98021772e-01 8.69469271e-05 -4.11844202e-01] [ 1.09271367e-01 6.79682426e-03 9.93988718e-01 -1.61814300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13629675700003 meters Centerline goodness [0,1] 0.8315802273970937 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.91989271e-01 6.24743127e-02 -1.09791833e-01 6.86992916e+00] [-6.28879141e-02 9.98020549e-01 -3.05015415e-04 -4.10910666e-01] [ 1.09555450e-01 7.20715137e-03 9.93954557e-01 -1.61914672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16629675700003 meters Centerline goodness [0,1] 0.8316979068566395 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.91965253e-01 6.21824149e-02 -1.10173884e-01 6.87127286e+00] [-6.25942706e-02 9.98039017e-01 -2.80150261e-04 -4.11782194e-01] [ 1.09940414e-01 7.17415321e-03 9.93912288e-01 -1.61942973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19629675700003 meters Centerline goodness [0,1] 0.8371880706025563 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.91952321e-01 6.17666446e-02 -1.10523641e-01 6.87280854e+00] [-6.21668812e-02 9.98065753e-01 -1.75612941e-04 -4.13353293e-01] [ 1.10299014e-01 7.04510970e-03 9.93873480e-01 -1.61983423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22629675700003 meters Centerline goodness [0,1] 0.8397137964774951 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91962602e-01 6.11660290e-02 -1.10765130e-01 6.87434319e+00] [-6.14891170e-02 9.98107629e-01 4.99937296e-04 -4.17376319e-01] [ 1.10586100e-01 6.31493092e-03 9.93846485e-01 -1.61967768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25629675700003 meters Centerline goodness [0,1] 0.8407442543685161 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91933985e-01 6.13244142e-02 -1.10933701e-01 6.87474391e+00] [-6.16065324e-02 9.98100120e-01 8.86042919e-04 -4.18756560e-01] [ 1.10777277e-01 5.95534459e-03 9.93827414e-01 -1.61955198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28629675700003 meters Centerline goodness [0,1] 0.8399362686521432 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91903711e-01 6.26570545e-02 -1.10458688e-01 6.87274111e+00] [-6.29084496e-02 9.98018567e-01 1.21112440e-03 -4.18275616e-01] [ 1.10315707e-01 5.74746601e-03 9.93879978e-01 -1.61946308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31629675700003 meters Centerline goodness [0,1] 0.844500091614243 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91872245e-01 6.30551362e-02 -1.10514702e-01 6.87274422e+00] [-6.33158442e-02 9.97992874e-01 1.15231749e-03 -4.17435966e-01] [ 1.10365544e-01 5.85437991e-03 9.93873821e-01 -1.61970079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34629675700003 meters Centerline goodness [0,1] 0.8486469958721908 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91559634e-01 6.81321510e-02 -1.10306402e-01 6.87238522e+00] [-6.79322573e-02 9.97674367e-01 5.57371458e-03 -4.17998464e-01] [ 1.10429619e-01 1.96669250e-03 9.93882001e-01 -1.61931711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37629675700003 meters Centerline goodness [0,1] 0.8502299235618358 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91545291e-01 6.88247696e-02 -1.10004945e-01 6.87155093e+00] [-6.86539916e-02 9.97626219e-01 5.34387402e-03 -4.16317510e-01] [ 1.10111608e-01 2.25358546e-03 9.93916674e-01 -1.61999701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40629675700004 meters Centerline goodness [0,1] 0.849417789428763 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.91521802e-01 6.98177777e-02 -1.09590114e-01 6.87044565e+00] [-6.96416949e-02 9.97557247e-01 5.43818465e-03 -4.14509108e-01] [ 1.09702095e-01 2.23996266e-03 9.93961988e-01 -1.62049301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43629675700004 meters Centerline goodness [0,1] 0.8504612940673306 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.91510923e-01 6.97331553e-02 -1.09742321e-01 6.87102814e+00] [-6.95610500e-02 9.97563077e-01 5.40065189e-03 -4.14479804e-01] [ 1.09851492e-01 2.27898578e-03 9.93945399e-01 -1.62068188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46629675700004 meters Centerline goodness [0,1] 0.8505785525556534 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.41, Z:-1.62 [[ 9.91496044e-01 6.92825247e-02 -1.10161362e-01 6.87258686e+00] [-6.91119213e-02 9.97594455e-01 5.37090155e-03 -4.14740888e-01] [ 1.10268473e-01 2.28823574e-03 9.93899204e-01 -1.62084632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49629675700004 meters Centerline goodness [0,1] 0.847622237106497 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91505635e-01 6.93448419e-02 -1.10035758e-01 6.87253698e+00] [-6.91448916e-02 9.97590704e-01 5.63653215e-03 -4.15327634e-01] [ 1.10161514e-01 2.01975719e-03 9.93911647e-01 -1.62076589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52629675700004 meters Centerline goodness [0,1] 0.8439338067229452 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91501216e-01 6.92213618e-02 -1.10153263e-01 6.87309508e+00] [-6.90299404e-02 9.97599123e-01 5.55498706e-03 -4.15316423e-01] [ 1.10273323e-01 2.09609678e-03 9.93899090e-01 -1.62101783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55629675700004 meters Centerline goodness [0,1] 0.8442548003657422 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91522001e-01 6.89025224e-02 -1.10166075e-01 6.87376713e+00] [-6.86951362e-02 9.97621521e-01 5.68142532e-03 -4.15653914e-01] [ 1.10295512e-01 1.93461531e-03 9.93896955e-01 -1.62101433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58629675700004 meters Centerline goodness [0,1] 0.843626045035699 Centerline is valid? [False, False] Translation: X:6.87, Y:-0.42, Z:-1.62 [[ 9.91509948e-01 6.87683105e-02 -1.10358250e-01 6.87431640e+00] [-6.85365475e-02 9.97631180e-01 5.89663337e-03 -4.16232801e-01] [ 1.10502332e-01 1.71700279e-03 9.93874382e-01 -1.62074979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61629675700004 meters Centerline goodness [0,1] 0.8433398748926775 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91512074e-01 6.83003374e-02 -1.10629435e-01 6.87554290e+00] [-6.80574434e-02 9.97663514e-01 5.97470139e-03 -4.16891803e-01] [ 1.10779025e-01 1.60516794e-03 9.93843766e-01 -1.62080277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64629675700002 meters Centerline goodness [0,1] 0.8422082887291635 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91501622e-01 6.79390208e-02 -1.10945136e-01 6.87672171e+00] [-6.76986457e-02 9.97688153e-01 5.93662076e-03 -4.17332256e-01] [ 1.11091976e-01 1.62466634e-03 9.93808801e-01 -1.62105231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67629675700002 meters Centerline goodness [0,1] 0.8411925115666268 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91488353e-01 6.74755984e-02 -1.11345814e-01 6.87815922e+00] [-6.72492093e-02 9.97719398e-01 5.79191628e-03 -4.17483815e-01] [ 1.11482691e-01 1.74530040e-03 9.93764843e-01 -1.62132604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70629675700002 meters Centerline goodness [0,1] 0.8353147175375542 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91482526e-01 6.70419930e-02 -1.11659176e-01 6.87946959e+00] [-6.68422247e-02 9.97748200e-01 5.53586454e-03 -4.17141074e-01] [ 1.11778877e-01 1.97483477e-03 9.93731142e-01 -1.62173208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73629675700002 meters Centerline goodness [0,1] 0.8363619704975109 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91445440e-01 6.64286678e-02 -1.12352890e-01 6.88170218e+00] [-6.62564892e-02 9.97788708e-01 5.26982900e-03 -4.16638322e-01] [ 1.12454512e-01 2.21936010e-03 9.93654395e-01 -1.62203193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76629675700002 meters Centerline goodness [0,1] 0.8328621473787721 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91433229e-01 6.65354346e-02 -1.12397459e-01 6.88198353e+00] [-6.63686523e-02 9.97781468e-01 5.22908906e-03 -4.16029291e-01] [ 1.12496022e-01 2.27537526e-03 9.93649570e-01 -1.62229081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79629675700002 meters Centerline goodness [0,1] 0.8358103759997548 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91424120e-01 6.62527509e-02 -1.12644513e-01 6.88300485e+00] [-6.60996518e-02 9.97800006e-01 5.09750569e-03 -4.15490083e-01] [ 1.12734420e-01 2.39197300e-03 9.93622277e-01 -1.62250411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82629675700002 meters Centerline goodness [0,1] 0.8344427743182306 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.42, Z:-1.62 [[ 9.91400223e-01 6.62477750e-02 -1.12857567e-01 6.88340030e+00] [-6.60851772e-02 9.97800512e-01 5.18533662e-03 -4.15185679e-01] [ 1.12952855e-01 2.31746843e-03 9.93597646e-01 -1.62223869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85629675700002 meters Centerline goodness [0,1] 0.8329177057356608 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.91398047e-01 6.61943248e-02 -1.12908031e-01 6.88392708e+00] [-6.60305456e-02 9.97804085e-01 5.19372913e-03 -4.14406397e-01] [ 1.13003890e-01 2.30632596e-03 9.93591869e-01 -1.62238707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88629675700003 meters Centerline goodness [0,1] 0.8288574068370804 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.91387085e-01 6.61402946e-02 -1.13035877e-01 6.88441112e+00] [-6.59746411e-02 9.97807700e-01 5.20974432e-03 -4.14169361e-01] [ 1.13132642e-01 2.29262817e-03 9.93577249e-01 -1.62247189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91629675700003 meters Centerline goodness [0,1] 0.8272556333035357 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.91368877e-01 6.61470737e-02 -1.13191497e-01 6.88465846e+00] [-6.59454426e-02 9.97807913e-01 5.52880869e-03 -4.13977260e-01] [ 1.13309086e-01 1.98337450e-03 9.93557808e-01 -1.62178417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94629675700003 meters Centerline goodness [0,1] 0.826232426791086 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.91332820e-01 6.62507026e-02 -1.13446390e-01 6.88495265e+00] [-6.60223171e-02 9.97801445e-01 5.77327257e-03 -4.13937461e-01] [ 1.13579455e-01 1.76675896e-03 9.93527345e-01 -1.62128545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97629675700003 meters Centerline goodness [0,1] 0.8269449133036674 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.91301847e-01 6.65786915e-02 -1.13525003e-01 6.88495713e+00] [-6.63726961e-02 9.97779201e-01 5.59751051e-03 -4.12828657e-01] [ 1.13645562e-01 1.98613802e-03 9.93519372e-01 -1.62156202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00629675700003 meters Centerline goodness [0,1] 0.8248197576315386 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:-1.62 [[ 9.91277255e-01 6.67981922e-02 -1.13610761e-01 6.88508326e+00] [-6.66040115e-02 9.97764283e-01 5.50835647e-03 -4.11843964e-01] [ 1.13724708e-01 2.10662394e-03 9.93510067e-01 -1.62172391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03629675700003 meters Centerline goodness [0,1] 0.8209631034693753 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:-1.62 [[ 9.90960654e-01 7.08200066e-02 -1.13936424e-01 6.88681560e+00] [-7.01924361e-02 9.97488083e-01 9.51557226e-03 -4.12392316e-01] [ 1.14324118e-01 -1.43208258e-03 9.93442472e-01 -1.62160929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06629675700003 meters Centerline goodness [0,1] 0.8184603130839689 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:-1.62 [[ 9.90934133e-01 7.12717201e-02 -1.13885409e-01 6.88652810e+00] [-7.06750237e-02 9.97456285e-01 9.27363563e-03 -4.11358346e-01] [ 1.14256665e-01 -1.14070811e-03 9.93450609e-01 -1.62216040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09629675700003 meters Centerline goodness [0,1] 0.8226337950814671 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:-1.62 [[ 9.90897755e-01 7.16764843e-02 -1.13947882e-01 6.88643259e+00] [-7.11033788e-02 9.97427521e-01 9.09117018e-03 -4.10392452e-01] [ 1.14306377e-01 -9.06340665e-04 9.93445132e-01 -1.62249985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12629675700003 meters Centerline goodness [0,1] 0.8223774937942447 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:-1.62 [[ 9.90838674e-01 7.28863103e-02 -1.13693918e-01 6.88512371e+00] [-7.23421959e-02 9.97340073e-01 8.90982189e-03 -4.08857207e-01] [ 1.14040904e-01 -6.03328439e-04 9.93475872e-01 -1.62317940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15629675700004 meters Centerline goodness [0,1] 0.8254575503458408 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.41, Z:-1.62 [[ 9.90803506e-01 7.32625564e-02 -1.13758561e-01 6.88503888e+00] [-7.27424785e-02 9.97312621e-01 8.72171174e-03 -4.08071585e-01] [ 1.14091823e-01 -3.66422906e-04 9.93470141e-01 -1.62353972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18629675700004 meters Centerline goodness [0,1] 0.8228174725072188 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.90712171e-01 7.47478751e-02 -1.13587633e-01 6.88361331e+00] [-7.42230551e-02 9.97202408e-01 8.84847275e-03 -4.06501776e-01] [ 1.13931265e-01 -3.35468513e-04 9.93488578e-01 -1.62377416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21629675700004 meters Centerline goodness [0,1] 0.8256449631449632 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.90684859e-01 7.52292760e-02 -1.13507999e-01 6.88337637e+00] [-7.47306706e-02 9.97166259e-01 8.64742469e-03 -4.05552926e-01] [ 1.13836886e-01 -8.43438712e-05 9.93499450e-01 -1.62440657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24629675700004 meters Centerline goodness [0,1] 0.8272875264919987 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.40, Z:-1.63 [[ 9.90617326e-01 7.63876326e-02 -1.13323622e-01 6.88256162e+00] [-7.59010418e-02 9.97078194e-01 8.60858207e-03 -4.04038443e-01] [ 1.13650102e-01 7.35704452e-05 9.93520835e-01 -1.62517519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27629675700004 meters Centerline goodness [0,1] 0.8296364473078693 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.40, Z:-1.63 [[ 9.90584793e-01 7.69941957e-02 -1.13197445e-01 6.88189820e+00] [-7.65222830e-02 9.97031515e-01 8.51458891e-03 -4.03107686e-01] [ 1.13516994e-01 2.27704626e-04 9.93536029e-01 -1.62545001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30629675700004 meters Centerline goodness [0,1] 0.8269171826150923 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.40, Z:-1.62 [[ 9.90507903e-01 7.83631257e-02 -1.12930574e-01 6.88005798e+00] [-7.78377513e-02 9.96924865e-01 9.06079443e-03 -4.02963251e-01] [ 1.13293329e-01 -1.84526583e-04 9.93561567e-01 -1.62493691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33629675700004 meters Centerline goodness [0,1] 0.829389102916896 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.40, Z:-1.62 [[ 9.90464466e-01 7.86373783e-02 -1.13120754e-01 6.88007052e+00] [-7.80531499e-02 9.96903061e-01 9.59127022e-03 -4.03803156e-01] [ 1.13524658e-01 -6.70381157e-04 9.93534953e-01 -1.62424843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36629675700004 meters Centerline goodness [0,1] 0.8304657736266438 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.40, Z:-1.62 [[ 9.90739664e-01 7.46566360e-02 -1.13407689e-01 6.88027339e+00] [-7.44546300e-02 9.97206221e-01 6.02169689e-03 -4.04730758e-01] [ 1.13540412e-01 2.47779355e-03 9.93530289e-01 -1.62476595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39629675700002 meters Centerline goodness [0,1] 0.8370904163587091 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.90713485e-01 7.41769980e-02 -1.13949826e-01 6.88191436e+00] [-7.38754406e-02 9.97243794e-01 6.87281048e-03 -4.07796624e-01] [ 1.14145561e-01 1.60910758e-03 9.93462733e-01 -1.62408845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42629675700002 meters Centerline goodness [0,1] 0.8386638237384506 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.90684876e-01 7.32892916e-02 -1.14770012e-01 6.88453697e+00] [-7.29282002e-02 9.97310127e-01 7.34763122e-03 -4.10810676e-01] [ 1.14999798e-01 1.09078332e-03 9.93364916e-01 -1.62384987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45629675700002 meters Centerline goodness [0,1] 0.8344292803970224 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.90652421e-01 7.33369683e-02 -1.15019431e-01 6.88492031e+00] [-7.28791656e-02 9.97307182e-01 8.18612455e-03 -4.13494230e-01] [ 1.15310050e-01 2.72916031e-04 9.93329511e-01 -1.62298854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48629675700002 meters Centerline goodness [0,1] 0.8344292803970224 Centerline is valid? [False, False] Translation: X:6.88, Y:-0.41, Z:-1.62 [[ 9.90652421e-01 7.33369683e-02 -1.15019431e-01 6.88492031e+00] [-7.28791656e-02 9.97307182e-01 8.18612455e-03 -4.13494230e-01] [ 1.15310050e-01 2.72916031e-04 9.93329511e-01 -1.62298854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51629675700002 meters Centerline goodness [0,1] 0.8338386338324465 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90612836e-01 7.28098519e-02 -1.15693281e-01 6.88688695e+00] [-7.23008250e-02 9.97345829e-01 8.59580475e-03 -4.15031921e-01] [ 1.16012070e-01 -1.50394881e-04 9.93247792e-01 -1.62249633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54629675700002 meters Centerline goodness [0,1] 0.8345056238961361 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90598741e-01 7.26074521e-02 -1.15940897e-01 6.88770657e+00] [-7.20837034e-02 9.97360559e-01 8.70946521e-03 -4.15641773e-01] [ 1.16267250e-01 -2.70136025e-04 9.93217929e-01 -1.62250280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57629675700002 meters Centerline goodness [0,1] 0.834244193267917 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90573615e-01 7.24980408e-02 -1.16223699e-01 6.88835369e+00] [-7.19325043e-02 9.97368367e-01 9.05849459e-03 -4.16465238e-01] [ 1.16574564e-01 -6.12843962e-04 9.93181753e-01 -1.62208406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60629675700002 meters Centerline goodness [0,1] 0.8275165490878578 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90548429e-01 7.22007189e-02 -1.16622748e-01 6.88934813e+00] [-7.15669257e-02 9.97389423e-01 9.61842841e-03 -4.17797105e-01] [ 1.17012753e-01 -1.18118759e-03 9.93129710e-01 -1.62126454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63629675700003 meters Centerline goodness [0,1] 0.8302150237363864 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90540509e-01 7.19731003e-02 -1.16830531e-01 6.89017382e+00] [-7.13361723e-02 9.97405847e-01 9.62952547e-03 -4.17981682e-01] [ 1.17220522e-01 -1.20419214e-03 9.93105180e-01 -1.62143488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66629675700003 meters Centerline goodness [0,1] 0.827274136060747 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90539810e-01 7.10749997e-02 -1.17384965e-01 6.89221755e+00] [-7.04470760e-02 9.97470328e-01 9.49499833e-03 -4.17537222e-01] [ 1.17762877e-01 -1.13574628e-03 9.93041094e-01 -1.62136641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69629675700003 meters Centerline goodness [0,1] 0.8248928105387435 Centerline is valid? [False, False] Translation: X:6.89, Y:-0.42, Z:-1.62 [[ 9.90515385e-01 7.06276083e-02 -1.17860141e-01 6.89358804e+00] [-6.99963537e-02 9.97502087e-01 9.49194045e-03 -4.17422507e-01] [ 1.18236130e-01 -1.15213292e-03 9.92984839e-01 -1.62121499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72629675700003 meters Centerline goodness [0,1] 0.8183985632895715 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.42, Z:-1.62 [[ 9.90511953e-01 6.96332441e-02 -1.18479034e-01 6.89571004e+00] [-6.90267592e-02 9.97572203e-01 9.21984782e-03 -4.17287741e-01] [ 1.18833399e-01 -9.54145697e-04 9.92913749e-01 -1.62120732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75629675700003 meters Centerline goodness [0,1] 0.8200500633517723 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.42, Z:-1.62 [[ 9.90474571e-01 6.89965766e-02 -1.19162062e-01 6.89776733e+00] [-6.83984375e-02 9.97616517e-01 9.10702198e-03 -4.17389236e-01] [ 1.19506395e-01 -8.69774816e-04 9.92833050e-01 -1.62125241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78629675700003 meters Centerline goodness [0,1] 0.8158708560118753 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.42, Z:-1.62 [[ 9.90455444e-01 6.81756432e-02 -1.19791886e-01 6.90000610e+00] [-6.76177675e-02 9.97673190e-01 8.72033617e-03 -4.17221355e-01] [ 1.20107667e-01 -5.37044566e-04 9.92760726e-01 -1.62177070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81629675700003 meters Centerline goodness [0,1] 0.8141481663191463 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.42, Z:-1.62 [[ 9.90438245e-01 6.63582856e-02 -1.20948998e-01 6.90457890e+00] [-6.59133438e-02 9.97795793e-01 7.68027571e-03 -4.16408758e-01] [ 1.21192052e-01 3.65314105e-04 9.92629011e-01 -1.62315991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84629675700003 meters Centerline goodness [0,1] 0.8123246709208052 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.41, Z:-1.62 [[ 9.90685251e-01 6.12439507e-02 -1.21622008e-01 6.90651739e+00] [-6.14185305e-02 9.98109412e-01 2.31645043e-03 -4.12594663e-01] [ 1.21533940e-01 5.17497175e-03 9.92573786e-01 -1.62493967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87629675700003 meters Centerline goodness [0,1] 0.8103798559379425 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.41, Z:-1.62 [[ 9.90663015e-01 6.06022546e-02 -1.22123530e-01 6.90823897e+00] [-6.07824863e-02 9.98148494e-01 2.25253878e-03 -4.13032752e-01] [ 1.22033926e-01 5.19146492e-03 9.92512352e-01 -1.62499388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90629675700004 meters Centerline goodness [0,1] 0.8093960972902987 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.41, Z:-1.62 [[ 9.90624320e-01 5.96704259e-02 -1.22893844e-01 6.91067558e+00] [-5.98443966e-02 9.98205118e-01 2.27846861e-03 -4.14008594e-01] [ 1.22809221e-01 5.09740150e-03 9.92417207e-01 -1.62485863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93629675700004 meters Centerline goodness [0,1] 0.8017115748348889 Centerline is valid? [False, False] Translation: X:6.91, Y:-0.41, Z:-1.63 [[ 9.90868708e-01 5.33964260e-02 -1.23806401e-01 6.91442619e+00] [-5.40928165e-02 9.98533337e-01 -2.26779732e-03 -4.14908194e-01] [ 1.23503726e-01 8.94412633e-03 9.92303800e-01 -1.62607087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96629675700004 meters Centerline goodness [0,1] 0.7996327534157045 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.41, Z:-1.63 [[ 9.91060841e-01 4.83375596e-02 -1.24345851e-01 6.91606641e+00] [-4.95489480e-02 9.98749450e-01 -6.66617322e-03 -4.14715499e-01] [ 1.23868124e-01 1.27677893e-02 9.92216545e-01 -1.62699339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99629675700004 meters Centerline goodness [0,1] 0.798914237298773 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.42, Z:-1.63 [[ 0.99122453 0.04167258 -0.12544852 6.92052127] [-0.04324735 0.99901579 -0.00985482 -0.41963031] [ 0.12491437 0.01519365 0.99205118 -1.62639639] [ 0. 0. 0. 1. ]] SLAMing on 228.02629675700004 meters Centerline goodness [0,1] 0.799491589254331 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.42, Z:-1.63 [[ 0.99115574 0.04129687 -0.12611454 6.92194962] [-0.04278818 0.99904238 -0.00913793 -0.42151411] [ 0.1256164 0.01445332 0.9919736 -1.62518792] [ 0. 0. 0. 1. ]] SLAMing on 228.05629675700004 meters Centerline goodness [0,1] 0.8005273235192567 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.42, Z:-1.62 [[ 0.99111538 0.04146693 -0.12637563 6.92193066] [-0.04289835 0.99904221 -0.0086251 -0.42187675] [ 0.12589693 0.01396978 0.99194496 -1.62405306] [ 0. 0. 0. 1. ]] SLAMing on 228.08629675700004 meters Centerline goodness [0,1] 0.8013786620711264 Centerline is valid? [False, False] Translation: X:6.92, Y:-0.42, Z:-1.62 [[ 0.99103166 0.04073986 -0.12726554 6.92441241] [-0.0421372 0.99907731 -0.00830568 -0.42322023] [ 0.12680975 0.01359381 0.99183391 -1.62351426] [ 0. 0. 0. 1. ]] SLAMing on 228.11629675700004 meters Centerline goodness [0,1] 0.8051460231007607 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 0.99099064 0.04059951 -0.1276293 6.92540336] [-0.04198947 0.99908426 -0.00821782 -0.42307327] [ 0.12717878 0.01350287 0.9917879 -1.6234102 ] [ 0. 0. 0. 1. ]] SLAMing on 228.14629675700002 meters Centerline goodness [0,1] 0.8053559152552965 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90744660e-01 4.44545148e-02 -1.28252936e-01 6.92740496e+00] [-4.52901921e-02 9.98967367e-01 -3.60542524e-03 -4.24312119e-01] [ 1.27960221e-01 9.38065592e-03 9.91734937e-01 -1.62209610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17629675700002 meters Centerline goodness [0,1] 0.8059032318326173 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90712718e-01 4.46340588e-02 -1.28437186e-01 6.92770685e+00] [-4.55060128e-02 9.98956603e-01 -3.86101468e-03 -4.22701247e-01] [ 1.28130842e-01 9.66982055e-03 9.91710130e-01 -1.62233585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20629675700002 meters Centerline goodness [0,1] 0.8096626147357976 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90454475e-01 4.90657567e-02 -1.28811822e-01 6.92867323e+00] [-4.93976284e-02 9.98779000e-01 6.19084200e-04 -4.22922508e-01] [ 1.28684918e-01 5.74982379e-03 9.91668862e-01 -1.62122726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23629675700002 meters Centerline goodness [0,1] 0.8110470522596243 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90443478e-01 4.91779790e-02 -1.28853571e-01 6.92879962e+00] [-4.95654658e-02 9.98770857e-01 1.99761001e-04 -4.21393848e-01] [ 1.28705015e-01 6.18883527e-03 9.91663611e-01 -1.62176057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26629675700002 meters Centerline goodness [0,1] 0.8119473130913364 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90436867e-01 4.94142452e-02 -1.28813990e-01 6.92872725e+00] [-4.98488104e-02 9.98756764e-01 -1.49735672e-04 -4.19919649e-01] [ 1.28646445e-01 6.56952790e-03 9.91668762e-01 -1.62228650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29629675700002 meters Centerline goodness [0,1] 0.8114814814814815 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90165703e-01 5.36927778e-02 -1.29185779e-01 6.92983738e+00] [-5.36298633e-02 9.98552999e-01 3.96818365e-03 -4.19732870e-01] [ 1.29211910e-01 2.99905633e-03 9.91612469e-01 -1.62152934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32629675700002 meters Centerline goodness [0,1] 0.8140620202640467 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90135610e-01 5.35320153e-02 -1.29482809e-01 6.93058884e+00] [-5.35186167e-02 9.98560415e-01 3.58552043e-03 -4.18103822e-01] [ 1.29488347e-01 3.37958937e-03 9.91575184e-01 -1.62172330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35629675700002 meters Centerline goodness [0,1] 0.8131462333825702 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90127495e-01 5.31377402e-02 -1.29707072e-01 6.93155397e+00] [-5.31444315e-02 9.98581007e-01 3.41211322e-03 -4.17770607e-01] [ 1.29704331e-01 3.51478151e-03 9.91546485e-01 -1.62191896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38629675700003 meters Centerline goodness [0,1] 0.8149414664202095 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90088369e-01 5.27852738e-02 -1.30148901e-01 6.93271822e+00] [-5.27293092e-02 9.98601311e-01 3.87838767e-03 -4.19240714e-01] [ 1.30171585e-01 3.02271511e-03 9.91486874e-01 -1.62128658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41629675700003 meters Centerline goodness [0,1] 0.8140159229772265 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.42, Z:-1.62 [[ 9.90043320e-01 5.20927823e-02 -1.30769137e-01 6.93468938e+00] [-5.19801146e-02 9.98638961e-01 4.27713091e-03 -4.21064889e-01] [ 1.30813963e-01 2.56284986e-03 9.91403621e-01 -1.62079366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44629675700003 meters Centerline goodness [0,1] 0.8127688546405472 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90249949e-01 4.70498877e-02 -1.31115777e-01 6.93579894e+00] [-4.73966258e-02 9.98876035e-01 4.76670532e-04 -4.21968655e-01] [ 1.30990835e-01 5.74242245e-03 9.91366948e-01 -1.62081030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47629675700003 meters Centerline goodness [0,1] 0.819461672041677 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90426624e-01 4.21909716e-02 -1.31434485e-01 6.93668275e+00] [-4.30270939e-02 9.99067681e-01 -3.52680070e-03 -4.22721351e-01] [ 1.31163146e-01 9.14828122e-03 9.91318585e-01 -1.62112475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50629675700003 meters Centerline goodness [0,1] 0.819607720851913 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90376180e-01 4.16488794e-02 -1.31986333e-01 6.93834520e+00] [-4.24537063e-02 9.99093023e-01 -3.28848217e-03 -4.23982479e-01] [ 1.31729663e-01 8.86014342e-03 9.91246081e-01 -1.62077976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53629675700003 meters Centerline goodness [0,1] 0.8185527832289817 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90320684e-01 4.12889244e-02 -1.32514781e-01 6.93969504e+00] [-4.20501416e-02 9.99111147e-01 -2.94986251e-03 -4.24711187e-01] [ 1.32275198e-01 8.49357516e-03 9.91176640e-01 -1.62014208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56629675700003 meters Centerline goodness [0,1] 0.824885936869549 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90272590e-01 4.08249178e-02 -1.33017006e-01 6.94119913e+00] [-4.15999672e-02 9.99129686e-01 -3.05163987e-03 -4.24023588e-01] [ 1.32776656e-01 8.55545839e-03 9.91109057e-01 -1.61997613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59629675700003 meters Centerline goodness [0,1] 0.8264050342540066 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90254993e-01 4.07503015e-02 -1.33170798e-01 6.94152806e+00] [-4.15541119e-02 9.99130933e-01 -3.26107597e-03 -4.22496235e-01] [ 1.32922174e-01 8.76309102e-03 9.91087738e-01 -1.61991602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62629675700003 meters Centerline goodness [0,1] 0.8214285714285714 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90047131e-01 4.44120402e-02 -1.33544932e-01 6.94328193e+00] [-4.47064314e-02 9.98999851e-01 7.94844323e-04 -4.21545659e-01] [ 1.33446668e-01 5.18338401e-03 9.91042441e-01 -1.61905081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65629675700004 meters Centerline goodness [0,1] 0.8205639593752876 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90033994e-01 4.44068841e-02 -1.33644000e-01 6.94351200e+00] [-4.47479835e-02 9.98998205e-01 4.51742144e-04 -4.19531967e-01] [ 1.33530176e-01 5.53305942e-03 9.91029302e-01 -1.61922253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68629675700004 meters Centerline goodness [0,1] 0.8247217196651436 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.90017542e-01 4.43332511e-02 -1.33790247e-01 6.94385560e+00] [-4.47335938e-02 9.98998952e-01 1.36691409e-05 -4.17451879e-01] [ 1.33656923e-01 5.97138588e-03 9.91009672e-01 -1.61944696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71629675700004 meters Centerline goodness [0,1] 0.8236422892997473 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.42, Z:-1.62 [[ 9.89774813e-01 4.82319188e-02 -1.34236735e-01 6.94526750e+00] [-4.80997647e-02 9.98833583e-01 4.22927924e-03 -4.17131464e-01] [ 1.34284145e-01 2.27072130e-03 9.90940267e-01 -1.61827139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74629675700004 meters Centerline goodness [0,1] 0.828391052296112 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.42, Z:-1.62 [[ 9.89748159e-01 4.85238042e-02 -1.34328037e-01 6.94493370e+00] [-4.83977530e-02 9.98819288e-01 4.20556012e-03 -4.15116960e-01] [ 1.34373504e-01 2.33872976e-03 9.90927995e-01 -1.61772133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77629675700004 meters Centerline goodness [0,1] 0.8291647718659997 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89720854e-01 4.84895480e-02 -1.34541426e-01 6.94525846e+00] [-4.83794463e-02 9.98820657e-01 4.08956047e-03 -4.14391322e-01] [ 1.34581057e-01 2.46151643e-03 9.90899531e-01 -1.61756336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80629675700004 meters Centerline goodness [0,1] 0.8297711310244611 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89703744e-01 4.84393960e-02 -1.34685276e-01 6.94543668e+00] [-4.83479896e-02 9.98822737e-01 3.95131374e-03 -4.13588792e-01] [ 1.34718115e-01 2.60113231e-03 9.90880550e-01 -1.61740863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83629675700004 meters Centerline goodness [0,1] 0.8304823965969771 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89640309e-01 4.80376594e-02 -1.35293913e-01 6.94707998e+00] [-4.79916037e-02 9.98841238e-01 3.60378143e-03 -4.12118338e-01] [ 1.35310257e-01 2.92652448e-03 9.90798955e-01 -1.61749885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86629675700004 meters Centerline goodness [0,1] 0.8329012420113349 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89605081e-01 4.78267600e-02 -1.35625901e-01 6.94806283e+00] [-4.78312386e-02 9.98850217e-01 3.22750229e-03 -4.11106394e-01] [ 1.35624321e-01 3.29320214e-03 9.90754863e-01 -1.61787599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89629675700002 meters Centerline goodness [0,1] 0.8356386817416406 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89558625e-01 4.78696659e-02 -1.35949337e-01 6.94886921e+00] [-4.79292965e-02 9.98846704e-01 2.83641886e-03 -4.09558391e-01] [ 1.35928325e-01 3.70915333e-03 9.90711730e-01 -1.61832679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92629675700002 meters Centerline goodness [0,1] 0.8354445578435492 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89522402e-01 4.77181124e-02 -1.36265908e-01 6.94985809e+00] [-4.77924524e-02 9.98853563e-01 2.72778593e-03 -4.09250912e-01] [ 1.36239853e-01 3.81327666e-03 9.90668543e-01 -1.61851841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95629675700002 meters Centerline goodness [0,1] 0.8357840926176515 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89486103e-01 4.73911682e-02 -1.36643071e-01 6.95121976e+00] [-4.74495637e-02 9.98869622e-01 2.83156974e-03 -4.10117479e-01] [ 1.36622804e-01 3.68185517e-03 9.90616300e-01 -1.61865122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98629675700002 meters Centerline goodness [0,1] 0.8371777476255088 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89455434e-01 4.74181320e-02 -1.36855636e-01 6.95171843e+00] [-4.74442178e-02 9.98869162e-01 3.07309658e-03 -4.10940115e-01] [ 1.36846595e-01 3.45231652e-03 9.90586236e-01 -1.61849098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01629675700002 meters Centerline goodness [0,1] 0.8363138246628131 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89423476e-01 4.75980202e-02 -1.37024137e-01 6.95182387e+00] [-4.75789484e-02 9.98861639e-01 3.41624446e-03 -4.11382903e-01] [ 1.37030760e-01 3.13935187e-03 9.90561818e-01 -1.61796013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04629675700002 meters Centerline goodness [0,1] 0.8408906028742731 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89365638e-01 4.86034803e-02 -1.37088788e-01 6.95036015e+00] [-4.85002289e-02 9.98814776e-01 4.09526093e-03 -4.11425441e-01] [ 1.37125351e-01 2.59712715e-03 9.90550298e-01 -1.61653939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07629675700002 meters Centerline goodness [0,1] 0.8432362576263036 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.61 [[ 9.89101288e-01 5.27314658e-02 -1.37470123e-01 6.95140031e+00] [-5.19907935e-02 9.98607229e-01 8.97549292e-03 -4.13691926e-01] [ 1.37751950e-01 -1.73049083e-03 9.90465247e-01 -1.61473529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10629675700002 meters Centerline goodness [0,1] 0.8379435932938025 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.61 [[ 9.89102090e-01 5.33518563e-02 -1.37224760e-01 6.95035918e+00] [-5.25910339e-02 9.98574062e-01 9.16655451e-03 -4.13152722e-01] [ 1.37518139e-01 -1.84986622e-03 9.90497521e-01 -1.61458306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13629675700003 meters Centerline goodness [0,1] 0.8400868306801736 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.61 [[ 9.89093107e-01 5.33940743e-02 -1.37273078e-01 6.95058102e+00] [-5.26306766e-02 9.98571782e-01 9.18735457e-03 -4.13313106e-01] [ 1.37567572e-01 -1.86237410e-03 9.90490633e-01 -1.61471501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16629675700003 meters Centerline goodness [0,1] 0.8352895030624868 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.61 [[ 9.89076414e-01 5.39286694e-02 -1.37184352e-01 6.94979962e+00] [-5.30774518e-02 9.98541738e-01 9.85806008e-03 -4.14603775e-01] [ 1.37515934e-01 -2.46897886e-03 9.90496478e-01 -1.61394928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19629675700003 meters Centerline goodness [0,1] 0.8347489647250854 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.42, Z:-1.61 [[ 9.89035376e-01 5.41138371e-02 -1.37407126e-01 6.95003731e+00] [-5.32192687e-02 9.98530974e-01 1.01785339e-02 -4.15295991e-01] [ 1.37756071e-01 -2.75422328e-03 9.90462356e-01 -1.61356394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22629675700003 meters Centerline goodness [0,1] 0.8374206095967424 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.42, Z:-1.61 [[ 9.89012853e-01 5.42441936e-02 -1.37517797e-01 6.95030583e+00] [-5.32987475e-02 9.98522871e-01 1.05507914e-02 -4.17202330e-01] [ 1.37886984e-01 -3.10534202e-03 9.90443101e-01 -1.61346453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25629675700003 meters Centerline goodness [0,1] 0.839997567427859 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.42, Z:-1.61 [[ 9.88986503e-01 5.43974557e-02 -1.37646701e-01 6.95050407e+00] [-5.34507104e-02 9.98514568e-01 1.05677857e-02 -4.17302853e-01] [ 1.38017097e-01 -3.09408349e-03 9.90425014e-01 -1.61353721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28629675700003 meters Centerline goodness [0,1] 0.841011441090555 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.42, Z:-1.61 [[ 9.88972421e-01 5.48125419e-02 -1.37583197e-01 6.95005020e+00] [-5.38983405e-02 9.98492639e-01 1.03642553e-02 -4.16424442e-01] [ 1.37943900e-01 -2.83445665e-03 9.90435988e-01 -1.61382997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31629675700003 meters Centerline goodness [0,1] 0.8432853935311608 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.42, Z:-1.61 [[ 9.88941083e-01 5.61395342e-02 -1.37273038e-01 6.94818423e+00] [-5.52632606e-02 9.98419827e-01 1.01892931e-02 -4.15165501e-01] [ 1.37628145e-01 -2.49045488e-03 9.90480838e-01 -1.61424848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34629675700003 meters Centerline goodness [0,1] 0.841730991308576 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.61 [[ 9.88914666e-01 5.63484271e-02 -1.37377721e-01 6.94848538e+00] [-5.54957288e-02 9.98408522e-01 1.00322649e-02 -4.14831087e-01] [ 1.37724390e-01 -2.29717717e-03 9.90467927e-01 -1.61473834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37629675700003 meters Centerline goodness [0,1] 0.841730991308576 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.61 [[ 9.88914666e-01 5.63484271e-02 -1.37377721e-01 6.94848538e+00] [-5.54957288e-02 9.98408522e-01 1.00322649e-02 -4.14831087e-01] [ 1.37724390e-01 -2.29717717e-03 9.90467927e-01 -1.61473834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40629675700004 meters Centerline goodness [0,1] 0.8459739391914467 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.88885536e-01 5.65818202e-02 -1.37491434e-01 6.94953571e+00] [-5.58562555e-02 9.98397051e-01 9.13278197e-03 -4.13212136e-01] [ 1.37787792e-01 -1.35151931e-03 9.90460851e-01 -1.61697050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43629675700004 meters Centerline goodness [0,1] 0.8479864040545052 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.88885386e-01 5.68892297e-02 -1.37365603e-01 6.94952817e+00] [-5.62399803e-02 9.98380188e-01 8.60612255e-03 -4.11676975e-01] [ 1.37632693e-01 -7.85029985e-04 9.90483026e-01 -1.61808402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46629675700004 meters Centerline goodness [0,1] 0.8488625363020329 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.88879757e-01 5.76291143e-02 -1.37097451e-01 6.94854088e+00] [-5.70209527e-02 9.98337959e-01 8.36242070e-03 -4.10302965e-01] [ 1.37351508e-01 -4.52001303e-04 9.90522266e-01 -1.61866793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49629675700004 meters Centerline goodness [0,1] 0.8520254435888852 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.41, Z:-1.62 [[ 9.88885659e-01 5.96412992e-02 -1.36191295e-01 6.94480381e+00] [-5.90382714e-02 9.98219818e-01 8.46623069e-03 -4.08974099e-01] [ 1.36453786e-01 -3.31635503e-04 9.90646382e-01 -1.61891231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52629675700004 meters Centerline goodness [0,1] 0.8517819067925678 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.41, Z:-1.62 [[ 9.88860794e-01 6.06531551e-02 -1.35924701e-01 6.94297153e+00] [-6.00082423e-02 9.98158731e-01 8.84076386e-03 -4.08736635e-01] [ 1.36210647e-01 -5.85682379e-04 9.90679725e-01 -1.61826570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55629675700004 meters Centerline goodness [0,1] 0.8540012217470984 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.41, Z:-1.62 [[ 9.88872341e-01 6.29310400e-02 -1.34800513e-01 6.93793233e+00] [-6.21961252e-02 9.98017193e-01 9.66043859e-03 -4.08118940e-01] [ 1.35141171e-01 -1.16887096e-03 9.90825665e-01 -1.61695343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58629675700004 meters Centerline goodness [0,1] 0.8521673003802281 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.41, Z:-1.62 [[ 9.88886950e-01 6.38411031e-02 -1.34264344e-01 6.93584620e+00] [-6.30684434e-02 9.97959058e-01 1.00044914e-02 -4.07446182e-01] [ 1.34629016e-01 -1.42546786e-03 9.90895048e-01 -1.61638102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61629675700004 meters Centerline goodness [0,1] 0.8460554371002132 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.41, Z:-1.62 [[ 9.88903073e-01 6.46325038e-02 -1.33766036e-01 6.93395356e+00] [-6.38542255e-02 9.97908079e-01 1.01046415e-02 -4.06447151e-01] [ 1.34139296e-01 -1.45098437e-03 9.90961424e-01 -1.61612092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64629675700002 meters Centerline goodness [0,1] 0.8493608234901163 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:-1.62 [[ 9.88895602e-01 6.60984669e-02 -1.33103274e-01 6.93096732e+00] [-6.53060159e-02 9.97811965e-01 1.03153673e-02 -4.04308330e-01] [ 1.33493870e-01 -1.50837682e-03 9.91048491e-01 -1.61554133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67629675700002 meters Centerline goodness [0,1] 0.846371004462253 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:-1.62 [[ 9.88891104e-01 6.66507214e-02 -1.32861078e-01 6.93009775e+00] [-6.58942820e-02 9.97775622e-01 1.00871958e-02 -4.02772303e-01] [ 1.33237864e-01 -1.22035284e-03 9.91083338e-01 -1.61588164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70629675700002 meters Centerline goodness [0,1] 0.8438597553590892 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:-1.62 [[ 9.88888876e-01 6.64348624e-02 -1.32985713e-01 6.93087424e+00] [-6.57286802e-02 9.97790403e-01 9.69809044e-03 -4.02025418e-01] [ 1.33336159e-01 -8.49358357e-04 9.91070506e-01 -1.61656804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73629675700002 meters Centerline goodness [0,1] 0.8433307024467245 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:-1.62 [[ 9.88876939e-01 6.61614572e-02 -1.33210591e-01 6.93198857e+00] [-6.55007778e-02 9.97808799e-01 9.34066472e-03 -4.01580777e-01] [ 1.33536692e-01 -5.11370579e-04 9.91043738e-01 -1.61733464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76629675700002 meters Centerline goodness [0,1] 0.8447878088762066 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.40, Z:-1.62 [[ 9.88876129e-01 6.50779764e-02 -1.33749239e-01 6.93474657e+00] [-6.45292018e-02 9.97880141e-01 8.43842476e-03 -4.00984904e-01] [ 1.34014865e-01 2.86174859e-04 9.90979280e-01 -1.61888361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79629675700002 meters Centerline goodness [0,1] 0.8428804742317929 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88859692e-01 6.45214202e-02 -1.34139835e-01 6.93626205e+00] [-6.40114633e-02 9.97916164e-01 8.11550306e-03 -4.00817650e-01] [ 1.34383933e-01 5.61393240e-04 9.90929182e-01 -1.61936541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82629675700002 meters Centerline goodness [0,1] 0.8365033911077618 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88881372e-01 6.32691635e-02 -1.34575798e-01 6.93887116e+00] [-6.28327489e-02 9.97995950e-01 7.49194141e-03 -4.00847310e-01] [ 1.34780110e-01 1.04712602e-03 9.90874980e-01 -1.62043262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85629675700002 meters Centerline goodness [0,1] 0.8336750693523097 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88858669e-01 6.25648157e-02 -1.35071004e-01 6.94045661e+00] [-6.21105312e-02 9.98040502e-01 7.57884956e-03 -4.01645728e-01] [ 1.35280502e-01 8.94920696e-04 9.90806936e-01 -1.62010578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88629675700003 meters Centerline goodness [0,1] 0.8328803527209035 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88875273e-01 6.21027948e-02 -1.35162635e-01 6.94071270e+00] [-6.15853494e-02 9.98069677e-01 8.01025499e-03 -4.02718200e-01] [ 1.35399186e-01 4.02894987e-04 9.90791047e-01 -1.61900978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91629675700003 meters Centerline goodness [0,1] 0.8305778902038727 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88868188e-01 6.18968762e-02 -1.35308841e-01 6.94085930e+00] [-6.13592240e-02 9.98082519e-01 8.14437152e-03 -4.02707367e-01] [ 1.35553500e-01 2.48735591e-04 9.90769997e-01 -1.61834875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94629675700003 meters Centerline goodness [0,1] 0.8275187381475573 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88877885e-01 6.10433678e-02 -1.35625348e-01 6.94247662e+00] [-6.05313362e-02 9.98135036e-01 7.89988232e-03 -4.02679400e-01] [ 1.35854647e-01 3.97564601e-04 9.90728700e-01 -1.61855069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97629675700003 meters Centerline goodness [0,1] 0.8302040079436721 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88866824e-01 6.08194848e-02 -1.35806462e-01 6.94318151e+00] [-6.03453451e-02 9.98148556e-01 7.60914596e-03 -4.01864549e-01] [ 1.36017809e-01 6.70855846e-04 9.90706165e-01 -1.61889127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00629675700003 meters Centerline goodness [0,1] 0.8293797540663239 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.88873587e-01 5.93911017e-02 -1.36388144e-01 6.94627278e+00] [-5.89775647e-02 9.98234240e-01 7.07448066e-03 -4.02113713e-01] [ 1.36567476e-01 1.04807352e-03 9.90630217e-01 -1.61986859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03629675700003 meters Centerline goodness [0,1] 0.8282733878018632 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.88856420e-01 5.86386527e-02 -1.36837453e-01 6.94827016e+00] [-5.82370040e-02 9.98278661e-01 6.94020805e-03 -4.03087499e-01] [ 1.37008874e-01 1.10613399e-03 9.90569203e-01 -1.62038659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06629675700003 meters Centerline goodness [0,1] 0.8260107042423876 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.88831075e-01 5.80969787e-02 -1.37251033e-01 6.94981480e+00] [-5.76706108e-02 9.98310529e-01 7.08434375e-03 -4.04248374e-01] [ 1.37430731e-01 9.10131678e-04 9.90510962e-01 -1.62040546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09629675700003 meters Centerline goodness [0,1] 0.8252192319322649 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.89072544e-01 5.29953916e-02 -1.37575402e-01 6.95122458e+00] [-5.31312894e-02 9.98583921e-01 2.68686361e-03 -4.04206072e-01] [ 1.37522976e-01 4.65205550e-03 9.90487652e-01 -1.62159651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12629675700003 meters Centerline goodness [0,1] 0.8207288878072524 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89046851e-01 5.24567590e-02 -1.37965992e-01 6.95275447e+00] [-5.25677665e-02 9.98613316e-01 2.84152777e-03 -4.05472206e-01] [ 1.37923735e-01 4.44215998e-03 9.90432891e-01 -1.62164968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15629675700004 meters Centerline goodness [0,1] 0.8171778021175612 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89052176e-01 5.19565585e-02 -1.38117015e-01 6.95371599e+00] [-5.20027730e-02 9.98641566e-01 3.27637470e-03 -4.07079662e-01] [ 1.38099621e-01 3.94196227e-03 9.90410498e-01 -1.62132887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18629675700004 meters Centerline goodness [0,1] 0.8166843944689257 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89040372e-01 5.21557112e-02 -1.38126481e-01 6.95335368e+00] [-5.21412742e-02 9.98632770e-01 3.72540487e-03 -4.07914163e-01] [ 1.38131931e-01 3.51751489e-03 9.90407591e-01 -1.62063580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21629675700004 meters Centerline goodness [0,1] 0.8140361537293027 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89053572e-01 5.31618350e-02 -1.37647559e-01 6.95090254e+00] [-5.30095328e-02 9.98582592e-01 4.77462341e-03 -4.08825170e-01] [ 1.37706284e-01 2.57427446e-03 9.90469764e-01 -1.61896625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24629675700004 meters Centerline goodness [0,1] 0.8129739607126542 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.41, Z:-1.62 [[ 9.89062664e-01 5.36483735e-02 -1.37393230e-01 6.94973063e+00] [-5.34758988e-02 9.98556877e-01 4.94884236e-03 -4.08004967e-01] [ 1.37460452e-01 2.45251124e-03 9.90504220e-01 -1.61852206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27629675700004 meters Centerline goodness [0,1] 0.8113779718583212 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.89056294e-01 5.49897009e-02 -1.36907928e-01 6.94725998e+00] [-5.48256322e-02 9.98483566e-01 4.97178025e-03 -4.04761677e-01] [ 1.36973713e-01 2.58869314e-03 9.90571300e-01 -1.61816386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30629675700004 meters Centerline goodness [0,1] 0.8122647237401336 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.89046807e-01 5.57945269e-02 -1.36650592e-01 6.94577887e+00] [-5.56459887e-02 9.98438490e-01 4.90971664e-03 -4.02303160e-01] [ 1.36711146e-01 2.74811774e-03 9.90607142e-01 -1.61788213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33629675700004 meters Centerline goodness [0,1] 0.8153348058942782 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.89029476e-01 5.63624910e-02 -1.36542904e-01 6.94491496e+00] [-5.62643601e-02 9.98405397e-01 4.58101104e-03 -3.99520078e-01] [ 1.36583369e-01 3.15174417e-03 9.90623566e-01 -1.61795717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36629675700004 meters Centerline goodness [0,1] 0.8136465459829267 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.40, Z:-1.62 [[ 9.88770066e-01 6.07858467e-02 -1.36524129e-01 6.94511607e+00] [-6.01929764e-02 9.98150818e-01 8.47051290e-03 -3.97886094e-01] [ 1.36786558e-01 -1.57595925e-04 9.90600531e-01 -1.61737376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39629675700002 meters Centerline goodness [0,1] 0.8158705235823419 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.40, Z:-1.62 [[ 9.88772321e-01 6.12686495e-02 -1.36291782e-01 6.94410314e+00] [-6.07580982e-02 9.98121204e-01 7.90665739e-03 -3.95062706e-01] [ 1.36520148e-01 4.62945483e-04 9.90637186e-01 -1.61774998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42629675700002 meters Centerline goodness [0,1] 0.8168438757734127 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.39, Z:-1.62 [[ 9.88760482e-01 6.12694416e-02 -1.36377291e-01 6.94422826e+00] [-6.07877872e-02 9.98121032e-01 7.69744379e-03 -3.93832433e-01] [ 1.36592661e-01 6.79145533e-04 9.90627066e-01 -1.61775653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45629675700002 meters Centerline goodness [0,1] 0.8186480326295585 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.39, Z:-1.62 [[ 9.88767069e-01 6.13378563e-02 -1.36298756e-01 6.94392824e+00] [-6.08885373e-02 9.98116641e-01 7.46708645e-03 -3.92655124e-01] [ 1.36500072e-01 9.15822731e-04 9.90639638e-01 -1.61779681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48629675700002 meters Centerline goodness [0,1] 0.8140780184276655 Centerline is valid? [False, False] Translation: X:6.94, Y:-0.39, Z:-1.62 [[ 9.88778396e-01 6.10161630e-02 -1.36360959e-01 6.94441284e+00] [-6.06219176e-02 9.98135932e-01 7.04587497e-03 -3.91348960e-01] [ 1.36536685e-01 1.29965386e-03 9.90634163e-01 -1.61811888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51629675700002 meters Centerline goodness [0,1] 0.814404847612191 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-1.62 [[ 9.88749536e-01 6.06391542e-02 -1.36737879e-01 6.94538369e+00] [-6.02640497e-02 9.98158725e-01 6.88506862e-03 -3.90958692e-01] [ 1.36903612e-01 1.43276992e-03 9.90583337e-01 -1.61798800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54629675700002 meters Centerline goodness [0,1] 0.813195358296447 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-1.62 [[ 9.88740677e-01 6.00917496e-02 -1.37043257e-01 6.94641200e+00] [-5.97512348e-02 9.98191474e-01 6.60080436e-03 -3.90264013e-01] [ 1.37192065e-01 1.66202006e-03 9.90543071e-01 -1.61798369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57629675700002 meters Centerline goodness [0,1] 0.8119604316546762 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-1.62 [[ 9.88732526e-01 5.97611185e-02 -1.37246499e-01 6.94726072e+00] [-5.94692547e-02 9.98210699e-01 6.22967723e-03 -3.89510900e-01] [ 1.37373216e-01 2.00246249e-03 9.90517334e-01 -1.61841236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60629675700002 meters Centerline goodness [0,1] 0.8134141245298788 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-1.62 [[ 9.88711197e-01 5.93566052e-02 -1.37575299e-01 6.94844178e+00] [-5.91021475e-02 9.98234283e-01 5.93742662e-03 -3.89039726e-01] [ 1.37684805e-01 2.26059542e-03 9.90473515e-01 -1.61879971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63629675700003 meters Centerline goodness [0,1] 0.8104735176449513 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-1.62 [[ 9.88697018e-01 5.79580291e-02 -1.38271738e-01 6.95170426e+00] [-5.77706789e-02 9.98315430e-01 5.37128419e-03 -3.89663274e-01] [ 1.38350119e-01 2.67747952e-03 9.90379763e-01 -1.61990892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66629675700003 meters Centerline goodness [0,1] 0.8118560549499776 Centerline is valid? [False, False] Translation: X:6.95, Y:-0.39, Z:-1.62 [[ 9.88935471e-01 5.29662699e-02 -1.38568424e-01 6.95284771e+00] [-5.34117580e-02 9.98572446e-01 5.04267824e-04 -3.87970133e-01] [ 1.38397320e-01 6.90249482e-03 9.90352734e-01 -1.62139645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69629675700003 meters Centerline goodness [0,1] 0.8054754177184758 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.39, Z:-1.62 [[ 9.89131844e-01 4.69872383e-02 -1.39321190e-01 6.95617601e+00] [-4.79904204e-02 9.98840384e-01 -3.84795703e-03 -3.90130912e-01] [ 1.38978826e-01 1.04922193e-02 9.90239769e-01 -1.62283505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72629675700003 meters Centerline goodness [0,1] 0.8044786901035397 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.39, Z:-1.62 [[ 0.98931116 0.04194443 -0.13965706 6.95744737] [-0.04352478 0.99901804 -0.00827964 -0.39015531] [ 0.13917264 0.01426968 0.99016532 -1.62389263] [ 0. 0. 0. 1. ]] SLAMing on 230.75629675700003 meters Centerline goodness [0,1] 0.7999696371641112 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.39, Z:-1.62 [[ 0.98946869 0.03582542 -0.14024352 6.9604423 ] [-0.03790751 0.99920675 -0.01220232 -0.39357894] [ 0.13969512 0.0173901 0.99004185 -1.62459528] [ 0. 0. 0. 1. ]] SLAMing on 230.78629675700003 meters Centerline goodness [0,1] 0.7959698498571516 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.40, Z:-1.62 [[ 0.98940924 0.03492572 -0.14088847 6.96279202] [-0.03692613 0.99925057 -0.01160857 -0.39685785] [ 0.14037744 0.01668809 0.98995741 -1.62417958] [ 0. 0. 0. 1. ]] SLAMing on 230.81629675700003 meters Centerline goodness [0,1] 0.7935899774980235 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.40, Z:-1.62 [[ 0.98935936 0.03423921 -0.14140628 6.96470818] [-0.03615153 0.99928604 -0.01097607 -0.39976453] [ 0.1409295 0.01597133 0.9898908 -1.62373278] [ 0. 0. 0. 1. ]] SLAMing on 230.84629675700003 meters Centerline goodness [0,1] 0.7945033780685397 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:-1.62 [[ 0.98946488 0.02938898 -0.14175875 6.96591951] [-0.03179703 0.99938549 -0.01475124 -0.40138155] [ 0.14123812 0.01910334 0.98979132 -1.62412996] [ 0. 0. 0. 1. ]] SLAMing on 230.87629675700003 meters Centerline goodness [0,1] 0.7701924255423459 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.41, Z:-1.62 [[ 0.98943258 0.02901878 -0.14206011 6.96733199] [-0.03126569 0.99941845 -0.01360967 -0.40533439] [ 0.14158256 0.01790746 0.98976447 -1.62342992] [ 0. 0. 0. 1. ]] SLAMing on 230.90629675700004 meters Centerline goodness [0,1] 0.7689100107312586 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.41, Z:-1.62 [[ 0.98939847 0.02920548 -0.14225926 6.96773668] [-0.03134553 0.99942632 -0.01282513 -0.40700526] [ 0.14180309 0.01714835 0.98974634 -1.62278401] [ 0. 0. 0. 1. ]] SLAMing on 230.93629675700004 meters Centerline goodness [0,1] 0.7654876741693462 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.41, Z:-1.62 [[ 0.98937238 0.02939578 -0.14240149 6.96798909] [-0.03145905 0.99942986 -0.01225899 -0.40812968] [ 0.14195994 0.01660852 0.98973306 -1.62235126] [ 0. 0. 0. 1. ]] SLAMing on 230.96629675700004 meters Centerline goodness [0,1] 0.787977304094464 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.41, Z:-1.62 [[ 0.98939247 0.03072062 -0.14198163 6.96589542] [-0.03262389 0.9994061 -0.01109624 -0.40978452] [ 0.14155643 0.01561052 0.9898071 -1.62132672] [ 0. 0. 0. 1. ]] SLAMing on 230.99629675700004 meters Centerline goodness [0,1] 0.7961986511342735 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 0.98939052 0.03145463 -0.14183444 6.96480144] [-0.03327779 0.99939098 -0.01049995 -0.41036392] [ 0.14141778 0.01510849 0.98983471 -1.62064437] [ 0. 0. 0. 1. ]] SLAMing on 231.02629675700004 meters Centerline goodness [0,1] 0.7981292413034176 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.89182947e-01 3.68788451e-02 -1.41975518e-01 6.96420177e+00] [-3.79373593e-02 9.99268806e-01 -4.75511147e-03 -4.13612144e-01] [ 1.41696343e-01 1.00898514e-02 9.89858748e-01 -1.61837558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05629675700004 meters Centerline goodness [0,1] 0.8015530893637837 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.89188778e-01 3.76597484e-02 -1.41729688e-01 6.96310244e+00] [-3.86758796e-02 9.99242030e-01 -4.42068750e-03 -4.13453132e-01] [ 1.41455779e-01 9.85441483e-03 9.89895526e-01 -1.61823577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08629675700004 meters Centerline goodness [0,1] 0.8037485547374186 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.88999842e-01 4.29391942e-02 -1.41546943e-01 6.96242575e+00] [-4.33321703e-02 9.99060673e-01 3.06263412e-04 -4.14738526e-01] [ 1.41427135e-01 5.83064180e-03 9.89931497e-01 -1.61757351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11629675700004 meters Centerline goodness [0,1] 0.8037727799110136 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.89028545e-01 4.37135606e-02 -1.41108689e-01 6.96108651e+00] [-4.40999061e-02 9.99027050e-01 3.89511915e-04 -4.13949616e-01] [ 1.40988425e-01 5.83764155e-03 9.89994033e-01 -1.61784558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14629675700002 meters Centerline goodness [0,1] 0.8063582053157766 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.89031038e-01 4.43656809e-02 -1.40887519e-01 6.95999463e+00] [-4.47479269e-02 9.98998206e-01 4.55307135e-04 -4.13212461e-01] [ 1.40766579e-01 5.85411154e-03 9.90025504e-01 -1.61778778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17629675700002 meters Centerline goodness [0,1] 0.8093644467431318 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.42, Z:-1.62 [[ 9.88774095e-01 4.93927840e-02 -1.41018230e-01 6.95977725e+00] [-4.91204236e-02 9.98778191e-01 5.41371870e-03 -4.15095705e-01] [ 1.41113331e-01 1.57393036e-03 9.89992197e-01 -1.61623846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20629675700002 meters Centerline goodness [0,1] 0.814374886370523 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.42, Z:-1.61 [[ 9.88493883e-01 5.43900175e-02 -1.41143789e-01 6.95938937e+00] [-5.35086680e-02 9.98516962e-01 1.00349015e-02 -4.15504564e-01] [ 1.41480266e-01 -2.36702261e-03 9.89938246e-01 -1.61470569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23629675700002 meters Centerline goodness [0,1] 0.8137851670149299 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.61 [[ 9.88494186e-01 5.47514732e-02 -1.41001843e-01 6.95872285e+00] [-5.39175189e-02 9.98497977e-01 9.73094542e-03 -4.13798449e-01] [ 1.41322839e-01 -2.01651344e-03 9.89961509e-01 -1.61489668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26629675700002 meters Centerline goodness [0,1] 0.817138716106045 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.61 [[ 9.88469459e-01 5.50255922e-02 -1.41068469e-01 6.95840579e+00] [-5.42327058e-02 9.98483493e-01 9.46187470e-03 -4.12090534e-01] [ 1.41375183e-01 -1.70224936e-03 9.89954625e-01 -1.61482899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29629675700002 meters Centerline goodness [0,1] 0.817138716106045 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.61 [[ 9.88469459e-01 5.50255922e-02 -1.41068469e-01 6.95840579e+00] [-5.42327058e-02 9.98483493e-01 9.46187470e-03 -4.12090534e-01] [ 1.41375183e-01 -1.70224936e-03 9.89954625e-01 -1.61482899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32629675700002 meters Centerline goodness [0,1] 0.8201042262855077 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.88457708e-01 5.54448714e-02 -1.40986617e-01 6.95770397e+00] [-5.47286575e-02 9.98461104e-01 8.95534771e-03 -4.09258767e-01] [ 1.41266182e-01 -1.13597417e-03 9.89970997e-01 -1.61501762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35629675700002 meters Centerline goodness [0,1] 0.8217126391932047 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.88424284e-01 5.52190996e-02 -1.41309184e-01 6.95842127e+00] [-5.45675393e-02 9.98474033e-01 8.48462971e-03 -4.07312616e-01] [ 1.41562065e-01 -6.75519592e-04 9.89929152e-01 -1.61503188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38629675700003 meters Centerline goodness [0,1] 0.8206929682339519 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.88407826e-01 5.50626112e-02 -1.41485258e-01 6.95890963e+00] [-5.44426547e-02 9.98482801e-01 8.25191469e-03 -4.06532609e-01] [ 1.41724968e-01 -4.53424025e-04 9.89905969e-01 -1.61513664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41629675700003 meters Centerline goodness [0,1] 0.8200929674613885 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.41, Z:-1.62 [[ 9.88395340e-01 5.49515364e-02 -1.41615606e-01 6.95927713e+00] [-5.43553450e-02 9.98488982e-01 8.07773902e-03 -4.05906861e-01] [ 1.41845507e-01 -2.86434459e-04 9.89888767e-01 -1.61520374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44629675700003 meters Centerline goodness [0,1] 0.8189828273443822 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.40, Z:-1.62 [[ 9.88359546e-01 5.40895319e-02 -1.42196097e-01 6.96110522e+00] [-5.35621451e-02 9.98536076e-01 7.53671538e-03 -4.04667159e-01] [ 1.42395590e-01 1.67343403e-04 9.89809814e-01 -1.61522428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47629675700003 meters Centerline goodness [0,1] 0.8183505463254004 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.40, Z:-1.62 [[ 9.88327019e-01 5.36052635e-02 -1.42604976e-01 6.96243204e+00] [-5.30823355e-02 9.98562187e-01 7.47156731e-03 -4.04710062e-01] [ 1.42800452e-01 1.85453315e-04 9.89751482e-01 -1.61516921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50629675700003 meters Centerline goodness [0,1] 0.8206663274164098 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:-1.62 [[ 9.88335760e-01 5.16749477e-02 -1.43255454e-01 6.96568926e+00] [-5.12254112e-02 9.98663782e-01 6.82691610e-03 -4.04702039e-01] [ 1.43416814e-01 5.91034207e-04 9.89662199e-01 -1.61547535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53629675700003 meters Centerline goodness [0,1] 0.8204275961192957 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:-1.62 [[ 9.88554567e-01 4.58064198e-02 -1.43741575e-01 6.96818370e+00] [-4.60554346e-02 9.98937610e-01 1.59623479e-03 -4.02195667e-01] [ 1.43661983e-01 5.04211554e-03 9.89613971e-01 -1.61712620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56629675700003 meters Centerline goodness [0,1] 0.8178405165940832 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:-1.62 [[ 9.88519497e-01 4.49537498e-02 -1.44251046e-01 6.97011902e+00] [-4.51916583e-02 9.98977008e-01 1.62859912e-03 -4.03175658e-01] [ 1.44176690e-01 4.90904202e-03 9.89539784e-01 -1.61701186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59629675700003 meters Centerline goodness [0,1] 0.8202102488843631 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:-1.62 [[ 9.88431353e-01 4.39326068e-02 -1.45166753e-01 6.97274656e+00] [-4.41299926e-02 9.99024063e-01 1.86174228e-03 -4.04294417e-01] [ 1.45106871e-01 4.56600330e-03 9.89405452e-01 -1.61620193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62629675700003 meters Centerline goodness [0,1] 0.816094021706542 Centerline is valid? [False, False] Translation: X:6.97, Y:-0.40, Z:-1.62 [[ 9.88581357e-01 3.85145646e-02 -1.45682972e-01 6.97464246e+00] [-3.93378732e-02 9.99222117e-01 -2.77371641e-03 -4.03382809e-01] [ 1.45462820e-01 8.47290263e-03 9.89327437e-01 -1.61703956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65629675700004 meters Centerline goodness [0,1] 0.8142792725086427 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.40, Z:-1.62 [[ 9.88524922e-01 3.78818797e-02 -1.46230780e-01 6.97633031e+00] [-3.86983455e-02 9.99247177e-01 -2.74167753e-03 -4.03959802e-01] [ 1.46016834e-01 8.36910581e-03 9.89246704e-01 -1.61680821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68629675700004 meters Centerline goodness [0,1] 0.8063697346951109 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.40, Z:-1.62 [[ 9.88495201e-01 3.61211481e-02 -1.46875799e-01 6.97960307e+00] [-3.69915390e-02 9.99310461e-01 -3.19806046e-03 -4.04638741e-01] [ 1.46659004e-01 8.59442925e-03 9.89149772e-01 -1.61721203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71629675700004 meters Centerline goodness [0,1] 0.8039340101522843 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.41, Z:-1.62 [[ 9.88436819e-01 3.55843559e-02 -1.47398806e-01 6.98127414e+00] [-3.64373157e-02 9.99331164e-01 -3.08977145e-03 -4.05440883e-01] [ 1.47190273e-01 8.42486067e-03 9.89072316e-01 -1.61707859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74629675700004 meters Centerline goodness [0,1] 0.7758537613684274 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.41, Z:-1.62 [[ 9.88353889e-01 3.35949043e-02 -1.48418233e-01 6.98588207e+00] [-3.44625646e-02 9.99400615e-01 -3.27750663e-03 -4.06766262e-01] [ 1.48219166e-01 8.35420935e-03 9.88919252e-01 -1.61738527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77629675700004 meters Centerline goodness [0,1] 0.767925213287348 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.41, Z:-1.62 [[ 9.88289495e-01 3.28854381e-02 -1.49004769e-01 6.98804242e+00] [-3.37478256e-02 9.99425056e-01 -3.26224962e-03 -4.07640433e-01] [ 1.48811819e-01 8.25263397e-03 9.88831096e-01 -1.61752617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80629675700004 meters Centerline goodness [0,1] 0.7751568990085802 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.41, Z:-1.62 [[ 9.88227635e-01 3.21048443e-02 -1.49584155e-01 6.99041226e+00] [-3.29689594e-02 9.99450928e-01 -3.29995128e-03 -4.08783931e-01] [ 1.49396078e-01 8.19273700e-03 9.88743491e-01 -1.61792147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83629675700004 meters Centerline goodness [0,1] 0.7915931626011314 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.41, Z:-1.62 [[ 9.88170881e-01 2.97443446e-02 -1.50444621e-01 6.99480726e+00] [-3.06012502e-02 9.99525946e-01 -3.38343928e-03 -4.11094280e-01] [ 1.50272664e-01 7.94720967e-03 9.88612648e-01 -1.61781190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86629675700004 meters Centerline goodness [0,1] 0.7711653083566476 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.88095450e-01 2.92058107e-02 -1.51044373e-01 6.99641687e+00] [-2.99801098e-02 9.99546429e-01 -2.85112489e-03 -4.13144379e-01] [ 1.50892594e-01 7.34551042e-03 9.88522872e-01 -1.61701267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89629675700002 meters Centerline goodness [0,1] 0.7696242075281002 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.88173607e-01 2.43904874e-02 -1.51387006e-01 6.99705888e+00] [-2.57278347e-02 9.99645301e-01 -6.88124498e-03 -4.13294564e-01] [ 1.51165473e-01 1.06947245e-02 9.88450617e-01 -1.61691852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92629675700002 meters Centerline goodness [0,1] 0.7624639725271356 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.88094401e-01 2.41974342e-02 -1.51933996e-01 6.99816767e+00] [-2.54488407e-02 9.99656293e-01 -6.29707384e-03 -4.15049092e-01] [ 1.51729402e-01 1.00886475e-02 9.88370582e-01 -1.61601843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95629675700002 meters Centerline goodness [0,1] 0.7328885062419286 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.88021241e-01 2.38218448e-02 -1.52468186e-01 6.99949734e+00] [-2.49220659e-02 9.99675301e-01 -5.30878382e-03 -4.17923402e-01] [ 1.52292215e-01 9.04501337e-03 9.88294121e-01 -1.61466497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98629675700002 meters Centerline goodness [0,1] 0.7182337501929905 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.88011446e-01 2.38420084e-02 -1.52528494e-01 6.99980187e+00] [-2.49054574e-02 9.99676979e-01 -5.06508636e-03 -4.18996425e-01] [ 1.52358463e-01 8.80315521e-03 9.88286094e-01 -1.61468011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01629675700002 meters Centerline goodness [0,1] 0.760193033471509 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.88006347e-01 2.41770502e-02 -1.52508784e-01 6.99979625e+00] [-2.51184236e-02 9.99675454e-01 -4.24866209e-03 -4.21049387e-01] [ 1.52356568e-01 8.02848536e-03 9.88292983e-01 -1.61425410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04629675700002 meters Centerline goodness [0,1] 0.7587432031636184 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.87990012e-01 2.44997521e-02 -1.52563096e-01 6.99980851e+00] [-2.53466091e-02 9.99672211e-01 -3.60818119e-03 -4.22342741e-01] [ 1.52424688e-01 7.43180414e-03 9.88287146e-01 -1.61380495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07629675700002 meters Centerline goodness [0,1] 0.7289259270733295 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.88001013e-01 2.53506829e-02 -1.52352688e-01 6.99851838e+00] [-2.61647614e-02 9.99652062e-01 -3.34059339e-03 -4.21809223e-01] [ 1.52214993e-01 7.28678140e-03 9.88320545e-01 -1.61354419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10629675700002 meters Centerline goodness [0,1] 0.7704654895666132 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.42, Z:-1.61 [[ 9.87934669e-01 3.18673787e-02 -1.51557115e-01 6.99474039e+00] [-3.19411728e-02 9.99487852e-01 1.94821479e-03 -4.22794242e-01] [ 1.51541580e-01 2.91620308e-03 9.88446582e-01 -1.61179045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13629675700003 meters Centerline goodness [0,1] 0.7605620753551575 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.42, Z:-1.61 [[ 9.87966260e-01 3.29291405e-02 -1.51123598e-01 6.99288215e+00] [-3.29830408e-02 9.99453598e-01 2.15066680e-03 -4.21970895e-01] [ 1.51111843e-01 2.85972954e-03 9.88512536e-01 -1.61175648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16629675700003 meters Centerline goodness [0,1] 0.7965062542362438 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.42, Z:-1.61 [[ 9.87873128e-01 3.90946150e-02 -1.50260756e-01 6.99026017e+00] [-3.85534341e-02 9.99235307e-01 6.51412943e-03 -4.21787422e-01] [ 1.50400520e-01 -6.42065256e-04 9.88624940e-01 -1.61198849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19629675700003 meters Centerline goodness [0,1] 0.813316127446462 Centerline is valid? [False, False] Translation: X:6.99, Y:-0.42, Z:-1.61 [[ 9.87682605e-01 4.43136659e-02 -1.50064558e-01 6.98953440e+00] [-4.31485291e-02 9.99007968e-01 1.10129512e-02 -4.22389623e-01] [ 1.50403714e-01 -4.40223540e-03 9.88614861e-01 -1.61137926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22629675700003 meters Centerline goodness [0,1] 0.8225914430040777 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.88002330e-01 5.22019995e-02 -1.45349056e-01 7.00248938e+00] [-5.18286778e-02 9.98635760e-01 6.35662208e-03 -4.20292600e-01] [ 1.45482594e-01 1.25289198e-03 9.89360018e-01 -1.61630305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25629675700003 meters Centerline goodness [0,1] 0.8260843116977918 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.87992927e-01 5.35162853e-02 -1.44934409e-01 7.00075441e+00] [-5.31609895e-02 9.98565917e-01 6.32601229e-03 -4.18804133e-01] [ 1.45065106e-01 1.45480121e-03 9.89421042e-01 -1.61687857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28629675700003 meters Centerline goodness [0,1] 0.8274600658456286 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.87996504e-01 5.46222753e-02 -1.44496762e-01 6.99907155e+00] [-5.42734053e-02 9.98505870e-01 6.35812036e-03 -4.17676197e-01] [ 1.44628160e-01 1.56053066e-03 9.89484846e-01 -1.61723796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31629675700003 meters Centerline goodness [0,1] 0.8274739979319993 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.62 [[ 9.88389154e-01 6.01567012e-02 -1.39527963e-01 7.01127400e+00] [-6.06991485e-02 9.98156039e-01 3.68345674e-04 -4.16945325e-01] [ 1.39292837e-01 8.10515967e-03 9.90218063e-01 -1.62066785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34629675700003 meters Centerline goodness [0,1] 0.8310052040536839 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.62 [[ 9.88295257e-01 6.37742950e-02 -1.38583274e-01 7.00556585e+00] [-6.40899413e-02 9.97941727e-01 2.18817950e-03 -4.17798106e-01] [ 1.38437582e-01 6.71922650e-03 9.90348367e-01 -1.61898189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37629675700003 meters Centerline goodness [0,1] 0.8342623899600963 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.88262392e-01 6.54404413e-02 -1.38039826e-01 7.00248422e+00] [-6.56870002e-02 9.97836422e-01 2.77357529e-03 -4.16910461e-01] [ 1.37922670e-01 6.32640196e-03 9.90422795e-01 -1.61804145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40629675700004 meters Centerline goodness [0,1] 0.8387067505443988 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.87907914e-01 7.01917776e-02 -1.38242786e-01 7.00273087e+00] [-6.98165876e-02 9.97531142e-01 7.56730062e-03 -4.17866029e-01] [ 1.38432646e-01 2.17584339e-03 9.90369460e-01 -1.61633865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43629675700004 meters Centerline goodness [0,1] 0.8365230050650572 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.62 [[ 9.87551705e-01 7.55537039e-02 -1.37961112e-01 7.00158618e+00] [-7.46254106e-02 9.97140676e-01 1.18962499e-02 -4.16767844e-01] [ 1.38465442e-01 -1.45275723e-03 9.90366200e-01 -1.61541735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46629675700004 meters Centerline goodness [0,1] 0.8379184418746196 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87538912e-01 7.58963766e-02 -1.37864559e-01 7.00130021e+00] [-7.50310020e-02 9.97115225e-01 1.14706679e-02 -4.14586911e-01] [ 1.38337433e-01 -9.83614858e-04 9.90384666e-01 -1.61595570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49629675700004 meters Centerline goodness [0,1] 0.8343945182220605 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87513765e-01 7.62256238e-02 -1.37863045e-01 7.00148542e+00] [-7.54604781e-02 9.97090566e-01 1.07758366e-02 -4.11589468e-01] [ 1.38283336e-01 -2.38075680e-04 9.90392681e-01 -1.61708703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52629675700004 meters Centerline goodness [0,1] 0.8342039312781183 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87492056e-01 7.60036757e-02 -1.38140803e-01 7.00236432e+00] [-7.52852219e-02 9.97107532e-01 1.04261663e-02 -4.10751534e-01] [ 1.38533662e-01 1.04204602e-04 9.90357720e-01 -1.61744255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55629675700004 meters Centerline goodness [0,1] 0.830954192664739 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87467492e-01 7.55630244e-02 -1.38557506e-01 7.00348401e+00] [-7.48596467e-02 9.97141005e-01 1.02883099e-02 -4.10591499e-01] [ 1.38938787e-01 2.12994350e-04 9.90300948e-01 -1.61724193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58629675700004 meters Centerline goodness [0,1] 0.8327103655757133 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87444339e-01 7.52821474e-02 -1.38875035e-01 7.00428736e+00] [-7.45600496e-02 9.97162269e-01 1.04022875e-02 -4.10969871e-01] [ 1.39264051e-01 8.28496211e-05 9.90255279e-01 -1.61687528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61629675700004 meters Centerline goodness [0,1] 0.8348286244335634 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.87410396e-01 7.46986519e-02 -1.39430345e-01 7.00545757e+00] [-7.39403365e-02 9.97206138e-01 1.06181849e-02 -4.12049882e-01] [ 1.39833960e-01 -1.74979549e-04 9.90174951e-01 -1.61581666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64629675700002 meters Centerline goodness [0,1] 0.8317717076148329 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.87378338e-01 7.45805300e-02 -1.39720299e-01 7.00587150e+00] [-7.37831834e-02 9.97214898e-01 1.08853089e-02 -4.12662834e-01] [ 1.40142996e-01 -4.38909713e-04 9.90131177e-01 -1.61515202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67629675700002 meters Centerline goodness [0,1] 0.8290819432606843 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.61 [[ 9.87355705e-01 7.45523365e-02 -1.39895178e-01 7.00612513e+00] [-7.37411922e-02 9.97216964e-01 1.09801348e-02 -4.12514497e-01] [ 1.40324439e-01 -5.25261512e-04 9.90105437e-01 -1.61476586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70629675700002 meters Centerline goodness [0,1] 0.8278718591428746 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.61 [[ 9.87333465e-01 7.48899822e-02 -1.39871793e-01 7.00555037e+00] [-7.41094805e-02 9.97191761e-01 1.07877584e-02 -4.10513241e-01] [ 1.40286895e-01 -2.85288934e-04 9.90110855e-01 -1.61455216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73629675700002 meters Centerline goodness [0,1] 0.8284081532866792 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.61 [[ 9.87324656e-01 7.50045709e-02 -1.39872580e-01 7.00545271e+00] [-7.42450886e-02 9.97183182e-01 1.06474778e-02 -4.09537162e-01] [ 1.40277194e-01 -1.27665269e-04 9.90112263e-01 -1.61457705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76629675700002 meters Centerline goodness [0,1] 0.8292318937686545 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.87316995e-01 7.44815616e-02 -1.40205734e-01 7.00711749e+00] [-7.37921660e-02 9.97222327e-01 1.01166800e-02 -4.08675174e-01] [ 1.40569795e-01 3.57714741e-04 9.90070707e-01 -1.61554980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79629675700002 meters Centerline goodness [0,1] 0.8227122178606476 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.87304598e-01 7.41432926e-02 -1.40472070e-01 7.00813498e+00] [-7.34820923e-02 9.97247445e-01 9.89521622e-03 -4.08351097e-01] [ 1.40819077e-01 5.52589177e-04 9.90035192e-01 -1.61586490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82629675700002 meters Centerline goodness [0,1] 0.821242091037533 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.87294087e-01 7.33451961e-02 -1.40964063e-01 7.00993792e+00] [-7.26350390e-02 9.97306597e-01 1.01834702e-02 -4.10193766e-01] [ 1.41331299e-01 1.84850318e-04 9.89962338e-01 -1.61550510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85629675700002 meters Centerline goodness [0,1] 0.8208946078431373 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.61 [[ 9.87265409e-01 7.27138587e-02 -1.41491012e-01 7.01161156e+00] [-7.19311375e-02 9.97352788e-01 1.06455227e-02 -4.12312833e-01] [ 1.41890532e-01 -3.32346909e-04 9.89882299e-01 -1.61489272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88629675700003 meters Centerline goodness [0,1] 0.8175130590671653 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87565747e-01 6.83777346e-02 -1.41556987e-01 7.01117205e+00] [-6.80054419e-02 9.97656972e-01 7.47175141e-03 -4.15300839e-01] [ 1.41736216e-01 2.24779966e-03 9.89901911e-01 -1.61448024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91629675700003 meters Centerline goodness [0,1] 0.8146498391487256 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87544243e-01 6.82154728e-02 -1.41785109e-01 7.01173004e+00] [-6.77262636e-02 9.97669591e-01 8.27887454e-03 -4.17582422e-01] [ 1.42019439e-01 1.42682078e-03 9.89862841e-01 -1.61352426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94629675700003 meters Centerline goodness [0,1] 0.8096275999501806 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87533494e-01 6.86142264e-02 -1.41667519e-01 7.01101024e+00] [-6.80785816e-02 9.97642636e-01 8.63005224e-03 -4.18242902e-01] [ 1.41925702e-01 1.12205814e-03 9.89876677e-01 -1.61314450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97629675700003 meters Centerline goodness [0,1] 0.8075987273067565 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87536509e-01 6.92229853e-02 -1.41349996e-01 7.00987390e+00] [-6.85737022e-02 9.97601152e-01 9.46512522e-03 -4.19877194e-01] [ 1.41666123e-01 3.45735834e-04 9.89914436e-01 -1.61248822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00629675700003 meters Centerline goodness [0,1] 0.8080483775443409 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87547489e-01 7.02781132e-02 -1.40751355e-01 7.00839280e+00] [-6.96141733e-02 9.97527398e-01 9.64140935e-03 -4.19782848e-01] [ 1.41080913e-01 2.76939648e-04 9.89998030e-01 -1.61339535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03629675700003 meters Centerline goodness [0,1] 0.8053972825746666 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87550244e-01 7.07978770e-02 -1.40471266e-01 7.00759933e+00] [-7.01325635e-02 9.97490641e-01 9.68731616e-03 -4.19398571e-01] [ 1.40804615e-01 2.84898534e-04 9.90037363e-01 -1.61374262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06629675700003 meters Centerline goodness [0,1] 0.8050249364825445 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 9.87547518e-01 7.14375654e-02 -1.40166235e-01 7.00645698e+00] [-7.07478263e-02 9.97445064e-01 9.90400263e-03 -4.19167896e-01] [ 1.40515637e-01 1.35783226e-04 9.90078450e-01 -1.61368985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09629675700003 meters Centerline goodness [0,1] 0.8055520820307616 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.87569582e-01 7.29908396e-02 -1.39207246e-01 7.00327843e+00] [-7.22740178e-02 9.97332611e-01 1.02043759e-02 -4.18144484e-01] [ 1.39580752e-01 -1.64642677e-05 9.90210691e-01 -1.61372992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12629675700003 meters Centerline goodness [0,1] 0.8058121269242853 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.87565743e-01 7.36341332e-02 -1.38895348e-01 7.00200327e+00] [-7.29460338e-02 9.97285300e-01 1.00452210e-02 -4.17154623e-01] [ 1.39257960e-01 2.11548538e-04 9.90256116e-01 -1.61396599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15629675700004 meters Centerline goodness [0,1] 0.8061397451189654 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.87564314e-01 7.54166687e-02 -1.37945829e-01 6.99819356e+00] [-7.46927338e-02 9.97152108e-01 1.04244666e-02 -4.15617277e-01] [ 1.38339153e-01 8.71986758e-06 9.90384914e-01 -1.61346228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18629675700004 meters Centerline goodness [0,1] 0.8061397451189654 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.42, Z:-1.61 [[ 9.87564314e-01 7.54166687e-02 -1.37945829e-01 6.99819356e+00] [-7.46927338e-02 9.97152108e-01 1.04244666e-02 -4.15617277e-01] [ 1.38339153e-01 8.71986758e-06 9.90384914e-01 -1.61346228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21629675700004 meters Centerline goodness [0,1] 0.8071598596842897 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.61 [[ 9.87558709e-01 7.59282447e-02 -1.37705110e-01 6.99717978e+00] [-7.52187975e-02 9.97113276e-01 1.03560589e-02 -4.14578736e-01] [ 1.38093911e-01 1.30796626e-04 9.90419131e-01 -1.61347527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24629675700004 meters Centerline goodness [0,1] 0.8110032160364692 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.61 [[ 9.87574951e-01 7.66113134e-02 -1.37209409e-01 6.99588751e+00] [-7.59656375e-02 9.97060852e-01 9.94378323e-03 -4.12121624e-01] [ 1.37567937e-01 6.02969002e-04 9.90492150e-01 -1.61425439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27629675700004 meters Centerline goodness [0,1] 0.8114276817686439 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.61 [[ 9.87571885e-01 7.65121887e-02 -1.37286769e-01 6.99619374e+00] [-7.59262824e-02 9.97068109e-01 9.50711847e-03 -4.10728631e-01] [ 1.37611669e-01 1.03471105e-03 9.90485718e-01 -1.61470765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30629675700004 meters Centerline goodness [0,1] 0.8093982630272953 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87554839e-01 7.66738808e-02 -1.37319178e-01 6.99622558e+00] [-7.61552101e-02 9.97055043e-01 9.03466839e-03 -4.08759293e-01] [ 1.37607502e-01 1.53534036e-03 9.90485648e-01 -1.61528318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33629675700004 meters Centerline goodness [0,1] 0.8080614203454894 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87549115e-01 7.63387742e-02 -1.37546856e-01 6.99707176e+00] [-7.58778534e-02 9.97080041e-01 8.59896889e-03 -4.07758010e-01] [ 1.37801659e-01 1.94485603e-03 9.90457935e-01 -1.61572681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36629675700004 meters Centerline goodness [0,1] 0.8077623737919536 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87540657e-01 7.49896302e-02 -1.38347409e-01 7.00024997e+00] [-7.46106022e-02 9.97181205e-01 7.93109643e-03 -4.07313436e-01] [ 1.38552186e-01 2.48990330e-03 9.90352004e-01 -1.61653189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39629675700002 meters Centerline goodness [0,1] 0.8047185813415574 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87500681e-01 7.40837661e-02 -1.39118653e-01 7.00263596e+00] [-7.36928242e-02 9.97249169e-01 7.96629459e-03 -4.08008810e-01] [ 1.39326134e-01 2.38532511e-03 9.90243676e-01 -1.61626142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42629675700002 meters Centerline goodness [0,1] 0.8002959948200906 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.41, Z:-1.62 [[ 9.87807503e-01 6.91330800e-02 -1.39488190e-01 7.00344206e+00] [-6.93779730e-02 9.97585592e-01 3.11196412e-03 -4.05913635e-01] [ 1.39366548e-01 6.60338636e-03 9.90218845e-01 -1.61737025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45629675700002 meters Centerline goodness [0,1] 0.7970629974702289 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.88088696e-01 6.30696013e-02 -1.40367212e-01 7.00611969e+00] [-6.39084464e-02 9.97954680e-01 -1.47192248e-03 -4.05937031e-01] [ 1.39987283e-01 1.04250404e-02 9.90098419e-01 -1.61779091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48629675700002 meters Centerline goodness [0,1] 0.7947656274140222 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.88343846e-01 5.67676822e-02 -1.41258174e-01 7.00905039e+00] [-5.81884024e-02 9.98287923e-01 -5.94413649e-03 -4.06269033e-01] [ 1.40678895e-01 1.40944382e-02 9.89954946e-01 -1.61791943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51629675700002 meters Centerline goodness [0,1] 0.794786671584901 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 9.88318980e-01 5.54706795e-02 -1.41945759e-01 7.01177100e+00] [-5.68481848e-02 9.98366765e-01 -5.66453870e-03 -4.08029856e-01] [ 1.41399712e-01 1.36677298e-02 9.89858230e-01 -1.61741547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54629675700002 meters Centerline goodness [0,1] 0.7925145909890992 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.41, Z:-1.62 [[ 0.98852717 0.05013313 -0.14248053 7.01340164] [-0.05216316 0.99858289 -0.0105461 -0.4063805 ] [ 0.14174991 0.01785734 0.98974142 -1.61846767] [ 0. 0. 0. 1. ]] SLAMing on 233.57629675700002 meters Centerline goodness [0,1] 0.7918532472746364 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 0.98865186 0.04349549 -0.14379024 7.01832603] [-0.04621512 0.99880928 -0.01562667 -0.40577875] [ 0.14293933 0.02209462 0.9894848 -1.62001191] [ 0. 0. 0. 1. ]] SLAMing on 233.60629675700002 meters Centerline goodness [0,1] 0.7900516596034275 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 0.98857705 0.04243983 -0.14461767 7.02119038] [-0.04519057 0.99885362 -0.01578768 -0.40646747] [ 0.14378186 0.0221427 0.98936165 -1.6201811 ] [ 0. 0. 0. 1. ]] SLAMing on 233.63629675700003 meters Centerline goodness [0,1] 0.7889721528356 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.41, Z:-1.62 [[ 0.98845414 0.0402286 -0.1460824 7.02682884] [-0.04306232 0.99893963 -0.01628666 -0.40708299] [ 0.14527231 0.02238926 0.98913835 -1.62070084] [ 0. 0. 0. 1. ]] SLAMing on 233.66629675700003 meters Centerline goodness [0,1] 0.7859869053898905 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.41, Z:-1.62 [[ 0.98838909 0.03935665 -0.14675853 7.02925365] [-0.04221409 0.99897388 -0.01640577 -0.40775979] [ 0.14596226 0.02241056 0.98903629 -1.62088108] [ 0. 0. 0. 1. ]] SLAMing on 233.69629675700003 meters Centerline goodness [0,1] 0.7832619358043087 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.41, Z:-1.62 [[ 0.98836136 0.03713399 -0.14752251 7.03334643] [-0.04000428 0.99906266 -0.01653648 -0.40978586] [ 0.14677017 0.02224555 0.98892045 -1.62095316] [ 0. 0. 0. 1. ]] SLAMing on 233.72629675700003 meters Centerline goodness [0,1] 0.7828351730125264 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.41, Z:-1.62 [[ 0.98827061 0.03611585 -0.14838078 7.03630152] [-0.0389235 0.99911311 -0.01606093 -0.41167742] [ 0.14766913 0.02164804 0.98879987 -1.62035673] [ 0. 0. 0. 1. ]] SLAMing on 233.75629675700003 meters Centerline goodness [0,1] 0.7724127182044888 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.41, Z:-1.62 [[ 0.98821322 0.03525293 -0.14896934 7.03846245] [-0.03800346 0.99915494 -0.01565684 -0.41370327] [ 0.1482915 0.02113365 0.98871786 -1.61989972] [ 0. 0. 0. 1. ]] SLAMing on 233.78629675700003 meters Centerline goodness [0,1] 0.7675890814503745 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.42, Z:-1.62 [[ 0.98826436 0.02932585 -0.14991179 7.04166803] [-0.03261506 0.99927717 -0.01952914 -0.415686 ] [ 0.14923072 0.02418934 0.98850648 -1.61980873] [ 0. 0. 0. 1. ]] SLAMing on 233.81629675700003 meters Centerline goodness [0,1] 0.7533038264745582 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.42, Z:-1.62 [[ 0.98821293 0.02863029 -0.15038454 7.04333719] [-0.03178011 0.99932211 -0.01858325 -0.41879607] [ 0.14975056 0.02314344 0.98845291 -1.61863476] [ 0. 0. 0. 1. ]] SLAMing on 233.84629675700003 meters Centerline goodness [0,1] 0.7431166797180893 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.42, Z:-1.62 [[ 0.98814338 0.02833168 -0.15089722 7.04407018] [-0.03135164 0.99935219 -0.01767154 -0.41999588] [ 0.1502988 0.02219289 0.98839149 -1.61655375] [ 0. 0. 0. 1. ]] SLAMing on 233.87629675700003 meters Centerline goodness [0,1] 0.7369165043664008 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.42, Z:-1.62 [[ 0.98808746 0.02800541 -0.1513237 7.04520312] [-0.03097326 0.99937065 -0.01729073 -0.42110055] [ 0.15074423 0.02177174 0.98833303 -1.61594987] [ 0. 0. 0. 1. ]] SLAMing on 233.90629675700004 meters Centerline goodness [0,1] 0.7247046254399195 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.42, Z:-1.62 [[ 0.98800487 0.02729944 -0.15199051 7.04723789] [-0.03021958 0.9993998 -0.0169355 -0.4221459 ] [ 0.15143696 0.02132545 0.98823685 -1.61525828] [ 0. 0. 0. 1. ]] SLAMing on 233.93629675700004 meters Centerline goodness [0,1] 0.7148348385887059 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.42, Z:-1.61 [[ 0.9877597 0.03106345 -0.15285891 7.04973051] [-0.03327739 0.99937476 -0.01194594 -0.42404114] [ 0.15239225 0.01688646 0.98817582 -1.61327146] [ 0. 0. 0. 1. ]] SLAMing on 233.96629675700004 meters Centerline goodness [0,1] 0.710013166969716 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.42, Z:-1.61 [[ 0.98771042 0.03074839 -0.15324056 7.05081662] [-0.03298884 0.99938249 -0.01209874 -0.42339369] [ 0.15277391 0.01700528 0.98811485 -1.6132432 ] [ 0. 0. 0. 1. ]] SLAMing on 233.99629675700004 meters Centerline goodness [0,1] 0.6999061913696061 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.42, Z:-1.61 [[ 0.98759921 0.02998119 -0.15410689 7.05372751] [-0.03229985 0.99939926 -0.01256357 -0.42280784] [ 0.15363765 0.01738541 0.9879743 -1.61394497] [ 0. 0. 0. 1. ]] SLAMing on 234.02629675700004 meters Centerline goodness [0,1] 0.7010283421118635 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.42, Z:-1.61 [[ 0.98752584 0.02953088 -0.15466299 7.05536321] [-0.03191841 0.99940624 -0.01297604 -0.42203051] [ 0.15418796 0.01775078 0.98788207 -1.61427693] [ 0. 0. 0. 1. ]] SLAMing on 234.05629675700004 meters Centerline goodness [0,1] 0.6831378942747852 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.42, Z:-1.61 [[ 0.98747193 0.02930427 -0.15504979 7.05633145] [-0.03170512 0.99941228 -0.01303368 -0.42159805] [ 0.15457673 0.01778626 0.98782067 -1.61409715] [ 0. 0. 0. 1. ]] SLAMing on 234.08629675700004 meters Centerline goodness [0,1] 0.6899903121972562 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.42, Z:-1.61 [[ 0.98741532 0.02909773 -0.15544873 7.05732856] [-0.03146822 0.99942266 -0.0128098 -0.42205064] [ 0.15498625 0.01754028 0.9877609 -1.61366409] [ 0. 0. 0. 1. ]] SLAMing on 234.11629675700004 meters Centerline goodness [0,1] 0.6946278276649667 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.42, Z:-1.61 [[ 0.98735769 0.02874567 -0.15587968 7.05857916] [-0.0310537 0.99944091 -0.01239102 -0.42313209] [ 0.15543634 0.01707501 0.98769833 -1.61309293] [ 0. 0. 0. 1. ]] SLAMing on 234.14629675700002 meters Centerline goodness [0,1] 0.6898880620348946 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.42, Z:-1.61 [[ 0.98736122 0.02921313 -0.15577041 7.05750877] [-0.03140123 0.99943949 -0.01160429 -0.42370268] [ 0.1553441 0.016349 0.98772512 -1.61163327] [ 0. 0. 0. 1. ]] SLAMing on 234.17629675700002 meters Centerline goodness [0,1] 0.6843503813930224 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.61 [[ 0.9873249 0.02946176 -0.15595366 7.05734791] [-0.03152877 0.99944453 -0.01079646 -0.42517864] [ 0.15554895 0.01557664 0.98770537 -1.61039783] [ 0. 0. 0. 1. ]] SLAMing on 234.20629675700002 meters Centerline goodness [0,1] 0.6853437499999999 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.61 [[ 0.98731112 0.02986591 -0.15596401 7.05674991] [-0.03181844 0.99944327 -0.01003704 -0.42638269] [ 0.15557742 0.01487221 0.98771174 -1.60930684] [ 0. 0. 0. 1. ]] SLAMing on 234.23629675700002 meters Centerline goodness [0,1] 0.6950193242737813 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.87100075e-01 3.45940661e-02 -1.56322399e-01 7.05664158e+00] [-3.55098588e-02 9.99364615e-01 -3.06865009e-03 -4.30450172e-01] [ 1.56116917e-01 8.58005106e-03 9.87701317e-01 -1.60406921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26629675700002 meters Centerline goodness [0,1] 0.6960019958834903 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.87108362e-01 3.50917359e-02 -1.56159059e-01 7.05563881e+00] [-3.59778597e-02 9.99348521e-01 -2.85075842e-03 -4.30025709e-01] [ 1.55957287e-01 8.43227619e-03 9.87727807e-01 -1.60360903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29629675700002 meters Centerline goodness [0,1] 0.7001302567919613 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86870880e-01 3.98810867e-02 -1.56509953e-01 7.05625011e+00] [-3.99918093e-02 9.99197022e-01 2.44272640e-03 -4.32355038e-01] [ 1.56481698e-01 3.84846065e-03 9.87673361e-01 -1.60167090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32629675700002 meters Centerline goodness [0,1] 0.7343400447427293 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86865660e-01 4.05271830e-02 -1.56376841e-01 7.05548062e+00] [-4.06720398e-02 9.99169961e-01 2.27466161e-03 -4.31019860e-01] [ 1.56339227e-01 4.11537966e-03 9.87694846e-01 -1.60203216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35629675700002 meters Centerline goodness [0,1] 0.7452272868602698 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86640590e-01 4.53429909e-02 -1.56474787e-01 7.05613929e+00] [-4.48693976e-02 9.98971327e-01 6.55938825e-03 -4.31967817e-01] [ 1.56611248e-01 5.49170736e-04 9.87660172e-01 -1.60202744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38629675700003 meters Centerline goodness [0,1] 0.7509047604318104 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86355140e-01 4.94793968e-02 -1.57020150e-01 7.05815107e+00] [-4.83468401e-02 9.98769744e-01 1.10264208e-02 -4.33861309e-01] [ 1.57372556e-01 -3.28453874e-03 9.87533843e-01 -1.60140707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41629675700003 meters Centerline goodness [0,1] 0.7519252775801812 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86348826e-01 4.93848609e-02 -1.57089554e-01 7.05890296e+00] [-4.83617867e-02 9.98776459e-01 1.03306988e-02 -4.32610141e-01] [ 1.57407529e-01 -2.59254109e-03 9.87530328e-01 -1.60272457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44629675700003 meters Centerline goodness [0,1] 0.7481112212038643 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86348460e-01 4.97027408e-02 -1.56991568e-01 7.05875359e+00] [-4.87469458e-02 9.98761748e-01 9.93506445e-03 -4.31459856e-01] [ 1.57290973e-01 -2.14657608e-03 9.87549969e-01 -1.60356599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47629675700003 meters Centerline goodness [0,1] 0.759400123685838 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86335560e-01 4.99368577e-02 -1.56998326e-01 7.05845373e+00] [-4.89761029e-02 9.98750043e-01 9.98460932e-03 -4.31397462e-01] [ 1.57300685e-01 -2.15900907e-03 9.87548395e-01 -1.60343602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50629675700003 meters Centerline goodness [0,1] 0.7485546452311022 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86354020e-01 5.04294319e-02 -1.56724660e-01 7.05729261e+00] [-4.94194064e-02 9.98724620e-01 1.03371419e-02 -4.31856262e-01] [ 1.57046073e-01 -2.45084177e-03 9.87588236e-01 -1.60295462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53629675700003 meters Centerline goodness [0,1] 0.7371301363509879 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86340314e-01 5.05857096e-02 -1.56760556e-01 7.05697591e+00] [-4.95476454e-02 9.98716302e-01 1.05251781e-02 -4.31803886e-01] [ 1.57091746e-01 -2.61429102e-03 9.87580553e-01 -1.60240451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56629675700003 meters Centerline goodness [0,1] 0.7237723214285714 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86345489e-01 5.10658871e-02 -1.56572195e-01 7.05572912e+00] [-4.99164108e-02 9.98689841e-01 1.12673650e-02 -4.32446407e-01] [ 1.56942439e-01 -3.29799265e-03 9.87602245e-01 -1.60108436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59629675700003 meters Centerline goodness [0,1] 0.7346875484571251 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.43, Z:-1.60 [[ 9.86350036e-01 5.12148040e-02 -1.56494891e-01 7.05532692e+00] [-5.00824015e-02 9.98682588e-01 1.11732367e-02 -4.31689305e-01] [ 1.56860958e-01 -3.18308247e-03 9.87615567e-01 -1.60103396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62629675700003 meters Centerline goodness [0,1] 0.7212194031518945 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.45, Z:-1.59 [[ 0.98734037 0.05694277 -0.14804226 7.10975299] [-0.05352227 0.99820183 0.02699011 -0.44535377] [ 0.14931294 -0.01872487 0.98861268 -1.58670416] [ 0. 0. 0. 1. ]] SLAMing on 234.65629675700004 meters Centerline goodness [0,1] 0.748144482929243 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.60 [[ 0.98805339 0.05376382 -0.14442973 7.01028851] [-0.0499562 0.99830482 0.02986424 -0.43239439] [ 0.14579051 -0.0222923 0.9890643 -1.60384038] [ 0. 0. 0. 1. ]] SLAMing on 234.68629675700004 meters Centerline goodness [0,1] 0.7537149742037135 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.60 [[ 0.98802717 0.05368877 -0.14463687 7.01084936] [-0.04997548 0.99832385 0.02918793 -0.43125753] [ 0.14596151 -0.02161017 0.98905421 -1.60465227] [ 0. 0. 0. 1. ]] SLAMing on 234.71629675700004 meters Centerline goodness [0,1] 0.7822553335590925 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.61 [[ 0.98795957 0.05361399 -0.14512553 7.01204997] [-0.04996868 0.99833976 0.02865066 -0.43077418] [ 0.14642066 -0.02105396 0.98899834 -1.60537095] [ 0. 0. 0. 1. ]] SLAMing on 234.74629675700004 meters Centerline goodness [0,1] 0.7980090609301322 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.61 [[ 0.98793964 0.05349674 -0.14530437 7.01285574] [-0.04991848 0.99835612 0.02816401 -0.43019089] [ 0.14657219 -0.02057097 0.98898606 -1.60624589] [ 0. 0. 0. 1. ]] SLAMing on 234.77629675700004 meters Centerline goodness [0,1] 0.7939537604285318 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.61 [[ 0.98792434 0.05365559 -0.14534985 7.0129656 ] [-0.05016522 0.99836016 0.02757593 -0.42895973] [ 0.1465911 -0.01995143 0.98899595 -1.60712968] [ 0. 0. 0. 1. ]] SLAMing on 234.80629675700004 meters Centerline goodness [0,1] 0.8062392320945114 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.61 [[ 0.98793542 0.05433314 -0.1450225 7.01211509] [-0.05101745 0.99834644 0.02648796 -0.4264839 ] [ 0.14622187 -0.01876971 0.98907374 -1.60908375] [ 0. 0. 0. 1. ]] SLAMing on 234.83629675700004 meters Centerline goodness [0,1] 0.7861409796893668 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.43, Z:-1.61 [[ 0.98790267 0.05423627 -0.14528157 7.01282639] [-0.05099688 0.99836208 0.02593223 -0.42534228] [ 0.14645008 -0.01820961 0.98905045 -1.60969631] [ 0. 0. 0. 1. ]] SLAMing on 234.86629675700004 meters Centerline goodness [0,1] 0.8103696004402189 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 0.98791259 0.05494386 -0.14494789 7.01165317] [-0.0518469 0.99834056 0.02506057 -0.42274042] [ 0.14608428 -0.01724255 0.98912187 -1.61099621] [ 0. 0. 0. 1. ]] SLAMing on 234.89629675700002 meters Centerline goodness [0,1] 0.8134410576569959 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.42, Z:-1.61 [[ 0.98792421 0.05544392 -0.14467801 7.01057945] [-0.05239995 0.99831896 0.02476908 -0.42143502] [ 0.1458081 -0.01688886 0.98916872 -1.6112795 ] [ 0. 0. 0. 1. ]] SLAMing on 234.92629675700002 meters Centerline goodness [0,1] 0.8116061354557376 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.42, Z:-1.62 [[ 0.98855453 0.05752472 -0.13946633 7.02423913] [-0.05576121 0.99830741 0.01652267 -0.41890746] [ 0.14018073 -0.00855675 0.99008896 -1.61511813] [ 0. 0. 0. 1. ]] SLAMing on 234.95629675700002 meters Centerline goodness [0,1] 0.8118320494473709 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.42, Z:-1.62 [[ 0.98856712 0.05820398 -0.13909471 7.02283394] [-0.05647432 0.99827012 0.01635318 -0.41771737] [ 0.13980592 -0.00831094 0.99014405 -1.61541928] [ 0. 0. 0. 1. ]] SLAMing on 234.98629675700002 meters Centerline goodness [0,1] 0.8110972378719128 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.42, Z:-1.62 [[ 0.98858336 0.0585594 -0.13882985 7.0222532 ] [-0.05691307 0.99825407 0.01580242 -0.41621761] [ 0.13951284 -0.00772078 0.99019016 -1.61637285] [ 0. 0. 0. 1. ]] SLAMing on 235.01629675700002 meters Centerline goodness [0,1] 0.8090628721487679 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88635435e-01 5.94642243e-02 -1.38072384e-01 7.02042097e+00] [-5.79331980e-02 9.98206492e-01 1.50845689e-02 -4.13994991e-01] [ 1.38721742e-01 -6.91416451e-03 9.90307262e-01 -1.61794450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04629675700002 meters Centerline goodness [0,1] 0.8107581249428893 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88645704e-01 5.96925814e-02 -1.37900209e-01 7.02015469e+00] [-5.82185212e-02 9.98195602e-01 1.47018009e-02 -4.13081151e-01] [ 1.38528970e-01 -6.50652613e-03 9.90337008e-01 -1.61871569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07629675700002 meters Centerline goodness [0,1] 0.8064153238066282 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88680133e-01 5.96492181e-02 -1.37671946e-01 7.02061638e+00] [-5.82963227e-02 9.98203357e-01 1.38418441e-02 -4.12309300e-01] [ 1.38250254e-01 -5.65938814e-03 9.90381158e-01 -1.62081662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10629675700002 meters Centerline goodness [0,1] 0.8064153238066282 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88680133e-01 5.96492181e-02 -1.37671946e-01 7.02061638e+00] [-5.82963227e-02 9.98203357e-01 1.38418441e-02 -4.12309300e-01] [ 1.38250254e-01 -5.65938814e-03 9.90381158e-01 -1.62081662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13629675700003 meters Centerline goodness [0,1] 0.8080875850080815 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88690044e-01 5.97851889e-02 -1.37541734e-01 7.02041882e+00] [-5.84696935e-02 9.98196699e-01 1.35884165e-02 -4.11840498e-01] [ 1.38106090e-01 -5.39270914e-03 9.90402760e-01 -1.62130978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16629675700003 meters Centerline goodness [0,1] 0.8064654249625348 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88694451e-01 5.99673584e-02 -1.37430701e-01 7.02027659e+00] [-5.86684637e-02 9.98186422e-01 1.34862033e-02 -4.11736979e-01] [ 1.37990192e-01 -5.27088626e-03 9.90419570e-01 -1.62174308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19629675700003 meters Centerline goodness [0,1] 0.8044552944766554 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88718747e-01 6.03204951e-02 -1.37100976e-01 7.01985724e+00] [-5.90979729e-02 9.98167878e-01 1.29736992e-02 -4.10811125e-01] [ 1.37632371e-01 -4.72494980e-03 9.90472112e-01 -1.62307306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22629675700003 meters Centerline goodness [0,1] 0.8047176989803683 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88719586e-01 6.04962765e-02 -1.37017446e-01 7.01979119e+00] [-5.93020945e-02 9.98158212e-01 1.27845972e-02 -4.10217785e-01] [ 1.37538509e-01 -4.51496013e-03 9.90486130e-01 -1.62357243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25629675700003 meters Centerline goodness [0,1] 0.804434129359311 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.62 [[ 9.88727012e-01 6.11243348e-02 -1.36684713e-01 7.01894581e+00] [-5.99983611e-02 9.98122120e-01 1.23462987e-02 -4.08731416e-01] [ 1.37182695e-01 -4.00626025e-03 9.90537661e-01 -1.62463925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28629675700003 meters Centerline goodness [0,1] 0.8056078741114284 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.88720373e-01 6.13971111e-02 -1.36610465e-01 7.01872645e+00] [-6.03210680e-02 9.98106815e-01 1.20064459e-02 -4.07565745e-01] [ 1.37088997e-01 -3.63052846e-03 9.90552081e-01 -1.62524039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31629675700003 meters Centerline goodness [0,1] 0.8047542329087759 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.88750341e-01 6.24153214e-02 -1.35930461e-01 7.01683813e+00] [-6.13858142e-02 9.98044874e-01 1.17563559e-02 -4.05979537e-01] [ 1.36398477e-01 -3.27989890e-03 9.90648625e-01 -1.62618615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34629675700003 meters Centerline goodness [0,1] 0.8073405645185793 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.88747750e-01 6.25915281e-02 -1.35868275e-01 7.01658167e+00] [-6.15860061e-02 9.98034421e-01 1.15956024e-02 -4.05225495e-01] [ 1.36327002e-01 -3.09754133e-03 9.90659050e-01 -1.62636870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37629675700003 meters Centerline goodness [0,1] 0.8048284239295476 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.40, Z:-1.63 [[ 9.88747728e-01 6.28190771e-02 -1.35763375e-01 7.01626820e+00] [-6.18290232e-02 9.98020490e-01 1.15010392e-02 -4.04637294e-01] [ 1.36217115e-01 -2.97750946e-03 9.90674534e-01 -1.62657617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40629675700004 meters Centerline goodness [0,1] 0.8054761180407667 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.40, Z:-1.63 [[ 9.88761793e-01 6.35052124e-02 -1.35341069e-01 7.01494030e+00] [-6.25243082e-02 9.97977296e-01 1.14903270e-02 -4.04493896e-01] [ 1.35797009e-01 -2.89908965e-03 9.90732440e-01 -1.62697847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43629675700004 meters Centerline goodness [0,1] 0.805464080985486 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.88763726e-01 6.35300750e-02 -1.35315274e-01 7.01506070e+00] [-6.25042747e-02 9.97974699e-01 1.18201577e-02 -4.05642102e-01] [ 1.35792155e-01 -3.22956012e-03 9.90732083e-01 -1.62688076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46629675700004 meters Centerline goodness [0,1] 0.8054369528490247 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.89035190e-01 5.90100501e-02 -1.35378019e-01 7.01534481e+00] [-5.85147234e-02 9.98257321e-01 7.63856646e-03 -4.06697422e-01] [ 1.35592850e-01 3.66796284e-04 9.90764576e-01 -1.62817568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49629675700004 meters Centerline goodness [0,1] 0.8026839426191578 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.89020212e-01 5.89929571e-02 -1.35494841e-01 7.01556404e+00] [-5.84205358e-02 9.98258380e-01 8.20048283e-03 -4.08311745e-01] [ 1.35742631e-01 -1.94762084e-04 9.90744114e-01 -1.62756218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52629675700004 meters Centerline goodness [0,1] 0.8016623408725745 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.89025312e-01 5.83897501e-02 -1.35718713e-01 7.01682393e+00] [-5.77163133e-02 9.98293398e-01 8.89492091e-03 -4.11603250e-01] [ 1.36006468e-01 -9.64118153e-04 9.90707480e-01 -1.62709889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55629675700004 meters Centerline goodness [0,1] 0.8017220019821606 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.89000790e-01 5.83742779e-02 -1.35903941e-01 7.01721643e+00] [-5.76264035e-02 9.98293643e-01 9.43395709e-03 -4.13061637e-01] [ 1.36222741e-01 -1.49853569e-03 9.90677101e-01 -1.62654258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58629675700004 meters Centerline goodness [0,1] 0.7977854756897191 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.88983676e-01 5.77231376e-02 -1.36306009e-01 7.01891189e+00] [-5.69208133e-02 9.98330796e-01 9.77969129e-03 -4.14603518e-01] [ 1.36643001e-01 -1.91330614e-03 9.90618509e-01 -1.62639163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61629675700004 meters Centerline goodness [0,1] 0.7971874517076186 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.42, Z:-1.63 [[ 9.88959581e-01 5.73448297e-02 -1.36640104e-01 7.02008558e+00] [-5.64913412e-02 9.98351809e-01 1.01190010e-02 -4.15622171e-01] [ 1.36995167e-01 -2.28830031e-03 9.90569073e-01 -1.62607277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64629675700002 meters Centerline goodness [0,1] 0.7930789652404766 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.42, Z:-1.63 [[ 9.88946658e-01 5.69555579e-02 -1.36896212e-01 7.02090614e+00] [-5.60627675e-02 9.98373376e-01 1.03715510e-02 -4.16271808e-01] [ 1.37264251e-01 -2.58213021e-03 9.90531099e-01 -1.62560430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67629675700002 meters Centerline goodness [0,1] 0.7894671814671814 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.41, Z:-1.63 [[ 9.89185231e-01 5.13148850e-02 -1.37402185e-01 7.02267377e+00] [-5.10106429e-02 9.98681632e-01 5.73686996e-03 -4.14899559e-01] [ 1.37515425e-01 1.33414676e-03 9.90498727e-01 -1.62620959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70629675700002 meters Centerline goodness [0,1] 0.779360094524424 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.42, Z:-1.63 [[ 9.89413023e-01 4.43662697e-02 -1.38179244e-01 7.02600654e+00] [-4.46269285e-02 9.99002986e-01 1.21271204e-03 -4.15049796e-01] [ 1.38095281e-01 4.96664218e-03 9.90406495e-01 -1.62611709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73629675700002 meters Centerline goodness [0,1] 0.7573556913103104 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.41, Z:-1.63 [[ 9.89566196e-01 3.88106145e-02 -1.38753304e-01 7.02779311e+00] [-3.96401761e-02 9.99208834e-01 -3.21916276e-03 -4.14582012e-01] [ 1.38518589e-01 8.68578004e-03 9.90321745e-01 -1.62639618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76629675700002 meters Centerline goodness [0,1] 0.7570300552417215 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.41, Z:-1.63 [[ 0.98967288 0.03291311 -0.13951456 7.03044576] [-0.03430492 0.99938265 -0.0075824 -0.41481932] [ 0.13917887 0.01229013 0.99019099 -1.62669 ] [ 0. 0. 0. 1. ]] SLAMing on 235.79629675700002 meters Centerline goodness [0,1] 0.6799557382232058 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.41, Z:-1.63 [[ 0.99113865 0.01656851 -0.13179402 7.02576056] [-0.01843662 0.99974594 -0.01296681 -0.41387008] [ 0.1315457 0.01528174 0.99119231 -1.63365389] [ 0. 0. 0. 1. ]] SLAMing on 235.82629675700002 meters Centerline goodness [0,1] 0.7130857648099027 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.42, Z:-1.63 [[ 0.99097157 0.01442508 -0.13329389 7.03042245] [-0.01609086 0.99980522 -0.0114282 -0.41719511] [ 0.13310307 0.01346984 0.99101066 -1.63044648] [ 0. 0. 0. 1. ]] SLAMing on 235.85629675700002 meters Centerline goodness [0,1] 0.699295348021554 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.42, Z:-1.63 [[ 0.99094271 0.00723683 -0.13409014 7.03483512] [-0.00944855 0.99982949 -0.01586524 -0.41818177] [ 0.13395246 0.01698851 0.99084213 -1.63068847] [ 0. 0. 0. 1. ]] SLAMing on 235.88629675700003 meters Centerline goodness [0,1] 0.6885287983314616 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.42, Z:-1.63 [[ 9.90849264e-01 5.23856517e-03 -1.34871395e-01 7.03895702e+00] [-7.43485271e-03 9.99847754e-01 -1.57857841e-02 -4.20927734e-01] [ 1.34768166e-01 1.66440815e-02 9.90737360e-01 -1.63097694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91629675700003 meters Centerline goodness [0,1] 0.6716365155361332 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.42, Z:-1.63 [[ 9.90801197e-01 4.42640779e-03 -1.35253079e-01 7.04075501e+00] [-6.58232702e-03 9.99858250e-01 -1.54968534e-02 -4.21559569e-01] [ 1.35165312e-01 1.62445809e-02 9.90689887e-01 -1.63067949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94629675700003 meters Centerline goodness [0,1] 0.6659410314690911 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.43, Z:-1.63 [[ 0.99063152 0.00808354 -0.13632262 7.04343431] [-0.00942396 0.99991336 -0.00919023 -0.42604806] [ 0.13623652 0.01038883 0.99062187 -1.62693064] [ 0. 0. 0. 1. ]] SLAMing on 235.97629675700003 meters Centerline goodness [0,1] 0.664464823959469 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.43, Z:-1.63 [[ 0.99061841 0.00846947 -0.1363944 7.04326751] [-0.00973841 0.99991526 -0.00863885 -0.42688809] [ 0.13630968 0.00988606 0.99061695 -1.62644149] [ 0. 0. 0. 1. ]] SLAMing on 236.00629675700003 meters Centerline goodness [0,1] 0.6688338858669414 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.43, Z:-1.63 [[ 0.99056923 0.00879556 -0.13673056 7.04395537] [-0.01003766 0.99991436 -0.00839741 -0.42780373] [ 0.13664499 0.00969067 0.99057268 -1.62675033] [ 0. 0. 0. 1. ]] SLAMing on 236.03629675700003 meters Centerline goodness [0,1] 0.6663025669033316 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.43, Z:-1.63 [[ 9.90444206e-01 1.29387350e-02 -1.37305733e-01 7.04558396e+00] [-1.34980894e-02 9.99903956e-01 -3.14343864e-03 -4.31434300e-01] [ 1.37251874e-01 4.96676565e-03 9.90523727e-01 -1.62512807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06629675700003 meters Centerline goodness [0,1] 0.6441523553679362 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.44, Z:-1.62 [[ 9.90345070e-01 1.81051631e-02 -1.37436697e-01 7.04486686e+00] [-1.79060279e-02 9.99836068e-01 2.68522626e-03 -4.35035627e-01] [ 1.37462783e-01 -1.98355251e-04 9.90506913e-01 -1.62247223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09629675700003 meters Centerline goodness [0,1] 0.6605848778297954 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.44, Z:-1.62 [[ 9.90360778e-01 1.87951814e-02 -1.37230719e-01 7.04356595e+00] [-1.85205513e-02 9.99823107e-01 3.27790306e-03 -4.35536016e-01] [ 1.37268052e-01 -7.04718052e-04 9.90533687e-01 -1.62163649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12629675700003 meters Centerline goodness [0,1] 0.7193200663349917 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.43, Z:-1.62 [[ 9.91066721e-01 2.31024005e-02 -1.31350801e-01 7.05359747e+00] [-2.36519909e-02 9.99716805e-01 -2.62535907e-03 -4.34561862e-01] [ 1.31252951e-01 5.70861394e-03 9.91332474e-01 -1.62244121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15629675700004 meters Centerline goodness [0,1] 0.7206691473459912 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.44, Z:-1.62 [[ 9.91051134e-01 2.34420173e-02 -1.31408222e-01 7.05322525e+00] [-2.38657121e-02 9.99713812e-01 -1.65006853e-03 -4.36114204e-01] [ 1.31331934e-01 4.77145309e-03 9.91326967e-01 -1.62108288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18629675700004 meters Centerline goodness [0,1] 0.7098427452728083 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.44, Z:-1.62 [[ 9.91036514e-01 2.34955118e-02 -1.31508895e-01 7.05343344e+00] [-2.38757785e-02 9.99714068e-01 -1.31530701e-03 -4.36849220e-01] [ 1.31440388e-01 4.44339451e-03 9.91314118e-01 -1.62078387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21629675700004 meters Centerline goodness [0,1] 0.6923934509778938 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.44, Z:-1.62 [[ 9.91022173e-01 2.32194753e-02 -1.31665894e-01 7.05440400e+00] [-2.36164472e-02 9.99720035e-01 -1.45404533e-03 -4.36674848e-01] [ 1.31595270e-01 4.55047180e-03 9.91293084e-01 -1.62133444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24629675700004 meters Centerline goodness [0,1] 0.690223792697291 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.44, Z:-1.62 [[ 9.90944937e-01 2.26253710e-02 -1.32348877e-01 7.05663716e+00] [-2.29472601e-02 9.99736265e-01 -9.07202496e-04 -4.38795555e-01] [ 1.32293446e-01 3.93603182e-03 9.91202780e-01 -1.62094972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27629675700004 meters Centerline goodness [0,1] 0.7024527158485632 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.44, Z:-1.62 [[ 9.90884445e-01 2.14411790e-02 -1.32997338e-01 7.05920282e+00] [-2.17489889e-02 9.99763091e-01 -8.61937530e-04 -4.40917524e-01] [ 1.32947349e-01 3.74663812e-03 9.91116020e-01 -1.62079475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30629675700004 meters Centerline goodness [0,1] 0.6963916048281793 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.44, Z:-1.62 [[ 9.90807296e-01 2.07632625e-02 -1.33677929e-01 7.06128282e+00] [-2.10250935e-02 9.99778799e-01 -5.47184074e-04 -4.42232640e-01] [ 1.33636998e-01 3.35274494e-03 9.91024678e-01 -1.62026321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33629675700004 meters Centerline goodness [0,1] 0.6794193982505047 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.44, Z:-1.62 [[ 9.90786882e-01 1.41317372e-02 -1.34690936e-01 7.06583089e+00] [-1.50540511e-02 9.99869676e-01 -5.83157897e-03 -4.41364366e-01] [ 1.34590972e-01 7.80549618e-03 9.90870498e-01 -1.62195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36629675700004 meters Centerline goodness [0,1] 0.6745897181611695 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.44, Z:-1.62 [[ 9.90664389e-01 1.27717203e-02 -1.35723806e-01 7.06887238e+00] [-1.35859240e-02 9.99894831e-01 -5.07437898e-03 -4.43187189e-01] [ 1.35644724e-01 6.87093987e-03 9.90733718e-01 -1.62013458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39629675700002 meters Centerline goodness [0,1] 0.6620450606585788 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.62 [[ 9.90614082e-01 1.18455508e-02 -1.36174239e-01 7.07019856e+00] [-1.25263198e-02 9.99912958e-01 -4.14343400e-03 -4.45174417e-01] [ 1.36113304e-01 5.81030612e-03 9.90676238e-01 -1.61810451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42629675700002 meters Centerline goodness [0,1] 0.6469300363823691 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.62 [[ 9.90613120e-01 6.32328787e-03 -1.36549121e-01 7.07080513e+00] [-7.38833234e-03 9.99946101e-01 -7.29431204e-03 -4.45763020e-01] [ 1.36495638e-01 8.23471150e-03 9.90606446e-01 -1.61531720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45629675700002 meters Centerline goodness [0,1] 0.6426200985920031 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 9.90534268e-01 5.82063850e-03 -1.37142207e-01 7.07194135e+00] [-6.73022464e-03 9.99958319e-01 -6.16967060e-03 -4.47677882e-01] [ 1.37100580e-01 7.03426802e-03 9.90532155e-01 -1.61308792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48629675700002 meters Centerline goodness [0,1] 0.6338575096277279 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.45, Z:-1.61 [[ 9.90384174e-01 8.46502596e-03 -1.38085231e-01 7.07544401e+00] [-8.72508971e-03 9.99961119e-01 -1.27815223e-03 -4.48593819e-01] [ 1.38069042e-01 2.47066777e-03 9.90419525e-01 -1.61062651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51629675700002 meters Centerline goodness [0,1] 0.6296710673528754 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.45, Z:-1.61 [[ 9.90229503e-01 1.19960504e-02 -1.38930290e-01 7.07849494e+00] [-1.16779523e-02 9.99926991e-01 3.10459072e-03 -4.49894790e-01] [ 1.38957390e-01 -1.45183602e-03 9.90297297e-01 -1.61010761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54629675700002 meters Centerline goodness [0,1] 0.6295012088051914 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.45, Z:-1.61 [[ 9.90058393e-01 1.58341493e-02 -1.39762862e-01 7.08164979e+00] [-1.50569531e-02 9.99864746e-01 6.61652792e-03 -4.49430740e-01] [ 1.39848726e-01 -4.44634613e-03 9.90162898e-01 -1.61121218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57629675700002 meters Centerline goodness [0,1] 0.6336554969161314 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.45, Z:-1.61 [[ 9.90051795e-01 1.63128978e-02 -1.39754544e-01 7.08124696e+00] [-1.55407925e-02 9.99857357e-01 6.61432106e-03 -4.49165440e-01] [ 1.39842508e-01 -4.37662407e-03 9.90164087e-01 -1.61141554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60629675700002 meters Centerline goodness [0,1] 0.6663804071246819 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.45, Z:-1.61 [[ 9.90045200e-01 1.69094671e-02 -1.39730353e-01 7.08029915e+00] [-1.61103746e-02 9.99846768e-01 6.84802566e-03 -4.49090619e-01] [ 1.39824738e-01 -4.52874661e-03 9.90165912e-01 -1.61086736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63629675700003 meters Centerline goodness [0,1] 0.6640215838755753 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.45, Z:-1.61 [[ 9.90060506e-01 1.81264943e-02 -1.39469083e-01 7.07770462e+00] [-1.70824079e-02 9.99816410e-01 8.67969459e-03 -4.52074749e-01] [ 1.39600811e-01 -6.21095504e-03 9.90188385e-01 -1.60782229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66629675700003 meters Centerline goodness [0,1] 0.6851322145944572 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.60 [[ 0.99014429 0.01978938 -0.13864582 7.07337653] [-0.01852837 0.99977445 0.01038007 -0.45367262] [ 0.13881997 -0.00770888 0.99028763 -1.60483893] [ 0. 0. 0. 1. ]] SLAMing on 236.69629675700003 meters Centerline goodness [0,1] 0.6830793650793651 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.60 [[ 0.99016076 0.02031633 -0.13845186 7.07216023] [-0.01898061 0.99975977 0.01096118 -0.4539368 ] [ 0.13864129 -0.00822543 0.99030851 -1.60376101] [ 0. 0. 0. 1. ]] SLAMing on 236.72629675700003 meters Centerline goodness [0,1] 0.6762774764487582 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.60 [[ 0.99025848 0.02247509 -0.13741551 7.06710449] [-0.02100202 0.99970548 0.01216051 -0.45367628] [ 0.13764835 -0.00915605 0.99043884 -1.60172453] [ 0. 0. 0. 1. ]] SLAMing on 236.75629675700003 meters Centerline goodness [0,1] 0.6730034420690308 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.60 [[ 0.99029009 0.02325165 -0.13705803 7.06528462] [-0.0217833 0.99968823 0.01220366 -0.45241625] [ 0.13729906 -0.00909959 0.99048784 -1.60139719] [ 0. 0. 0. 1. ]] SLAMing on 236.78629675700003 meters Centerline goodness [0,1] 0.6683721811635399 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.45, Z:-1.60 [[ 0.99034067 0.02386196 -0.13658683 7.06380686] [-0.02241781 0.99967544 0.01210184 -0.4510896 ] [ 0.13683127 -0.00892297 0.99055418 -1.60164803] [ 0. 0. 0. 1. ]] SLAMing on 236.81629675700003 meters Centerline goodness [0,1] 0.6669184527743681 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.45, Z:-1.60 [[ 0.99023023 0.02874127 -0.13644789 7.06366107] [-0.02674523 0.99950709 0.01643977 -0.45114413] [ 0.13685313 -0.01262983 0.99051083 -1.6015322 ] [ 0. 0. 0. 1. ]] SLAMing on 236.84629675700003 meters Centerline goodness [0,1] 0.6635247698377904 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.60 [[ 0.9901929 0.02842094 -0.13678549 7.06503114] [-0.02653943 0.99952667 0.01555967 -0.44950553] [ 0.13716297 -0.01177687 0.99047848 -1.60287898] [ 0. 0. 0. 1. ]] SLAMing on 236.87629675700003 meters Centerline goodness [0,1] 0.6598820799096783 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99021335 0.02850525 -0.13661982 7.06549166] [-0.02679748 0.99953826 0.01432341 -0.44789376] [ 0.13696503 -0.01052217 0.99052 -1.60547791] [ 0. 0. 0. 1. ]] SLAMing on 236.90629675700004 meters Centerline goodness [0,1] 0.6565748563173267 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99019448 0.02860399 -0.13673588 7.06600837] [-0.02691503 0.99953707 0.01418529 -0.44837017] [ 0.13707833 -0.01036595 0.99050597 -1.60614743] [ 0. 0. 0. 1. ]] SLAMing on 236.93629675700004 meters Centerline goodness [0,1] 0.6656111860049534 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99019716 0.0289698 -0.13663943 7.06600357] [-0.02736905 0.99953315 0.01357974 -0.44817823] [ 0.13696904 -0.00970693 0.99052777 -1.60766468] [ 0. 0. 0. 1. ]] SLAMing on 236.96629675700004 meters Centerline goodness [0,1] 0.6573138795361018 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99013781 0.02853179 -0.13716068 7.06779758] [-0.02696608 0.9995484 0.01326007 -0.44833123] [ 0.13747707 -0.00943061 0.99046005 -1.60824999] [ 0. 0. 0. 1. ]] SLAMing on 236.99629675700004 meters Centerline goodness [0,1] 0.6573138795361018 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99013781 0.02853179 -0.13716068 7.06779758] [-0.02696608 0.9995484 0.01326007 -0.44833123] [ 0.13747707 -0.00943061 0.99046005 -1.60824999] [ 0. 0. 0. 1. ]] SLAMing on 237.02629675700004 meters Centerline goodness [0,1] 0.7353014839396406 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99014411 0.02895651 -0.13702613 7.06711973] [-0.02741075 0.9995377 0.01315464 -0.44802965] [ 0.13734369 -0.00926899 0.99048008 -1.60849727] [ 0. 0. 0. 1. ]] SLAMing on 237.05629675700004 meters Centerline goodness [0,1] 0.6863794236365344 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99015447 0.02931237 -0.13687553 7.06637499] [-0.02777764 0.99952816 0.01310958 -0.44771701] [ 0.13719522 -0.00917843 0.9905015 -1.60854799] [ 0. 0. 0. 1. ]] SLAMing on 237.08629675700004 meters Centerline goodness [0,1] 0.6868399675060926 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.45, Z:-1.61 [[ 0.99014648 0.02946035 -0.13690158 7.06639269] [-0.02796913 0.99952678 0.01280391 -0.44700535] [ 0.13721401 -0.00884872 0.9905019 -1.60901862] [ 0. 0. 0. 1. ]] SLAMing on 237.11629675700004 meters Centerline goodness [0,1] 0.6964653718853431 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.44, Z:-1.61 [[ 0.99016534 0.02985069 -0.1366804 7.06625894] [-0.02850036 0.99952382 0.01182616 -0.4446149 ] [ 0.13696833 -0.00781441 0.9905446 -1.61102767] [ 0. 0. 0. 1. ]] SLAMing on 237.14629675700002 meters Centerline goodness [0,1] 0.771231637713252 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.44, Z:-1.61 [[ 9.90130902e-01 2.94715432e-02 -1.37011773e-01 7.06768723e+00] [-2.82398381e-02 9.99541470e-01 1.09252888e-02 -4.42780458e-01] [ 1.37270934e-01 -6.94827572e-03 9.90509168e-01 -1.61237298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17629675700002 meters Centerline goodness [0,1] 0.7642901618929017 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.44, Z:-1.61 [[ 9.90079185e-01 2.86075476e-02 -1.37567494e-01 7.07056362e+00] [-2.75641874e-02 9.99575046e-01 9.48379932e-03 -4.40273969e-01] [ 1.37780342e-01 -5.59777612e-03 9.90446991e-01 -1.61486071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20629675700002 meters Centerline goodness [0,1] 0.6927556995141397 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.44, Z:-1.62 [[ 9.90044564e-01 2.81355838e-02 -1.37913561e-01 7.07196656e+00] [-2.71303411e-02 9.99589901e-01 9.16370155e-03 -4.39896612e-01] [ 1.38114829e-01 -5.33083096e-03 9.90401876e-01 -1.61535966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23629675700002 meters Centerline goodness [0,1] 0.7387709427745486 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.44, Z:-1.62 [[ 9.89951518e-01 2.67323885e-02 -1.38857381e-01 7.07543336e+00] [-2.57645069e-02 9.99629627e-01 8.76348696e-03 -4.39822551e-01] [ 1.39040221e-01 -5.09783526e-03 9.90273613e-01 -1.61556936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26629675700002 meters Centerline goodness [0,1] 0.6756950504924573 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.44, Z:-1.62 [[ 9.89915235e-01 2.60012976e-02 -1.39254302e-01 7.07719273e+00] [-2.50452763e-02 9.99649209e-01 8.61356508e-03 -4.40171516e-01] [ 1.39429416e-01 -5.03903684e-03 9.90219191e-01 -1.61583996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29629675700002 meters Centerline goodness [0,1] 0.7157888183289752 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.44, Z:-1.62 [[ 9.89856329e-01 2.51462977e-02 -1.39828865e-01 7.07927999e+00] [-2.42012932e-02 9.99671353e-01 8.45483670e-03 -4.40211403e-01] [ 1.39995519e-01 -4.98503424e-03 9.90139588e-01 -1.61586648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32629675700002 meters Centerline goodness [0,1] 0.6898428993622647 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.44, Z:-1.62 [[ 9.89795650e-01 2.33747151e-02 -1.40563843e-01 7.08291243e+00] [-2.25370855e-02 9.99717512e-01 7.54819112e-03 -4.38647051e-01] [ 1.40700572e-01 -4.30326738e-03 9.90042843e-01 -1.61679677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35629675700002 meters Centerline goodness [0,1] 0.6782457123291935 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.44, Z:-1.62 [[ 9.89697148e-01 2.09957349e-02 -1.41628864e-01 7.08796298e+00] [-2.03220325e-02 9.99774252e-01 6.20168467e-03 -4.36920600e-01] [ 1.41727100e-01 -3.25960325e-03 9.89900401e-01 -1.61830848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38629675700003 meters Centerline goodness [0,1] 0.666147666054246 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.44, Z:-1.62 [[ 9.89617389e-01 1.98802555e-02 -1.42345347e-01 7.09066497e+00] [-1.92606528e-02 9.99798080e-01 5.72947713e-03 -4.36444742e-01] [ 1.42430508e-01 -2.92832589e-03 9.89800472e-01 -1.61875350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41629675700003 meters Centerline goodness [0,1] 0.6544990189055346 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.44, Z:-1.62 [[ 9.89526939e-01 1.87354377e-02 -1.43127287e-01 7.09353400e+00] [-1.81497804e-02 9.99820716e-01 5.39646978e-03 -4.36207830e-01] [ 1.43202732e-01 -2.74222340e-03 9.89689577e-01 -1.61898805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44629675700003 meters Centerline goodness [0,1] 0.6380200236303712 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.43, Z:-1.62 [[ 9.89461262e-01 1.59646144e-02 -1.43915051e-01 7.09815542e+00] [-1.55044843e-02 9.99870473e-01 4.31824168e-03 -4.34650938e-01] [ 1.43965349e-01 -2.04140422e-03 9.89580624e-01 -1.61965459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47629675700003 meters Centerline goodness [0,1] 0.6220293067356237 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.43, Z:-1.62 [[ 0.98862056 0.01511181 -0.14966968 7.1087299 ] [-0.01185433 0.99967356 0.02263277 -0.43162413] [ 0.14996284 -0.02060099 0.98847698 -1.61759023] [ 0. 0. 0. 1. ]] SLAMing on 237.50629675700003 meters Centerline goodness [0,1] 0.6278152632714052 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.43, Z:-1.62 [[ 0.98857151 0.01423324 -0.15007926 7.11064473] [-0.01111846 0.99970545 0.02157292 -0.42892852] [ 0.15034211 -0.01965773 0.98843858 -1.61876001] [ 0. 0. 0. 1. ]] SLAMing on 237.53629675700003 meters Centerline goodness [0,1] 0.6186456286836934 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.43, Z:-1.62 [[ 0.98850075 0.01287957 -0.15066649 7.11312431] [-0.0099181 0.99974289 0.02039079 -0.42588597] [ 0.15089038 -0.01866199 0.98837433 -1.61962422] [ 0. 0. 0. 1. ]] SLAMing on 237.56629675700003 meters Centerline goodness [0,1] 0.6145320944920143 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.42, Z:-1.62 [[ 0.98830433 0.01544562 -0.1517102 7.11639917] [-0.01218404 0.99967473 0.0224049 -0.41643996] [ 0.15200692 -0.02029442 0.98817106 -1.61972144] [ 0. 0. 0. 1. ]] SLAMing on 237.59629675700003 meters Centerline goodness [0,1] 0.6218809401683614 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.41, Z:-1.62 [[ 0.98816689 0.01884463 -0.15222049 7.11798314] [-0.01518693 0.99956817 0.02515605 -0.41127091] [ 0.15262882 -0.02254661 0.98802636 -1.6196203 ] [ 0. 0. 0. 1. ]] SLAMing on 237.62629675700003 meters Centerline goodness [0,1] 0.629830971689986 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.40, Z:-1.62 [[ 0.98788694 0.02552843 -0.1530611 7.1180934 ] [-0.02110895 0.99931398 0.03043002 -0.39927817] [ 0.15373293 -0.02683046 0.9877481 -1.61673689] [ 0. 0. 0. 1. ]] SLAMing on 237.65629675700004 meters Centerline goodness [0,1] 0.6283209273588514 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.39, Z:-1.62 [[ 0.98774714 0.02950099 -0.15324906 7.11774868] [-0.02468036 0.99914182 0.03326426 -0.39291568] [ 0.15409887 -0.02907443 0.98762757 -1.61565182] [ 0. 0. 0. 1. ]] SLAMing on 237.68629675700004 meters Centerline goodness [0,1] 0.6492181211912154 Centerline is valid? [False, False] Translation: X:7.13, Y:-0.38, Z:-1.62 [[ 0.98812508 0.03948111 -0.14849262 7.13325284] [-0.0348716 0.99882952 0.03351949 -0.37757058] [ 0.1496422 -0.02794327 0.98834528 -1.61558396] [ 0. 0. 0. 1. ]] SLAMing on 237.71629675700004 meters Centerline goodness [0,1] 0.6535218465207393 Centerline is valid? [False, False] Translation: X:7.15, Y:-0.37, Z:-1.62 [[ 0.98863398 0.04565244 -0.14324352 7.1471995 ] [-0.04179389 0.99868077 0.02983283 -0.36899115] [ 0.14441649 -0.02350704 0.98923773 -1.61733095] [ 0. 0. 0. 1. ]] SLAMing on 237.74629675700004 meters Centerline goodness [0,1] 0.6587092063135427 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.36, Z:-1.62 [[ 0.98913018 0.05189764 -0.1375795 7.15990357] [-0.04872204 0.99846469 0.02635213 -0.36111005] [ 0.13873589 -0.01936253 0.99014011 -1.61849273] [ 0. 0. 0. 1. ]] SLAMing on 237.77629675700004 meters Centerline goodness [0,1] 0.6690864265169154 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.34, Z:-1.62 [[ 0.99033301 0.06090288 -0.12462493 7.16226565] [-0.05764566 0.99789877 0.02958085 -0.34301264] [ 0.12616463 -0.02211081 0.99176287 -1.62045462] [ 0. 0. 0. 1. ]] SLAMing on 237.80629675700004 meters Centerline goodness [0,1] 0.6665149283705984 Centerline is valid? [False, False] Translation: X:7.17, Y:-0.33, Z:-1.62 [[ 0.99047843 0.07059257 -0.11819127 7.17488825] [-0.06746889 0.99726331 0.03022982 -0.32938304] [ 0.12000182 -0.02196775 0.9925306 -1.62038968] [ 0. 0. 0. 1. ]] SLAMing on 237.83629675700004 meters Centerline goodness [0,1] 0.722594841069961 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.32, Z:-1.62 [[ 0.9905177 0.07002587 -0.11819927 7.17577907] [-0.06721701 0.99735683 0.02759023 -0.32096181] [ 0.11981888 -0.01938361 0.99260652 -1.62250229] [ 0. 0. 0. 1. ]] SLAMing on 237.86629675700004 meters Centerline goodness [0,1] 0.7234014709346455 Centerline is valid? [False, False] Translation: X:7.18, Y:-0.32, Z:-1.62 [[ 0.99025949 0.07339056 -0.11832145 7.17692846] [-0.07031211 0.99707409 0.02999116 -0.31522343] [ 0.12017632 -0.0213796 0.99252233 -1.62251831] [ 0. 0. 0. 1. ]] SLAMing on 237.89629675700002 meters Centerline goodness [0,1] 0.7140448146350188 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.30, Z:-1.62 [[ 0.99052837 0.0781368 -0.11290785 7.19248979] [-0.07566443 0.99679364 0.0260256 -0.30163374] [ 0.11457939 -0.01723598 0.99326456 -1.62457514] [ 0. 0. 0. 1. ]] SLAMing on 237.92629675700002 meters Centerline goodness [0,1] 0.7122672452944442 Centerline is valid? [False, False] Translation: X:7.21, Y:-0.29, Z:-1.63 [[ 0.99080669 0.08142474 -0.1080376 7.20670987] [-0.07978809 0.99662318 0.01939341 -0.29425897] [ 0.10925188 -0.01059501 0.99395763 -1.62744256] [ 0. 0. 0. 1. ]] SLAMing on 237.95629675700002 meters Centerline goodness [0,1] 0.7034171027096077 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.28, Z:-1.63 [[ 0.99081698 0.08954673 -0.10130692 7.22047787] [-0.08809054 0.99593568 0.01876653 -0.27999556] [ 0.10257566 -0.00967002 0.9946782 -1.62861706] [ 0. 0. 0. 1. ]] SLAMing on 237.98629675700002 meters Centerline goodness [0,1] 0.728603442521337 Centerline is valid? [False, False] Translation: X:7.23, Y:-0.27, Z:-1.63 [[ 0.99076021 0.09780598 -0.09395846 7.23420988] [-0.0964516 0.99515897 0.01886033 -0.26569611] [ 0.09534826 -0.00962362 0.99539746 -1.63027108] [ 0. 0. 0. 1. ]] SLAMing on 238.01629675700002 meters Centerline goodness [0,1] 0.7210431993963403 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.26, Z:-1.63 [[ 9.90970091e-01 1.01054370e-01 -8.81265716e-02 7.24844154e+00] [-1.00246562e-01 9.94870274e-01 1.35560045e-02 -2.57944618e-01] [ 8.90443999e-02 -4.59920917e-03 9.96017039e-01 -1.63280043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04629675700002 meters Centerline goodness [0,1] 0.7120288506281991 Centerline is valid? [False, False] Translation: X:7.26, Y:-0.25, Z:-1.64 [[ 9.91283713e-01 1.02972582e-01 -8.21781503e-02 7.26324833e+00] [-1.02678156e-01 9.94683953e-01 7.81217960e-03 -2.50281434e-01] [ 8.25457277e-02 6.93814576e-04 9.96587037e-01 -1.63540321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07629675700002 meters Centerline goodness [0,1] 0.6624496446838365 Centerline is valid? [False, False] Translation: X:7.28, Y:-0.24, Z:-1.63 [[ 9.92141282e-01 1.01235951e-01 -7.35320206e-02 7.28465377e+00] [-1.00921997e-01 9.94862319e-01 7.98227363e-03 -2.36560787e-01] [ 7.39623296e-02 -4.98544804e-04 9.97260911e-01 -1.63433529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10629675700002 meters Centerline goodness [0,1] 0.6831948539265613 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.23, Z:-1.64 [[ 9.92999940e-01 1.00488582e-01 -6.20738602e-02 7.29164004e+00] [-1.00517882e-01 9.94931700e-01 2.65853065e-03 -2.27406691e-01] [ 6.20264032e-02 3.59961216e-03 9.98068018e-01 -1.63904060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13629675700003 meters Centerline goodness [0,1] 0.6573723490402924 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.22, Z:-1.64 [[ 9.93300325e-01 1.00854659e-01 -5.64163253e-02 7.31410285e+00] [-1.00942638e-01 9.94891404e-01 1.29533042e-03 -2.16278280e-01] [ 5.62587572e-02 4.40816059e-03 9.98406491e-01 -1.63710513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16629675700003 meters Centerline goodness [0,1] 0.6477930379200139 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.21, Z:-1.64 [[ 9.93499281e-01 1.01404541e-01 -5.17329444e-02 7.33030188e+00] [-1.01827775e-01 9.94786251e-01 -5.60529608e-03 -2.10862467e-01] [ 5.08948193e-02 1.08367083e-02 9.98645224e-01 -1.63861267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19629675700003 meters Centerline goodness [0,1] 0.630376742806289 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.20, Z:-1.64 [[ 0.99367057 0.10217254 -0.04668584 7.3501271 ] [-0.10284791 0.99462111 -0.01229443 -0.19871777] [ 0.04517857 0.01701815 0.99883396 -1.64074201] [ 0. 0. 0. 1. ]] SLAMing on 238.22629675700003 meters Centerline goodness [0,1] 0.619227460607205 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.19, Z:-1.64 [[ 0.99347421 0.10443757 -0.04584516 7.35192724] [-0.10508618 0.99439112 -0.01196664 -0.19065429] [ 0.04433826 0.01670624 0.99887688 -1.6420548 ] [ 0. 0. 0. 1. ]] SLAMing on 238.25629675700003 meters Centerline goodness [0,1] 0.5687170181256909 Centerline is valid? [False, False] Translation: X:7.38, Y:-0.18, Z:-1.65 [[ 0.99289137 0.11289778 -0.03769387 7.37975911] [-0.11396257 0.99310709 -0.02740143 -0.17603543] [ 0.03434049 0.03150233 0.99891358 -1.64502107] [ 0. 0. 0. 1. ]] Total time of SLAM: 11223.78 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%| | 0/7942 [00:00