+ python -m lidar_slam --no-model /working/cf3633bb-4319-48e6-a195-9cfd55a72198 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/cf3633bb-4319-48e6-a195-9cfd55a72198 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 0.027719421 Adjusted end_distance from 9.223372036854776e+18 to 174.917719421 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.027719421 meters Centerline goodness [0,1] 0.9581045406546991 Centerline is valid? [0, True] SLAMing on 0.057719421 meters Centerline goodness [0,1] 0.9549970777323202 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:-0.00 [[ 9.99977483e-01 6.68536425e-03 5.82942930e-04 3.11068017e-02] [-6.68535692e-03 9.99977653e-01 -1.45251608e-05 1.16457621e-02] [-5.83027009e-04 1.06276522e-05 9.99999830e-01 -4.29959909e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08771942099999999 meters Centerline goodness [0,1] 0.9539512143274699 Centerline is valid? [True, True] Translation: X:0.06, Y:0.01, Z:-0.01 [[ 9.99964176e-01 8.43507226e-03 7.03932210e-04 6.01394360e-02] [-8.43506509e-03 9.99964424e-01 -1.31605726e-05 1.28433565e-02] [-7.04018178e-04 7.22238715e-06 9.99999752e-01 -5.25267774e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11771942099999999 meters Centerline goodness [0,1] 0.9505158476919804 Centerline is valid? [True, True] Translation: X:0.09, Y:0.02, Z:-0.01 [[ 9.99917134e-01 1.28538571e-02 -7.08938047e-04 8.90469993e-02] [-1.28538461e-02 9.99917386e-01 2.00004623e-05 1.61809836e-02] [ 7.09136562e-04 -1.08862243e-05 9.99999749e-01 -9.11395809e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.147719421 meters Centerline goodness [0,1] 0.9489140247464287 Centerline is valid? [True, False] Translation: X:0.09, Y:0.02, Z:-0.01 [[ 9.99948329e-01 1.01186806e-02 -9.75487126e-04 9.12057672e-02] [-1.01222580e-02 9.99941793e-01 -3.73494851e-03 1.93597611e-02] [ 9.37637595e-04 3.74462966e-03 9.99992549e-01 -1.03073556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.177719421 meters Centerline goodness [0,1] 0.9432853364678225 Centerline is valid? [False, False] Translation: X:0.09, Y:0.02, Z:-0.01 [[ 9.99955172e-01 9.42106254e-03 -9.47116633e-04 9.35681266e-02] [-9.42557837e-03 9.99943659e-01 -4.88228113e-03 2.41825012e-02] [ 9.01066996e-04 4.89098939e-03 9.99987633e-01 -1.26516477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.207719421 meters Centerline goodness [0,1] 0.9390185165364444 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.01 [[ 9.99961651e-01 8.71439589e-03 -8.69484213e-04 9.40368176e-02] [-8.71909410e-03 9.99946561e-01 -5.55447354e-03 2.61057458e-02] [ 8.21033867e-04 5.56184164e-03 9.99984196e-01 -1.33029949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.237719421 meters Centerline goodness [0,1] 0.9205353072116287 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.01 [[ 0.99998782 -0.00116382 -0.00479703 0.10098397] [ 0.00115452 0.99999745 -0.00193956 0.02800022] [ 0.00479928 0.00193399 0.99998661 -0.01057331] [ 0. 0. 0. 1. ]] SLAMing on 0.267719421 meters Centerline goodness [0,1] 0.9071483967587517 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.01 [[ 0.9999847 -0.00257658 -0.00489516 0.10081999] [ 0.00256694 0.99999476 -0.00197489 0.02702013] [ 0.00490023 0.0019623 0.99998607 -0.01079618] [ 0. 0. 0. 1. ]] SLAMing on 0.29771942100000004 meters Centerline goodness [0,1] 0.8836271367521368 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.01 [[ 0.99994831 -0.00877412 -0.00513807 0.10086362] [ 0.00874037 0.99994033 -0.00655306 0.02841248] [ 0.00519526 0.00650781 0.99996533 -0.01058087] [ 0. 0. 0. 1. ]] SLAMing on 0.327719421 meters Centerline goodness [0,1] 0.8720490274447109 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.01 [[ 0.99994103 -0.00950139 -0.00526022 0.10235135] [ 0.00946827 0.99993541 -0.00628719 0.0270743 ] [ 0.00531962 0.00623702 0.9999664 -0.01243389] [ 0. 0. 0. 1. ]] SLAMing on 0.357719421 meters Centerline goodness [0,1] 0.8606660090116511 Centerline is valid? [False, False] Translation: X:0.10, Y:0.03, Z:-0.01 [[ 0.99993117 -0.0103 -0.00561755 0.10421688] [ 0.01026633 0.99992937 -0.00598859 0.02519589] [ 0.00567884 0.00593051 0.99996629 -0.01422833] [ 0. 0. 0. 1. ]] SLAMing on 0.387719421 meters Centerline goodness [0,1] 0.8454705037501995 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.02 [[ 0.99986683 -0.01507833 -0.006242 0.10698151] [ 0.01501564 0.99983753 -0.00997222 0.02722848] [ 0.00639135 0.00987717 0.99993079 -0.01558124] [ 0. 0. 0. 1. ]] SLAMing on 0.41771942100000004 meters Centerline goodness [0,1] 0.8379250566742232 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.02 [[ 0.99985172 -0.01599083 -0.00638947 0.10816301] [ 0.0159248 0.99982059 -0.01025573 0.02941709] [ 0.00655232 0.01015246 0.99992699 -0.01604679] [ 0. 0. 0. 1. ]] SLAMing on 0.447719421 meters Centerline goodness [0,1] 0.8374983331110815 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.02 [[ 0.99989884 -0.01266609 -0.00647116 0.10964734] [ 0.01262616 0.99990123 -0.00617387 0.02826387] [ 0.00654872 0.00609154 0.99996 -0.01791174] [ 0. 0. 0. 1. ]] SLAMing on 0.477719421 meters Centerline goodness [0,1] 0.8371811755852393 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.02 [[ 0.99993401 -0.00963935 -0.00624904 0.11026265] [ 0.00962517 0.99995105 -0.00229425 0.0301239 ] [ 0.00627085 0.00223395 0.99997784 -0.01889516] [ 0. 0. 0. 1. ]] SLAMing on 0.507719421 meters Centerline goodness [0,1] 0.8376471221955883 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.02 [[ 0.99993241 -0.00986504 -0.00615257 0.11072988] [ 0.00984852 0.99994783 -0.0027089 0.03254297] [ 0.00617897 0.00264812 0.9999774 -0.0190595 ] [ 0. 0. 0. 1. ]] SLAMing on 0.537719421 meters Centerline goodness [0,1] 0.8308007881028852 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.02 [[ 0.99991637 -0.01106816 -0.00668978 0.11570742] [ 0.0110433 0.99993202 -0.00374187 0.03616024] [ 0.00673075 0.00366768 0.99997062 -0.02227277] [ 0. 0. 0. 1. ]] SLAMing on 0.5677194210000001 meters Centerline goodness [0,1] 0.8375735969318857 Centerline is valid? [False, False] Translation: X:0.12, Y:0.04, Z:-0.03 [[ 0.99989667 -0.01236488 -0.00733242 0.12441469] [ 0.01232255 0.99990731 -0.00579054 0.03858415] [ 0.00740334 0.00569958 0.99995635 -0.02747499] [ 0. 0. 0. 1. ]] SLAMing on 0.597719421 meters Centerline goodness [0,1] 0.83234729988924 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.03 [[ 0.99989609 -0.01204319 -0.00792238 0.12913108] [ 0.01200181 0.99991419 -0.00525039 0.03942395] [ 0.00798493 0.00515476 0.99995483 -0.03056108] [ 0. 0. 0. 1. ]] SLAMing on 0.627719421 meters Centerline goodness [0,1] 0.8364349472545307 Centerline is valid? [False, False] Translation: X:0.13, Y:0.04, Z:-0.03 [[ 0.99989217 -0.011859 -0.00866102 0.13339871] [ 0.0118186 0.99991911 -0.00470091 0.04084424] [ 0.00871607 0.00459804 0.99995144 -0.03277434] [ 0. 0. 0. 1. ]] SLAMing on 0.657719421 meters Centerline goodness [0,1] 0.8338770184309248 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:-0.04 [[ 0.99986635 -0.01264466 -0.0103634 0.14157214] [ 0.0125924 0.99990774 -0.00509265 0.04755234] [ 0.01042684 0.00496147 0.99993333 -0.03590348] [ 0. 0. 0. 1. ]] SLAMing on 0.6877194209999999 meters Centerline goodness [0,1] 0.8345235499345836 Centerline is valid? [False, False] Translation: X:0.15, Y:0.05, Z:-0.04 [[ 0.99986736 -0.01190139 -0.01111824 0.14644 ] [ 0.01184572 0.99991704 -0.0050594 0.049811 ] [ 0.01117753 0.00492703 0.99992539 -0.03831501] [ 0. 0. 0. 1. ]] SLAMing on 0.717719421 meters Centerline goodness [0,1] 0.8375092014504212 Centerline is valid? [False, False] Translation: X:0.16, Y:0.05, Z:-0.04 [[ 0.99987335 -0.01077831 -0.01170913 0.15808465] [ 0.01069645 0.99991807 -0.00703112 0.05283555] [ 0.01178396 0.00690499 0.99990673 -0.04361962] [ 0. 0. 0. 1. ]] SLAMing on 0.747719421 meters Centerline goodness [0,1] 0.8398960896910035 Centerline is valid? [False, False] Translation: X:0.16, Y:0.06, Z:-0.05 [[ 0.99988718 -0.00900628 -0.01202143 0.16327139] [ 0.00892354 0.99993624 -0.0069193 0.05632799] [ 0.01208298 0.00681125 0.9999038 -0.04673023] [ 0. 0. 0. 1. ]] SLAMing on 0.777719421 meters Centerline goodness [0,1] 0.837796881027167 Centerline is valid? [False, False] Translation: X:0.18, Y:0.06, Z:-0.05 [[ 0.99990653 -0.00338371 -0.01324711 0.17514103] [ 0.00334024 0.99998897 -0.0033024 0.06362372] [ 0.01325813 0.00325784 0.9999068 -0.05269169] [ 0. 0. 0. 1. ]] SLAMing on 0.807719421 meters Centerline goodness [0,1] 0.8351087438970262 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.06 [[ 0.99988943 -0.0022196 -0.01470363 0.18101973] [ 0.00220289 0.99999691 -0.00115258 0.06906748] [ 0.01470614 0.00112007 0.99989123 -0.05598746] [ 0. 0. 0. 1. ]] SLAMing on 0.837719421 meters Centerline goodness [0,1] 0.8330685397329766 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.06 [[ 0.99988565 -0.00274106 -0.01487175 0.18157883] [ 0.00271972 0.99999524 -0.00145502 0.07230697] [ 0.01487567 0.0014144 0.99988835 -0.05631872] [ 0. 0. 0. 1. ]] SLAMing on 0.867719421 meters Centerline goodness [0,1] 0.8313239562402321 Centerline is valid? [False, False] Translation: X:0.18, Y:0.07, Z:-0.06 [[ 0.99988238 -0.00366041 -0.01489377 0.18198454] [ 0.00363886 0.99999229 -0.00147351 0.07290012] [ 0.01489905 0.00141914 0.999888 -0.0570824 ] [ 0. 0. 0. 1. ]] SLAMing on 0.897719421 meters Centerline goodness [0,1] 0.8281712149115464 Centerline is valid? [False, False] Translation: X:0.19, Y:0.07, Z:-0.06 [[ 0.99985079 -0.00691314 -0.01583037 0.18906385] [ 0.00683198 0.99996327 -0.00517479 0.07475014] [ 0.01586556 0.00506586 0.9998613 -0.06124781] [ 0. 0. 0. 1. ]] SLAMing on 0.9277194209999999 meters Centerline goodness [0,1] 0.8255072786483704 Centerline is valid? [False, False] Translation: X:0.19, Y:0.08, Z:-0.06 [[ 0.99980997 -0.01018315 -0.01662335 0.19357558] [ 0.01004035 0.99991217 -0.00865101 0.07581367] [ 0.01670999 0.00848246 0.9998244 -0.06384431] [ 0. 0. 0. 1. ]] SLAMing on 0.957719421 meters Centerline goodness [0,1] 0.8234441626487556 Centerline is valid? [False, False] Translation: X:0.20, Y:0.08, Z:-0.07 [[ 0.99974994 -0.01245833 -0.01856997 0.20401405] [ 0.01226912 0.99987201 -0.01026825 0.07945571] [ 0.01869552 0.01003784 0.99977483 -0.06948283] [ 0. 0. 0. 1. ]] SLAMing on 0.987719421 meters Centerline goodness [0,1] 0.8172703661295277 Centerline is valid? [False, False] Translation: X:0.21, Y:0.08, Z:-0.07 [[ 0.99971809 -0.01323933 -0.01970928 0.21226684] [ 0.01302835 0.99985686 -0.01079479 0.08390491] [ 0.01984937 0.01053497 0.99974748 -0.07366752] [ 0. 0. 0. 1. ]] SLAMing on 1.017719421 meters Centerline goodness [0,1] 0.8142186452045607 Centerline is valid? [False, False] Translation: X:0.22, Y:0.09, Z:-0.08 [[ 0.99971367 -0.01292555 -0.02013701 0.2160936 ] [ 0.01270995 0.99986092 -0.01079793 0.08643767] [ 0.02027378 0.01053889 0.99973892 -0.0758243 ] [ 0. 0. 0. 1. ]] SLAMing on 1.047719421 meters Centerline goodness [0,1] 0.8073943563498056 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.08 [[ 0.99973632 -0.01005993 -0.02064215 0.23563354] [ 0.00978601 0.99986328 -0.01332844 0.09028406] [ 0.02077341 0.01312292 0.99969808 -0.0828484 ] [ 0. 0. 0. 1. ]] SLAMing on 1.077719421 meters Centerline goodness [0,1] 0.8001456949931356 Centerline is valid? [False, False] Translation: X:0.24, Y:0.09, Z:-0.09 [[ 0.99972827 -0.00896978 -0.02151586 0.24274058] [ 0.00868433 0.99987351 -0.01332432 0.09342504] [ 0.02163266 0.01313385 0.99967971 -0.08712093] [ 0. 0. 0. 1. ]] SLAMing on 1.107719421 meters Centerline goodness [0,1] 0.7818202329582311 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.09 [[ 0.99973509 -0.00496677 -0.02247404 0.25845809] [ 0.00471379 0.99992509 -0.01129534 0.10134955] [ 0.02252846 0.01118641 0.99968362 -0.09456556] [ 0. 0. 0. 1. ]] SLAMing on 1.137719421 meters Centerline goodness [0,1] 0.7818202329582311 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.09 [[ 0.99973509 -0.00496677 -0.02247404 0.25845809] [ 0.00471379 0.99992509 -0.01129534 0.10134955] [ 0.02252846 0.01118641 0.99968362 -0.09456556] [ 0. 0. 0. 1. ]] SLAMing on 1.167719421 meters Centerline goodness [0,1] 0.7696028513238289 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.10 [[ 0.99972119 -0.00520336 -0.02303199 0.26127988] [ 0.00494521 0.99992448 -0.01125115 0.10387803] [ 0.02308879 0.01113412 0.99967142 -0.09605021] [ 0. 0. 0. 1. ]] SLAMing on 1.197719421 meters Centerline goodness [0,1] 0.7710799025992412 Centerline is valid? [False, False] Translation: X:0.26, Y:0.10, Z:-0.10 [[ 0.99970617 -0.00575438 -0.02354707 0.26338186] [ 0.00549901 0.99992552 -0.01089539 0.10450461] [ 0.02360802 0.0107627 0.99966336 -0.09740145] [ 0. 0. 0. 1. ]] SLAMing on 1.227719421 meters Centerline goodness [0,1] 0.75922726113928 Centerline is valid? [False, False] Translation: X:0.27, Y:0.11, Z:-0.10 [[ 0.99966981 -0.00587915 -0.02501426 0.27092477] [ 0.00561456 0.99992769 -0.01063467 0.10798735] [ 0.02507498 0.01049071 0.99963053 -0.10194571] [ 0. 0. 0. 1. ]] SLAMing on 1.257719421 meters Centerline goodness [0,1] 0.7501418359242029 Centerline is valid? [False, False] Translation: X:0.28, Y:0.11, Z:-0.11 [[ 0.99961082 -0.00877494 -0.02648034 0.28174577] [ 0.00838384 0.99985467 -0.01484432 0.11040141] [ 0.02660675 0.01461653 0.99953911 -0.1081914 ] [ 0. 0. 0. 1. ]] SLAMing on 1.287719421 meters Centerline goodness [0,1] 0.7381684774940032 Centerline is valid? [False, False] Translation: X:0.29, Y:0.11, Z:-0.11 [[ 0.99958323 -0.01012154 -0.02703566 0.28781 ] [ 0.00965563 0.99980357 -0.01730849 0.11254081] [ 0.02720554 0.01704023 0.99948461 -0.11220849] [ 0. 0. 0. 1. ]] SLAMing on 1.317719421 meters Centerline goodness [0,1] 0.7213735028875423 Centerline is valid? [False, False] Translation: X:0.30, Y:0.12, Z:-0.12 [[ 0.99959487 -0.00807606 -0.02729245 0.29863624] [ 0.00762688 0.99983441 -0.01652213 0.1185407 ] [ 0.02742136 0.01630728 0.99949094 -0.11912705] [ 0. 0. 0. 1. ]] SLAMing on 1.3477194209999999 meters Centerline goodness [0,1] 0.7072237919913235 Centerline is valid? [False, False] Translation: X:0.30, Y:0.12, Z:-0.12 [[ 0.99958071 -0.00756436 -0.0279496 0.30249186] [ 0.00710919 0.99984107 -0.01634894 0.12343249] [ 0.02806883 0.01614338 0.99947563 -0.12107665] [ 0. 0. 0. 1. ]] SLAMing on 1.3777194209999999 meters Centerline goodness [0,1] 0.6852742748156794 Centerline is valid? [False, False] Translation: X:0.32, Y:0.13, Z:-0.13 [[ 0.99960645 -0.0115491 -0.025565 0.32063716] [ 0.01130478 0.99988924 -0.00968068 0.12787936] [ 0.02567398 0.00938786 0.99962629 -0.12759678] [ 0. 0. 0. 1. ]] SLAMing on 1.407719421 meters Centerline goodness [0,1] 0.6847934686420598 Centerline is valid? [False, False] Translation: X:0.32, Y:0.13, Z:-0.13 [[ 0.99959342 -0.01282333 -0.0254668 0.32248014] [ 0.01257814 0.99987321 -0.00976492 0.12807976] [ 0.02558879 0.00944062 0.99962798 -0.12958737] [ 0. 0. 0. 1. ]] SLAMing on 1.437719421 meters Centerline goodness [0,1] 0.685350972230142 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:-0.14 [[ 0.99946906 -0.02321707 -0.02285977 0.33889316] [ 0.02304101 0.99970303 -0.00793506 0.13062651] [ 0.02303721 0.00740414 0.99970719 -0.1356014 ] [ 0. 0. 0. 1. ]] SLAMing on 1.467719421 meters Centerline goodness [0,1] 0.7020063839489283 Centerline is valid? [False, False] Translation: X:0.34, Y:0.13, Z:-0.14 [[ 0.99933906 -0.02792815 -0.02326948 0.34129711] [ 0.02766249 0.99954929 -0.01166186 0.13263901] [ 0.02358469 0.01101046 0.99966121 -0.13669796] [ 0. 0. 0. 1. ]] SLAMing on 1.497719421 meters Centerline goodness [0,1] 0.7222882699275363 Centerline is valid? [False, False] Translation: X:0.36, Y:0.13, Z:-0.14 [[ 0.99902334 -0.03896267 -0.02083912 0.35706245] [ 0.0387741 0.999204 -0.00937776 0.13496364] [ 0.02118791 0.00856058 0.99973886 -0.14261792] [ 0. 0. 0. 1. ]] SLAMing on 1.527719421 meters Centerline goodness [0,1] 0.7387004448978436 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.14 [[ 0.99892368 -0.04136281 -0.02099059 0.35794622] [ 0.04114972 0.99909798 -0.01048438 0.13629721] [ 0.02140532 0.00960933 0.9997247 -0.14300961] [ 0. 0. 0. 1. ]] SLAMing on 1.557719421 meters Centerline goodness [0,1] 0.7407143670958186 Centerline is valid? [False, False] Translation: X:0.37, Y:0.14, Z:-0.15 [[ 0.99863854 -0.05036393 -0.01358433 0.36972183] [ 0.05024848 0.99869876 -0.0087108 0.14026308] [ 0.01400536 0.00801635 0.99986979 -0.14698343] [ 0. 0. 0. 1. ]] SLAMing on 1.587719421 meters Centerline goodness [0,1] 0.7354005757118021 Centerline is valid? [False, False] Translation: X:0.37, Y:0.14, Z:-0.15 [[ 0.99851247 -0.05293056 -0.01308437 0.37175935] [ 0.05277708 0.99853649 -0.01180941 0.14360173] [ 0.0136903 0.01110129 0.99984466 -0.14777176] [ 0. 0. 0. 1. ]] SLAMing on 1.6177194209999999 meters Centerline goodness [0,1] 0.7035998397527614 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:-0.15 [[ 0.99866403 -0.05027696 -0.01193268 0.38575565] [ 0.05012689 0.99866389 -0.01255898 0.14669262] [ 0.01254817 0.01194405 0.99984993 -0.15415466] [ 0. 0. 0. 1. ]] SLAMing on 1.647719421 meters Centerline goodness [0,1] 0.6695319687212511 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:-0.16 [[ 0.99882219 -0.04713678 -0.01150496 0.39042267] [ 0.0470228 0.99884391 -0.00998463 0.15085016] [ 0.0119623 0.00943188 0.99988396 -0.15715242] [ 0. 0. 0. 1. ]] SLAMing on 1.677719421 meters Centerline goodness [0,1] 0.6608345323741007 Centerline is valid? [False, False] Translation: X:0.39, Y:0.15, Z:-0.16 [[ 0.99884472 -0.04644601 -0.01232872 0.39302368] [ 0.04632238 0.99887517 -0.01013082 0.15333108] [ 0.01278539 0.00954802 0.99987268 -0.1571106 ] [ 0. 0. 0. 1. ]] SLAMing on 1.707719421 meters Centerline goodness [0,1] 0.6622661632029516 Centerline is valid? [False, False] Translation: X:0.39, Y:0.16, Z:-0.16 [[ 0.99884344 -0.04628777 -0.0130089 0.39489287] [ 0.04615385 0.99888007 -0.01041289 0.15552073] [ 0.01347632 0.00980044 0.99986116 -0.15706463] [ 0. 0. 0. 1. ]] SLAMing on 1.737719421 meters Centerline goodness [0,1] 0.6546445552591905 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:-0.16 [[ 0.99886047 -0.04600122 -0.01271433 0.39601736] [ 0.04588041 0.99890047 -0.00963552 0.15901454] [ 0.0131436 0.0090412 0.99987274 -0.1575269 ] [ 0. 0. 0. 1. ]] SLAMing on 1.767719421 meters Centerline goodness [0,1] 0.6439956872687007 Centerline is valid? [False, False] Translation: X:0.40, Y:0.16, Z:-0.16 [[ 0.99887317 -0.04550806 -0.01346875 0.39931174] [ 0.04538358 0.99892534 -0.0094077 0.16011608] [ 0.01388241 0.00878584 0.99986503 -0.15940379] [ 0. 0. 0. 1. ]] SLAMing on 1.797719421 meters Centerline goodness [0,1] 0.6276040155515581 Centerline is valid? [False, False] Translation: X:0.42, Y:0.16, Z:-0.17 [[ 0.99901012 -0.04201381 -0.0146159 0.42093813] [ 0.0418414 0.9990533 -0.01190828 0.16136223] [ 0.01510238 0.01128494 0.99982227 -0.16805652] [ 0. 0. 0. 1. ]] SLAMing on 1.8277194209999998 meters Centerline goodness [0,1] 0.6252717627619793 Centerline is valid? [False, False] Translation: X:0.43, Y:0.16, Z:-0.17 [[ 0.99903668 -0.04097695 -0.01570358 0.42789058] [ 0.04079252 0.99909689 -0.01189028 0.16279944] [ 0.01617663 0.01123823 0.99980599 -0.17219532] [ 0. 0. 0. 1. ]] SLAMing on 1.8577194209999999 meters Centerline goodness [0,1] 0.5941044406216287 Centerline is valid? [False, False] Translation: X:0.43, Y:0.17, Z:-0.18 [[ 0.99911176 -0.03901946 -0.01591135 0.43484147] [ 0.03885925 0.99919205 -0.01025725 0.16584398] [ 0.01629873 0.00962983 0.99982079 -0.17661799] [ 0. 0. 0. 1. ]] SLAMing on 1.887719421 meters Centerline goodness [0,1] 0.640201564468403 Centerline is valid? [False, False] Translation: X:0.44, Y:0.17, Z:-0.18 [[ 0.99910283 -0.03914343 -0.01616544 0.43688374] [ 0.0389847 0.99918956 -0.01002035 0.16629489] [ 0.01654457 0.00938116 0.99981912 -0.17796166] [ 0. 0. 0. 1. ]] SLAMing on 1.917719421 meters Centerline goodness [0,1] 0.6058341088878548 Centerline is valid? [False, False] Translation: X:0.46, Y:0.17, Z:-0.18 [[ 0.99897826 -0.04381168 -0.01108932 0.4558937 ] [ 0.0437389 0.99902038 -0.00672301 0.16608168] [ 0.011373 0.00623111 0.99991591 -0.1825532 ] [ 0. 0. 0. 1. ]] SLAMing on 1.947719421 meters Centerline goodness [0,1] 0.6481772653156301 Centerline is valid? [False, False] Translation: X:0.46, Y:0.17, Z:-0.18 [[ 0.99892897 -0.04476897 -0.01168998 0.45757756] [ 0.04468749 0.99897549 -0.00714081 0.16567085] [ 0.01199769 0.00661077 0.99990617 -0.18280759] [ 0. 0. 0. 1. ]] SLAMing on 1.977719421 meters Centerline goodness [0,1] 0.6591530451980687 Centerline is valid? [False, False] Translation: X:0.47, Y:0.17, Z:-0.18 [[ 0.99851189 -0.05420361 -0.00599714 0.46990742] [ 0.05416424 0.9985106 -0.00654309 0.16540458] [ 0.00634287 0.00620852 0.99996061 -0.18494097] [ 0. 0. 0. 1. ]] SLAMing on 2.007719421 meters Centerline goodness [0,1] 0.7219673654259334 Centerline is valid? [False, False] Translation: X:0.48, Y:0.17, Z:-0.18 [[ 9.97831150e-01 -6.58231645e-02 5.54166809e-04 4.77937169e-01] [ 6.58254614e-02 9.97804031e-01 -7.35688075e-03 1.66073462e-01] [-6.86967037e-05 7.37740307e-03 9.99972784e-01 -1.83426041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.037719421 meters Centerline goodness [0,1] 0.7200971463266546 Centerline is valid? [False, False] Translation: X:0.49, Y:0.17, Z:-0.18 [[ 0.99728906 -0.07328283 0.00664569 0.48601422] [ 0.07330416 0.99730504 -0.0030249 0.16521378] [-0.00640611 0.00350385 0.99997334 -0.18433125] [ 0. 0. 0. 1. ]] SLAMing on 2.067719421 meters Centerline goodness [0,1] 0.7707148369394347 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.18 [[ 0.99613672 -0.08689739 0.01266832 0.49651411] [ 0.08697695 0.99619303 -0.00586946 0.16393783] [-0.01211005 0.00694864 0.99990253 -0.18346028] [ 0. 0. 0. 1. ]] SLAMing on 2.097719421 meters Centerline goodness [0,1] 0.7729348632756751 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.18 [[ 0.99579142 -0.09085503 0.01203399 0.49887484] [ 0.09097782 0.99580188 -0.01008219 0.16390852] [-0.01106745 0.01113458 0.99987676 -0.18314818] [ 0. 0. 0. 1. ]] SLAMing on 2.127719421 meters Centerline goodness [0,1] 0.7755991906295421 Centerline is valid? [False, False] Translation: X:0.50, Y:0.16, Z:-0.18 [[ 0.99575283 -0.09140008 0.0110606 0.50122778] [ 0.0915153 0.99574934 -0.0104021 0.16323487] [-0.01006283 0.01137013 0.99988472 -0.18342323] [ 0. 0. 0. 1. ]] SLAMing on 2.157719421 meters Centerline goodness [0,1] 0.766343411294923 Centerline is valid? [False, False] Translation: X:0.51, Y:0.16, Z:-0.18 [[ 0.99596538 -0.08918121 0.00998395 0.50659905] [ 0.08927729 0.99596026 -0.00962991 0.1630305 ] [-0.00908481 0.01048239 0.99990379 -0.1840205 ] [ 0. 0. 0. 1. ]] SLAMing on 2.187719421 meters Centerline goodness [0,1] 0.7392241379310345 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.18 [[ 0.99678131 -0.07983344 0.00732356 0.51669352] [ 0.07986888 0.99679438 -0.00468176 0.16227403] [-0.00692632 0.00525161 0.99996222 -0.18442231] [ 0. 0. 0. 1. ]] SLAMing on 2.217719421 meters Centerline goodness [0,1] 0.7215704361361737 Centerline is valid? [False, False] Translation: X:0.52, Y:0.16, Z:-0.19 [[ 9.97219630e-01 -7.42917991e-02 5.80847558e-03 5.20884620e-01] [ 7.42921345e-02 9.97236508e-01 1.58295357e-04 1.61223533e-01] [-5.80418396e-03 2.73668812e-04 9.99983118e-01 -1.85808699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2477194209999998 meters Centerline goodness [0,1] 0.7272911012300052 Centerline is valid? [False, False] Translation: X:0.53, Y:0.16, Z:-0.18 [[ 0.99777218 -0.06659778 0.00392585 0.53219957] [ 0.06659316 0.99777937 0.00129569 0.16141325] [-0.00400343 -0.00103136 0.99999145 -0.18468174] [ 0. 0. 0. 1. ]] SLAMing on 2.277719421 meters Centerline goodness [0,1] 0.7200588438906196 Centerline is valid? [False, False] Translation: X:0.54, Y:0.16, Z:-0.18 [[ 0.99786672 -0.06522767 0.00271195 0.53568532] [ 0.06522231 0.99786871 0.00202024 0.15942641] [-0.00283795 -0.00183905 0.99999428 -0.1849856 ] [ 0. 0. 0. 1. ]] SLAMing on 2.307719421 meters Centerline goodness [0,1] 0.7131210846992191 Centerline is valid? [False, False] Translation: X:0.54, Y:0.15, Z:-0.18 [[ 9.97813577e-01 -6.60875503e-02 7.08620870e-04 5.43033075e-01] [ 6.60880183e-02 9.97813580e-01 -6.58727174e-04 1.54782547e-01] [-6.63537862e-04 7.04118267e-04 9.99999532e-01 -1.84803330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.337719421 meters Centerline goodness [0,1] 0.7207278930907023 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.18 [[ 9.97657642e-01 -6.84019598e-02 -6.33884300e-04 5.47204699e-01] [ 6.83988255e-02 9.97649722e-01 -4.07837838e-03 1.53704203e-01] [ 9.11363569e-04 4.02546841e-03 9.99991482e-01 -1.84308461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.367719421 meters Centerline goodness [0,1] 0.7500846119133574 Centerline is valid? [False, False] Translation: X:0.55, Y:0.15, Z:-0.18 [[ 9.97312220e-01 -7.32686321e-02 -2.07764971e-04 5.49001780e-01] [ 7.32656121e-02 9.97290066e-01 -6.68388219e-03 1.47246800e-01] [ 6.96920847e-04 6.65069536e-03 9.99977641e-01 -1.83920417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.397719421 meters Centerline goodness [0,1] 0.760270512964418 Centerline is valid? [False, False] Translation: X:0.55, Y:0.14, Z:-0.18 [[ 0.99707625 -0.07639565 -0.00162694 0.55347861] [ 0.0763765 0.99703219 -0.00966683 0.14360891] [ 0.00236061 0.00951431 0.99995195 -0.18472819] [ 0. 0. 0. 1. ]] SLAMing on 2.427719421 meters Centerline goodness [0,1] 0.7613314642258322 Centerline is valid? [False, False] Translation: X:0.56, Y:0.14, Z:-0.19 [[ 0.99659117 -0.0824337 -0.00327591 0.56167882] [ 0.08237106 0.99647224 -0.01606475 0.13581028] [ 0.00458863 0.01574015 0.99986559 -0.18595018] [ 0. 0. 0. 1. ]] SLAMing on 2.4577194209999997 meters Centerline goodness [0,1] 0.7814349923262442 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.19 [[ 0.99660363 -0.08220957 -0.00477326 0.56523482] [ 0.08212985 0.99650863 -0.01500819 0.13135683] [ 0.00599041 0.01456519 0.99987598 -0.1868835 ] [ 0. 0. 0. 1. ]] SLAMing on 2.487719421 meters Centerline goodness [0,1] 0.785972641483778 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.19 [[ 0.99636541 -0.08503714 -0.00496601 0.56802162] [ 0.08494152 0.99624022 -0.01703979 0.12578374] [ 0.00639635 0.01655604 0.99984248 -0.18622807] [ 0. 0. 0. 1. ]] SLAMing on 2.517719421 meters Centerline goodness [0,1] 0.7887506410083398 Centerline is valid? [False, False] Translation: X:0.57, Y:0.12, Z:-0.19 [[ 0.99642299 -0.08425473 -0.00650929 0.57231594] [ 0.08414379 0.9963289 -0.01576527 0.12036326] [ 0.00781369 0.01516116 0.99985453 -0.1876079 ] [ 0. 0. 0. 1. ]] SLAMing on 2.547719421 meters Centerline goodness [0,1] 0.7792563081009296 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.19 [[ 0.9963524 -0.08488024 -0.00878867 0.58013011] [ 0.08472125 0.99625777 -0.01711033 0.11172546] [ 0.01020811 0.01630333 0.99981498 -0.18813019] [ 0. 0. 0. 1. ]] SLAMing on 2.577719421 meters Centerline goodness [0,1] 0.7845779821362507 Centerline is valid? [False, False] Translation: X:0.58, Y:0.11, Z:-0.19 [[ 0.99642927 -0.08382693 -0.01008718 0.58303593] [ 0.08366291 0.99637024 -0.01571165 0.1073806 ] [ 0.01136763 0.01481163 0.99982568 -0.18809329] [ 0. 0. 0. 1. ]] SLAMing on 2.607719421 meters Centerline goodness [0,1] 0.8099244819566751 Centerline is valid? [False, False] Translation: X:0.58, Y:0.10, Z:-0.19 [[ 0.9962316 -0.08609852 -0.01047073 0.58493996] [ 0.08592222 0.99616915 -0.01626033 0.0982311 ] [ 0.01183061 0.01529939 0.99981297 -0.18712189] [ 0. 0. 0. 1. ]] SLAMing on 2.637719421 meters Centerline goodness [0,1] 0.8168251418504029 Centerline is valid? [False, False] Translation: X:0.59, Y:0.09, Z:-0.19 [[ 0.9959916 -0.08869088 -0.01160397 0.58855688] [ 0.08846832 0.99590787 -0.01846289 0.0931211 ] [ 0.01319398 0.0173623 0.99976221 -0.18765486] [ 0. 0. 0. 1. ]] SLAMing on 2.6677194209999997 meters Centerline goodness [0,1] 0.8192303792334212 Centerline is valid? [False, False] Translation: X:0.60, Y:0.08, Z:-0.19 [[ 0.99543364 -0.0944777 -0.01363188 0.59599574] [ 0.09414733 0.99528963 -0.02312634 0.08230629] [ 0.01575259 0.02173733 0.99963961 -0.1894666 ] [ 0. 0. 0. 1. ]] SLAMing on 2.697719421 meters Centerline goodness [0,1] 0.8262337727306837 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.19 [[ 0.99500375 -0.09853972 -0.01604581 0.60573929] [ 0.09807895 0.99480302 -0.02733987 0.07406212] [ 0.01865648 0.02562952 0.99949741 -0.19274805] [ 0. 0. 0. 1. ]] SLAMing on 2.7277194209999998 meters Centerline goodness [0,1] 0.8171198537946704 Centerline is valid? [False, False] Translation: X:0.61, Y:0.07, Z:-0.19 [[ 0.99512213 -0.09707707 -0.01754942 0.61028017] [ 0.09661364 0.99499354 -0.02556696 0.07051227] [ 0.01994352 0.02374673 0.99951906 -0.19483364] [ 0. 0. 0. 1. ]] SLAMing on 2.757719421 meters Centerline goodness [0,1] 0.8228149384109535 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.20 [[ 0.99566202 -0.09093077 -0.01971637 0.61586958] [ 0.09056314 0.99571323 -0.01880094 0.06480604] [ 0.02134143 0.0169338 0.99962883 -0.19711798] [ 0. 0. 0. 1. ]] SLAMing on 2.787719421 meters Centerline goodness [0,1] 0.8379054816705109 Centerline is valid? [False, False] Translation: X:0.62, Y:0.06, Z:-0.20 [[ 0.9960997 -0.08564348 -0.02122709 0.61945248] [ 0.08537771 0.99626218 -0.01312697 0.06159582] [ 0.02227199 0.01126345 0.9996885 -0.19901563] [ 0. 0. 0. 1. ]] SLAMing on 2.817719421 meters Centerline goodness [0,1] 0.8263490520175012 Centerline is valid? [False, False] Translation: X:0.63, Y:0.06, Z:-0.20 [[ 0.99656112 -0.07922712 -0.0242691 0.63020707] [ 0.07902258 0.99682967 -0.00927568 0.05839242] [ 0.02492705 0.00732597 0.99966243 -0.20224914] [ 0. 0. 0. 1. ]] SLAMing on 2.847719421 meters Centerline goodness [0,1] 0.8276875972006221 Centerline is valid? [False, False] Translation: X:0.63, Y:0.06, Z:-0.20 [[ 0.99668139 -0.07729716 -0.02552151 0.63475159] [ 0.07712576 0.99699214 -0.00763467 0.0563565 ] [ 0.02603488 0.00564097 0.99964512 -0.20458779] [ 0. 0. 0. 1. ]] SLAMing on 2.877719421 meters Centerline goodness [0,1] 0.7989122622071014 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.21 [[ 0.99684791 -0.07415692 -0.02819576 0.64599128] [ 0.07398423 0.99723399 -0.00712062 0.05224217] [ 0.02864581 0.00501213 0.99957706 -0.20837836] [ 0. 0. 0. 1. ]] SLAMing on 2.907719421 meters Centerline goodness [0,1] 0.7827005722154949 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.21 [[ 0.9970886 -0.06978356 -0.03073395 0.65307781] [ 0.06965856 0.99755775 -0.00512065 0.05001459] [ 0.03101623 0.00296486 0.99951448 -0.20823504] [ 0. 0. 0. 1. ]] SLAMing on 2.9377194209999997 meters Centerline goodness [0,1] 0.7810746938483206 Centerline is valid? [False, False] Translation: X:0.65, Y:0.05, Z:-0.21 [[ 9.97348198e-01 -6.55561809e-02 -3.16063184e-02 6.53519486e-01] [ 6.55653342e-02 9.97847998e-01 -7.47822069e-04 4.86490778e-02] [ 3.15873259e-02 -1.32643983e-03 9.99500116e-01 -2.07334533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.967719421 meters Centerline goodness [0,1] 0.7765934718100891 Centerline is valid? [False, False] Translation: X:0.66, Y:0.05, Z:-0.21 [[ 9.97386789e-01 -6.43567987e-02 -3.28298034e-02 6.55748802e-01] [ 6.43948754e-02 9.97924491e-01 1.02721858e-04 4.73675613e-02] [ 3.27550540e-02 -2.21652452e-03 9.99460951e-01 -2.06701299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9977194209999998 meters Centerline goodness [0,1] 0.8067624882186617 Centerline is valid? [False, False] Translation: X:0.66, Y:0.04, Z:-0.21 [[ 0.99725569 -0.06610046 -0.03334399 0.65685526] [ 0.06609988 0.99781238 -0.00112084 0.03918109] [ 0.03334513 -0.00108627 0.99944331 -0.20516128] [ 0. 0. 0. 1. ]] SLAMing on 3.027719421 meters Centerline goodness [0,1] 0.7616720704029644 Centerline is valid? [False, False] Translation: X:0.66, Y:0.03, Z:-0.20 [[ 9.97102457e-01 -6.86142908e-02 -3.28446289e-02 6.55684185e-01] [ 6.85857538e-02 9.97643228e-01 -1.99603354e-03 2.90391640e-02] [ 3.29041780e-02 -2.62423678e-04 9.99458476e-01 -2.02933714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.057719421 meters Centerline goodness [0,1] 0.7616720704029644 Centerline is valid? [False, False] Translation: X:0.66, Y:0.03, Z:-0.20 [[ 9.97102457e-01 -6.86142908e-02 -3.28446289e-02 6.55684185e-01] [ 6.85857538e-02 9.97643228e-01 -1.99603354e-03 2.90391640e-02] [ 3.29041780e-02 -2.62423678e-04 9.99458476e-01 -2.02933714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.087719421 meters Centerline goodness [0,1] 0.786764875129474 Centerline is valid? [False, False] Translation: X:0.66, Y:0.02, Z:-0.20 [[ 9.97085865e-01 -6.84976593e-02 -3.35834673e-02 6.56399996e-01] [ 6.85125261e-02 9.97650004e-01 -7.09239958e-04 2.39168217e-02] [ 3.35531276e-02 -1.59371504e-03 9.99435665e-01 -2.02194259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.117719421 meters Centerline goodness [0,1] 0.8004703328509406 Centerline is valid? [False, False] Translation: X:0.66, Y:0.02, Z:-0.20 [[ 9.96840551e-01 -7.14847228e-02 -3.46244138e-02 6.57824952e-01] [ 7.14657775e-02 9.97441453e-01 -1.78604750e-03 1.50400956e-02] [ 3.46635008e-02 -6.94056083e-04 9.99398799e-01 -2.00823340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.147719421 meters Centerline goodness [0,1] 0.7854499241951307 Centerline is valid? [False, False] Translation: X:0.66, Y:0.01, Z:-0.20 [[ 0.9967706 -0.0721456 -0.0352617 0.65881672] [ 0.0721411 0.99739345 -0.00140169 0.00955817] [ 0.03527091 -0.00114665 0.99937713 -0.20037484] [ 0. 0. 0. 1. ]] SLAMing on 3.177719421 meters Centerline goodness [0,1] 0.8324377890332526 Centerline is valid? [False, False] Translation: X:0.66, Y:0.00, Z:-0.20 [[ 9.96485853e-01 -7.61021205e-02 -3.49915906e-02 6.56810339e-01] [ 7.60303321e-02 9.97099778e-01 -3.37958632e-03 1.70154993e-03] [ 3.51473009e-02 7.07287704e-04 9.99381892e-01 -1.97493726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2077194209999997 meters Centerline goodness [0,1] 0.8383039023326793 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.00, Z:-0.20 [[ 9.96434839e-01 -7.66199734e-02 -3.53127770e-02 6.56692100e-01] [ 7.65660608e-02 9.97060356e-01 -2.87849029e-03 -2.97331420e-03] [ 3.54295198e-02 1.64467778e-04 9.99372164e-01 -1.96608669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.237719421 meters Centerline goodness [0,1] 0.8633095074061315 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.19 [[ 0.99616931 -0.08004664 -0.03520274 0.65628021] [ 0.07990217 0.99678757 -0.00549399 -0.00968101] [ 0.03552943 0.00266016 0.99936509 -0.1949401 ] [ 0. 0. 0. 1. ]] SLAMing on 3.267719421 meters Centerline goodness [0,1] 0.8595711185806068 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.20 [[ 0.99618101 -0.07966686 -0.03572933 0.65744219] [ 0.07955728 0.99682023 -0.0044807 -0.01230918] [ 0.03597268 0.00162106 0.99935146 -0.19523091] [ 0. 0. 0. 1. ]] SLAMing on 3.297719421 meters Centerline goodness [0,1] 0.8805770941909241 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.01, Z:-0.19 [[ 9.96158555e-01 -7.97200772e-02 -3.62331718e-02 6.57726498e-01] [ 7.96341892e-02 9.96816875e-01 -3.80975358e-03 -1.36846794e-02] [ 3.64215510e-02 9.09719365e-04 9.99336101e-01 -1.94476437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.327719421 meters Centerline goodness [0,1] 0.8837008669303931 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.20 [[ 0.99583323 -0.0832509 -0.03722174 0.6606864 ] [ 0.08306955 0.99652323 -0.00639518 -0.01694327] [ 0.03762473 0.00327654 0.99928657 -0.19552247] [ 0. 0. 0. 1. ]] SLAMing on 3.357719421 meters Centerline goodness [0,1] 0.888147574927321 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.20 [[ 0.9955216 -0.08678498 -0.03748472 0.66263471] [ 0.08648961 0.99620809 -0.00943374 -0.01920095] [ 0.03816129 0.00614946 0.99925267 -0.19643946] [ 0. 0. 0. 1. ]] SLAMing on 3.387719421 meters Centerline goodness [0,1] 0.9018690612926804 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.20 [[ 0.99516612 -0.09081878 -0.03736756 0.66242358] [ 0.09038681 0.99582064 -0.01309488 -0.02106138] [ 0.03840065 0.00965405 0.99921579 -0.19543992] [ 0. 0. 0. 1. ]] SLAMing on 3.4177194209999997 meters Centerline goodness [0,1] 0.9114492392117735 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.02, Z:-0.19 [[ 0.99484903 -0.09490098 -0.03562592 0.65564832] [ 0.09437628 0.99540583 -0.01613542 -0.02309414] [ 0.03699351 0.01269006 0.99923493 -0.18936373] [ 0. 0. 0. 1. ]] SLAMing on 3.447719421 meters Centerline goodness [0,1] 0.9147475503963053 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.02, Z:-0.19 [[ 0.99476349 -0.09578674 -0.03564404 0.65354675] [ 0.09523804 0.99531293 -0.01678954 -0.02350855] [ 0.03708519 0.01330695 0.99922351 -0.18656046] [ 0. 0. 0. 1. ]] SLAMing on 3.4777194209999998 meters Centerline goodness [0,1] 0.9261555689193953 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.18 [[ 0.99470081 -0.09655857 -0.03530918 0.65131112] [ 0.0960072 0.99523554 -0.01699504 -0.02562836] [ 0.03678197 0.01351504 0.99923192 -0.18429726] [ 0. 0. 0. 1. ]] SLAMing on 3.507719421 meters Centerline goodness [0,1] 0.9284193555054879 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.18 [[ 0.99500982 -0.09335722 -0.03521205 0.65091347] [ 0.09294902 0.99558521 -0.01306027 -0.0290197 ] [ 0.03627587 0.00972217 0.99929452 -0.18482083] [ 0. 0. 0. 1. ]] SLAMing on 3.537719421 meters Centerline goodness [0,1] 0.9258481554677207 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.03, Z:-0.19 [[ 0.9950977 -0.09220525 -0.03575984 0.65362198] [ 0.09184382 0.99570556 -0.0116252 -0.03066721] [ 0.03667817 0.00828389 0.99929279 -0.18698122] [ 0. 0. 0. 1. ]] SLAMing on 3.567719421 meters Centerline goodness [0,1] 0.9241916811378483 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.03, Z:-0.19 [[ 0.99517139 -0.09124716 -0.03616422 0.65618439] [ 0.09094507 0.99580655 -0.00991562 -0.03404749] [ 0.03691734 0.00657878 0.99929667 -0.18940385] [ 0. 0. 0. 1. ]] SLAMing on 3.597719421 meters Centerline goodness [0,1] 0.923161134406048 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.19 [[ 0.99545227 -0.08787832 -0.03677201 0.65729271] [ 0.08773672 0.99612879 -0.00545006 -0.03671489] [ 0.0371086 0.00219902 0.99930882 -0.19057971] [ 0. 0. 0. 1. ]] SLAMing on 3.6277194209999997 meters Centerline goodness [0,1] 0.9196792942825344 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.19 [[ 0.99548583 -0.08726362 -0.03732328 0.65928913] [ 0.08715589 0.99618449 -0.00450702 -0.03746618] [ 0.03757417 0.00123373 0.99929308 -0.19185124] [ 0. 0. 0. 1. ]] SLAMing on 3.657719421 meters Centerline goodness [0,1] 0.9096339786094061 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.20 [[ 0.99540893 -0.08769845 -0.03834111 0.66559271] [ 0.08759444 0.99614656 -0.00438752 -0.03838449] [ 0.03857815 0.00100891 0.99925508 -0.19728173] [ 0. 0. 0. 1. ]] SLAMing on 3.6877194209999997 meters Centerline goodness [0,1] 0.9069413289980038 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.20 [[ 9.95434070e-01 -8.72769044e-02 -3.86491241e-02 6.67346497e-01] [ 8.72001336e-02 9.96184050e-01 -3.67087788e-03 -3.92855812e-02] [ 3.88220239e-02 2.83908124e-04 9.99246101e-01 -1.98795646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.717719421 meters Centerline goodness [0,1] 0.9065565307176046 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.04, Z:-0.20 [[ 9.95766343e-01 -8.33267772e-02 -3.88077125e-02 6.66440676e-01] [ 8.33808190e-02 9.96517731e-01 -2.26700680e-04 -3.67826039e-02] [ 3.86914639e-02 -3.01007795e-03 9.99246671e-01 -1.98100523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7477194209999998 meters Centerline goodness [0,1] 0.9119531960638386 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.99611273 -0.07901245 -0.03894173 0.66557361] [ 0.07917842 0.99685671 0.00273585 -0.03319777] [ 0.03860316 -0.00580856 0.99923774 -0.19708125] [ 0. 0. 0. 1. ]] SLAMing on 3.777719421 meters Centerline goodness [0,1] 0.9153873246731722 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.99618937 -0.07790587 -0.03920993 0.66738327] [ 0.07808855 0.99694146 0.00314712 -0.03215174] [ 0.03884482 -0.00619698 0.99922604 -0.1984137 ] [ 0. 0. 0. 1. ]] SLAMing on 3.807719421 meters Centerline goodness [0,1] 0.9059417202655471 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.99637359 -0.07537174 -0.0394812 0.67109036] [ 0.07561163 0.99712666 0.0046163 -0.02970829] [ 0.03901982 -0.0075848 0.99920965 -0.20213028] [ 0. 0. 0. 1. ]] SLAMing on 3.837719421 meters Centerline goodness [0,1] 0.8912314326784858 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.99640776 -0.07485196 -0.03960757 0.67191199] [ 0.07509503 0.99716538 0.00468328 -0.02880105] [ 0.03914475 -0.00764079 0.99920434 -0.20271073] [ 0. 0. 0. 1. ]] SLAMing on 3.867719421 meters Centerline goodness [0,1] 0.8933041757784026 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.9964461 -0.07421586 -0.03983927 0.67284723] [ 0.07447401 0.99721025 0.00503319 -0.0284448 ] [ 0.03935458 -0.00798229 0.99919342 -0.20318877] [ 0. 0. 0. 1. ]] SLAMing on 3.8977194209999997 meters Centerline goodness [0,1] 0.8620883233532934 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.99674793 -0.06996037 -0.03998884 0.67134687] [ 0.07037186 0.99748045 0.00897521 -0.02879346] [ 0.03926018 -0.01176011 0.99915982 -0.20150752] [ 0. 0. 0. 1. ]] SLAMing on 3.927719421 meters Centerline goodness [0,1] 0.8224061901988517 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.20 [[ 0.99712004 -0.06448811 -0.03991121 0.66682224] [ 0.06510729 0.99777418 0.01441246 -0.03169016] [ 0.03889295 -0.01696946 0.99909928 -0.19677056] [ 0. 0. 0. 1. ]] SLAMing on 3.9577194209999997 meters Centerline goodness [0,1] 0.7993058730620558 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.03, Z:-0.19 [[ 0.9972848 -0.06191033 -0.03987651 0.66506593] [ 0.06262517 0.99789347 0.0169328 -0.03421403] [ 0.03874419 -0.0193841 0.99906113 -0.19473426] [ 0. 0. 0. 1. ]] SLAMing on 3.987719421 meters Centerline goodness [0,1] 0.7603066685954 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.04, Z:-0.19 [[ 0.99750424 -0.05848952 -0.03955094 0.66337737] [ 0.05933527 0.99802639 0.0205584 -0.04114111] [ 0.03827043 -0.02285385 0.99900604 -0.19290463] [ 0. 0. 0. 1. ]] SLAMing on 4.017719421 meters Centerline goodness [0,1] 0.7554328722370407 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.19 [[ 0.9975121 -0.05853237 -0.03928837 0.66229897] [ 0.05939169 0.99801231 0.02107252 -0.04524597] [ 0.03797685 -0.02335349 0.99900569 -0.19194493] [ 0. 0. 0. 1. ]] SLAMing on 4.047719420999999 meters Centerline goodness [0,1] 0.7463829435924956 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:-0.19 [[ 0.9973274 -0.0619917 -0.03866637 0.66051141] [ 0.06276832 0.99784334 0.0192043 -0.05480255] [ 0.03739247 -0.02157999 0.99906762 -0.19007619] [ 0. 0. 0. 1. ]] SLAMing on 4.077719420999999 meters Centerline goodness [0,1] 0.7746201232032854 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.06, Z:-0.19 [[ 0.99712286 -0.0651269 -0.03878775 0.66204739] [ 0.0658273 0.99768516 0.01706103 -0.05924626] [ 0.03758684 -0.01956524 0.99910181 -0.19087579] [ 0. 0. 0. 1. ]] SLAMing on 4.107719421 meters Centerline goodness [0,1] 0.7693821491533762 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.19 [[ 0.99670962 -0.07094393 -0.03920326 0.66562318] [ 0.0715006 0.99735606 0.01298297 -0.06767524] [ 0.03817855 -0.01574331 0.99914691 -0.19294322] [ 0. 0. 0. 1. ]] SLAMing on 4.137719420999999 meters Centerline goodness [0,1] 0.7937019843063144 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.07, Z:-0.19 [[ 0.99649115 -0.07393528 -0.03922968 0.66673303] [ 0.07440372 0.99717169 0.01061667 -0.07108982] [ 0.03833378 -0.01349825 0.99917382 -0.19336699] [ 0. 0. 0. 1. ]] SLAMing on 4.167719420999999 meters Centerline goodness [0,1] 0.7880965542657085 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.19 [[ 0.99631086 -0.07610738 -0.03965276 0.66888793] [ 0.07654322 0.99702015 0.00958963 -0.0776035 ] [ 0.03880476 -0.0125894 0.9991675 -0.1941568 ] [ 0. 0. 0. 1. ]] SLAMing on 4.1977194209999995 meters Centerline goodness [0,1] 0.7794514940646746 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.08, Z:-0.19 [[ 0.99632684 -0.0757983 -0.03984269 0.6698828 ] [ 0.07626948 0.99703258 0.01043987 -0.08107101] [ 0.03893313 -0.01344031 0.99915142 -0.19476082] [ 0. 0. 0. 1. ]] SLAMing on 4.227719421 meters Centerline goodness [0,1] 0.7595976564100463 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.20 [[ 0.99634177 -0.0757993 -0.0394656 0.67124325] [ 0.07626924 0.99703156 0.01053922 -0.08651614] [ 0.03854959 -0.01351068 0.99916535 -0.19614948] [ 0. 0. 0. 1. ]] SLAMing on 4.257719420999999 meters Centerline goodness [0,1] 0.7527225742939765 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.20 [[ 0.99636243 -0.07554182 -0.03943778 0.67128898] [ 0.07602239 0.9970473 0.01082941 -0.08736149] [ 0.03850326 -0.01378817 0.99916334 -0.19615211] [ 0. 0. 0. 1. ]] SLAMing on 4.287719420999999 meters Centerline goodness [0,1] 0.7590012924932811 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.09, Z:-0.19 [[ 0.99638379 -0.07556059 -0.03885806 0.66656349] [ 0.07603656 0.99704525 0.0109183 -0.08861511] [ 0.03791826 -0.01383345 0.99918509 -0.19178242] [ 0. 0. 0. 1. ]] SLAMing on 4.317719421 meters Centerline goodness [0,1] 0.7707664300762953 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.19 [[ 0.99634654 -0.07618222 -0.03859846 0.66435751] [ 0.07662525 0.99700851 0.01012931 -0.08754115] [ 0.03771132 -0.01304992 0.99920346 -0.18955297] [ 0. 0. 0. 1. ]] SLAMing on 4.347719421 meters Centerline goodness [0,1] 0.7966444598847428 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.18 [[ 0.99630597 -0.07683702 -0.03834701 0.65918834] [ 0.07726618 0.99696198 0.0098358 -0.08678776] [ 0.03747476 -0.01276239 0.99921607 -0.184351 ] [ 0. 0. 0. 1. ]] SLAMing on 4.377719420999999 meters Centerline goodness [0,1] 0.822259204470743 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.18 [[ 0.99619622 -0.07834831 -0.03813959 0.65736663] [ 0.0787416 0.99685516 0.00891895 -0.0880921 ] [ 0.03732086 -0.01188819 0.99923262 -0.18251162] [ 0. 0. 0. 1. ]] SLAMing on 4.4077194209999995 meters Centerline goodness [0,1] 0.9274508193354963 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.18 [[ 0.99580228 -0.08324817 -0.03804675 0.6572214 ] [ 0.08351764 0.99649086 0.00554622 -0.09242472] [ 0.03745152 -0.00870051 0.99926057 -0.18175338] [ 0. 0. 0. 1. ]] SLAMing on 4.437719421 meters Centerline goodness [0,1] 0.898283534647171 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.18 [[ 0.99577036 -0.08365402 -0.03799214 0.65747707] [ 0.08394484 0.99645159 0.00612245 -0.09541663] [ 0.03734516 -0.0092858 0.99925928 -0.18219476] [ 0. 0. 0. 1. ]] SLAMing on 4.467719420999999 meters Centerline goodness [0,1] 0.9120309683762085 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.18 [[ 0.99573042 -0.08410665 -0.0380395 0.65753084] [ 0.08442258 0.99640702 0.00677398 -0.0981127 ] [ 0.03733309 -0.00995645 0.99925328 -0.18223842] [ 0. 0. 0. 1. ]] SLAMing on 4.497719420999999 meters Centerline goodness [0,1] 0.9102501125711244 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.18 [[ 0.9957284 -0.08409713 -0.03811324 0.65805199] [ 0.08445959 0.9963948 0.00799907 -0.10268561] [ 0.03730313 -0.01118393 0.99924141 -0.18263524] [ 0. 0. 0. 1. ]] SLAMing on 4.527719421 meters Centerline goodness [0,1] 0.9131873519078356 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.18 [[ 0.9957497 -0.08381994 -0.0381675 0.65812255] [ 0.08421556 0.99640803 0.00887548 -0.10560561] [ 0.03728646 -0.01205205 0.99923194 -0.18247978] [ 0. 0. 0. 1. ]] SLAMing on 4.557719421 meters Centerline goodness [0,1] 0.9313123874979545 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.18 [[ 0.99576277 -0.08367752 -0.03813881 0.65793751] [ 0.08409448 0.99641288 0.00945983 -0.10815768] [ 0.03721042 -0.01262701 0.99922767 -0.1821602 ] [ 0. 0. 0. 1. ]] SLAMing on 4.587719420999999 meters Centerline goodness [0,1] 0.9299573385839691 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.18 [[ 0.99587218 -0.08223476 -0.03841927 0.65977354] [ 0.08271245 0.99651262 0.01101158 -0.11056869] [ 0.03737976 -0.01414388 0.99920103 -0.18353962] [ 0. 0. 0. 1. ]] SLAMing on 4.617719420999999 meters Centerline goodness [0,1] 0.8776505642972305 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.19 [[ 0.99601683 -0.0802151 -0.03893604 0.66250415] [ 0.08076178 0.99665285 0.01267417 -0.11093362] [ 0.03778906 -0.01576823 0.99916132 -0.18555447] [ 0. 0. 0. 1. ]] SLAMing on 4.647719421 meters Centerline goodness [0,1] 0.9028823469073751 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.19 [[ 0.9967857 -0.06982312 -0.03928092 0.6575986 ] [ 0.0702494 0.99748349 0.00957675 -0.11221975] [ 0.03851339 -0.01230542 0.99918231 -0.18871833] [ 0. 0. 0. 1. ]] SLAMing on 4.677719420999999 meters Centerline goodness [0,1] 0.8426991603522425 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.11, Z:-0.19 [[ 0.99719255 -0.06361371 -0.03950091 0.65951056] [ 0.0642592 0.99781608 0.0152912 -0.11478945] [ 0.03844191 -0.01778657 0.99910253 -0.19073322] [ 0. 0. 0. 1. ]] SLAMing on 4.707719420999999 meters Centerline goodness [0,1] 0.821082200487995 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.99722848 -0.06303074 -0.03952825 0.65970665] [ 0.06370049 0.9978421 0.01591802 -0.11603761] [ 0.03843963 -0.01839187 0.99909165 -0.19077229] [ 0. 0. 0. 1. ]] SLAMing on 4.7377194209999995 meters Centerline goodness [0,1] 0.8362709006025955 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.99723027 -0.06291968 -0.03965985 0.66004169] [ 0.06361168 0.99783941 0.01643359 -0.11798099] [ 0.03854017 -0.0189109 0.99907809 -0.1907476 ] [ 0. 0. 0. 1. ]] SLAMing on 4.767719421 meters Centerline goodness [0,1] 0.8475535703258475 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.99697894 -0.06674985 -0.03971713 0.66004071] [ 0.06733899 0.99763631 0.01368395 -0.12190694] [ 0.03870985 -0.01631712 0.99911726 -0.1898385 ] [ 0. 0. 0. 1. ]] SLAMing on 4.797719420999999 meters Centerline goodness [0,1] 0.8831764224314368 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.99673492 -0.07029962 -0.03971716 0.66064689] [ 0.07077114 0.99743634 0.01059171 -0.12395885] [ 0.03887074 -0.01336796 0.99915482 -0.18969317] [ 0. 0. 0. 1. ]] SLAMing on 4.827719420999999 meters Centerline goodness [0,1] 0.9206704139826858 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99639291 -0.07538165 -0.0389716 0.6570211 ] [ 0.07571804 0.99710308 0.00722684 -0.12983168] [ 0.03831393 -0.01015162 0.99921418 -0.18607129] [ 0. 0. 0. 1. ]] SLAMing on 4.857719421 meters Centerline goodness [0,1] 0.9225881822467258 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.18 [[ 0.99629445 -0.07679878 -0.03872102 0.65538984] [ 0.07711719 0.99699888 0.00679559 -0.1333225 ] [ 0.03808292 -0.00975646 0.99922695 -0.18438644] [ 0. 0. 0. 1. ]] SLAMing on 4.887719420999999 meters Centerline goodness [0,1] 0.931144392456531 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.18 [[ 0.99593269 -0.08149118 -0.03843509 0.65502367] [ 0.08169278 0.99665069 0.00370156 -0.13750739] [ 0.03800472 -0.00682637 0.99925424 -0.18371914] [ 0. 0. 0. 1. ]] SLAMing on 4.917719420999999 meters Centerline goodness [0,1] 0.9319460642890758 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 0.99588769 -0.08203585 -0.03844249 0.65492545] [ 0.08225536 0.9966026 0.00416102 -0.13975784] [ 0.03797053 -0.00730601 0.99925215 -0.18358693] [ 0. 0. 0. 1. ]] SLAMing on 4.9477194209999995 meters Centerline goodness [0,1] 0.9319460642890758 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 0.99588769 -0.08203585 -0.03844249 0.65492545] [ 0.08225536 0.9966026 0.00416102 -0.13975784] [ 0.03797053 -0.00730601 0.99925215 -0.18358693] [ 0. 0. 0. 1. ]] SLAMing on 4.977719421 meters Centerline goodness [0,1] 0.9278755241305598 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 9.95383950e-01 -8.81114687e-02 -3.80415648e-02 6.53097010e-01] [ 8.81643449e-02 9.96105900e-01 -2.88631269e-04 -1.42700747e-01] [ 3.79188589e-02 -3.06661070e-03 9.99276116e-01 -1.81406186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.007719420999999 meters Centerline goodness [0,1] 0.9288400287681084 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 9.95013356e-01 -9.22746679e-02 -3.78656359e-02 6.53400300e-01] [ 9.21953985e-02 9.95733538e-01 -3.83801015e-03 -1.44104671e-01] [ 3.80582347e-02 3.27833969e-04 9.99275469e-01 -1.81199786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.037719420999999 meters Centerline goodness [0,1] 0.9268637453137484 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.18 [[ 0.9941936 -0.10090075 -0.03739142 0.65409673] [ 0.10054245 0.99486807 -0.01134661 -0.14625037] [ 0.03834441 0.0075213 0.99923628 -0.18126425] [ 0. 0. 0. 1. ]] SLAMing on 5.067719421 meters Centerline goodness [0,1] 0.926265493230964 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.18 [[ 0.99410974 -0.1016756 -0.0375219 0.65468534] [ 0.1013258 0.99479121 -0.01111434 -0.14818977] [ 0.03845651 0.00724693 0.999234 -0.18166681] [ 0. 0. 0. 1. ]] SLAMing on 5.097719420999999 meters Centerline goodness [0,1] 0.9269258238955209 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.15, Z:-0.18 [[ 0.99396076 -0.10331189 -0.0369953 0.65255747] [ 0.10292316 0.99461366 -0.0122674 -0.14776842] [ 0.0380634 0.00838564 0.99924014 -0.18014854] [ 0. 0. 0. 1. ]] SLAMing on 5.127719420999999 meters Centerline goodness [0,1] 0.9288800606147483 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 0.99454454 -0.09753176 -0.03699626 0.64961062] [ 0.09735147 0.99522786 -0.00664798 -0.14448851] [ 0.0374681 0.00301007 0.99929329 -0.17849365] [ 0. 0. 0. 1. ]] SLAMing on 5.1577194209999995 meters Centerline goodness [0,1] 0.9310766721044046 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 9.94897148e-01 -9.37057160e-02 -3.74019325e-02 6.50020283e-01] [ 9.36516190e-02 9.95599888e-01 -3.19961307e-03 -1.42067604e-01] [ 3.75371819e-02 -3.19465614e-04 9.99295181e-01 -1.78991035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.187719421 meters Centerline goodness [0,1] 0.9306661765306539 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 9.95224352e-01 -8.99973075e-02 -3.78017578e-02 6.50765755e-01] [ 9.00665125e-02 9.95935744e-01 1.28332478e-04 -1.39561562e-01] [ 3.76365722e-02 -3.53239210e-03 9.99285250e-01 -1.79894039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.217719420999999 meters Centerline goodness [0,1] 0.9264164524421594 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.18 [[ 0.99563328 -0.0824605 -0.04375651 0.64868726] [ 0.08229632 0.99659249 -0.00554323 -0.13393001] [ 0.04406451 0.00191802 0.99902685 -0.18236854] [ 0. 0. 0. 1. ]] SLAMing on 5.247719420999999 meters Centerline goodness [0,1] 0.9246912567184999 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.18 [[ 9.95918552e-01 -7.88773780e-02 -4.38702203e-02 6.50822178e-01] [ 7.88445730e-02 9.96883836e-01 -2.48027364e-03 -1.32593020e-01] [ 4.39291510e-02 -9.88778258e-04 9.99034160e-01 -1.84927109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.277719421 meters Centerline goodness [0,1] 0.9271901522780049 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.19 [[ 0.99646815 -0.07148733 -0.04405431 0.65228731] [ 0.07170011 0.99742088 0.00326697 -0.12836213] [ 0.04370714 -0.00641413 0.9990238 -0.18701318] [ 0. 0. 0. 1. ]] SLAMing on 5.307719420999999 meters Centerline goodness [0,1] 0.928226631212927 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99706523 -0.06216245 -0.0446851 0.65379936] [ 0.06269192 0.99797721 0.01054546 -0.12270177] [ 0.04393918 -0.01331591 0.99894546 -0.18846198] [ 0. 0. 0. 1. ]] SLAMing on 5.337719420999999 meters Centerline goodness [0,1] 0.9290485166366169 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.9973116 -0.05782742 -0.04500634 0.65402415] [ 0.05850819 0.99818935 0.01395772 -0.11973992] [ 0.04411771 -0.01655344 0.99888919 -0.18846619] [ 0. 0. 0. 1. ]] SLAMing on 5.367719420999999 meters Centerline goodness [0,1] 0.9289673578320673 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99753258 -0.05382961 -0.04506803 0.65355702] [ 0.0546549 0.9983557 0.01728387 -0.11752203] [ 0.04406354 -0.01970442 0.99883439 -0.18820676] [ 0. 0. 0. 1. ]] SLAMing on 5.397719421 meters Centerline goodness [0,1] 0.9288517247755429 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99775927 -0.04944178 -0.04507706 0.65299099] [ 0.05042633 0.99850757 0.02097167 -0.1168999 ] [ 0.04397291 -0.02319775 0.99876336 -0.18779775] [ 0. 0. 0. 1. ]] SLAMing on 5.427719420999999 meters Centerline goodness [0,1] 0.9241183557615732 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99765742 -0.05144873 -0.04508555 0.65463484] [ 0.05231217 0.9984652 0.01818444 -0.11603836] [ 0.04408078 -0.02050036 0.99881761 -0.18885067] [ 0. 0. 0. 1. ]] SLAMing on 5.457719420999999 meters Centerline goodness [0,1] 0.9222911871095034 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.99768632 -0.05097354 -0.04498558 0.65521336] [ 0.05185511 0.99848043 0.01865151 -0.11710801] [ 0.04396649 -0.02094109 0.99881351 -0.18962178] [ 0. 0. 0. 1. ]] SLAMing on 5.4877194209999995 meters Centerline goodness [0,1] 0.9238177198590279 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.99766262 -0.05126836 -0.04517583 0.6550443 ] [ 0.05216074 0.99846172 0.0188005 -0.11850895] [ 0.04414246 -0.02111296 0.99880213 -0.18894842] [ 0. 0. 0. 1. ]] SLAMing on 5.517719421 meters Centerline goodness [0,1] 0.9296947081376992 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.12, Z:-0.19 [[ 0.9974678 -0.05493085 -0.04517293 0.65552979] [ 0.05567073 0.99833216 0.01528621 -0.11901809] [ 0.0442579 -0.01776232 0.99886222 -0.18888565] [ 0. 0. 0. 1. ]] SLAMing on 5.547719420999999 meters Centerline goodness [0,1] 0.9335446921660872 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.12, Z:-0.19 [[ 0.99712212 -0.06090396 -0.04514618 0.65457189] [ 0.0614517 0.99805115 0.01084436 -0.12332496] [ 0.04439773 -0.01358746 0.99892153 -0.18714341] [ 0. 0. 0. 1. ]] SLAMing on 5.577719420999999 meters Centerline goodness [0,1] 0.9320633228068737 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.19 [[ 0.99684289 -0.06541389 -0.04500308 0.65432851] [ 0.06580352 0.99780641 0.0072301 -0.12539983] [ 0.04443141 -0.01016863 0.99896068 -0.18653028] [ 0. 0. 0. 1. ]] SLAMing on 5.607719421 meters Centerline goodness [0,1] 0.9295780417861532 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.18 [[ 9.95938818e-01 -7.83472270e-02 -4.43574544e-02 6.53162312e-01] [ 7.82539128e-02 9.96926069e-01 -3.83889766e-03 -1.29376204e-01] [ 4.45218696e-02 3.52162828e-04 9.99008348e-01 -1.84682327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.637719420999999 meters Centerline goodness [0,1] 0.9284416406361651 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.18 [[ 0.995577 -0.08288073 -0.04424048 0.65352456] [ 0.08264137 0.99655323 -0.00721552 -0.13220023] [ 0.04468602 0.00352752 0.99899485 -0.18463359] [ 0. 0. 0. 1. ]] SLAMing on 5.667719420999999 meters Centerline goodness [0,1] 0.9275723357768566 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.18 [[ 0.99483709 -0.09164056 -0.04360249 0.65327885] [ 0.09107142 0.99573335 -0.01486935 -0.13472966] [ 0.04477909 0.01082164 0.9989383 -0.18398923] [ 0. 0. 0. 1. ]] SLAMing on 5.6977194209999995 meters Centerline goodness [0,1] 0.9257215532626311 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.14, Z:-0.18 [[ 0.99474781 -0.09258787 -0.04363815 0.65362677] [ 0.09203286 0.99564945 -0.01456472 -0.13750464] [ 0.04479682 0.01047208 0.99894123 -0.18450367] [ 0. 0. 0. 1. ]] SLAMing on 5.727719421 meters Centerline goodness [0,1] 0.9256103320124017 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 0.99477946 -0.0920982 -0.04395169 0.65529506] [ 0.09157551 0.99570299 -0.01376539 -0.13856966] [ 0.04503059 0.00966863 0.99893882 -0.18579202] [ 0. 0. 0. 1. ]] SLAMing on 5.757719420999999 meters Centerline goodness [0,1] 0.9256643328010482 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 0.99481827 -0.09156135 -0.04419417 0.65710332] [ 0.09108106 0.99576165 -0.01276592 -0.14002592] [ 0.04517573 0.00867452 0.99894139 -0.18747834] [ 0. 0. 0. 1. ]] SLAMing on 5.787719420999999 meters Centerline goodness [0,1] 0.9270365125300166 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 0.99511619 -0.08818874 -0.04434547 0.65675867] [ 0.08788576 0.99609222 -0.00873982 -0.14204897] [ 0.04494293 0.0047998 0.99897803 -0.18755578] [ 0. 0. 0. 1. ]] SLAMing on 5.817719421 meters Centerline goodness [0,1] 0.9287605986573323 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 9.95470254e-01 -8.38949907e-02 -4.47281048e-02 6.56665413e-01] [ 8.37848834e-02 9.96474440e-01 -4.33406902e-03 -1.43355365e-01] [ 4.49340198e-02 5.66897744e-04 9.98989796e-01 -1.87337120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.847719420999999 meters Centerline goodness [0,1] 0.9292026304973284 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 9.95816162e-01 -7.94962695e-02 -4.50612282e-02 6.56491574e-01] [ 7.95744921e-02 9.96828921e-01 -5.80364507e-05 -1.43901904e-01] [ 4.49229492e-02 -3.52793071e-03 9.98984225e-01 -1.87056284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.877719420999999 meters Centerline goodness [0,1] 0.9318321517846166 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 0.99645036 -0.07073431 -0.04564364 0.65627057] [ 0.07115931 0.99743484 0.00775259 -0.14234206] [ 0.04497819 -0.01097304 0.9989277 -0.18675179] [ 0. 0. 0. 1. ]] SLAMing on 5.9077194209999995 meters Centerline goodness [0,1] 0.9325037861733044 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 0.99676074 -0.06598407 -0.04597963 0.65634592] [ 0.06658662 0.99771208 0.01169697 -0.14057026] [ 0.04510262 -0.01472071 0.99887389 -0.18666017] [ 0. 0. 0. 1. ]] SLAMing on 5.937719421 meters Centerline goodness [0,1] 0.9342723964509139 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.19 [[ 0.99731622 -0.05689307 -0.04608177 0.65513784] [ 0.05781202 0.99814933 0.01885962 -0.13653923] [ 0.0449235 -0.02147308 0.99875962 -0.18566698] [ 0. 0. 0. 1. ]] SLAMing on 5.967719420999999 meters Centerline goodness [0,1] 0.9363956151832461 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.13, Z:-0.19 [[ 0.99753586 -0.05273022 -0.04627883 0.65494377] [ 0.05380183 0.99830432 0.02222287 -0.13452378] [ 0.04502854 -0.02465799 0.99868134 -0.18540949] [ 0. 0. 0. 1. ]] SLAMing on 5.997719420999999 meters Centerline goodness [0,1] 0.9323299094884572 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99817339 -0.04331182 -0.04211861 0.65817195] [ 0.04394521 0.99893259 0.01422991 -0.13227279] [ 0.04145732 -0.01605483 0.99901128 -0.18945958] [ 0. 0. 0. 1. ]] SLAMing on 6.027719421 meters Centerline goodness [0,1] 0.9299275747780187 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99822679 -0.0419665 -0.0422149 0.6601771 ] [ 0.04263412 0.99897754 0.01504048 -0.13236421] [ 0.04154054 -0.0168136 0.99899534 -0.19140261] [ 0. 0. 0. 1. ]] SLAMing on 6.057719420999999 meters Centerline goodness [0,1] 0.9226294476762112 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99831622 -0.03969813 -0.04229409 0.66218833] [ 0.04042697 0.99904594 0.01651878 -0.13139036] [ 0.04159798 -0.01820079 0.99896864 -0.19333738] [ 0. 0. 0. 1. ]] SLAMing on 6.087719420999999 meters Centerline goodness [0,1] 0.913835225523004 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99831833 -0.03960752 -0.04232916 0.66191709] [ 0.04031826 0.99905764 0.01607081 -0.12912101] [ 0.04165275 -0.01775042 0.99897446 -0.19276311] [ 0. 0. 0. 1. ]] SLAMing on 6.117719420999999 meters Centerline goodness [0,1] 0.9186791522917693 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99829641 -0.03999396 -0.04248249 0.66216719] [ 0.04069886 0.99904559 0.01585912 -0.12953691] [ 0.04180767 -0.01756109 0.99897133 -0.19271978] [ 0. 0. 0. 1. ]] SLAMing on 6.147719421 meters Centerline goodness [0,1] 0.913823101958938 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 0.99800873 -0.04641316 -0.0427128 0.66503652] [ 0.04686242 0.99885544 0.00957706 -0.13131566] [ 0.04221941 -0.01155962 0.99904149 -0.19453128] [ 0. 0. 0. 1. ]] SLAMing on 6.177719420999999 meters Centerline goodness [0,1] 0.9315940838126541 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.19 [[ 0.99781831 -0.0504671 -0.04256398 0.66481092] [ 0.05075905 0.99869405 0.00580578 -0.13237943] [ 0.04221539 -0.00795362 0.99907687 -0.19403725] [ 0. 0. 0. 1. ]] SLAMing on 6.207719420999999 meters Centerline goodness [0,1] 0.9349508812776994 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 0.99754834 -0.06021387 -0.03565949 0.67030849] [ 0.06053259 0.99813475 0.00792577 -0.13413285] [ 0.03511573 -0.0100649 0.99933257 -0.19417161] [ 0. 0. 0. 1. ]] SLAMing on 6.2377194209999995 meters Centerline goodness [0,1] 0.9358664976072641 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 0.99724438 -0.06518078 -0.03542758 0.66909938] [ 0.06534524 0.99785657 0.00350316 -0.13428426] [ 0.03512331 -0.00580853 0.99936611 -0.19253075] [ 0. 0. 0. 1. ]] SLAMing on 6.267719421 meters Centerline goodness [0,1] 0.9357004969811475 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.19 [[ 9.96929035e-01 -6.99675008e-02 -3.51716886e-02 6.68137443e-01] [ 6.99879347e-02 9.97547625e-01 -6.51377481e-04 -1.34997248e-01] [ 3.51310097e-02 -1.81221673e-03 9.99381072e-01 -1.91260835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.297719420999999 meters Centerline goodness [0,1] 0.9351741924919147 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.19 [[ 0.99641074 -0.07903756 -0.03031014 0.67552771] [ 0.07918612 0.99685287 0.00373099 -0.13803415] [ 0.02991987 -0.00611774 0.99953358 -0.19314977] [ 0. 0. 0. 1. ]] SLAMing on 6.327719420999999 meters Centerline goodness [0,1] 0.9357384671860342 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.19 [[ 0.99634408 -0.07990886 -0.0302167 0.67518561] [ 0.08006069 0.99678257 0.00384679 -0.13988179] [ 0.02981208 -0.0062519 0.99953597 -0.19300976] [ 0. 0. 0. 1. ]] SLAMing on 6.357719421 meters Centerline goodness [0,1] 0.933017785427424 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.19 [[ 0.99636386 -0.07960565 -0.03036433 0.67586554] [ 0.07976875 0.99680456 0.00419642 -0.1401433 ] [ 0.02993324 -0.00660329 0.99953009 -0.19349421] [ 0. 0. 0. 1. ]] SLAMing on 6.387719420999999 meters Centerline goodness [0,1] 0.9340580892551196 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.99642332 -0.07869019 -0.03079631 0.67832908] [ 0.0788917 0.99686866 0.00538225 -0.14111413] [ 0.03027635 -0.00779257 0.99951119 -0.19561794] [ 0. 0. 0. 1. ]] SLAMing on 6.417719420999999 meters Centerline goodness [0,1] 0.9351103655667614 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.99641982 -0.07868858 -0.03091352 0.67878466] [ 0.07889611 0.99686739 0.00555017 -0.1410276 ] [ 0.03037995 -0.00796926 0.99950665 -0.19595061] [ 0. 0. 0. 1. ]] SLAMing on 6.4477194209999995 meters Centerline goodness [0,1] 0.9349796747967479 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.9963432 -0.07962229 -0.03099225 0.67861934] [ 0.07981613 0.99679673 0.00506634 -0.14015542] [ 0.03048959 -0.00752149 0.99950678 -0.1956345 ] [ 0. 0. 0. 1. ]] SLAMing on 6.477719421 meters Centerline goodness [0,1] 0.9346489346489346 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.9963078 -0.08010274 -0.03089219 0.67815846] [ 0.08029073 0.99675949 0.00489162 -0.14074472] [ 0.03040025 -0.00735392 0.99951075 -0.19528851] [ 0. 0. 0. 1. ]] SLAMing on 6.507719420999999 meters Centerline goodness [0,1] 0.9357316500173642 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.19 [[ 0.99618776 -0.08167062 -0.03065697 0.67699641] [ 0.08182955 0.99663846 0.00396368 -0.14250062] [ 0.0302302 -0.00645722 0.99952211 -0.19430241] [ 0. 0. 0. 1. ]] SLAMing on 6.537719420999999 meters Centerline goodness [0,1] 0.9357981820038811 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.19 [[ 0.99618791 -0.08166812 -0.03065904 0.67707547] [ 0.08182804 0.99663845 0.00399623 -0.14215877] [ 0.03022961 -0.00648976 0.99952191 -0.19436165] [ 0. 0. 0. 1. ]] SLAMing on 6.567719421 meters Centerline goodness [0,1] 0.9374004329888485 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.99651774 -0.07740205 -0.03100502 0.67769098] [ 0.07766754 0.99695148 0.00745002 -0.13806977] [ 0.03033386 -0.00983216 0.99949146 -0.19508599] [ 0. 0. 0. 1. ]] SLAMing on 6.597719420999999 meters Centerline goodness [0,1] 0.9363697526962833 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.14, Z:-0.20 [[ 0.99686267 -0.0726826 -0.03133774 0.6785715 ] [ 0.07306603 0.99726346 0.01126741 -0.13538222] [ 0.03043304 -0.01352179 0.99944534 -0.19608191] [ 0. 0. 0. 1. ]] SLAMing on 6.627719420999999 meters Centerline goodness [0,1] 0.9371879859235617 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.20 [[ 0.9980634 -0.05527661 -0.02852961 0.66976155] [ 0.05549427 0.9984352 0.00689408 -0.12953721] [ 0.02810389 -0.00846396 0.99956917 -0.20274741] [ 0. 0. 0. 1. ]] SLAMing on 6.6577194209999995 meters Centerline goodness [0,1] 0.9349739609925457 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.21 [[ 0.99835679 -0.04946427 -0.02893102 0.672478 ] [ 0.0498102 0.99869409 0.01136082 -0.12695237] [ 0.02833128 -0.01278321 0.99951685 -0.20538771] [ 0. 0. 0. 1. ]] SLAMing on 6.687719421 meters Centerline goodness [0,1] 0.9298988906627369 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.21 [[ 0.99887319 -0.03705252 -0.02965582 0.66910925] [ 0.03732864 0.99926419 0.00881191 -0.12313649] [ 0.0293075 -0.00990899 0.99952133 -0.20984209] [ 0. 0. 0. 1. ]] SLAMing on 6.717719420999999 meters Centerline goodness [0,1] 0.9213167237876332 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.21 [[ 0.99901062 -0.03298902 -0.02982443 0.66970081] [ 0.03337559 0.99936398 0.01255782 -0.12256088] [ 0.02939119 -0.0135408 0.99947627 -0.21051303] [ 0. 0. 0. 1. ]] SLAMing on 6.747719420999999 meters Centerline goodness [0,1] 0.9193548387096774 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.21 [[ 0.99901899 -0.03281867 -0.02973201 0.66921896] [ 0.03318878 0.99937656 0.01204125 -0.11968225] [ 0.0293183 -0.01301621 0.99948538 -0.20991563] [ 0. 0. 0. 1. ]] SLAMing on 6.777719421 meters Centerline goodness [0,1] 0.9191898485065907 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.21 [[ 0.99900389 -0.03325924 -0.02974984 0.66891267] [ 0.03362611 0.99936343 0.01191757 -0.12028069] [ 0.02933454 -0.01290607 0.99948633 -0.20949412] [ 0. 0. 0. 1. ]] SLAMing on 6.807719420999999 meters Centerline goodness [0,1] 0.9301487156376747 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.12, Z:-0.21 [[ 0.99886296 -0.03718738 -0.02983098 0.66933599] [ 0.03747706 0.99925504 0.00921102 -0.12463844] [ 0.02946623 -0.01031853 0.99951252 -0.20947152] [ 0. 0. 0. 1. ]] SLAMing on 6.837719420999999 meters Centerline goodness [0,1] 0.930932220722379 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.21 [[ 0.99879473 -0.03894854 -0.02986788 0.66875089] [ 0.03920452 0.99919892 0.00803287 -0.12804134] [ 0.02953108 -0.00919415 0.99952158 -0.20839693] [ 0. 0. 0. 1. ]] SLAMing on 6.867719420999999 meters Centerline goodness [0,1] 0.930932220722379 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.21 [[ 0.99879473 -0.03894854 -0.02986788 0.66875089] [ 0.03920452 0.99919892 0.00803287 -0.12804134] [ 0.02953108 -0.00919415 0.99952158 -0.20839693] [ 0. 0. 0. 1. ]] SLAMing on 6.897719421 meters Centerline goodness [0,1] 0.9378196996357981 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.13, Z:-0.20 [[ 0.99872251 -0.04091278 -0.0296562 0.66539974] [ 0.04114896 0.99912564 0.00739785 -0.13262053] [ 0.0293276 -0.00860872 0.99953278 -0.20450852] [ 0. 0. 0. 1. ]] SLAMing on 6.927719420999999 meters Centerline goodness [0,1] 0.9387459150326798 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.13, Z:-0.20 [[ 0.99872436 -0.04082634 -0.02971304 0.66441766] [ 0.04107388 0.99912591 0.00776842 -0.13392641] [ 0.02936991 -0.00897894 0.99952828 -0.20297235] [ 0. 0. 0. 1. ]] SLAMing on 6.957719420999999 meters Centerline goodness [0,1] 0.9376359386116475 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.20 [[ 0.99875372 -0.03988384 -0.03000481 0.66376656] [ 0.04015633 0.99915696 0.00853435 -0.13632424] [ 0.02963913 -0.0097286 0.99951332 -0.20102284] [ 0. 0. 0. 1. ]] SLAMing on 6.9877194209999995 meters Centerline goodness [0,1] 0.9401230656009159 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.20 [[ 0.99891703 -0.0358242 -0.02968824 0.6635841 ] [ 0.03619602 0.99927166 0.01208282 -0.14039896] [ 0.02923376 -0.01314433 0.99948617 -0.2010593 ] [ 0. 0. 0. 1. ]] SLAMing on 7.017719420999999 meters Centerline goodness [0,1] 0.9245842017081444 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.14, Z:-0.20 [[ 0.99897191 -0.03420192 -0.02975475 0.66455888] [ 0.03459565 0.99931917 0.01281954 -0.14024071] [ 0.02929604 -0.01383574 0.99947502 -0.20168452] [ 0. 0. 0. 1. ]] SLAMing on 7.047719420999999 meters Centerline goodness [0,1] 0.8533960720130933 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.20 [[ 0.99917393 -0.02773609 -0.02970127 0.66606334] [ 0.02829759 0.99942546 0.01865448 -0.14275663] [ 0.02916681 -0.01947954 0.99938473 -0.20348065] [ 0. 0. 0. 1. ]] SLAMing on 7.077719420999999 meters Centerline goodness [0,1] 0.8184730923858696 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.14, Z:-0.20 [[ 0.99919229 -0.02654127 -0.0301718 0.66826238] [ 0.02714035 0.99943902 0.01962246 -0.14375344] [ 0.02963407 -0.02042549 0.9993521 -0.20491668] [ 0. 0. 0. 1. ]] SLAMing on 7.107719421 meters Centerline goodness [0,1] 0.8221846410888567 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.21 [[ 0.99919964 -0.02561493 -0.03072377 0.67003493] [ 0.02626527 0.99943537 0.02095411 -0.14639209] [ 0.03016968 -0.02174431 0.99930825 -0.20566542] [ 0. 0. 0. 1. ]] SLAMing on 7.137719420999999 meters Centerline goodness [0,1] 0.8354058192955589 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.20 [[ 0.99917973 -0.02637264 -0.03073035 0.66854959] [ 0.02701445 0.99942151 0.02066068 -0.14851886] [ 0.0301677 -0.02147389 0.99931416 -0.20382142] [ 0. 0. 0. 1. ]] SLAMing on 7.167719420999999 meters Centerline goodness [0,1] 0.8372045556598767 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.15, Z:-0.20 [[ 0.99902969 -0.03147082 -0.03081028 0.66691085] [ 0.03198501 0.99935477 0.0163405 -0.15405019] [ 0.03027615 -0.01731012 0.99939167 -0.20095247] [ 0. 0. 0. 1. ]] SLAMing on 7.1977194209999995 meters Centerline goodness [0,1] 0.8750433310903122 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.20 [[ 0.9989111 -0.03488943 -0.03097324 0.66796703] [ 0.03531694 0.9992868 0.01336406 -0.15629388] [ 0.03048489 -0.01444339 0.99943087 -0.20137666] [ 0. 0. 0. 1. ]] SLAMing on 7.227719420999999 meters Centerline goodness [0,1] 0.9090020963507215 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.20 [[ 0.99876093 -0.03871737 -0.0312662 0.66987219] [ 0.03908384 0.99917321 0.01119569 -0.16146956] [ 0.03080688 -0.01240382 0.99944839 -0.20275786] [ 0. 0. 0. 1. ]] SLAMing on 7.257719420999999 meters Centerline goodness [0,1] 0.9202975557917109 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.16, Z:-0.20 [[ 0.99871471 -0.04004108 -0.03107475 0.66842555] [ 0.04038605 0.99912841 0.01055379 -0.16369996] [ 0.03062508 -0.01179521 0.99946134 -0.20139948] [ 0. 0. 0. 1. ]] SLAMing on 7.287719420999999 meters Centerline goodness [0,1] 0.9370452129834028 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.20 [[ 0.99855351 -0.04397971 -0.03093001 0.66779658] [ 0.04423947 0.99899078 0.00776418 -0.16771536] [ 0.03055733 -0.00912128 0.9994914 -0.20043875] [ 0. 0. 0. 1. ]] SLAMing on 7.317719421 meters Centerline goodness [0,1] 0.9377177434142168 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.20 [[ 0.99851344 -0.04477332 -0.03108486 0.66939608] [ 0.04503259 0.99895591 0.00769099 -0.17029324] [ 0.03070805 -0.00907939 0.99948716 -0.20174822] [ 0. 0. 0. 1. ]] SLAMing on 7.347719420999999 meters Centerline goodness [0,1] 0.9338268190507178 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.17, Z:-0.21 [[ 0.99821921 -0.05063474 -0.03153624 0.6739759 ] [ 0.05074587 0.99870786 0.00273313 -0.17283128] [ 0.0313571 -0.0043286 0.99949887 -0.20546681] [ 0. 0. 0. 1. ]] SLAMing on 7.377719420999999 meters Centerline goodness [0,1] 0.9292118538488247 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.21 [[ 0.9981866 -0.05123728 -0.03159508 0.67481166] [ 0.05136239 0.99867508 0.00316028 -0.17512407] [ 0.0313913 -0.00477735 0.99949575 -0.20640963] [ 0. 0. 0. 1. ]] SLAMing on 7.4077194209999995 meters Centerline goodness [0,1] 0.9277497394822337 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.18, Z:-0.21 [[ 9.97937193e-01 -5.58483885e-02 -3.16593674e-02 6.75696073e-01] [ 5.58598417e-02 9.98438483e-01 -5.23277571e-04 -1.76125942e-01] [ 3.16391550e-02 -1.24628910e-03 9.99498580e-01 -2.06929493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.437719421 meters Centerline goodness [0,1] 0.9298051282051282 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.21 [[ 0.997653 -0.06085728 -0.03138276 0.67443333] [ 0.06073232 0.99814196 -0.00492061 -0.1763988 ] [ 0.0316239 0.00300311 0.99949533 -0.20542739] [ 0. 0. 0. 1. ]] SLAMing on 7.467719420999999 meters Centerline goodness [0,1] 0.9352307187935415 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.20 [[ 0.99762819 -0.06119961 -0.03150569 0.67400514] [ 0.06107459 0.9981211 -0.00491623 -0.17686279] [ 0.03174736 0.00298037 0.99949148 -0.2045788 ] [ 0. 0. 0. 1. ]] SLAMing on 7.497719420999999 meters Centerline goodness [0,1] 0.9371707357071111 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.20 [[ 0.99758683 -0.0618882 -0.03146995 0.67301834] [ 0.0617465 0.99807695 -0.00545586 -0.17630614] [ 0.03174709 0.00349954 0.99948981 -0.20337578] [ 0. 0. 0. 1. ]] SLAMing on 7.527719421 meters Centerline goodness [0,1] 0.9372361788451293 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.18, Z:-0.20 [[ 0.99759377 -0.06173955 -0.03154202 0.67292732] [ 0.06160473 0.99808693 -0.00522933 -0.17686696] [ 0.03180453 0.00327361 0.99948875 -0.20306341] [ 0. 0. 0. 1. ]] SLAMing on 7.557719420999999 meters Centerline goodness [0,1] 0.9423690018801603 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99794598 -0.05967859 -0.02328692 0.67784037] [ 0.05944605 0.99817572 -0.01055436 -0.17443115] [ 0.02387431 0.00914836 0.99967311 -0.20439854] [ 0. 0. 0. 1. ]] SLAMing on 7.587719420999999 meters Centerline goodness [0,1] 0.9436512975973455 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99817162 -0.05575847 -0.02333248 0.67714911] [ 0.05561975 0.99843052 -0.00655318 -0.17438571] [ 0.02366126 0.00524345 0.99970628 -0.20400306] [ 0. 0. 0. 1. ]] SLAMing on 7.617719420999999 meters Centerline goodness [0,1] 0.9432793720873192 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.20 [[ 0.99858024 -0.04784818 -0.02341052 0.67643809] [ 0.04788748 0.99885211 0.0011205 -0.17399955] [ 0.02333004 -0.00223998 0.99972531 -0.20377885] [ 0. 0. 0. 1. ]] SLAMing on 7.647719421 meters Centerline goodness [0,1] 0.9417216109738921 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99887572 -0.04110974 -0.02360697 0.6791812 ] [ 0.04128021 0.99912461 0.00677961 -0.17194501] [ 0.02330759 -0.00774648 0.99969833 -0.20691949] [ 0. 0. 0. 1. ]] SLAMing on 7.677719420999999 meters Centerline goodness [0,1] 0.9410545986350342 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99895133 -0.0389675 -0.02403714 0.68155148] [ 0.03917385 0.99919897 0.00817422 -0.17042676] [ 0.02369935 -0.00910727 0.99967765 -0.20858743] [ 0. 0. 0. 1. ]] SLAMing on 7.707719420999999 meters Centerline goodness [0,1] 0.9415798469803027 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99909732 -0.03491106 -0.02420256 0.68122294] [ 0.03520722 0.99930894 0.01192027 -0.17022828] [ 0.02376968 -0.01276162 0.99963601 -0.20804131] [ 0. 0. 0. 1. ]] SLAMing on 7.7377194209999995 meters Centerline goodness [0,1] 0.9417009181440812 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99910161 -0.03466122 -0.02438377 0.68145646] [ 0.03496287 0.9993159 0.01205518 -0.17036836] [ 0.02394924 -0.01289688 0.99962998 -0.20787054] [ 0. 0. 0. 1. ]] SLAMing on 7.767719420999999 meters Centerline goodness [0,1] 0.9432059447983014 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99910594 -0.03451005 -0.02442077 0.68157405] [ 0.03481108 0.99932174 0.01201058 -0.17033405] [ 0.02398972 -0.01284996 0.99962962 -0.20783054] [ 0. 0. 0. 1. ]] SLAMing on 7.797719420999999 meters Centerline goodness [0,1] 0.9439389312977099 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99911151 -0.03425933 -0.02454567 0.68159668] [ 0.03455766 0.99933264 0.01183439 -0.16960672] [ 0.02412385 -0.01267211 0.99962866 -0.20739889] [ 0. 0. 0. 1. ]] SLAMing on 7.827719420999999 meters Centerline goodness [0,1] 0.9434454106673726 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99911656 -0.03405563 -0.02462354 0.68292374] [ 0.03436609 0.99933366 0.01229658 -0.17100791] [ 0.02418836 -0.01313193 0.99962117 -0.20878196] [ 0. 0. 0. 1. ]] SLAMing on 7.857719421 meters Centerline goodness [0,1] 0.9391647350656744 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99910125 -0.03457895 -0.02451526 0.68486747] [ 0.03487992 0.99931998 0.01195717 -0.17256073] [ 0.02408512 -0.01280152 0.99962794 -0.21093352] [ 0. 0. 0. 1. ]] SLAMing on 7.887719420999999 meters Centerline goodness [0,1] 0.9372861332898811 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.21 [[ 0.99899268 -0.03731595 -0.0249227 0.68796422] [ 0.03755892 0.99925065 0.00935264 -0.1734091 ] [ 0.02455502 -0.01027929 0.99964563 -0.21327998] [ 0. 0. 0. 1. ]] SLAMing on 7.917719420999999 meters Centerline goodness [0,1] 0.9368987444969835 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.21 [[ 0.99898764 -0.03740776 -0.02498697 0.68790078] [ 0.03765795 0.9992444 0.00961807 -0.17454881] [ 0.0246083 -0.01054929 0.99964151 -0.21302302] [ 0. 0. 0. 1. ]] SLAMing on 7.9477194209999995 meters Centerline goodness [0,1] 0.9391412748043243 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.21 [[ 0.99895496 -0.03840336 -0.02478248 0.68612477] [ 0.03864278 0.99921023 0.00925534 -0.17649555] [ 0.02440747 -0.01020333 0.99965002 -0.21129528] [ 0. 0. 0. 1. ]] SLAMing on 7.977719420999999 meters Centerline goodness [0,1] 0.9394346419195311 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.21 [[ 0.99895296 -0.03828115 -0.02505058 0.68655984] [ 0.0385265 0.9992135 0.00938559 -0.17602363] [ 0.02467159 -0.01034088 0.99964213 -0.21108567] [ 0. 0. 0. 1. ]] SLAMing on 8.007719421 meters Centerline goodness [0,1] 0.9393673469387755 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.18, Z:-0.21 [[ 0.99898849 -0.0372799 -0.02514365 0.68520164] [ 0.03755213 0.99924011 0.01044269 -0.17521414] [ 0.02473524 -0.01137632 0.9996293 -0.20950742] [ 0. 0. 0. 1. ]] SLAMing on 8.037719421 meters Centerline goodness [0,1] 0.9410604242510525 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.21 [[ 0.9989749 -0.03740103 -0.02550129 0.68534842] [ 0.0376675 0.99923979 0.01004999 -0.17480168] [ 0.02510603 -0.01100026 0.99962427 -0.20870811] [ 0. 0. 0. 1. ]] SLAMing on 8.067719421 meters Centerline goodness [0,1] 0.9428315667405855 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99893284 -0.03869492 -0.02521671 0.68415657] [ 0.03892383 0.99920473 0.00865079 -0.17457433] [ 0.02486192 -0.00962309 0.99964458 -0.20786331] [ 0. 0. 0. 1. ]] SLAMing on 8.097719421 meters Centerline goodness [0,1] 0.943576229290515 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99890409 -0.03951212 -0.02508799 0.6837588 ] [ 0.03972017 0.99918001 0.00784928 -0.17347121] [ 0.02475728 -0.00883718 0.99965443 -0.20769477] [ 0. 0. 0. 1. ]] SLAMing on 8.127719421 meters Centerline goodness [0,1] 0.9430844302292205 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99867622 -0.04513909 -0.02466327 0.68293685] [ 0.04521087 0.99897468 0.00236011 -0.17060926] [ 0.02453145 -0.00347204 0.99969303 -0.20735896] [ 0. 0. 0. 1. ]] SLAMing on 8.157719421 meters Centerline goodness [0,1] 0.9423774675604206 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.17, Z:-0.21 [[ 0.99861161 -0.04652554 -0.02470292 0.68280262] [ 0.04658914 0.99891212 0.00200521 -0.17177828] [ 0.02458275 -0.00315331 0.99969283 -0.20732136] [ 0. 0. 0. 1. ]] SLAMing on 8.187719421 meters Centerline goodness [0,1] 0.943999509663711 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.21 [[ 0.99811161 -0.05840192 -0.01903746 0.68824644] [ 0.05847572 0.99828323 0.00334263 -0.17186073] [ 0.01880956 -0.00444955 0.99981318 -0.20779144] [ 0. 0. 0. 1. ]] SLAMing on 8.217719421 meters Centerline goodness [0,1] 0.9452947787881885 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.21 [[ 9.97802646e-01 -6.35368309e-02 -1.87869628e-02 6.87311770e-01] [ 6.35192819e-02 9.97979439e-01 -1.52995483e-03 -1.70471205e-01] [ 1.88462110e-02 3.33258594e-04 9.99822339e-01 -2.06597536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.247719421 meters Centerline goodness [0,1] 0.9450244698205547 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.17, Z:-0.21 [[ 0.99740551 -0.06955303 -0.01856383 0.68732347] [ 0.06943405 0.99756213 -0.00697954 -0.16790883] [ 0.01900403 0.00567247 0.99980332 -0.20665526] [ 0. 0. 0. 1. ]] SLAMing on 8.277719421 meters Centerline goodness [0,1] 0.9425743783981917 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.21 [[ 0.99737103 -0.0700128 -0.01868781 0.68845061] [ 0.06987698 0.99752492 -0.00782545 -0.16488991] [ 0.01918944 0.00649903 0.99979474 -0.20771331] [ 0. 0. 0. 1. ]] SLAMing on 8.307719421 meters Centerline goodness [0,1] 0.9434864334749918 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.21 [[ 0.99761619 -0.06641488 -0.01873502 0.68828418] [ 0.06634415 0.99778722 -0.00437234 -0.16341911] [ 0.01898395 0.00311896 0.99981492 -0.20806331] [ 0. 0. 0. 1. ]] SLAMing on 8.337719421000001 meters Centerline goodness [0,1] 0.9433742807003224 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.16, Z:-0.21 [[ 0.99809646 -0.0587153 -0.01886707 0.68810349] [ 0.05876128 0.99827027 0.00189106 -0.1567657 ] [ 0.0187234 -0.00299612 0.99982021 -0.20861682] [ 0. 0. 0. 1. ]] SLAMing on 8.367719421 meters Centerline goodness [0,1] 0.9465289847663838 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.15, Z:-0.21 [[ 0.99832964 -0.0545655 -0.01898757 0.68807109] [ 0.05466731 0.99849268 0.00488421 -0.15220602] [ 0.01869244 -0.00591405 0.99980779 -0.20870258] [ 0. 0. 0. 1. ]] SLAMing on 8.397719421 meters Centerline goodness [0,1] 0.9468124233755619 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.21 [[ 0.9988594 -0.04360058 -0.0194653 0.69013071] [ 0.04387272 0.9989421 0.01377929 -0.14468501] [ 0.01884392 -0.01461757 0.99971558 -0.21113569] [ 0. 0. 0. 1. ]] SLAMing on 8.427719421 meters Centerline goodness [0,1] 0.9460926341562946 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.21 [[ 0.99902398 -0.03946062 -0.01984807 0.69312522] [ 0.03979505 0.99906752 0.01674637 -0.14107113] [ 0.01916874 -0.01751988 0.99966275 -0.21400771] [ 0. 0. 0. 1. ]] SLAMing on 8.457719421 meters Centerline goodness [0,1] 0.9449069539666993 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.22 [[ 0.9993239 -0.03031327 -0.0208048 0.69241701] [ 0.03054705 0.99947266 0.01101246 -0.1338889 ] [ 0.02046001 -0.01164054 0.9997229 -0.22007162] [ 0. 0. 0. 1. ]] SLAMing on 8.487719421 meters Centerline goodness [0,1] 0.944929675646861 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.22 [[ 0.99943238 -0.02624583 -0.02112049 0.69378014] [ 0.02655332 0.9995435 0.01441245 -0.13146297] [ 0.02073258 -0.01496509 0.99967305 -0.22128038] [ 0. 0. 0. 1. ]] SLAMing on 8.517719421 meters Centerline goodness [0,1] 0.9389004956781779 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.13, Z:-0.23 [[ 0.99957075 -0.01938607 -0.02196559 0.69846591] [ 0.01982843 0.99960127 0.0201031 -0.1260874 ] [ 0.02156712 -0.02053002 0.99955659 -0.22530596] [ 0. 0. 0. 1. ]] SLAMing on 8.547719421 meters Centerline goodness [0,1] 0.9319833746237792 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.23 [[ 0.9995749 -0.01847517 -0.02255397 0.70205997] [ 0.01892763 0.99962049 0.02001556 -0.12191584] [ 0.02217562 -0.02043394 0.99954524 -0.22820391] [ 0. 0. 0. 1. ]] SLAMing on 8.577719421 meters Centerline goodness [0,1] 0.9332936516081362 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.23 [[ 0.99956868 -0.01870599 -0.02263924 0.70281143] [ 0.01915027 0.99962509 0.01956926 -0.1209176 ] [ 0.02226469 -0.01999436 0.99955215 -0.22892747] [ 0. 0. 0. 1. ]] SLAMing on 8.607719421 meters Centerline goodness [0,1] 0.933480971128609 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.23 [[ 0.9994752 -0.02324374 -0.02256215 0.70290277] [ 0.02358297 0.99961103 0.01488742 -0.11980374] [ 0.02220733 -0.01541169 0.99963459 -0.22892441] [ 0. 0. 0. 1. ]] SLAMing on 8.637719421 meters Centerline goodness [0,1] 0.9335180623973728 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.23 [[ 0.99936945 -0.02739015 -0.02259367 0.7029976 ] [ 0.0276388 0.99955999 0.01076719 -0.11973119] [ 0.02228882 -0.01138487 0.99968675 -0.22863092] [ 0. 0. 0. 1. ]] SLAMing on 8.667719421000001 meters Centerline goodness [0,1] 0.9361763198359816 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.12, Z:-0.23 [[ 0.99921281 -0.03275108 -0.02238576 0.70128498] [ 0.03289616 0.99943989 0.0061436 -0.12037273] [ 0.02217201 -0.00687517 0.99973053 -0.22668881] [ 0. 0. 0. 1. ]] SLAMing on 8.697719421 meters Centerline goodness [0,1] 0.941072891072891 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.23 [[ 0.99920917 -0.03717338 -0.014113 0.70563856] [ 0.03732707 0.99924488 0.01078721 -0.11810198] [ 0.01370135 -0.01130548 0.99984222 -0.22502053] [ 0. 0. 0. 1. ]] SLAMing on 8.727719421 meters Centerline goodness [0,1] 0.9429499356578221 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.22 [[ 0.99920546 -0.03723119 -0.01422305 0.70551988] [ 0.03738198 0.99924602 0.01048695 -0.11684991] [ 0.01382188 -0.0110103 0.99984385 -0.22449462] [ 0. 0. 0. 1. ]] SLAMing on 8.757719421000001 meters Centerline goodness [0,1] 0.9435447685090761 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.22 [[ 0.99921108 -0.03705657 -0.01428386 0.7060744 ] [ 0.03720721 0.99925316 0.01042829 -0.11592612] [ 0.01388676 -0.01095152 0.9998436 -0.22496192] [ 0. 0. 0. 1. ]] SLAMing on 8.787719421 meters Centerline goodness [0,1] 0.9435447685090761 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.12, Z:-0.22 [[ 0.99921108 -0.03705657 -0.01428386 0.7060744 ] [ 0.03720721 0.99925316 0.01042829 -0.11592612] [ 0.01388676 -0.01095152 0.9998436 -0.22496192] [ 0. 0. 0. 1. ]] SLAMing on 8.817719421 meters Centerline goodness [0,1] 0.9394242752364803 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.23 [[ 0.9991602 -0.03837858 -0.01435225 0.70980781] [ 0.03850462 0.99922132 0.008611 -0.11421221] [ 0.0140106 -0.00915639 0.99985992 -0.22895003] [ 0. 0. 0. 1. ]] SLAMing on 8.847719421 meters Centerline goodness [0,1] 0.9392921514009503 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.23 [[ 0.99915246 -0.03858442 -0.01433889 0.71060099] [ 0.03870598 0.99921618 0.00829847 -0.11313665] [ 0.01400746 -0.00884644 0.99986276 -0.22999589] [ 0. 0. 0. 1. ]] SLAMing on 8.877719421 meters Centerline goodness [0,1] 0.9415438165438166 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.23 [[ 0.9990826 -0.04050558 -0.01390173 0.70872982] [ 0.04059378 0.99915698 0.00612206 -0.10893607] [ 0.01364203 -0.00668077 0.99988462 -0.22875977] [ 0. 0. 0. 1. ]] SLAMing on 8.907719421 meters Centerline goodness [0,1] 0.9438552840885915 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.11, Z:-0.23 [[ 0.9990418 -0.04151882 -0.01384482 0.70783238] [ 0.04159234 0.99912183 0.00506476 -0.10699924] [ 0.01362238 -0.00563575 0.99989133 -0.22772574] [ 0. 0. 0. 1. ]] SLAMing on 8.937719421 meters Centerline goodness [0,1] 0.9486529577695106 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.10, Z:-0.22 [[ 9.98837137e-01 -4.64810757e-02 -1.28016669e-02 7.01325875e-01] [ 4.64904474e-02 9.98918640e-01 4.35292925e-04 -9.97485007e-02] [ 1.27675908e-02 -1.02994196e-03 9.99917961e-01 -2.22852859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.967719421 meters Centerline goodness [0,1] 0.9494628505822535 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.10, Z:-0.22 [[ 9.98772654e-01 -4.78815540e-02 -1.26705430e-02 6.99791433e-01] [ 4.78699481e-02 9.98852834e-01 -1.21784831e-03 -9.65033576e-02] [ 1.27143202e-02 6.09815356e-04 9.99918984e-01 -2.21218597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.997719421 meters Centerline goodness [0,1] 0.9492725529006061 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.09, Z:-0.22 [[ 0.99866351 -0.0501828 -0.01236421 0.69812887] [ 0.05013627 0.99873419 -0.0040451 -0.09053067] [ 0.01255156 0.0034198 0.99991538 -0.21983312] [ 0. 0. 0. 1. ]] SLAMing on 9.027719421 meters Centerline goodness [0,1] 0.9491785502383534 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.09, Z:-0.22 [[ 9.98791328e-01 -4.76355068e-02 -1.21137101e-02 6.97164286e-01] [ 4.76253666e-02 9.98864636e-01 -1.12435032e-03 -8.91075417e-02] [ 1.21535156e-02 5.46071466e-04 9.99925994e-01 -2.19924496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.057719421 meters Centerline goodness [0,1] 0.9492706113751844 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.08, Z:-0.22 [[ 0.99902359 -0.04269471 -0.01135874 0.69586676] [ 0.04273633 0.99908044 0.00344702 -0.08120376] [ 0.01120113 -0.00392908 0.99992955 -0.22102352] [ 0. 0. 0. 1. ]] SLAMing on 9.087719421000001 meters Centerline goodness [0,1] 0.9498478993669325 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.08, Z:-0.22 [[ 0.99916642 -0.0391896 -0.0114302 0.69603992] [ 0.039261 0.99921043 0.00609052 -0.07631008] [ 0.01118249 -0.00653421 0.99991612 -0.22137614] [ 0. 0. 0. 1. ]] SLAMing on 9.117719421 meters Centerline goodness [0,1] 0.9521158129175946 Centerline is valid? [False, True] Translation: X:0.70, Y:-0.06, Z:-0.22 [[ 0.99939572 -0.03286851 -0.01130773 0.69619571] [ 0.03298258 0.99940536 0.01005355 -0.06451457] [ 0.01097056 -0.01042043 0.99988552 -0.22197382] [ 0. 0. 0. 1. ]] SLAMing on 9.147719421 meters Centerline goodness [0,1] 0.9512139495345318 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 9.99537086e-01 -2.84220916e-02 -1.08534681e-02 7.27445111e-01] [ 2.84223912e-02 9.99595994e-01 -1.26672191e-04 -4.88887289e-02] [ 1.08526835e-02 -1.81867964e-04 9.99941091e-01 -2.21411692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.177719421 meters Centerline goodness [0,1] 0.9487994350282486 Centerline is valid? [True, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 9.99554260e-01 -2.76757958e-02 -1.11951383e-02 7.29963362e-01] [ 2.76795962e-02 9.99616830e-01 1.84646399e-04 -4.69996590e-02] [ 1.11857384e-02 -4.94441003e-04 9.99937315e-01 -2.23720813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.207719421 meters Centerline goodness [0,1] 0.9456232030053097 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.23 [[ 9.99549127e-01 -2.78211497e-02 -1.12927638e-02 7.31557433e-01] [ 2.78162232e-02 9.99612878e-01 -5.93121641e-04 -4.04874886e-02] [ 1.13048935e-02 2.78732179e-04 9.99936059e-01 -2.25561037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.237719421 meters Centerline goodness [0,1] 0.9450406093506712 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.23 [[ 0.99962327 -0.02497284 -0.01138794 0.73145614] [ 0.02500457 0.99968382 0.00265238 -0.03888218] [ 0.0113181 -0.00293614 0.99993164 -0.22581853] [ 0. 0. 0. 1. ]] SLAMing on 9.267719421 meters Centerline goodness [0,1] 0.943546328596954 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.23 [[ 0.99969485 -0.02194641 -0.01133877 0.73168359] [ 0.02200994 0.99974257 0.00550891 -0.0348714 ] [ 0.01121495 -0.0057568 0.99992054 -0.2266307 ] [ 0. 0. 0. 1. ]] SLAMing on 9.297719421 meters Centerline goodness [0,1] 0.941754024910498 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.03, Z:-0.23 [[ 0.99976726 -0.01832761 -0.01138131 0.73233031] [ 0.01843064 0.9997895 0.0090146 -0.03321617] [ 0.0112137 -0.00922226 0.9998946 -0.22758153] [ 0. 0. 0. 1. ]] SLAMing on 9.327719421 meters Centerline goodness [0,1] 0.9423582303498903 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.03, Z:-0.23 [[ 0.99986554 -0.01141618 -0.01177131 0.73524447] [ 0.0115834 0.99983155 0.01423699 -0.02724129] [ 0.0116068 -0.01437143 0.99982936 -0.22981442] [ 0. 0. 0. 1. ]] SLAMing on 9.357719421 meters Centerline goodness [0,1] 0.945193350598756 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.02, Z:-0.23 [[ 0.99995108 0.00200387 -0.0096859 0.73393487] [-0.00188444 0.99992228 0.01232374 -0.01718765] [ 0.00970985 -0.01230489 0.99987715 -0.23393868] [ 0. 0. 0. 1. ]] SLAMing on 9.387719421 meters Centerline goodness [0,1] 0.9478527607361963 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.01, Z:-0.24 [[ 0.99992529 0.00701127 -0.01001322 0.73627172] [-0.00685251 0.99985165 0.01580288 -0.01294924] [ 0.01012253 -0.01573308 0.99982499 -0.23544248] [ 0. 0. 0. 1. ]] SLAMing on 9.417719421 meters Centerline goodness [0,1] 0.9523487054468296 Centerline is valid? [False, True] Translation: X:0.73, Y:-0.01, Z:-0.24 [[ 0.99980993 0.01770293 -0.00816799 0.73290133] [-0.01762359 0.99979778 0.00968528 -0.00614916] [ 0.00833779 -0.00953949 0.99991974 -0.2379333 ] [ 0. 0. 0. 1. ]] SLAMing on 9.447719421 meters Centerline goodness [0,1] 0.9539235230155854 Centerline is valid? [True, True] Translation: X:0.76, Y:0.00, Z:-0.23 [[ 9.99741270e-01 2.13899125e-02 -7.73724707e-03 7.61188655e-01] [-2.13905367e-02 9.99771196e-01 2.07679741e-06 3.88884643e-03] [ 7.73552118e-03 1.63427608e-04 9.99970067e-01 -2.34868493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.477719421 meters Centerline goodness [0,1] 0.9549001212731392 Centerline is valid? [True, True] Translation: X:0.79, Y:0.01, Z:-0.23 [[ 9.99725344e-01 2.22270503e-02 -7.42934079e-03 7.88655660e-01] [-2.22276577e-02 9.99752935e-01 8.19674855e-07 1.01166671e-02] [ 7.42752348e-03 1.64317394e-04 9.99972402e-01 -2.32676942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.507719421000001 meters Centerline goodness [0,1] 0.9559617018345464 Centerline is valid? [True, True] Translation: X:0.82, Y:0.01, Z:-0.23 [[ 9.99785462e-01 2.01930808e-02 -4.61187447e-03 8.17158774e-01] [-2.01932957e-02 9.99796095e-01 -3.20263053e-08 9.73280964e-03] [ 4.61093344e-03 9.31609644e-05 9.99989365e-01 -2.29523607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.537719421 meters Centerline goodness [0,1] 0.9549192600953675 Centerline is valid? [True, True] Translation: X:0.85, Y:0.01, Z:-0.23 [[ 9.99878983e-01 1.55557677e-02 -1.91918897e-04 8.47528829e-01] [-1.55557680e-02 9.99879002e-01 4.93209159e-08 7.26812366e-03] [ 1.91896443e-04 2.93613090e-06 9.99999982e-01 -2.26505283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.567719421 meters Centerline goodness [0,1] 0.9535248644282912 Centerline is valid? [True, True] Translation: X:0.88, Y:0.01, Z:-0.23 [[ 9.99905457e-01 1.37354264e-02 6.44893056e-04 8.75666639e-01] [-1.37354282e-02 9.99905665e-01 -1.61794726e-06 7.20617384e-03] [-6.44854443e-04 -7.24008796e-06 9.99999792e-01 -2.26230554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.597719421 meters Centerline goodness [0,1] 0.953368115942029 Centerline is valid? [True, True] Translation: X:0.90, Y:0.01, Z:-0.23 [[ 9.99884609e-01 1.51446493e-02 -1.18676972e-03 9.04382338e-01] [-1.51446612e-02 9.99885313e-01 -1.07488856e-06 1.19205636e-02] [ 1.18661734e-03 1.90479899e-05 9.99999296e-01 -2.28750815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.627719421 meters Centerline goodness [0,1] 0.9526957817301425 Centerline is valid? [True, True] Translation: X:0.93, Y:0.02, Z:-0.23 [[ 9.99847563e-01 1.71938951e-02 -3.03659367e-03 9.33074974e-01] [-1.71939780e-02 9.99852173e-01 -1.18887505e-06 1.57528825e-02] [ 3.03612434e-03 5.33998186e-05 9.99995390e-01 -2.30035229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.657719421 meters Centerline goodness [0,1] 0.9529760100715734 Centerline is valid? [True, True] Translation: X:0.96, Y:0.03, Z:-0.23 [[ 9.99717644e-01 2.31182669e-02 -5.49350348e-03 9.61656549e-01] [-2.31186252e-02 9.99732729e-01 -1.72265347e-06 2.61711075e-02] [ 5.49199540e-03 1.28724415e-04 9.99984911e-01 -2.33682375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.687719421 meters Centerline goodness [0,1] 0.9530424987679816 Centerline is valid? [True, True] Translation: X:0.99, Y:0.03, Z:-0.23 [[ 9.99664456e-01 2.52530693e-02 -5.76699930e-03 9.90859077e-01] [-2.52535010e-02 9.99681079e-01 -2.04059788e-06 3.03395294e-02] [ 5.76510855e-03 1.47676836e-04 9.99983371e-01 -2.33498552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.717719421 meters Centerline goodness [0,1] 0.952787579393084 Centerline is valid? [True, True] Translation: X:1.02, Y:0.04, Z:-0.23 [[ 9.99519451e-01 3.04115551e-02 -6.00041225e-03 1.02056143e+00] [-3.04121128e-02 9.99537445e-01 -1.70672012e-06 3.70610099e-02] [ 5.99758482e-03 1.84191114e-04 9.99981997e-01 -2.34398065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.747719421 meters Centerline goodness [0,1] 0.950519672477301 Centerline is valid? [True, True] Translation: X:1.05, Y:0.04, Z:-0.24 [[ 9.99447498e-01 3.26884161e-02 -6.01379045e-03 1.04968263e+00] [-3.26890236e-02 9.99465571e-01 -2.73535539e-06 3.94789638e-02] [ 6.01048709e-03 1.99318782e-04 9.99981917e-01 -2.35649977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.777719421 meters Centerline goodness [0,1] 0.9535532035532035 Centerline is valid? [True, True] Translation: X:1.08, Y:0.04, Z:-0.23 [[ 9.99370554e-01 3.51722178e-02 -4.62721225e-03 1.07814350e+00] [-3.51726073e-02 9.99381252e-01 -2.79788813e-06 3.90506385e-02] [ 4.62425077e-03 1.65547246e-04 9.99989294e-01 -2.32489219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.807719421 meters Centerline goodness [0,1] 0.9533101539771518 Centerline is valid? [True, True] Translation: X:1.11, Y:0.04, Z:-0.23 [[ 9.99408803e-01 3.41845454e-02 -3.66885016e-03 1.10627860e+00] [-3.41847869e-02 9.99415529e-01 -3.12217139e-06 4.20933636e-02] [ 3.66659910e-03 1.28539186e-04 9.99993270e-01 -2.33177828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.837719421000001 meters Centerline goodness [0,1] 0.9553959553959555 Centerline is valid? [True, True] Translation: X:1.14, Y:0.03, Z:-0.23 [[ 9.99571084e-01 2.91524151e-02 -2.79003179e-03 1.13633830e+00] [-2.91525329e-02 9.99574975e-01 -1.57588927e-06 3.45141058e-02] [ 2.78880001e-03 8.29117069e-05 9.99996108e-01 -2.31935011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.867719421 meters Centerline goodness [0,1] 0.9495505197115834 Centerline is valid? [True, False] Translation: X:1.14, Y:0.03, Z:-0.23 [[ 0.99976689 0.02127936 -0.00365445 1.1384487 ] [-0.02130343 0.99975075 -0.00667829 0.03050938] [ 0.00351143 0.00675458 0.99997102 -0.233587 ] [ 0. 0. 0. 1. ]] SLAMing on 9.897719421 meters Centerline goodness [0,1] 0.9472234541677365 Centerline is valid? [False, False] Translation: X:1.14, Y:0.03, Z:-0.23 [[ 0.99984517 0.01709322 -0.0041791 1.13940806] [-0.01713446 0.99980278 -0.01004012 0.02802608] [ 0.00400666 0.01011017 0.99994086 -0.23409421] [ 0. 0. 0. 1. ]] SLAMing on 9.927719421 meters Centerline goodness [0,1] 0.9422817856645144 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:-0.24 [[ 9.99991610e-01 4.02977479e-03 7.34746515e-04 1.14336810e+00] [-4.02441953e-03 9.99966341e-01 -7.14992499e-03 2.38903665e-02] [-7.63534372e-04 7.14690808e-03 9.99974169e-01 -2.35662001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.957719421 meters Centerline goodness [0,1] 0.9395503901095085 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:-0.23 [[ 9.99999502e-01 -8.07990508e-04 5.85812831e-04 1.14235015e+00] [ 8.14384548e-04 9.99939189e-01 -1.09980007e-02 2.14363620e-02] [-5.76890926e-04 1.09984723e-02 9.99939349e-01 -2.34401191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.987719421 meters Centerline goodness [0,1] 0.931855575868373 Centerline is valid? [False, False] Translation: X:1.14, Y:0.02, Z:-0.24 [[ 9.99952647e-01 -9.72993875e-03 -1.79907704e-04 1.14353856e+00] [ 9.72530189e-03 9.99799625e-01 -1.74965044e-02 1.55368838e-02] [ 3.50111571e-04 1.74939262e-02 9.99846908e-01 -2.35541838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.017719421 meters Centerline goodness [0,1] 0.9294213639763378 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99904538e-01 -1.38101832e-02 -4.40686371e-04 1.14489610e+00] [ 1.37987522e-02 9.99708728e-01 -1.98003281e-02 1.05404853e-02] [ 7.14004170e-04 1.97923570e-02 9.99803857e-01 -2.37609124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.047719421 meters Centerline goodness [0,1] 0.9295720286071064 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99901788e-01 -1.40089609e-02 -4.04654228e-04 1.14468795e+00] [ 1.39983154e-02 9.99709175e-01 -1.96370208e-02 9.91326280e-03] [ 6.79630802e-04 1.96294278e-02 9.99807093e-01 -2.37523728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.077719421 meters Centerline goodness [0,1] 0.9285276282619064 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99939556e-01 -1.09927591e-02 -2.10061719e-04 1.14362594e+00] [ 1.09881165e-02 9.99816774e-01 -1.56741482e-02 8.91711209e-03] [ 3.82325364e-04 1.56708926e-02 9.99877131e-01 -2.37294971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.107719421 meters Centerline goodness [0,1] 0.9320960848398967 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99969229e-01 -7.83351197e-03 4.20249847e-04 1.14173860e+00] [ 7.83811882e-03 9.99892493e-01 -1.23922096e-02 1.01676525e-02] [-3.23130145e-04 1.23951223e-02 9.99923125e-01 -2.36549948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.137719421 meters Centerline goodness [0,1] 0.9291709784983327 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99995806e-01 -2.89373461e-03 1.18469766e-04 1.14451187e+00] [ 2.89454984e-03 9.99967054e-01 -7.58366617e-03 1.09215207e-02] [-9.65207458e-05 7.58397728e-03 9.99971237e-01 -2.39370929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.167719421 meters Centerline goodness [0,1] 0.9300944047893162 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.24 [[ 9.99999345e-01 1.14038214e-03 9.91211687e-05 1.14574384e+00] [-1.14008764e-03 9.99995081e-01 -2.92205967e-03 9.70263845e-03] [-1.02452946e-04 2.92194474e-03 9.99995726e-01 -2.41253142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.197719421 meters Centerline goodness [0,1] 0.9293653721981368 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.24 [[ 9.99999262e-01 1.12446615e-03 4.61048902e-04 1.14514182e+00] [-1.12298204e-03 9.99994228e-01 -3.20670756e-03 1.06654929e-02] [-4.64652075e-04 3.20618745e-03 9.99994752e-01 -2.41045254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.227719421 meters Centerline goodness [0,1] 0.9288629196809497 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99999512e-01 7.30516822e-04 6.65071063e-04 1.14429702e+00] [-7.28199839e-04 9.99993689e-01 -3.47741531e-03 1.11309781e-02] [-6.67607176e-04 3.47692930e-03 9.99993733e-01 -2.40438229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.257719421000001 meters Centerline goodness [0,1] 0.9311644791957554 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99999455e-01 -5.94908002e-04 8.58521341e-04 1.14292281e+00] [ 5.98414508e-04 9.99991457e-01 -4.08989370e-03 1.24105350e-02] [-8.56080897e-04 4.09040522e-03 9.99991268e-01 -2.39607553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.287719421 meters Centerline goodness [0,1] 0.926093023255814 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99998110e-01 -1.71419661e-03 9.17295682e-04 1.14309686e+00] [ 1.71760736e-03 9.99991567e-01 -3.73049508e-03 1.10515370e-02] [-9.10893144e-04 3.73206358e-03 9.99992621e-01 -2.40949839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.317719421 meters Centerline goodness [0,1] 0.9207104713257488 Centerline is valid? [False, False] Translation: X:1.14, Y:0.01, Z:-0.24 [[ 9.99998035e-01 -1.72184464e-03 9.82613180e-04 1.14389541e+00] [ 1.72475477e-03 9.99994107e-01 -2.96850666e-03 9.23577509e-03] [-9.77496081e-04 2.97019559e-03 9.99995111e-01 -2.42506934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.347719421 meters Centerline goodness [0,1] 0.9200826331182397 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.25 [[ 9.99997464e-01 -2.02740176e-03 9.80358105e-04 1.14606239e+00] [ 2.02915880e-03 9.99996331e-01 -1.79458253e-03 7.24131677e-03] [-9.76716168e-04 1.79656728e-03 9.99997909e-01 -2.46406920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.377719421 meters Centerline goodness [0,1] 0.9149321687418696 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.25 [[ 9.99998487e-01 -1.57691467e-03 7.34842767e-04 1.14818453e+00] [ 1.57770077e-03 9.99998183e-01 -1.07039206e-03 7.28349178e-03] [-7.33153515e-04 1.07154980e-03 9.99999157e-01 -2.48606882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.407719421 meters Centerline goodness [0,1] 0.9112260589962253 Centerline is valid? [False, False] Translation: X:1.15, Y:0.01, Z:-0.25 [[ 9.99999341e-01 -1.07988883e-03 3.89111681e-04 1.15042796e+00] [ 1.08011679e-03 9.99999245e-01 -5.86102145e-04 8.15653602e-03] [-3.88478462e-04 5.86522045e-04 9.99999753e-01 -2.50578309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.437719421 meters Centerline goodness [0,1] 0.9109616331122413 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:-0.25 [[ 9.99998637e-01 1.65018836e-03 -4.83881896e-05 1.15522217e+00] [-1.65012396e-03 9.99997791e-01 1.30215123e-03 1.24010636e-02] [ 5.05368775e-05 -1.30206961e-03 9.99999151e-01 -2.54990820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.467719421 meters Centerline goodness [0,1] 0.9132320018852362 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.26 [[ 9.99996519e-01 2.58694684e-03 -5.19790197e-04 1.15756346e+00] [-2.58637515e-03 9.99996053e-01 1.09753454e-03 1.51001008e-02] [ 5.22627409e-04 -1.09618635e-03 9.99999263e-01 -2.56127331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.497719421 meters Centerline goodness [0,1] 0.9224703087885986 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.26 [[ 9.99970493e-01 7.65643735e-03 -6.26869796e-04 1.15902142e+00] [-7.65395401e-03 9.99963210e-01 3.87244083e-03 2.07673450e-02] [ 6.56495834e-04 -3.86752853e-03 9.99992306e-01 -2.56004309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.527719421 meters Centerline goodness [0,1] 0.9236932377000024 Centerline is valid? [False, False] Translation: X:1.17, Y:0.03, Z:-0.25 [[ 0.99994316 0.01041783 0.0022677 1.17282401] [-0.01043531 0.99991483 0.00783783 0.02954532] [-0.00218585 -0.00786105 0.99996671 -0.25057163] [ 0. 0. 0. 1. ]] SLAMing on 10.557719421 meters Centerline goodness [0,1] 0.9287537320620245 Centerline is valid? [False, False] Translation: X:1.17, Y:0.03, Z:-0.25 [[ 0.99994112 0.01070362 0.00178523 1.1730385 ] [-0.01071423 0.99992433 0.00604546 0.03413876] [-0.00172039 -0.00606423 0.99998013 -0.24802142] [ 0. 0. 0. 1. ]] SLAMing on 10.587719421 meters Centerline goodness [0,1] 0.9305844250012085 Centerline is valid? [False, False] Translation: X:1.17, Y:0.04, Z:-0.25 [[ 0.99994031 0.01083452 0.00140878 1.17328842] [-0.01084099 0.99993031 0.0046742 0.03800816] [-0.00135803 -0.0046892 0.99998808 -0.24634278] [ 0. 0. 0. 1. ]] SLAMing on 10.617719421 meters Centerline goodness [0,1] 0.9331846933087754 Centerline is valid? [False, False] Translation: X:1.17, Y:0.04, Z:-0.24 [[ 0.99993907 0.01095505 0.00136062 1.17268082] [-0.01095859 0.99993651 0.00262557 0.04201018] [-0.00133177 -0.00264032 0.99999563 -0.24336831] [ 0. 0. 0. 1. ]] SLAMing on 10.647719421 meters Centerline goodness [0,1] 0.9342102064136539 Centerline is valid? [False, False] Translation: X:1.17, Y:0.04, Z:-0.24 [[ 0.99993002 0.01175298 0.0013497 1.1732864 ] [-0.01175563 0.99992897 0.00196569 0.04413926] [-0.0013265 -0.00198142 0.99999716 -0.24278525] [ 0. 0. 0. 1. ]] SLAMing on 10.677719421 meters Centerline goodness [0,1] 0.934242571846079 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.24 [[ 9.99921412e-01 1.25081923e-02 8.45445916e-04 1.17472437e+00] [-1.25094798e-02 9.99920575e-01 1.53511824e-03 4.61770836e-02] [-8.26177213e-04 -1.54557369e-03 9.99998464e-01 -2.42459434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.707719421 meters Centerline goodness [0,1] 0.934242571846079 Centerline is valid? [False, False] Translation: X:1.17, Y:0.05, Z:-0.24 [[ 9.99921412e-01 1.25081923e-02 8.45445916e-04 1.17472437e+00] [-1.25094798e-02 9.99920575e-01 1.53511824e-03 4.61770836e-02] [-8.26177213e-04 -1.54557369e-03 9.99998464e-01 -2.42459434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.737719421 meters Centerline goodness [0,1] 0.9333872113241741 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.24 [[ 9.99833514e-01 1.82453555e-02 2.26468195e-04 1.17767746e+00] [-1.82463829e-02 9.99815682e-01 5.97262291e-03 4.72067771e-02] [-1.17453825e-04 -5.97576077e-03 9.99982138e-01 -2.43363018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.767719421 meters Centerline goodness [0,1] 0.9346435660548436 Centerline is valid? [False, False] Translation: X:1.18, Y:0.05, Z:-0.24 [[ 9.99799574e-01 2.00147502e-02 -4.70348167e-04 1.18049842e+00] [-2.00113866e-02 9.99779840e-01 6.30999321e-03 4.86159528e-02] [ 5.96537552e-04 -6.29931620e-03 9.99979981e-01 -2.43976006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.797719421 meters Centerline goodness [0,1] 0.9389436914221052 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.25 [[ 0.99962731 0.02725969 -0.00146887 1.1853327 ] [-0.02724068 0.99956047 0.01169675 0.04946017] [ 0.00178708 -0.01165238 0.99993051 -0.24552725] [ 0. 0. 0. 1. ]] SLAMing on 10.827719421 meters Centerline goodness [0,1] 0.9430073451740487 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.25 [[ 0.999588 0.02861146 -0.0022855 1.18826353] [-0.02858158 0.99951721 0.01218373 0.05016536] [ 0.00263299 -0.01211339 0.99992316 -0.24648863] [ 0. 0. 0. 1. ]] SLAMing on 10.857719421 meters Centerline goodness [0,1] 0.942643208456701 Centerline is valid? [False, False] Translation: X:1.19, Y:0.05, Z:-0.25 [[ 0.99960399 0.02793205 -0.00341556 1.1934614 ] [-0.02789575 0.99955828 0.0102503 0.04908946] [ 0.00370036 -0.01015096 0.99994163 -0.24890163] [ 0. 0. 0. 1. ]] SLAMing on 10.887719421 meters Centerline goodness [0,1] 0.9422198464379434 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.25 [[ 0.99976445 0.02125411 -0.00439346 1.19544894] [-0.02124315 0.99977115 0.00252689 0.04840143] [ 0.00444617 -0.00243296 0.99998716 -0.24818664] [ 0. 0. 0. 1. ]] SLAMing on 10.917719421 meters Centerline goodness [0,1] 0.9416120211967963 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.25 [[ 0.9998258 0.0179391 -0.0051531 1.19696226] [-0.01794728 0.99983774 -0.00154436 0.04843088] [ 0.00512456 0.00163657 0.99998553 -0.24767628] [ 0. 0. 0. 1. ]] SLAMing on 10.947719421 meters Centerline goodness [0,1] 0.9405316657411208 Centerline is valid? [False, False] Translation: X:1.20, Y:0.05, Z:-0.25 [[ 0.99984999 0.01618692 -0.00616265 1.20116461] [-0.01621192 0.99986047 -0.0040278 0.04537316] [ 0.00609659 0.0041271 0.9999729 -0.24965499] [ 0. 0. 0. 1. ]] SLAMing on 10.977719421 meters Centerline goodness [0,1] 0.9405177603853101 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:-0.25 [[ 0.99983414 0.01696553 -0.00662292 1.20302806] [-0.01698748 0.99985035 -0.00327257 0.04335854] [ 0.00656641 0.00338453 0.99997271 -0.25069337] [ 0. 0. 0. 1. ]] SLAMing on 11.007719421000001 meters Centerline goodness [0,1] 0.9445829338446788 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:-0.25 [[ 0.99981597 0.01782757 -0.00708525 1.2040178 ] [-0.01784716 0.99983705 -0.00271209 0.04130772] [ 0.00703574 0.00283804 0.99997122 -0.25029276] [ 0. 0. 0. 1. ]] SLAMing on 11.037719421 meters Centerline goodness [0,1] 0.9435209580838323 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:-0.25 [[ 0.99981029 0.01801336 -0.00740998 1.20417416] [-0.01803227 0.9998343 -0.0024936 0.03998827] [ 0.00736384 0.00262675 0.99996944 -0.24947493] [ 0. 0. 0. 1. ]] SLAMing on 11.067719421 meters Centerline goodness [0,1] 0.944403279393838 Centerline is valid? [False, False] Translation: X:1.20, Y:0.04, Z:-0.25 [[ 0.99981136 0.01783243 -0.0076977 1.2038099 ] [-0.01784976 0.99983828 -0.00218903 0.03748497] [ 0.00765742 0.00232602 0.99996798 -0.24843786] [ 0. 0. 0. 1. ]] SLAMing on 11.097719421 meters Centerline goodness [0,1] 0.943137859838147 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.25 [[ 0.99988485 0.01298669 -0.00785077 1.20200067] [-0.01303397 0.99989705 -0.0060006 0.03254462] [ 0.00777203 0.00610223 0.99995118 -0.2461994 ] [ 0. 0. 0. 1. ]] SLAMing on 11.127719421 meters Centerline goodness [0,1] 0.9406510005421076 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.25 [[ 0.99992702 0.00906917 -0.00798207 1.20163203] [-0.0091453 0.99991255 -0.00955263 0.03043142] [ 0.00789474 0.00962493 0.99992251 -0.24542276] [ 0. 0. 0. 1. ]] SLAMing on 11.157719421 meters Centerline goodness [0,1] 0.9387077153417863 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.25 [[ 9.99998027e-01 6.36679339e-04 -1.88141752e-03 1.20965685e+00] [-6.45677330e-04 9.99988339e-01 -4.78582804e-03 2.37127765e-02] [ 1.87834854e-03 4.78703339e-03 9.99986778e-01 -2.48973660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.187719421 meters Centerline goodness [0,1] 0.9371960442117511 Centerline is valid? [False, False] Translation: X:1.21, Y:0.02, Z:-0.25 [[ 9.99998509e-01 -9.73085496e-05 -1.72427398e-03 1.20895772e+00] [ 9.01118462e-05 9.99991287e-01 -4.17334488e-03 1.90665155e-02] [ 1.72466506e-03 4.17318328e-03 9.99989805e-01 -2.49063485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.217719421 meters Centerline goodness [0,1] 0.934237005852282 Centerline is valid? [False, False] Translation: X:1.21, Y:0.01, Z:-0.25 [[ 0.99999308 -0.0029318 -0.00229 1.21146534] [ 0.00291785 0.99997731 -0.00607148 0.01390102] [ 0.00230775 0.00606476 0.99997895 -0.25103724] [ 0. 0. 0. 1. ]] SLAMing on 11.247719421 meters Centerline goodness [0,1] 0.9334919058725724 Centerline is valid? [False, False] Translation: X:1.21, Y:0.01, Z:-0.25 [[ 0.99999356 -0.00226991 -0.00278105 1.21338099] [ 0.00225624 0.99998539 -0.0049113 0.01249383] [ 0.00279216 0.004905 0.99998407 -0.25235788] [ 0. 0. 0. 1. ]] SLAMing on 11.277719421 meters Centerline goodness [0,1] 0.9332582824059183 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.25 [[ 0.99999195 -0.00125425 -0.00381261 1.21664465] [ 0.00124009 0.99999233 -0.00371387 0.01222143] [ 0.00381724 0.00370911 0.99998584 -0.25380881] [ 0. 0. 0. 1. ]] SLAMing on 11.307719421 meters Centerline goodness [0,1] 0.9303319396641334 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.26 [[ 9.99990144e-01 2.41790388e-04 -4.43324762e-03 1.21987789e+00] [-2.54131127e-04 9.99996094e-01 -2.78332707e-03 1.17729506e-02] [ 4.43255732e-03 2.78442626e-03 9.99986300e-01 -2.55754085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.337719421 meters Centerline goodness [0,1] 0.9330586546919124 Centerline is valid? [False, False] Translation: X:1.22, Y:0.01, Z:-0.26 [[ 0.99998702 0.00123416 -0.00494416 1.2224752 ] [-0.00124688 0.99999592 -0.00256964 0.01321607] [ 0.00494097 0.00257577 0.99998448 -0.25728362] [ 0. 0. 0. 1. ]] SLAMing on 11.367719421 meters Centerline goodness [0,1] 0.9340935536420759 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.26 [[ 9.99963748e-01 6.61983821e-03 -5.35540046e-03 1.22818731e+00] [-6.61388546e-03 9.99977491e-01 1.12848792e-03 1.60601061e-02] [ 5.36275032e-03 -1.09302701e-03 9.99985023e-01 -2.62063110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.397719421 meters Centerline goodness [0,1] 0.9379511059371362 Centerline is valid? [False, False] Translation: X:1.23, Y:0.02, Z:-0.26 [[ 9.99953246e-01 7.73088674e-03 -5.80847754e-03 1.23013240e+00] [-7.72665685e-03 9.99969867e-01 7.50315895e-04 1.89641796e-02] [ 5.81410312e-03 -7.05400702e-04 9.99982849e-01 -2.62356545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.427719421 meters Centerline goodness [0,1] 0.9448530275617378 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.26 [[ 0.99991739 0.01166225 -0.00540357 1.22854149] [-0.01165292 0.99993056 0.00175497 0.02563182] [ 0.00542366 -0.00169186 0.99998386 -0.25847834] [ 0. 0. 0. 1. ]] SLAMing on 11.457719421 meters Centerline goodness [0,1] 0.9477847356278544 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.26 [[ 9.99915198e-01 1.18075923e-02 -5.49336748e-03 1.22781852e+00] [-1.18077999e-02 9.99930285e-01 -5.35633754e-06 2.87890579e-02] [ 5.49292126e-03 7.02204673e-05 9.99984911e-01 -2.55375848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.487719421 meters Centerline goodness [0,1] 0.948092572557505 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.25 [[ 0.99994792 0.00835512 -0.00586044 1.22810557] [-0.00838135 0.99995491 -0.00446504 0.02955024] [ 0.00582287 0.00451392 0.99997286 -0.25393239] [ 0. 0. 0. 1. ]] SLAMing on 11.517719421 meters Centerline goodness [0,1] 0.9491481551204819 Centerline is valid? [False, False] Translation: X:1.23, Y:0.03, Z:-0.25 [[ 0.99995539 0.00771146 -0.00545357 1.22645033] [-0.00773621 0.99995981 -0.00453068 0.02776837] [ 0.00541841 0.00457267 0.99997487 -0.2529645 ] [ 0. 0. 0. 1. ]] SLAMing on 11.547719421 meters Centerline goodness [0,1] 0.9502733907493018 Centerline is valid? [False, True] Translation: X:1.22, Y:0.03, Z:-0.25 [[ 0.99996239 0.00700056 -0.00512024 1.22493362] [-0.00702398 0.99996489 -0.00457072 0.02573604] [ 0.00508806 0.00460651 0.99997645 -0.25207132] [ 0. 0. 0. 1. ]] SLAMing on 11.577719421 meters Centerline goodness [0,1] 0.9504240356984324 Centerline is valid? [True, True] Translation: X:1.25, Y:0.02, Z:-0.25 [[ 9.99984134e-01 4.53184269e-03 -3.34579123e-03 1.25247119e+00] [-4.53192770e-03 9.99989731e-01 -1.78263490e-05 2.12725158e-02] [ 3.34567609e-03 3.29889501e-05 9.99994403e-01 -2.51882474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.607719421 meters Centerline goodness [0,1] 0.9544303797468354 Centerline is valid? [True, True] Translation: X:1.28, Y:0.03, Z:-0.25 [[ 9.99978765e-01 6.51421147e-03 -1.87282042e-04 1.28046969e+00] [-6.51421190e-03 9.99978782e-01 -1.72151911e-06 2.50964802e-02] [ 1.87266854e-04 2.94147746e-06 9.99999982e-01 -2.48248779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.637719421 meters Centerline goodness [0,1] 0.9595059302407186 Centerline is valid? [True, True] Translation: X:1.31, Y:0.03, Z:-0.25 [[ 9.99954465e-01 9.34601012e-03 1.92854144e-03 1.30946573e+00] [-9.34604596e-03 9.99956325e-01 9.57075286e-06 2.84721933e-02] [-1.92836776e-03 -2.75945540e-05 9.99998140e-01 -2.46218523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.667719421 meters Centerline goodness [0,1] 0.9647702816506035 Centerline is valid? [True, True] Translation: X:1.34, Y:0.04, Z:-0.25 [[ 9.99822288e-01 1.87881582e-02 1.54841646e-03 1.33832100e+00] [-1.87881929e-02 9.99823486e-01 7.92387114e-06 3.71257127e-02] [-1.54799427e-03 -3.70144102e-05 9.99998801e-01 -2.46229734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.697719421 meters Centerline goodness [0,1] 0.9644113096075397 Centerline is valid? [True, True] Translation: X:1.37, Y:0.04, Z:-0.25 [[ 9.99729462e-01 2.32248123e-02 -1.26883048e-03 1.36739593e+00] [-2.32248402e-02 9.99730267e-01 -7.26983863e-06 3.82426713e-02] [ 1.26831939e-03 3.67362570e-05 9.99999195e-01 -2.48843315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.727719421 meters Centerline goodness [0,1] 0.9574632456222493 Centerline is valid? [True, True] Translation: X:1.40, Y:0.05, Z:-0.26 [[ 9.99530897e-01 3.01577117e-02 -5.33829921e-03 1.39691250e+00] [-3.01582965e-02 9.99545135e-01 -2.90648308e-05 4.50113668e-02] [ 5.33499448e-03 1.90045207e-04 9.99985751e-01 -2.55867450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.757719421000001 meters Centerline goodness [0,1] 0.9073306642316967 Centerline is valid? [True, False] Translation: X:1.40, Y:0.05, Z:-0.26 [[ 9.99491017e-01 3.12877400e-02 -6.22772353e-03 1.39948163e+00] [-3.12882912e-02 9.99510402e-01 8.92379143e-06 4.78528133e-02] [ 6.22495365e-03 1.85935578e-04 9.99980608e-01 -2.55989303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.787719421 meters Centerline goodness [0,1] 0.9242846112449987 Centerline is valid? [False, False] Translation: X:1.40, Y:0.05, Z:-0.26 [[ 9.99465204e-01 3.19445587e-02 -6.98934310e-03 1.40175722e+00] [-3.19416671e-02 9.99489597e-01 5.24979742e-04 4.75224370e-02] [ 7.00254596e-03 -3.01447715e-04 9.99975436e-01 -2.56827884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.817719421 meters Centerline goodness [0,1] 0.9198331896652144 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.26 [[ 0.99951696 0.02987933 -0.00854799 1.40723903] [-0.02989521 0.99955153 -0.00173566 0.04512777] [ 0.0084923 0.00199036 0.99996196 -0.25984135] [ 0. 0. 0. 1. ]] SLAMing on 11.847719421 meters Centerline goodness [0,1] 0.924305103653435 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.26 [[ 0.99960401 0.02653672 -0.00936083 1.40936686] [-0.02658965 0.99963088 -0.00557555 0.04534188] [ 0.00920942 0.00582224 0.99994064 -0.26032723] [ 0. 0. 0. 1. ]] SLAMing on 11.877719421 meters Centerline goodness [0,1] 0.9307358302180324 Centerline is valid? [False, False] Translation: X:1.41, Y:0.05, Z:-0.26 [[ 0.99967862 0.02325737 -0.01008699 1.4108968 ] [-0.02335124 0.99968415 -0.00929051 0.04542499] [ 0.00986774 0.00952307 0.99990597 -0.26023218] [ 0. 0. 0. 1. ]] SLAMing on 11.907719421 meters Centerline goodness [0,1] 0.9323757674041468 Centerline is valid? [False, False] Translation: X:1.42, Y:0.04, Z:-0.26 [[ 0.99984668 0.01719814 -0.00329164 1.41735504] [-0.01720813 0.99984733 -0.00303206 0.04168257] [ 0.00323899 0.00308823 0.99998999 -0.26255393] [ 0. 0. 0. 1. ]] SLAMing on 11.937719421 meters Centerline goodness [0,1] 0.9591732938783059 Centerline is valid? [False, True] Translation: X:1.42, Y:0.04, Z:-0.26 [[ 0.99990431 0.01328639 -0.00385274 1.41715131] [-0.01331395 0.99988531 -0.0072191 0.04122805] [ 0.00375638 0.00726971 0.99996652 -0.26065449] [ 0. 0. 0. 1. ]] SLAMing on 11.967719421 meters Centerline goodness [0,1] 0.9595771573020797 Centerline is valid? [True, True] Translation: X:1.45, Y:0.03, Z:-0.26 [[ 9.99972477e-01 7.26304249e-03 -1.51462529e-03 1.44761272e+00] [-7.26308539e-03 9.99973623e-01 -2.28212730e-05 2.74058087e-02] [ 1.51441959e-03 3.38214977e-05 9.99998853e-01 -2.61550040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.997719421 meters Centerline goodness [0,1] 0.9577715826516155 Centerline is valid? [True, True] Translation: X:1.48, Y:0.02, Z:-0.26 [[ 9.99999517e-01 8.29977596e-04 -5.26683917e-04 1.47752695e+00] [-8.29982164e-04 9.99999656e-01 -8.45415656e-06 1.55248700e-02] [ 5.26676719e-04 8.89129073e-06 9.99999861e-01 -2.60925123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.027719421 meters Centerline goodness [0,1] 0.9569258103460058 Centerline is valid? [True, True] Translation: X:1.51, Y:0.01, Z:-0.26 [[ 9.99997433e-01 -2.23099308e-03 3.96079631e-04 1.50724851e+00] [ 2.23099103e-03 9.99997511e-01 5.61632268e-06 1.18715606e-02] [-3.96091176e-04 -4.73265816e-06 9.99999922e-01 -2.60532068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.057719421 meters Centerline goodness [0,1] 0.9562038823930071 Centerline is valid? [True, True] Translation: X:1.54, Y:0.01, Z:-0.26 [[ 9.99983803e-01 -5.56099508e-03 1.21236490e-03 1.53928375e+00] [ 5.56097621e-03 9.99984537e-01 1.89392084e-05 6.92246613e-03] [-1.21245147e-03 -1.21969693e-05 9.99999265e-01 -2.58323542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.087719421 meters Centerline goodness [0,1] 0.9530733046746641 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.00, Z:-0.26 [[ 9.99936234e-01 -1.12074182e-02 -1.38616746e-03 1.57127722e+00] [ 1.12074072e-02 9.99937195e-01 -1.57285334e-05 -1.86601142e-03] [ 1.38625668e-03 1.92187351e-07 9.99999039e-01 -2.60472518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.117719421 meters Centerline goodness [0,1] 0.9494839398523001 Centerline is valid? [True, False] Translation: X:1.57, Y:-0.01, Z:-0.26 [[ 0.9998967 -0.01421109 -0.00215168 1.57406387] [ 0.01420723 0.99989745 -0.0018001 -0.00626265] [ 0.00217704 0.00176934 0.99999606 -0.26255034] [ 0. 0. 0. 1. ]] SLAMing on 12.147719421 meters Centerline goodness [0,1] 0.9495249933410281 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.01, Z:-0.26 [[ 9.99906209e-01 -1.34590640e-02 -2.53530494e-03 1.57563534e+00] [ 1.34573322e-02 9.99909202e-01 -6.98914516e-04 -8.07398112e-03] [ 2.54448148e-03 6.64730523e-04 9.99996542e-01 -2.63608957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.177719421 meters Centerline goodness [0,1] 0.9476998115508258 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.01, Z:-0.26 [[ 9.99918741e-01 -1.23912885e-02 -2.99460090e-03 1.57766059e+00] [ 1.23924789e-02 9.99923138e-01 3.79287943e-04 -9.38906194e-03] [ 2.98967086e-03 -4.16367651e-04 9.99995444e-01 -2.64898911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.207719421 meters Centerline goodness [0,1] 0.9502142150939251 Centerline is valid? [False, True] Translation: X:1.57, Y:-0.01, Z:-0.27 [[ 9.99985010e-01 -4.83186162e-03 2.57527849e-03 1.57419272e+00] [ 4.83052766e-03 9.99988196e-01 5.23953420e-04 -1.41930117e-02] [-2.57777976e-03 -5.11505612e-04 9.99996547e-01 -2.71903826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.237719421 meters Centerline goodness [0,1] 0.9529729965536797 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.01, Z:-0.27 [[ 9.99996231e-01 7.52669292e-04 2.64017393e-03 1.60659450e+00] [-7.52777400e-04 9.99999716e-01 3.99538657e-05 -9.40406063e-03] [-2.64014311e-03 -4.19411784e-05 9.99996514e-01 -2.73217550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.267719421 meters Centerline goodness [0,1] 0.9518811103351955 Centerline is valid? [True, True] Translation: X:1.64, Y:0.00, Z:-0.27 [[ 9.99949474e-01 1.00346113e-02 5.95934977e-04 1.63611044e+00] [-1.00346181e-02 9.99949652e-01 8.53107828e-06 5.33083417e-05] [-5.95819367e-04 -1.45106272e-05 9.99999822e-01 -2.74353025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.297719421 meters Centerline goodness [0,1] 0.9537873223004796 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.01, Z:-0.27 [[ 9.99922431e-01 1.23542152e-02 1.58278116e-03 1.66469515e+00] [-1.23542632e-02 9.99923683e-01 2.05286720e-05 -5.07512427e-03] [-1.58240675e-03 -4.00811747e-05 9.99998747e-01 -2.69735397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.327719421 meters Centerline goodness [0,1] 0.9540315699658704 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.01, Z:-0.27 [[ 9.99928309e-01 1.12176325e-02 4.18816755e-03 1.69379364e+00] [-1.12179755e-02 9.99937075e-01 5.84096699e-05 -1.24060343e-02] [-4.18724879e-03 -1.05388243e-04 9.99991228e-01 -2.67942532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.357719421 meters Centerline goodness [0,1] 0.9566905991518663 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.03, Z:-0.27 [[ 9.99961696e-01 6.58164527e-03 5.76962820e-03 1.72391014e+00] [-6.58223185e-03 9.99978333e-01 8.26834130e-05 -3.33784540e-02] [-5.76895900e-03 -1.20657276e-04 9.99983352e-01 -2.66738005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.387719421 meters Centerline goodness [0,1] 0.9556228984183652 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.04, Z:-0.27 [[ 9.99970161e-01 6.07185212e-03 4.77587666e-03 1.75474394e+00] [-6.07225272e-03 9.99981561e-01 6.93837562e-05 -4.06972737e-02] [-4.77536731e-03 -9.83820159e-05 9.99988593e-01 -2.67283480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.417719421 meters Centerline goodness [0,1] 0.9542970690511674 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.05, Z:-0.27 [[ 9.99964159e-01 7.01636341e-03 4.73830005e-03 1.78453662e+00] [-7.01676981e-03 9.99975380e-01 6.91511655e-05 -4.76860624e-02] [-4.73769820e-03 -1.02396248e-04 9.99988772e-01 -2.67490687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.447719421 meters Centerline goodness [0,1] 0.9537621109049681 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.05, Z:-0.26 [[ 9.99952841e-01 8.63407353e-03 4.44611141e-03 1.81406074e+00] [-8.63444154e-03 9.99962720e-01 6.35837501e-05 -4.91181222e-02] [-4.44539668e-03 -1.01970441e-04 9.99990114e-01 -2.64920506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.477719421 meters Centerline goodness [0,1] 0.9465382870809451 Centerline is valid? [True, False] Translation: X:1.81, Y:-0.05, Z:-0.26 [[ 0.99993889 0.01035481 0.00387125 1.81411496] [-0.01036339 0.99994387 0.0022035 -0.0538278 ] [-0.00384822 -0.00224349 0.99999008 -0.26330486] [ 0. 0. 0. 1. ]] SLAMing on 12.507719421000001 meters Centerline goodness [0,1] 0.9416363224917197 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.06, Z:-0.26 [[ 9.99962845e-01 7.96503130e-03 3.29653977e-03 1.81579247e+00] [-7.96363422e-03 9.99968194e-01 -4.36710711e-04 -5.68041519e-02] [-3.29991334e-03 4.10442048e-04 9.99994471e-01 -2.63717663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.537719421 meters Centerline goodness [0,1] 0.9266085171883017 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.27 [[ 9.99971188e-01 7.03461257e-03 2.85257897e-03 1.82058316e+00] [-7.03019325e-03 9.99974077e-01 -1.55631736e-03 -6.76891057e-02] [-2.86345311e-03 1.53621834e-03 9.99994720e-01 -2.67487644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.567719421 meters Centerline goodness [0,1] 0.9266085171883017 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.27 [[ 9.99971188e-01 7.03461257e-03 2.85257897e-03 1.82058316e+00] [-7.03019325e-03 9.99974077e-01 -1.55631736e-03 -6.76891057e-02] [-2.86345311e-03 1.53621834e-03 9.99994720e-01 -2.67487644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.597719421 meters Centerline goodness [0,1] 0.9253350875750349 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.27 [[ 9.99968219e-01 7.51702574e-03 2.65631712e-03 1.82155710e+00] [-7.51632198e-03 9.99971714e-01 -2.74822977e-04 -7.14346653e-02] [-2.65830784e-03 2.54848508e-04 9.99996434e-01 -2.68402006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.627719421 meters Centerline goodness [0,1] 0.9254415725947402 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.27 [[ 9.99970979e-01 7.27932211e-03 2.24800068e-03 1.82246956e+00] [-7.27991268e-03 9.99973469e-01 2.54638030e-04 -7.21753838e-02] [-2.24608745e-03 -2.70995888e-04 9.99997441e-01 -2.68756943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.657719421 meters Centerline goodness [0,1] 0.9299735400898406 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.27 [[ 9.99973873e-01 6.96538935e-03 1.93295466e-03 1.82291454e+00] [-6.96603714e-03 9.99975683e-01 3.28601664e-04 -7.25655433e-02] [-1.93061882e-03 -3.42058113e-04 9.99998078e-01 -2.68588843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.687719421 meters Centerline goodness [0,1] 0.9416500646963379 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.07, Z:-0.27 [[ 9.99993534e-01 3.21959049e-03 1.60213679e-03 1.82315976e+00] [-3.21394211e-03 9.99988655e-01 -3.51570486e-03 -7.27560561e-02] [-1.61343774e-03 3.51053295e-03 9.99992536e-01 -2.67904597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.717719421 meters Centerline goodness [0,1] 0.9476923076923077 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.08, Z:-0.27 [[ 9.99972740e-01 -7.27555061e-03 1.25927489e-03 1.82449228e+00] [ 7.29175897e-03 9.99883836e-01 -1.33844740e-02 -7.93816074e-02] [-1.16174919e-03 1.33932915e-02 9.99909631e-01 -2.68493893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.747719421 meters Centerline goodness [0,1] 0.9453185663492583 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.09, Z:-0.27 [[ 9.99776911e-01 -2.11133313e-02 -5.96550399e-04 1.83469245e+00] [ 2.11049107e-02 9.99708789e-01 -1.17012542e-02 -8.76044106e-02] [ 8.43429134e-04 1.16860537e-02 9.99931360e-01 -2.70534788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.777719421 meters Centerline goodness [0,1] 0.9474127310061602 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.09, Z:-0.27 [[ 9.99663767e-01 -2.59207330e-02 -6.84697894e-04 1.83417843e+00] [ 2.59070038e-02 9.99544011e-01 -1.55111876e-02 -8.93604753e-02] [ 1.08644703e-03 1.54882338e-02 9.99879460e-01 -2.69530889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.807719421 meters Centerline goodness [0,1] 0.9423841464657792 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.09, Z:-0.27 [[ 9.99275278e-01 -3.80612043e-02 5.13660736e-04 1.84053684e+00] [ 3.80644930e-02 9.99220822e-01 -1.04327545e-02 -9.27072111e-02] [-1.16177301e-04 1.04447459e-02 9.99945445e-01 -2.69667007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.837719421 meters Centerline goodness [0,1] 0.9414303833722024 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.09, Z:-0.27 [[ 9.99106299e-01 -4.22675962e-02 2.29472827e-04 1.84148690e+00] [ 4.22667642e-02 9.99012142e-01 -1.37207974e-02 -9.47266760e-02] [ 3.50698982e-04 1.37182341e-02 9.99905839e-01 -2.69941932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.867719421 meters Centerline goodness [0,1] 0.9393568396996409 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.10, Z:-0.27 [[ 9.98941117e-01 -4.60068512e-02 1.20220678e-04 1.84278759e+00] [ 4.60024579e-02 9.98802155e-01 -1.66742078e-02 -9.72393164e-02] [ 6.47051126e-04 1.66620822e-02 9.99860969e-01 -2.70940218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.897719421 meters Centerline goodness [0,1] 0.9345389969586251 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.10, Z:-0.27 [[ 9.98755693e-01 -4.98701993e-02 1.70282368e-04 1.84361272e+00] [ 4.98641360e-02 9.98568114e-01 -1.93723683e-02 -1.03551809e-01] [ 7.96065328e-04 1.93567541e-02 9.99812324e-01 -2.71681549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.927719421 meters Centerline goodness [0,1] 0.9351963284038756 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.11, Z:-0.27 [[ 9.98780637e-01 -4.93683730e-02 5.93101138e-05 1.84356573e+00] [ 4.93610397e-02 9.98610078e-01 -1.84770109e-02 -1.06904494e-01] [ 8.52952286e-04 1.84574083e-02 9.99829284e-01 -2.71145850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.957719421 meters Centerline goodness [0,1] 0.9397442955894048 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.11, Z:-0.27 [[ 9.98962431e-01 -4.55418543e-02 2.31484473e-05 1.84255963e+00] [ 4.55373221e-02 9.98855583e-01 -1.46245298e-02 -1.06303392e-01] [ 6.42906252e-04 1.46104100e-02 9.99893056e-01 -2.70097471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.987719421 meters Centerline goodness [0,1] 0.949005025946962 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.10, Z:-0.27 [[ 9.99485041e-01 -3.20871447e-02 2.61430886e-04 1.83782897e+00] [ 3.20875344e-02 9.99483692e-01 -1.65522112e-03 -1.01464638e-01] [-2.08184588e-04 1.66275743e-03 9.99998596e-01 -2.65810953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.017719421 meters Centerline goodness [0,1] 0.9516957651922959 Centerline is valid? [False, True] Translation: X:1.84, Y:-0.10, Z:-0.27 [[ 9.99703699e-01 -2.43407455e-02 2.06544027e-04 1.83739304e+00] [ 2.43392221e-02 9.99688300e-01 5.55918697e-03 -9.96008116e-02] [-3.41794403e-04 -5.55251265e-03 9.99984526e-01 -2.65460622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.047719421 meters Centerline goodness [0,1] 0.9526604228865895 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.08, Z:-0.27 [[ 9.99975671e-01 -6.86407310e-03 -1.24139080e-03 1.86780412e+00] [ 6.86406014e-03 9.99976442e-01 -1.46987277e-05 -7.71963958e-02] [ 1.24146245e-03 6.17738900e-06 9.99999229e-01 -2.68328656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.077719421 meters Centerline goodness [0,1] 0.9493704575698638 Centerline is valid? [True, False] Translation: X:1.87, Y:-0.07, Z:-0.27 [[ 9.99997886e-01 -1.39994849e-03 -1.50607915e-03 1.87068640e+00] [ 1.40638166e-03 9.99989856e-01 4.27892172e-03 -7.46217677e-02] [ 1.50007360e-03 -4.28103080e-03 9.99989711e-01 -2.70979090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.107719421 meters Centerline goodness [0,1] 0.9380449465798846 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:-0.28 [[ 9.99962694e-01 8.48307915e-03 -1.62732754e-03 1.87509727e+00] [-8.46331378e-03 9.99894669e-01 1.17908440e-02 -6.93644252e-02] [ 1.72717880e-03 -1.17766316e-02 9.99929161e-01 -2.75255446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.137719421 meters Centerline goodness [0,1] 0.923468549843981 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.07, Z:-0.28 [[ 9.99922461e-01 1.23418526e-02 -1.65853978e-03 1.87527826e+00] [-1.23154956e-02 9.99810756e-01 1.50592311e-02 -6.71271027e-02] [ 1.84408472e-03 -1.50376376e-02 9.99885228e-01 -2.75124792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.167719421 meters Centerline goodness [0,1] 0.9192741439409473 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.06, Z:-0.27 [[ 9.99876498e-01 1.56396004e-02 -1.54671476e-03 1.87431381e+00] [-1.56099182e-02 9.99722671e-01 1.76326844e-02 -6.35377311e-02] [ 1.82205395e-03 -1.76063626e-02 9.99843336e-01 -2.73735220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.197719421 meters Centerline goodness [0,1] 0.8988630300045151 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.06, Z:-0.27 [[ 0.99992737 0.01190506 -0.00187479 1.87469568] [-0.01187957 0.99984409 0.01306425 -0.06129221] [ 0.00203003 -0.01304103 0.9999129 -0.27311462] [ 0. 0. 0. 1. ]] SLAMing on 13.227719421 meters Centerline goodness [0,1] 0.918182191387167 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:-0.27 [[ 0.99996282 0.00830956 -0.00230412 1.87541945] [-0.00828866 0.99992573 0.00893508 -0.06060224] [ 0.0023782 -0.00891565 0.99995743 -0.27266816] [ 0. 0. 0. 1. ]] SLAMing on 13.257719421 meters Centerline goodness [0,1] 0.92597682288996 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:-0.28 [[ 0.99997922 0.00566437 -0.00307944 1.87936303] [-0.00564447 0.99996338 0.00643266 -0.06282431] [ 0.00311576 -0.00641514 0.99997457 -0.27561506] [ 0. 0. 0. 1. ]] SLAMing on 13.287719421 meters Centerline goodness [0,1] 0.9194200045119876 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:-0.28 [[ 0.9999889 0.00309205 -0.00355414 1.88277626] [-0.00307862 0.99998812 0.00377898 -0.06325386] [ 0.00356578 -0.00376799 0.99998654 -0.27847766] [ 0. 0. 0. 1. ]] SLAMing on 13.317719421 meters Centerline goodness [0,1] 0.9208398325260652 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.06, Z:-0.28 [[ 0.99998821 0.00311479 -0.00372522 1.88348217] [-0.00309999 0.9999873 0.00397256 -0.06384398] [ 0.00373755 -0.00396097 0.99998517 -0.27890225] [ 0. 0. 0. 1. ]] SLAMing on 13.347719421 meters Centerline goodness [0,1] 0.8946680018801987 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.07, Z:-0.28 [[ 9.99990169e-01 9.40105884e-04 -4.33335371e-03 1.88572838e+00] [-9.33261150e-04 9.99998314e-01 1.58129815e-03 -6.57213196e-02] [ 4.33483299e-03 -1.57723846e-03 9.99989361e-01 -2.79623438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.377719421 meters Centerline goodness [0,1] 0.9096294170697713 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.07, Z:-0.28 [[ 9.99989997e-01 1.03507529e-03 -4.35126902e-03 1.88558488e+00] [-1.02612642e-03 9.99997355e-01 2.05834282e-03 -6.85116464e-02] [ 4.35338805e-03 -2.05385728e-03 9.99988415e-01 -2.79285010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.407719421 meters Centerline goodness [0,1] 0.905499866756862 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.07, Z:-0.28 [[ 9.99989266e-01 1.25522407e-03 -4.46001412e-03 1.88521776e+00] [-1.24392794e-03 9.99996014e-01 2.53462731e-03 -7.30577088e-02] [ 4.46317787e-03 -2.52905217e-03 9.99986842e-01 -2.78263071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.437719421 meters Centerline goodness [0,1] 0.8894650543144087 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.08, Z:-0.28 [[ 9.99987412e-01 1.78244400e-03 -4.69033823e-03 1.88617184e+00] [-1.76752877e-03 9.99993375e-01 3.18221515e-03 -7.51251541e-02] [ 4.69597927e-03 -3.17388478e-03 9.99983937e-01 -2.78799692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.467719421 meters Centerline goodness [0,1] 0.8521939005869557 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.08, Z:-0.28 [[ 0.99998448 0.00258362 -0.00493595 1.88749644] [-0.00256371 0.99998857 0.00403515 -0.07730314] [ 0.00494632 -0.00402243 0.99997968 -0.27973175] [ 0. 0. 0. 1. ]] SLAMing on 13.497719421 meters Centerline goodness [0,1] 0.8106489524782831 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.08, Z:-0.28 [[ 0.99997557 0.00474478 -0.00513372 1.88861165] [-0.00471536 0.99997248 0.00572736 -0.08005528] [ 0.00516076 -0.00570302 0.99997042 -0.27986721] [ 0. 0. 0. 1. ]] SLAMing on 13.527719421 meters Centerline goodness [0,1] 0.8158460876513615 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.08, Z:-0.28 [[ 0.99994838 0.00879654 -0.00508569 1.88648619] [-0.00874644 0.9999138 0.00979265 -0.08152254] [ 0.0051714 -0.00974767 0.99993912 -0.27680042] [ 0. 0. 0. 1. ]] SLAMing on 13.557719421 meters Centerline goodness [0,1] 0.77735061960656 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.08, Z:-0.28 [[ 0.99994206 0.00934381 -0.0053443 1.88683519] [-0.00928872 0.99990442 0.01024042 -0.08275492] [ 0.00543947 -0.01019018 0.99993328 -0.27631693] [ 0. 0. 0. 1. ]] SLAMing on 13.587719421 meters Centerline goodness [0,1] 0.7840746054519369 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.09, Z:-0.28 [[ 0.99995645 0.00735169 -0.00574817 1.88853732] [-0.00730341 0.99993825 0.00837579 -0.08885027] [ 0.00580939 -0.00833344 0.9999484 -0.2769371 ] [ 0. 0. 0. 1. ]] SLAMing on 13.617719421 meters Centerline goodness [0,1] 0.7905491175627534 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.09, Z:-0.28 [[ 0.99997335 0.00406497 -0.00606372 1.88974578] [-0.00403176 0.99997687 0.00547833 -0.09218875] [ 0.00608584 -0.00545374 0.99996661 -0.27756776] [ 0. 0. 0. 1. ]] SLAMing on 13.647719421 meters Centerline goodness [0,1] 0.8306117026712174 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.10, Z:-0.28 [[ 9.99974112e-01 -2.75673680e-03 -6.64640826e-03 1.89141287e+00] [ 2.75826863e-03 9.99996171e-01 2.21319506e-04 -9.94533024e-02] [ 6.64577269e-03 -2.39646356e-04 9.99977888e-01 -2.78144207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.677719421 meters Centerline goodness [0,1] 0.8552283764676953 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.10, Z:-0.28 [[ 0.99995656 -0.00631386 -0.00685621 1.89203934] [ 0.00629573 0.99997664 -0.00266214 -0.10226973] [ 0.00687286 0.00261886 0.99997295 -0.27824251] [ 0. 0. 0. 1. ]] SLAMing on 13.707719421 meters Centerline goodness [0,1] 0.908573999836374 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.11, Z:-0.28 [[ 0.99991709 -0.01039093 -0.00760588 1.8946118 ] [ 0.01035506 0.99993515 -0.00473989 -0.10785384] [ 0.00765464 0.00466074 0.99995984 -0.2802261 ] [ 0. 0. 0. 1. ]] SLAMing on 13.737719421 meters Centerline goodness [0,1] 0.9239490810855061 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.11, Z:-0.28 [[ 0.99991272 -0.01046174 -0.00806864 1.89674394] [ 0.01043259 0.99993893 -0.00364667 -0.11141911] [ 0.0081063 0.00356218 0.9999608 -0.28204136] [ 0. 0. 0. 1. ]] SLAMing on 13.767719421 meters Centerline goodness [0,1] 0.9302282956234853 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.11, Z:-0.28 [[ 0.999911 -0.01037192 -0.0083908 1.89810415] [ 0.01034948 0.99994276 -0.0027134 -0.11451339] [ 0.00841847 0.00262631 0.99996112 -0.28297218] [ 0. 0. 0. 1. ]] SLAMing on 13.797719421 meters Centerline goodness [0,1] 0.9433504071179315 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99987469 -0.01327407 -0.00862589 1.8970989 ] [ 0.01322837 0.99989827 -0.00533394 -0.11736911] [ 0.00869582 0.00521916 0.99994857 -0.28082678] [ 0. 0. 0. 1. ]] SLAMing on 13.827719421 meters Centerline goodness [0,1] 0.9436015294500488 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99986574 -0.01372546 -0.00895015 1.89707568] [ 0.01367908 0.9998928 -0.00522285 -0.11856662] [ 0.00902087 0.00509972 0.99994631 -0.27984297] [ 0. 0. 0. 1. ]] SLAMing on 13.857719421 meters Centerline goodness [0,1] 0.9448500917805425 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99986205 -0.01388613 -0.0091137 1.89719582] [ 0.01384143 0.99989195 -0.00495016 -0.11984089] [ 0.00918145 0.00482333 0.99994622 -0.27946935] [ 0. 0. 0. 1. ]] SLAMing on 13.887719421 meters Centerline goodness [0,1] 0.9423882539553422 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99984559 -0.01487858 -0.00934975 1.89742083] [ 0.01483444 0.99987857 -0.00477325 -0.12281707] [ 0.00941963 0.00463382 0.9999449 -0.27921343] [ 0. 0. 0. 1. ]] SLAMing on 13.917719421 meters Centerline goodness [0,1] 0.9426219512195122 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99984479 -0.01475997 -0.00961952 1.89827453] [ 0.01471836 0.99988208 -0.00438137 -0.12333716] [ 0.00968306 0.00423911 0.99994413 -0.27950716] [ 0. 0. 0. 1. ]] SLAMing on 13.947719421 meters Centerline goodness [0,1] 0.9477631767182358 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99984044 -0.01510855 -0.00953022 1.89781492] [ 0.01506593 0.99987625 -0.00452787 -0.12304009] [ 0.00959745 0.00438356 0.99994434 -0.27890389] [ 0. 0. 0. 1. ]] SLAMing on 13.977719421 meters Centerline goodness [0,1] 0.9484273396253338 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99984464 -0.01470505 -0.00971868 1.89899651] [ 0.01466668 0.99988441 -0.00400766 -0.12383175] [ 0.00977649 0.00386449 0.99994474 -0.2797354 ] [ 0. 0. 0. 1. ]] SLAMing on 14.007719421 meters Centerline goodness [0,1] 0.9474438507053211 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 0.99984976 -0.01428246 -0.00982228 1.89987413] [ 0.014247 0.99989177 -0.00367108 -0.12376416] [ 0.00987364 0.00353059 0.99994502 -0.28041888] [ 0. 0. 0. 1. ]] SLAMing on 14.037719421 meters Centerline goodness [0,1] 0.9474112998492811 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.28 [[ 9.99885408e-01 -1.11621007e-02 -1.02263673e-02 1.90355281e+00] [ 1.11560047e-02 9.99937557e-01 -6.52957190e-04 -1.21293379e-01] [ 1.02330171e-02 5.38796964e-04 9.99947496e-01 -2.83641487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.067719421 meters Centerline goodness [0,1] 0.9461640346408559 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.12, Z:-0.29 [[ 9.99893626e-01 -1.00699685e-02 -1.05514406e-02 1.90564228e+00] [ 1.00736637e-02 9.99949215e-01 2.97118297e-04 -1.22540405e-01] [ 1.05479128e-02 -4.03378356e-04 9.99944288e-01 -2.85097059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.097719421 meters Centerline goodness [0,1] 0.9476065293146665 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:-0.29 [[ 9.99899404e-01 -9.28911869e-03 -1.07188237e-02 1.90689410e+00] [ 9.30577959e-03 9.99955567e-01 1.50553127e-03 -1.25953703e-01] [ 1.07043624e-02 -1.60512683e-03 9.99941418e-01 -2.86032201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.127719421 meters Centerline goodness [0,1] 0.9479696982038854 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:-0.29 [[ 0.99990313 -0.00848568 -0.01103301 1.90893898] [ 0.00851861 0.99995939 0.00294085 -0.13055375] [ 0.01100761 -0.00303455 0.99993481 -0.28751477] [ 0. 0. 0. 1. ]] SLAMing on 14.157719421 meters Centerline goodness [0,1] 0.9455101416777087 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.13, Z:-0.29 [[ 0.99990396 -0.00789205 -0.01139255 1.9103012 ] [ 0.00792906 0.99996342 0.00320675 -0.12917006] [ 0.01136683 -0.00329677 0.99992996 -0.28809382] [ 0. 0. 0. 1. ]] SLAMing on 14.187719421 meters Centerline goodness [0,1] 0.9428117876913058 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.12, Z:-0.29 [[ 9.99929065e-01 9.14168432e-05 -1.19103208e-02 1.91199703e+00] [ 3.21526807e-05 9.99946184e-01 1.03743908e-02 -1.24104593e-01] [ 1.19106283e-02 -1.03740379e-02 9.99875250e-01 -2.88627295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.217719421 meters Centerline goodness [0,1] 0.9365069640158478 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.12, Z:-0.29 [[ 0.99991405 0.00448829 -0.01231831 1.91290863] [-0.00431705 0.99989417 0.01389297 -0.12161897] [ 0.01237936 -0.0138386 0.99982761 -0.28846779] [ 0. 0. 0. 1. ]] SLAMing on 14.247719421 meters Centerline goodness [0,1] 0.8632358340472402 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.12, Z:-0.29 [[ 0.99984304 0.01470094 -0.00988814 1.91488692] [-0.01467412 0.99988847 0.00277887 -0.11830272] [ 0.00992788 -0.00263333 0.99994725 -0.28899263] [ 0. 0. 0. 1. ]] SLAMing on 14.277719421 meters Centerline goodness [0,1] 0.8623157292113925 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.12, Z:-0.29 [[ 0.99981519 0.01632626 -0.01015049 1.91708135] [-0.01629403 0.99986196 0.00325025 -0.11793975] [ 0.01020215 -0.00308426 0.9999432 -0.29053044] [ 0. 0. 0. 1. ]] SLAMing on 14.307719421 meters Centerline goodness [0,1] 0.8131408416044623 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.11, Z:-0.29 [[ 0.99970708 0.02188719 -0.0103303 1.92008183] [-0.02180924 0.99973327 0.00759917 -0.1149631 ] [ 0.01049387 -0.00737165 0.99991777 -0.29303819] [ 0. 0. 0. 1. ]] SLAMing on 14.337719421 meters Centerline goodness [0,1] 0.79213264909734 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.11, Z:-0.29 [[ 0.99969526 0.02224609 -0.01070069 1.92068153] [-0.02217139 0.99972933 0.00704954 -0.11092051] [ 0.01085462 -0.00681014 0.9999179 -0.29248104] [ 0. 0. 0. 1. ]] SLAMing on 14.367719421 meters Centerline goodness [0,1] 0.830901340328729 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.11, Z:-0.29 [[ 0.99969716 0.02198729 -0.01105208 1.91986647] [-0.021925 0.99974322 0.00572623 -0.10655179] [ 0.01117515 -0.00548218 0.99992253 -0.2897658 ] [ 0. 0. 0. 1. ]] SLAMing on 14.397719421 meters Centerline goodness [0,1] 0.8280568914355878 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.11, Z:-0.29 [[ 0.99975106 0.01889571 -0.01186428 1.92228496] [-0.0188694 0.99981925 0.00232572 -0.10704726] [ 0.01190608 -0.00210127 0.99992691 -0.29071569] [ 0. 0. 0. 1. ]] SLAMing on 14.427719420999999 meters Centerline goodness [0,1] 0.8613322935478576 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.11, Z:-0.30 [[ 0.99984385 0.01105639 -0.01378505 1.9305293 ] [-0.0111276 0.99992508 -0.00509979 -0.11482917] [ 0.01372763 0.00525239 0.99989198 -0.2962834 ] [ 0. 0. 0. 1. ]] SLAMing on 14.457719421 meters Centerline goodness [0,1] 0.8925912289314352 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.30 [[ 9.99929479e-01 3.84322317e-03 -1.12368695e-02 1.94213415e+00] [-3.84779892e-03 9.99992523e-01 -3.85617627e-04 -1.18452916e-01] [ 1.12353035e-02 4.28827647e-04 9.99936790e-01 -3.00126553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.487719421 meters Centerline goodness [0,1] 0.8925912289314352 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.30 [[ 9.99929479e-01 3.84322317e-03 -1.12368695e-02 1.94213415e+00] [-3.84779892e-03 9.99992523e-01 -3.85617627e-04 -1.18452916e-01] [ 1.12353035e-02 4.28827647e-04 9.99936790e-01 -3.00126553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.517719421 meters Centerline goodness [0,1] 0.9360917656698075 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.30 [[ 0.99993298 -0.00303998 -0.01117109 1.93937904] [ 0.00299157 0.99998607 -0.00434814 -0.12023309] [ 0.01118415 0.00431443 0.99992815 -0.29670094] [ 0. 0. 0. 1. ]] SLAMing on 14.547719421 meters Centerline goodness [0,1] 0.9390572665631893 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.12, Z:-0.30 [[ 0.99994795 -0.00850087 -0.00564243 1.94628708] [ 0.00851668 0.99995986 0.00278273 -0.12145956] [ 0.00561855 -0.00283064 0.99998021 -0.29759482] [ 0. 0. 0. 1. ]] SLAMing on 14.577719421 meters Centerline goodness [0,1] 0.9376927318398105 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.12, Z:-0.30 [[ 9.99896369e-01 -1.30053086e-02 -6.17359793e-03 1.94658902e+00] [ 1.30015490e-02 9.99915266e-01 -6.48732881e-04 -1.23968090e-01] [ 6.18151179e-03 5.68399317e-04 9.99980733e-01 -2.96452622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.607719421 meters Centerline goodness [0,1] 0.9323702142462502 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.14, Z:-0.30 [[ 0.99961476 -0.02675448 -0.00738371 1.95188899] [ 0.02665366 0.99955449 -0.01343175 -0.13540709] [ 0.00773978 0.01322978 0.99988253 -0.29860762] [ 0. 0. 0. 1. ]] SLAMing on 14.637719421 meters Centerline goodness [0,1] 0.9335126982185806 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.14, Z:-0.30 [[ 0.99928913 -0.03685882 -0.00791562 1.95545754] [ 0.03667141 0.99907081 -0.02264334 -0.14305133] [ 0.00874287 0.02233697 0.99971227 -0.3003844 ] [ 0. 0. 0. 1. ]] SLAMing on 14.667719421 meters Centerline goodness [0,1] 0.9338268190507178 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:-0.30 [[ 0.99927415 -0.03719431 -0.00823193 1.95614855] [ 0.0370053 0.99907218 -0.02203148 -0.14535489] [ 0.00904374 0.02171087 0.99972339 -0.30047788] [ 0. 0. 0. 1. ]] SLAMing on 14.697719421 meters Centerline goodness [0,1] 0.9316876800784682 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:-0.30 [[ 0.99923255 -0.03808374 -0.00916193 1.95808065] [ 0.03788309 0.99905815 -0.02115835 -0.14760717] [ 0.00995909 0.02079503 0.99973416 -0.30105404] [ 0. 0. 0. 1. ]] SLAMing on 14.727719421 meters Centerline goodness [0,1] 0.9297634329726756 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:-0.30 [[ 0.99924931 -0.03748737 -0.00977349 1.96040031] [ 0.03728533 0.99910261 -0.02009439 -0.14846758] [ 0.01051801 0.01971489 0.99975032 -0.30239819] [ 0. 0. 0. 1. ]] SLAMing on 14.757719421 meters Centerline goodness [0,1] 0.9282342603755849 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:-0.30 [[ 0.99939311 -0.03322626 -0.01046037 1.96183027] [ 0.03306772 0.99934083 -0.01498084 -0.15152787] [ 0.01095123 0.01462585 0.99983306 -0.30282903] [ 0. 0. 0. 1. ]] SLAMing on 14.787719421 meters Centerline goodness [0,1] 0.930337215932231 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:-0.30 [[ 0.9995074 -0.02946917 -0.01079434 1.96240885] [ 0.0293541 0.99951215 -0.01066805 -0.15425525] [ 0.01110345 0.01034594 0.99988483 -0.30302212] [ 0. 0. 0. 1. ]] SLAMing on 14.817719421 meters Centerline goodness [0,1] 0.9344215466231381 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.16, Z:-0.30 [[ 0.99963039 -0.0248686 -0.01098352 1.96283223] [ 0.02480227 0.99967355 -0.00613447 -0.15618197] [ 0.01113249 0.00585979 0.99992086 -0.30295284] [ 0. 0. 0. 1. ]] SLAMing on 14.847719421 meters Centerline goodness [0,1] 0.9358489029999593 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.16, Z:-0.30 [[ 9.99721040e-01 -2.07984945e-02 -1.11921336e-02 1.96346016e+00] [ 2.07788198e-02 9.99782346e-01 -1.87134176e-03 -1.56518903e-01] [ 1.12286187e-02 1.63826040e-03 9.99935615e-01 -3.03368736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.877719421 meters Centerline goodness [0,1] 0.9350392496686717 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.15, Z:-0.30 [[ 0.99980073 -0.01639076 -0.01139481 1.96475162] [ 0.01641722 0.99986274 0.00223258 -0.15488182] [ 0.01135665 -0.0024192 0.99993258 -0.30434709] [ 0. 0. 0. 1. ]] SLAMing on 14.907719421 meters Centerline goodness [0,1] 0.9339666973133108 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.30 [[ 0.99984439 -0.01328391 -0.01160729 1.96521734] [ 0.01335288 0.99989353 0.00588438 -0.15500409] [ 0.01152789 -0.00603845 0.99991532 -0.30463654] [ 0. 0. 0. 1. ]] SLAMing on 14.937719421 meters Centerline goodness [0,1] 0.9347697213761524 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.15, Z:-0.31 [[ 0.99984501 -0.0130663 -0.01179983 1.96607427] [ 0.01313915 0.99989497 0.00611726 -0.15456305] [ 0.01171867 -0.00627136 0.99991167 -0.3050473 ] [ 0. 0. 0. 1. ]] SLAMing on 14.967719421 meters Centerline goodness [0,1] 0.9327806591252501 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.31 [[ 0.99985166 -0.01206975 -0.01228747 1.96993101] [ 0.01215578 0.99990195 0.00695121 -0.15778849] [ 0.01220237 -0.00709954 0.99990034 -0.30791094] [ 0. 0. 0. 1. ]] SLAMing on 14.997719421 meters Centerline goodness [0,1] 0.9306341842261235 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.31 [[ 0.99984828 -0.01195814 -0.01266549 1.97426318] [ 0.01204478 0.99990443 0.00678618 -0.160395 ] [ 0.01258313 -0.00693771 0.99989676 -0.3116259 ] [ 0. 0. 0. 1. ]] SLAMing on 15.027719421 meters Centerline goodness [0,1] 0.932025929940083 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.16, Z:-0.31 [[ 0.99984686 -0.01181146 -0.01291281 1.97470772] [ 0.01189871 0.99990675 0.00670111 -0.15949381] [ 0.01283245 -0.00685373 0.99989417 -0.31133166] [ 0. 0. 0. 1. ]] SLAMing on 15.057719421 meters Centerline goodness [0,1] 0.9320394293761097 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.31 [[ 0.99987825 -0.00765945 -0.0135946 1.97622172] [ 0.00780384 0.99991337 0.01060003 -0.15874876] [ 0.01351223 -0.01070483 0.9998514 -0.31126023] [ 0. 0. 0. 1. ]] SLAMing on 15.087719421 meters Centerline goodness [0,1] 0.9308234041682021 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.31 [[ 0.9998793 -0.00628953 -0.01420667 1.97907035] [ 0.00645043 0.99991525 0.0113083 -0.15761828] [ 0.01413435 -0.01139858 0.99983513 -0.3130753 ] [ 0. 0. 0. 1. ]] SLAMing on 15.117719421 meters Centerline goodness [0,1] 0.9294343318912742 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.32 [[ 0.99988065 -0.00420139 -0.01486746 1.98273787] [ 0.00438764 0.99991203 0.01251692 -0.15623509] [ 0.01481357 -0.01258066 0.99981112 -0.31562528] [ 0. 0. 0. 1. ]] SLAMing on 15.147719421 meters Centerline goodness [0,1] 0.9315048822515796 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.15, Z:-0.32 [[ 0.99988399 0.00287436 -0.01495799 1.98600036] [-0.00260759 0.99983775 0.01782347 -0.15491076] [ 0.0150068 -0.01778239 0.99972925 -0.3184708 ] [ 0. 0. 0. 1. ]] SLAMing on 15.177719420999999 meters Centerline goodness [0,1] 0.9333877717668674 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.15, Z:-0.32 [[ 0.9998239 0.01003373 -0.01585877 1.98904104] [-0.00966629 0.99968691 0.02307917 -0.15469685] [ 0.01608538 -0.02292181 0.99960785 -0.31883058] [ 0. 0. 0. 1. ]] SLAMing on 15.207719421 meters Centerline goodness [0,1] 0.9313971262610823 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.15, Z:-0.32 [[ 0.99979944 0.01153325 -0.01637289 1.99119106] [-0.01114222 0.99965522 0.02377604 -0.1533111 ] [ 0.01664146 -0.02358884 0.99958323 -0.31984138] [ 0. 0. 0. 1. ]] SLAMing on 15.237719421 meters Centerline goodness [0,1] 0.9246611800352127 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.15, Z:-0.32 [[ 0.99973781 0.01524283 -0.01708694 1.99522094] [-0.01477678 0.99952411 0.0270775 -0.15218765] [ 0.01749155 -0.02681791 0.99948729 -0.32256941] [ 0. 0. 0. 1. ]] SLAMing on 15.267719421 meters Centerline goodness [0,1] 0.9201186458013706 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.15, Z:-0.32 [[ 0.99972555 0.01561947 -0.01746009 1.99637421] [-0.01513681 0.99950878 0.02744228 -0.15280277] [ 0.01788015 -0.02717046 0.99947089 -0.32293061] [ 0. 0. 0. 1. ]] SLAMing on 15.297719421 meters Centerline goodness [0,1] 0.9291103202846975 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.15, Z:-0.32 [[ 0.99985815 0.01247234 -0.01131942 1.9999744 ] [-0.01230157 0.99981132 0.01503287 -0.15422946] [ 0.01150478 -0.0148915 0.99982293 -0.32058987] [ 0. 0. 0. 1. ]] SLAMing on 15.327719421 meters Centerline goodness [0,1] 0.9351012005462588 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.32 [[ 0.99989601 0.00857682 -0.01159353 1.99910146] [-0.00844598 0.99990062 0.01128827 -0.15686001] [ 0.0116892 -0.01118918 0.99986907 -0.31870592] [ 0. 0. 0. 1. ]] SLAMing on 15.357719421 meters Centerline goodness [0,1] 0.9397408119046645 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.32 [[ 0.99991813 0.00484325 -0.01184372 1.99919267] [-0.00474756 0.99995597 0.00809431 -0.16062528] [ 0.0118824 -0.00803742 0.9998971 -0.31815968] [ 0. 0. 0. 1. ]] SLAMing on 15.387719421 meters Centerline goodness [0,1] 0.9394997447677387 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.17, Z:-0.32 [[ 9.99918651e-01 -1.59963397e-03 -1.26543533e-02 2.00225291e+00] [ 1.64488364e-03 9.99992288e-01 3.56621896e-03 -1.68951053e-01] [ 1.26485511e-02 -3.58674379e-03 9.99913571e-01 -3.20302547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.417719421 meters Centerline goodness [0,1] 0.9327505043712172 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.17, Z:-0.32 [[ 0.9998944 -0.0047961 -0.01371843 2.00559678] [ 0.00482548 0.99998613 0.00210948 -0.17125627] [ 0.01370812 -0.00217546 0.99990367 -0.32218072] [ 0. 0. 0. 1. ]] SLAMing on 15.447719421 meters Centerline goodness [0,1] 0.9306374959029826 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.17, Z:-0.32 [[ 0.99988642 -0.00523394 -0.01413309 2.00619892] [ 0.00526732 0.99998342 0.00232553 -0.17173801] [ 0.01412068 -0.00239971 0.99989742 -0.32200368] [ 0. 0. 0. 1. ]] SLAMing on 15.477719421 meters Centerline goodness [0,1] 0.926992193102883 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.18, Z:-0.32 [[ 9.99856835e-01 -8.23417145e-03 -1.47820329e-02 2.00887863e+00] [ 8.24084325e-03 9.99965967e-01 3.90489387e-04 -1.75779478e-01] [ 1.47783145e-02 -5.12249898e-04 9.99890664e-01 -3.23710744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.507719421 meters Centerline goodness [0,1] 0.9277792528747371 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.18, Z:-0.33 [[ 9.99821788e-01 -1.10813153e-02 -1.52838918e-02 2.01174799e+00] [ 1.10537970e-02 9.99937130e-01 -1.88378340e-03 -1.79612267e-01] [ 1.53038057e-02 1.71450265e-03 9.99881420e-01 -3.25955520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.537719421 meters Centerline goodness [0,1] 0.9269597533334695 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.18, Z:-0.33 [[ 0.99977648 -0.01415352 -0.01570588 2.01386485] [ 0.01408725 0.99989143 -0.0043219 -0.1838509 ] [ 0.01576534 0.00409968 0.99986731 -0.32741084] [ 0. 0. 0. 1. ]] SLAMing on 15.567719421 meters Centerline goodness [0,1] 0.9259221353420395 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.19, Z:-0.33 [[ 0.99969217 -0.01880696 -0.0161823 2.01502679] [ 0.01868543 0.99979631 -0.00762858 -0.18774811] [ 0.01632247 0.00732386 0.99983996 -0.32767588] [ 0. 0. 0. 1. ]] SLAMing on 15.597719421 meters Centerline goodness [0,1] 0.9268944416114228 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.19, Z:-0.33 [[ 9.99684142e-01 -2.22613464e-02 -1.16639507e-02 2.02472688e+00] [ 2.22780472e-02 9.99750963e-01 1.30384724e-03 -1.86738409e-01] [ 1.16320206e-02 -1.56328545e-03 9.99931124e-01 -3.30542488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.627719421 meters Centerline goodness [0,1] 0.9277487338670152 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.19, Z:-0.33 [[ 9.99669068e-01 -2.27837974e-02 -1.19437479e-02 2.02503069e+00] [ 2.27957347e-02 9.99739770e-01 8.64260799e-04 -1.85143646e-01] [ 1.19209486e-02 -1.13624130e-03 9.99928297e-01 -3.30180660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.657719421 meters Centerline goodness [0,1] 0.9283497365949279 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:-0.33 [[ 9.99639368e-01 -2.38412545e-02 -1.23583105e-02 2.02555318e+00] [ 2.38451841e-02 9.99715649e-01 1.70696352e-04 -1.84414356e-01] [ 1.23507268e-02 -4.65320983e-04 9.99923619e-01 -3.29642820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.687719421 meters Centerline goodness [0,1] 0.9290484651675756 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.19, Z:-0.33 [[ 9.99634096e-01 -2.38449735e-02 -1.27707369e-02 2.02698053e+00] [ 2.38521349e-02 9.99715414e-01 4.08731208e-04 -1.85187011e-01] [ 1.27573563e-02 -7.13190990e-04 9.99918367e-01 -3.30425121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.717719421 meters Centerline goodness [0,1] 0.9288486680830201 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:-0.33 [[ 9.99626388e-01 -2.37904967e-02 -1.34572436e-02 2.02996762e+00] [ 2.37976488e-02 9.99716727e-01 3.71567114e-04 -1.84349539e-01] [ 1.34445918e-02 -6.91679050e-04 9.99909378e-01 -3.32422131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.747719421 meters Centerline goodness [0,1] 0.927561045208104 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:-0.33 [[ 9.99622561e-01 -2.37582833e-02 -1.37942122e-02 2.03115291e+00] [ 2.37615995e-02 9.99717650e-01 7.65418881e-05 -1.82425826e-01] [ 1.37884989e-02 -4.04285543e-04 9.99904852e-01 -3.32947542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.777719421 meters Centerline goodness [0,1] 0.9327854178533648 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:-0.33 [[ 0.99965958 -0.02196345 -0.01408295 2.03037669] [ 0.02199457 0.99975597 0.00205919 -0.1778938 ] [ 0.01403428 -0.00236823 0.99989871 -0.3313692 ] [ 0. 0. 0. 1. ]] SLAMing on 15.807719421 meters Centerline goodness [0,1] 0.932901491077976 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.17, Z:-0.33 [[ 9.99627798e-01 -2.32581565e-02 -1.42591728e-02 2.03017809e+00] [ 2.32720767e-02 9.99728840e-01 8.11054072e-04 -1.74811458e-01] [ 1.42364427e-02 -1.14259276e-03 9.99898004e-01 -3.30481472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.837719421 meters Centerline goodness [0,1] 0.9331893917790361 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:-0.33 [[ 9.99618562e-01 -2.35191158e-02 -1.44769597e-02 2.03153622e+00] [ 2.35397033e-02 9.99722117e-01 1.25330853e-03 -1.76871267e-01] [ 1.44434601e-02 -1.59361380e-03 9.99894418e-01 -3.31696378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.867719421 meters Centerline goodness [0,1] 0.9317590106582052 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.18, Z:-0.33 [[ 9.99527703e-01 -2.69410178e-02 -1.47835547e-02 2.03389310e+00] [ 2.69184093e-02 9.99636144e-01 -1.72620018e-03 -1.78848961e-01] [ 1.48246812e-02 1.32743512e-03 9.99889227e-01 -3.33586592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.897719421 meters Centerline goodness [0,1] 0.9130115467787343 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.18, Z:-0.34 [[ 0.9992694 -0.03511882 -0.01507767 2.03661933] [ 0.03498618 0.99934751 -0.00897311 -0.17886217] [ 0.01538296 0.00843904 0.99984606 -0.33574216] [ 0. 0. 0. 1. ]] SLAMing on 15.927719420999999 meters Centerline goodness [0,1] 0.8820198303178984 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.18, Z:-0.34 [[ 0.99923556 -0.03592298 -0.01542211 2.03757316] [ 0.03578244 0.99931638 -0.00929444 -0.17777711] [ 0.01574545 0.0087355 0.99983787 -0.33611403] [ 0. 0. 0. 1. ]] SLAMing on 15.957719421 meters Centerline goodness [0,1] 0.8601458601458601 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.34 [[ 0.9991628 -0.03762588 -0.0160619 2.03923263] [ 0.03745968 0.9992427 -0.01052563 -0.17345645] [ 0.01644577 0.00991514 0.9998156 -0.3366745 ] [ 0. 0. 0. 1. ]] SLAMing on 15.987719421 meters Centerline goodness [0,1] 0.8029290748360288 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.34 [[ 0.99911716 -0.03858255 -0.0166219 2.04056236] [ 0.03838941 0.99919334 -0.01178634 -0.16944335] [ 0.01706324 0.01113783 0.99979238 -0.33668578] [ 0. 0. 0. 1. ]] SLAMing on 16.017719421 meters Centerline goodness [0,1] 0.7890135032992176 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.17, Z:-0.34 [[ 0.99923408 -0.03532412 -0.01683617 2.04044381] [ 0.03518875 0.99934647 -0.00827009 -0.16941524] [ 0.0171173 0.00767131 0.99982406 -0.33634307] [ 0. 0. 0. 1. ]] SLAMing on 16.047719421 meters Centerline goodness [0,1] 0.852563450226935 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.16, Z:-0.34 [[ 0.99951589 -0.02968142 -0.00932771 2.04831684] [ 0.02957531 0.9994985 -0.01131565 -0.16287957] [ 0.0096589 0.0110343 0.99989247 -0.33909048] [ 0. 0. 0. 1. ]] SLAMing on 16.077719421 meters Centerline goodness [0,1] 0.9147492745923413 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.16, Z:-0.34 [[ 0.99971161 -0.02213035 -0.00932461 2.04878728] [ 0.02209168 0.999747 -0.00423034 -0.16032583] [ 0.00941586 0.00402313 0.99994758 -0.34007384] [ 0. 0. 0. 1. ]] SLAMing on 16.107719421 meters Centerline goodness [0,1] 0.930284643889726 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.15, Z:-0.34 [[ 0.99992402 -0.00761649 -0.00969281 2.05251168] [ 0.007691 0.99994099 0.00767241 -0.14780397] [ 0.0096338 -0.00774637 0.99992359 -0.34382913] [ 0. 0. 0. 1. ]] SLAMing on 16.137719421 meters Centerline goodness [0,1] 0.9329243437143323 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.14, Z:-0.34 [[ 9.99950720e-01 -4.15050875e-04 -9.91889741e-03 2.05390651e+00] [ 5.48253871e-04 9.99909660e-01 1.34302705e-02 -1.41082988e-01] [ 9.91242708e-03 -1.34350467e-02 9.99860612e-01 -3.44750618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.167719421 meters Centerline goodness [0,1] 0.9321030498509778 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:-0.35 [[ 0.99988873 0.01028851 -0.01080125 2.05906112] [-0.01005851 0.99972601 0.0211362 -0.13180174] [ 0.01101575 -0.0210252 0.99971826 -0.34842707] [ 0. 0. 0. 1. ]] SLAMing on 16.197719421 meters Centerline goodness [0,1] 0.9317833261763082 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.13, Z:-0.35 [[ 0.99987352 0.01106234 -0.01142652 2.06225819] [-0.01082418 0.99972716 0.02069869 -0.12850573] [ 0.01165238 -0.02057239 0.99972046 -0.35059236] [ 0. 0. 0. 1. ]] SLAMing on 16.227719421 meters Centerline goodness [0,1] 0.9301026694045175 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.12, Z:-0.35 [[ 0.99987239 0.01026455 -0.01224103 2.0663425 ] [-0.01003663 0.99977778 0.01853794 -0.12395457] [ 0.01242859 -0.01841271 0.99975322 -0.35324638] [ 0. 0. 0. 1. ]] SLAMing on 16.257719421 meters Centerline goodness [0,1] 0.9308196721311476 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.12, Z:-0.35 [[ 0.99987307 0.00983908 -0.01253138 2.06672934] [-0.00961695 0.99979772 0.01766461 -0.1217557 ] [ 0.01270265 -0.01754185 0.99976544 -0.35282379] [ 0. 0. 0. 1. ]] SLAMing on 16.287719421 meters Centerline goodness [0,1] 0.9344461117848993 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.12, Z:-0.35 [[ 0.99986231 0.01126581 -0.0121838 2.0634776 ] [-0.01103695 0.99976439 0.0186909 -0.11558175] [ 0.01239149 -0.01855386 0.99975107 -0.3490973 ] [ 0. 0. 0. 1. ]] SLAMing on 16.317719421 meters Centerline goodness [0,1] 0.937392055267703 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:-0.35 [[ 0.9998678 0.01043807 -0.01246698 2.06271587] [-0.01022327 0.9998003 0.01717079 -0.11162064] [ 0.01264372 -0.01704107 0.99977484 -0.34703883] [ 0. 0. 0. 1. ]] SLAMing on 16.347719421 meters Centerline goodness [0,1] 0.9361221725029764 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:-0.35 [[ 0.99986575 0.01002798 -0.01295864 2.0636292 ] [-0.00981678 0.99981961 0.01625995 -0.10937821] [ 0.01311936 -0.01613056 0.99978382 -0.34650683] [ 0. 0. 0. 1. ]] SLAMing on 16.377719421 meters Centerline goodness [0,1] 0.9361221725029764 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.11, Z:-0.35 [[ 0.99986575 0.01002798 -0.01295864 2.0636292 ] [-0.00981678 0.99981961 0.01625995 -0.10937821] [ 0.01311936 -0.01613056 0.99978382 -0.34650683] [ 0. 0. 0. 1. ]] SLAMing on 16.407719421 meters Centerline goodness [0,1] 0.9334466446869945 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.35 [[ 0.99988235 0.00712147 -0.01358603 2.06660314] [-0.00694938 0.99989556 0.01267169 -0.10876231] [ 0.01367485 -0.01257579 0.99982741 -0.34838674] [ 0. 0. 0. 1. ]] SLAMing on 16.437719421 meters Centerline goodness [0,1] 0.9334955725065952 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.35 [[ 0.99989576 0.00380491 -0.01392807 2.06910422] [-0.00368866 0.99995823 0.00836291 -0.10759476] [ 0.01395931 -0.00831066 0.99986803 -0.35008749] [ 0. 0. 0. 1. ]] SLAMing on 16.467719420999998 meters Centerline goodness [0,1] 0.9341818480898137 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.35 [[ 0.99989641 0.00320093 -0.01403286 2.06897322] [-0.00309445 0.99996631 0.00760306 -0.10685767] [ 0.01405672 -0.00755885 0.99987263 -0.34958105] [ 0. 0. 0. 1. ]] SLAMing on 16.497719421 meters Centerline goodness [0,1] 0.9337031275585393 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.35 [[ 9.99890574e-01 -1.24622789e-05 -1.47932332e-02 2.07126897e+00] [ 6.96499650e-05 9.99992527e-01 3.86529145e-03 -1.05645620e-01] [ 1.47930745e-02 -3.86589883e-03 9.99883103e-01 -3.50217865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.527719421 meters Centerline goodness [0,1] 0.9318932447124951 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.11, Z:-0.35 [[ 9.99870826e-01 -3.75303976e-03 -1.56283853e-02 2.07370406e+00] [ 3.76309992e-03 9.99992731e-01 6.14352816e-04 -1.06926944e-01] [ 1.56259660e-02 -6.73084633e-04 9.99877681e-01 -3.51159835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.557719421 meters Centerline goodness [0,1] 0.9309085687324348 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.11, Z:-0.35 [[ 9.99865422e-01 -3.88648065e-03 -1.59384104e-02 2.07500070e+00] [ 3.90501518e-03 9.99991735e-01 1.13192722e-03 -1.08015528e-01] [ 1.59338794e-02 -1.19401462e-03 9.99872335e-01 -3.52027671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.587719421 meters Centerline goodness [0,1] 0.9290681216795553 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.11, Z:-0.35 [[ 9.99853716e-01 -4.77827333e-03 -1.64230082e-02 2.07640094e+00] [ 4.80192975e-03 9.99987489e-01 1.40131212e-03 -1.08985254e-01] [ 1.64161069e-02 -1.47996926e-03 9.99864151e-01 -3.52969298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.617719421 meters Centerline goodness [0,1] 0.930400902286476 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.11, Z:-0.35 [[ 9.99823886e-01 -8.50524951e-03 -1.67289510e-02 2.07715075e+00] [ 8.47367629e-03 9.99962182e-01 -1.95731968e-03 -1.11032399e-01] [ 1.67449659e-02 1.81521925e-03 9.99858145e-01 -3.52836693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.647719421 meters Centerline goodness [0,1] 0.9278689865265483 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.36 [[ 0.99987267 -0.01240481 -0.01003834 2.08602423] [ 0.01244704 0.9999139 0.00415508 -0.11309342] [ 0.00998593 -0.0042795 0.99994098 -0.35515898] [ 0. 0. 0. 1. ]] SLAMing on 16.677719421 meters Centerline goodness [0,1] 0.921707312087328 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.35 [[ 0.99985778 -0.01336508 -0.01028529 2.08582852] [ 0.01340829 0.99990152 0.00414327 -0.11417889] [ 0.0102289 -0.00428059 0.99993852 -0.35429861] [ 0. 0. 0. 1. ]] SLAMing on 16.707719421 meters Centerline goodness [0,1] 0.9227516901897506 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.36 [[ 0.99985963 -0.01296665 -0.01061091 2.08784784] [ 0.01301858 0.99990354 0.00483962 -0.11474767] [ 0.01054713 -0.00497708 0.99993199 -0.35599033] [ 0. 0. 0. 1. ]] SLAMing on 16.737719421 meters Centerline goodness [0,1] 0.9233425978909507 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.36 [[ 0.99987504 -0.01123136 -0.0111252 2.09206455] [ 0.01130004 0.99991737 0.00612941 -0.11410776] [ 0.01105544 -0.00625436 0.99991933 -0.35966487] [ 0. 0. 0. 1. ]] SLAMing on 16.767719421 meters Centerline goodness [0,1] 0.9283283405677487 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.36 [[ 0.9998831 -0.00960228 -0.01189907 2.09454728] [ 0.00968126 0.99993137 0.00659803 -0.11265133] [ 0.0118349 -0.00671246 0.99990743 -0.36032065] [ 0. 0. 0. 1. ]] SLAMing on 16.797719421 meters Centerline goodness [0,1] 0.9297545195831542 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.36 [[ 0.99994451 0.00427246 -0.00962897 2.09097475] [-0.00423405 0.99998301 0.00400555 -0.10926319] [ 0.00964592 -0.00396455 0.99994562 -0.36177693] [ 0. 0. 0. 1. ]] SLAMing on 16.827719421 meters Centerline goodness [0,1] 0.9324764774614107 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.11, Z:-0.36 [[ 0.99990336 0.00975306 -0.00990649 2.09242462] [-0.0096746 0.99992169 0.00793807 -0.10661616] [ 0.00998314 -0.00784146 0.99991942 -0.36207638] [ 0. 0. 0. 1. ]] SLAMing on 16.857719421 meters Centerline goodness [0,1] 0.9429798547908784 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.10, Z:-0.36 [[ 0.99963471 0.02525751 -0.0096176 2.09452023] [-0.02510882 0.99956795 0.01527927 -0.09827597] [ 0.00999936 -0.0150322 0.99983701 -0.35625286] [ 0. 0. 0. 1. ]] SLAMing on 16.887719421 meters Centerline goodness [0,1] 0.9460228435747329 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.10, Z:-0.36 [[ 0.99951187 0.02960408 -0.00998082 2.09531247] [-0.02941702 0.99939795 0.01839476 -0.09534713] [ 0.01051937 -0.01809218 0.99978098 -0.35551171] [ 0. 0. 0. 1. ]] SLAMing on 16.917719421 meters Centerline goodness [0,1] 0.9464921980587295 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.10, Z:-0.36 [[ 0.99937922 0.03300572 -0.01232092 2.1023555 ] [-0.0327694 0.99928398 0.01891304 -0.0956397 ] [ 0.01293634 -0.01849755 0.99974521 -0.35681196] [ 0. 0. 0. 1. ]] SLAMing on 16.947719421 meters Centerline goodness [0,1] 0.9456170491266822 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.36 [[ 0.99945527 0.0303428 -0.01297951 2.10532855] [-0.03014205 0.9994271 0.0153924 -0.09413294] [ 0.01343913 -0.01499278 0.99979728 -0.35860631] [ 0. 0. 0. 1. ]] SLAMing on 16.977719421 meters Centerline goodness [0,1] 0.9440363977639041 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.36 [[ 0.99947878 0.02928748 -0.01357975 2.1075894 ] [-0.02909929 0.99948051 0.01385446 -0.08834509] [ 0.01397846 -0.01345208 0.9998118 -0.35951376] [ 0. 0. 0. 1. ]] SLAMing on 17.007719421 meters Centerline goodness [0,1] 0.9435075712558654 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.36 [[ 0.99948184 0.02897164 -0.01402447 2.1085563 ] [-0.02879331 0.99950401 0.01275438 -0.08426654] [ 0.01438703 -0.01234396 0.9998203 -0.35928828] [ 0. 0. 0. 1. ]] SLAMing on 17.037719421 meters Centerline goodness [0,1] 0.9414657132905817 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.36 [[ 0.9993654 0.03231616 -0.01498217 2.11305268] [-0.03209557 0.99937615 0.01473707 -0.08049147] [ 0.01544907 -0.01424686 0.99977915 -0.36153631] [ 0. 0. 0. 1. ]] SLAMing on 17.067719421 meters Centerline goodness [0,1] 0.9406113000368747 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.36 [[ 0.99932941 0.03308599 -0.01568588 2.11570089] [-0.03285355 0.99934983 0.01485156 -0.0798266 ] [ 0.01616706 -0.01432627 0.99976666 -0.36282288] [ 0. 0. 0. 1. ]] SLAMing on 17.097719421 meters Centerline goodness [0,1] 0.9440550842247633 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.36 [[ 0.99929836 0.03379394 -0.01614776 2.11658165] [-0.03357176 0.99934051 0.01383793 -0.07782512] [ 0.01660475 -0.01328612 0.99977386 -0.361651 ] [ 0. 0. 0. 1. ]] SLAMing on 17.127719421 meters Centerline goodness [0,1] 0.9477215371673609 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.36 [[ 0.99929416 0.03377223 -0.01645069 2.11648621] [-0.03355703 0.99934981 0.01318647 -0.07652449] [ 0.01688533 -0.01262512 0.99977772 -0.36037318] [ 0. 0. 0. 1. ]] SLAMing on 17.157719421 meters Centerline goodness [0,1] 0.9459010680387856 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.36 [[ 0.9993357 0.03209077 -0.01727249 2.11996465] [-0.03191471 0.99943676 0.01037395 -0.07583341] [ 0.01759567 -0.00981581 0.999797 -0.36182722] [ 0. 0. 0. 1. ]] SLAMing on 17.187719421 meters Centerline goodness [0,1] 0.936658732764281 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.37 [[ 0.99938853 0.02929251 -0.0190925 2.12795464] [-0.02915943 0.99954876 0.00721164 -0.07685413] [ 0.01929513 -0.0066505 0.99979171 -0.36695026] [ 0. 0. 0. 1. ]] SLAMing on 17.217719420999998 meters Centerline goodness [0,1] 0.9350391687631671 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.08, Z:-0.37 [[ 0.9993544 0.02991284 -0.01989976 2.13088465] [-0.0297563 0.99952423 0.00811692 -0.07800043] [ 0.02013309 -0.00751953 0.99976903 -0.36850875] [ 0. 0. 0. 1. ]] SLAMing on 17.247719421 meters Centerline goodness [0,1] 0.9372726157871071 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.37 [[ 0.99955113 0.02617202 -0.0145794 2.14350053] [-0.02600799 0.99959754 0.01132922 -0.07871744] [ 0.01487004 -0.01094495 0.99982953 -0.36899737] [ 0. 0. 0. 1. ]] SLAMing on 17.277719421 meters Centerline goodness [0,1] 0.9403579344881373 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.08, Z:-0.37 [[ 0.99963297 0.0224982 -0.01509137 2.14369527] [-0.02239858 0.99972642 0.00673767 -0.07778432] [ 0.01523883 -0.00639717 0.99986342 -0.36745104] [ 0. 0. 0. 1. ]] SLAMing on 17.307719421 meters Centerline goodness [0,1] 0.9458691206543968 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.08, Z:-0.37 [[ 0.99982201 0.01677143 -0.00864124 2.15493941] [-0.01671245 0.99983685 0.00685265 -0.07953281] [ 0.00875476 -0.00670701 0.99993918 -0.36730368] [ 0. 0. 0. 1. ]] SLAMing on 17.337719421 meters Centerline goodness [0,1] 0.9462242562929062 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.08, Z:-0.37 [[ 0.99987793 0.01275099 -0.0090302 2.1554852 ] [-0.01272794 0.9999156 0.00260461 -0.07946545] [ 0.00906265 -0.00248936 0.99995583 -0.36687393] [ 0. 0. 0. 1. ]] SLAMing on 17.367719421 meters Centerline goodness [0,1] 0.9450302894323536 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.08, Z:-0.37 [[ 9.99911602e-01 9.11279771e-03 -9.68225355e-03 2.15730532e+00] [-9.12179258e-03 9.99958004e-01 -8.85250185e-04 -8.02124998e-02] [ 9.67377982e-03 9.73491439e-04 9.99952734e-01 -3.67495669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.397719421 meters Centerline goodness [0,1] 0.9397578038702287 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.08, Z:-0.37 [[ 0.99993869 0.00396821 -0.01033801 2.15967559] [-0.00401182 0.99998313 -0.0042003 -0.08187418] [ 0.01032116 0.00424151 0.99993774 -0.36986912] [ 0. 0. 0. 1. ]] SLAMing on 17.427719421 meters Centerline goodness [0,1] 0.9350729149598558 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.08, Z:-0.37 [[ 9.99937270e-01 6.86994199e-04 -1.11796076e-02 2.16368393e+00] [-7.62675122e-04 9.99976815e-01 -6.76669623e-03 -8.28941818e-02] [ 1.11746997e-02 6.77479816e-03 9.99914610e-01 -3.72981704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.457719421 meters Centerline goodness [0,1] 0.9331161246695765 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.38 [[ 9.99930744e-01 1.65413850e-03 -1.16520975e-02 2.16626602e+00] [-1.71450578e-03 9.99985152e-01 -5.17272614e-03 -8.60667727e-02] [ 1.16433681e-02 5.19234548e-03 9.99918732e-01 -3.75200520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.487719421 meters Centerline goodness [0,1] 0.9326500431335497 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.38 [[ 0.99990834 0.00445446 -0.01278533 2.1709633 ] [-0.00449015 0.9999861 -0.00276449 -0.09185805] [ 0.01277284 0.00282164 0.99991444 -0.37767184] [ 0. 0. 0. 1. ]] SLAMing on 17.517719421 meters Centerline goodness [0,1] 0.9339649668494721 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.38 [[ 9.99888172e-01 6.67581317e-03 -1.33819297e-02 2.17346654e+00] [-6.69703021e-03 9.99976387e-01 -1.54131492e-03 -9.13124862e-02] [ 1.33713242e-02 1.63076175e-03 9.99909270e-01 -3.78484804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.547719421 meters Centerline goodness [0,1] 0.9452653953849612 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.37 [[ 9.99802791e-01 1.63642656e-02 -1.12512628e-02 2.17121012e+00] [-1.63555851e-02 9.99865866e-01 8.63102635e-04 -8.71959484e-02] [ 1.12638777e-02 -6.78911437e-04 9.99936330e-01 -3.69727671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.577719421 meters Centerline goodness [0,1] 0.9476984875189572 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.37 [[ 9.99771514e-01 1.80875208e-02 -1.13912863e-02 2.17140049e+00] [-1.80744971e-02 9.99835868e-01 1.24522038e-03 -8.55202317e-02] [ 1.14119396e-02 -1.03904409e-03 9.99934342e-01 -3.68503039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.607719421 meters Centerline goodness [0,1] 0.9415715107204469 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.09, Z:-0.37 [[ 0.99962929 0.02448148 -0.01191372 2.17496709] [-0.02439759 0.99967686 0.00713673 -0.08842122] [ 0.01208459 -0.00684342 0.99990356 -0.37096713] [ 0. 0. 0. 1. ]] SLAMing on 17.637719421 meters Centerline goodness [0,1] 0.9309262488460355 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.09, Z:-0.37 [[ 0.9995871 0.02586872 -0.01250731 2.17821338] [-0.02576324 0.99963175 0.00852155 -0.09035906] [ 0.01272315 -0.00819581 0.99988547 -0.37349375] [ 0. 0. 0. 1. ]] SLAMing on 17.667719421 meters Centerline goodness [0,1] 0.9045545123980525 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.09, Z:-0.38 [[ 0.99958957 0.02501817 -0.01395669 2.1878 ] [-0.02492803 0.99966749 0.00659558 -0.09340138] [ 0.01411706 -0.00624496 0.99988085 -0.3808161 ] [ 0. 0. 0. 1. ]] SLAMing on 17.697719421 meters Centerline goodness [0,1] 0.902119381591072 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.10, Z:-0.38 [[ 0.99963544 0.02256289 -0.01482913 2.19179184] [-0.02250214 0.99973776 0.00425082 -0.09527199] [ 0.01492115 -0.00391558 0.99988101 -0.38373351] [ 0. 0. 0. 1. ]] SLAMing on 17.727719421 meters Centerline goodness [0,1] 0.9232787422879045 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.10, Z:-0.38 [[ 9.99693266e-01 1.90072582e-02 -1.58775701e-02 2.19386401e+00] [-1.89743346e-02 9.99817503e-01 2.22168488e-03 -9.97175579e-02] [ 1.59169006e-02 -1.91973708e-03 9.99871475e-01 -3.84291309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.757719421 meters Centerline goodness [0,1] 0.936457799200082 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.10, Z:-0.39 [[ 0.99984736 0.01367039 -0.01088016 2.20199705] [-0.01357314 0.99986771 0.00896243 -0.10328384] [ 0.01100124 -0.00881339 0.99990064 -0.38550732] [ 0. 0. 0. 1. ]] SLAMing on 17.787719421 meters Centerline goodness [0,1] 0.937930332043186 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.11, Z:-0.38 [[ 9.99988653e-01 1.24900549e-03 -4.59726606e-03 2.20984568e+00] [-1.21660502e-03 9.99974452e-01 7.04383038e-03 -1.11402111e-01] [ 4.60594639e-03 -7.03815739e-03 9.99964624e-01 -3.84648126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.817719421 meters Centerline goodness [0,1] 0.9394007475337514 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.12, Z:-0.38 [[ 0.99998301 -0.00348957 -0.00466859 2.20845405] [ 0.00350546 0.99998808 0.00340019 -0.11563146] [ 0.00465667 -0.00341649 0.99998332 -0.38273505] [ 0. 0. 0. 1. ]] SLAMing on 17.847719421 meters Centerline goodness [0,1] 0.9432724439797445 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.12, Z:-0.38 [[ 9.99946205e-01 -9.28277059e-03 -4.62779804e-03 2.20627743e+00] [ 9.28043229e-03 9.99956797e-01 -5.26492481e-04 -1.19877149e-01] [ 4.63248541e-03 4.83516192e-04 9.99989153e-01 -3.80002102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.877719421 meters Centerline goodness [0,1] 0.9430747808993366 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.12, Z:-0.38 [[ 9.99942094e-01 -9.50178791e-03 -5.05216557e-03 2.20739614e+00] [ 9.50290954e-03 9.99954827e-01 1.98049529e-04 -1.22054502e-01] [ 5.05005553e-03 -2.46048333e-04 9.99987218e-01 -3.80650566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.907719421 meters Centerline goodness [0,1] 0.941430697408925 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.13, Z:-0.38 [[ 9.99908271e-01 -1.22856231e-02 -5.70200152e-03 2.21134705e+00] [ 1.22753507e-02 9.99922975e-01 -1.83306937e-03 -1.25322697e-01] [ 5.72408272e-03 1.76290715e-03 9.99982063e-01 -3.84184987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.937719421 meters Centerline goodness [0,1] 0.9422395971918046 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.13, Z:-0.39 [[ 9.99913273e-01 -1.18012079e-02 -5.84615356e-03 2.21267867e+00] [ 1.17942636e-02 9.99929700e-01 -1.22089690e-03 -1.26040337e-01] [ 5.86015063e-03 1.15183994e-03 9.99982166e-01 -3.85499038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.967719420999998 meters Centerline goodness [0,1] 0.943007613954153 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:-0.39 [[ 9.99937786e-01 -8.89493010e-03 -6.73085421e-03 2.21661866e+00] [ 8.90566761e-03 9.99959116e-01 1.56697954e-03 -1.24718019e-01] [ 6.71664086e-03 -1.62682480e-03 9.99976120e-01 -3.88174774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.997719421 meters Centerline goodness [0,1] 0.9427772904384014 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.12, Z:-0.39 [[ 0.99994028 -0.00811623 -0.00731851 2.21850529] [ 0.00813283 0.99996442 0.00224131 -0.12482776] [ 0.00730006 -0.00230069 0.99997071 -0.38902647] [ 0. 0. 0. 1. ]] SLAMing on 18.027719421 meters Centerline goodness [0,1] 0.9409217507979426 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:-0.39 [[ 0.99994402 -0.00649031 -0.00835623 2.22207787] [ 0.00652374 0.9999708 0.00398005 -0.12816097] [ 0.00833015 -0.00403434 0.99995717 -0.39085142] [ 0. 0. 0. 1. ]] SLAMing on 18.057719420999998 meters Centerline goodness [0,1] 0.9438600081866557 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:-0.39 [[ 0.99994651 -0.00533681 -0.00885997 2.22276694] [ 0.00538085 0.99997325 0.00495441 -0.12928236] [ 0.00883329 -0.00500182 0.99994848 -0.39013654] [ 0. 0. 0. 1. ]] SLAMing on 18.087719421 meters Centerline goodness [0,1] 0.9472132959453098 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:-0.39 [[ 0.99994464 -0.0050105 -0.00925318 2.22294869] [ 0.00505543 0.99997551 0.00483954 -0.12794551] [ 0.00922871 -0.00488605 0.99994548 -0.38913077] [ 0. 0. 0. 1. ]] SLAMing on 18.117719421 meters Centerline goodness [0,1] 0.9451611582094442 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.13, Z:-0.39 [[ 0.99994289 -0.00468798 -0.00960426 2.22345657] [ 0.0047333 0.99997775 0.00470121 -0.12601957] [ 0.00958201 -0.0047464 0.99994283 -0.38867458] [ 0. 0. 0. 1. ]] SLAMing on 18.147719421 meters Centerline goodness [0,1] 0.9426927080144493 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.12, Z:-0.39 [[ 9.99945566e-01 -1.69557937e-03 -1.02951468e-02 2.22669566e+00] [ 1.77025114e-03 9.99972164e-01 7.24832876e-03 -1.24502799e-01] [ 1.02825701e-02 -7.26615920e-03 9.99920733e-01 -3.90616317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.177719421 meters Centerline goodness [0,1] 0.9441385217816936 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.12, Z:-0.39 [[ 9.99943112e-01 3.23270273e-05 -1.06664139e-02 2.22839922e+00] [ 4.85080315e-05 9.99971284e-01 7.57812064e-03 -1.24676260e-01] [ 1.06663525e-02 -7.57820694e-03 9.99914396e-01 -3.90973041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.207719421 meters Centerline goodness [0,1] 0.9472043361317141 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.13, Z:-0.39 [[ 0.99993968 -0.00223516 -0.01075348 2.22955006] [ 0.00228158 0.99998813 0.00430604 -0.12508621] [ 0.01074373 -0.00433032 0.99993291 -0.39147228] [ 0. 0. 0. 1. ]] SLAMing on 18.237719421 meters Centerline goodness [0,1] 0.9509343887710136 Centerline is valid? [False, True] Translation: X:2.23, Y:-0.13, Z:-0.39 [[ 9.99939782e-01 -1.99218972e-03 -1.07918562e-02 2.22924239e+00] [ 2.04014606e-03 9.99988086e-01 4.43456833e-03 -1.26745597e-01] [ 1.07828932e-02 -4.45631825e-03 9.99931933e-01 -3.90677755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.267719421 meters Centerline goodness [0,1] 0.9514478333265646 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.12, Z:-0.39 [[ 9.99955664e-01 -1.52625463e-03 -9.29199614e-03 2.25679659e+00] [ 1.52459460e-03 9.99998821e-01 -1.85731806e-04 -1.22532285e-01] [ 9.29226865e-03 1.71557045e-04 9.99956811e-01 -3.88673595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.297719421 meters Centerline goodness [0,1] 0.9514478333265646 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.12, Z:-0.39 [[ 9.99955099e-01 -1.86028786e-03 -9.29188042e-03 2.28418514e+00] [ 1.85858867e-03 9.99998254e-01 -1.91500448e-04 -1.21733203e-01] [ 9.29222044e-03 1.74222065e-04 9.99956811e-01 -3.88991946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.327719421 meters Centerline goodness [0,1] 0.9507649059909148 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.12, Z:-0.39 [[ 9.99944281e-01 -2.38373235e-03 -1.02836413e-02 2.31308348e+00] [ 2.38165695e-03 9.99997141e-01 -2.14058050e-04 -1.20780973e-01] [ 1.02841222e-02 1.89554017e-04 9.99947099e-01 -3.88976505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.357719421 meters Centerline goodness [0,1] 0.9444975687168115 Centerline is valid? [True, False] Translation: X:2.32, Y:-0.12, Z:-0.39 [[ 9.99934991e-01 -2.78243311e-03 -1.10576497e-02 2.31791030e+00] [ 2.78310624e-03 9.99996126e-01 4.54871932e-05 -1.23332037e-01] [ 1.10574803e-02 -7.62588499e-05 9.99938861e-01 -3.93051002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.387719421 meters Centerline goodness [0,1] 0.9412304679531639 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:-0.40 [[ 9.99932588e-01 -2.19080327e-03 -1.14025964e-02 2.32033239e+00] [ 2.20755594e-03 9.99996502e-01 1.45681925e-03 -1.29132557e-01] [ 1.13993649e-02 -1.48189291e-03 9.99933927e-01 -3.95211883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.417719421 meters Centerline goodness [0,1] 0.9405920394965012 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.13, Z:-0.40 [[ 9.99929010e-01 -1.94098068e-03 -1.17561526e-02 2.32112578e+00] [ 1.96618917e-03 9.99995792e-01 2.13310181e-03 -1.31200136e-01] [ 1.17519628e-02 -2.15606520e-03 9.99928619e-01 -3.95329817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.447719421 meters Centerline goodness [0,1] 0.9425357623181319 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:-0.39 [[ 9.99921258e-01 -3.93691931e-03 -1.19154960e-02 2.31920529e+00] [ 3.95075431e-03 9.99991548e-01 1.13777718e-03 -1.35321313e-01] [ 1.19109159e-02 -1.18476279e-03 9.99928361e-01 -3.92339224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.477719421 meters Centerline goodness [0,1] 0.9463584379642254 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:-0.39 [[ 9.99912667e-01 -5.45412612e-03 -1.20378683e-02 2.31726398e+00] [ 5.46359525e-03 9.99984790e-01 7.53865935e-04 -1.38662091e-01] [ 1.20335735e-02 -8.19570138e-04 9.99927258e-01 -3.89751877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.507719421 meters Centerline goodness [0,1] 0.9470025353725362 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.14, Z:-0.39 [[ 0.99987715 -0.00992263 -0.01213387 2.31583016] [ 0.00988932 0.99994717 -0.00280195 -0.14196365] [ 0.01216103 0.00268161 0.99992246 -0.38766089] [ 0. 0. 0. 1. ]] SLAMing on 18.537719421 meters Centerline goodness [0,1] 0.9466821743388835 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.39 [[ 0.9996924 -0.02147369 -0.01240905 2.31645348] [ 0.02132179 0.99969766 -0.01224648 -0.14942687] [ 0.01266828 0.01197813 0.99984801 -0.38755 ] [ 0. 0. 0. 1. ]] SLAMing on 18.567719421 meters Centerline goodness [0,1] 0.9463286606579724 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.15, Z:-0.39 [[ 0.99960514 -0.02505641 -0.01271806 2.31840114] [ 0.02487134 0.99958539 -0.01450714 -0.15389694] [ 0.01307629 0.0141851 0.99981388 -0.38918575] [ 0. 0. 0. 1. ]] SLAMing on 18.597719421 meters Centerline goodness [0,1] 0.9420724247614387 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.16, Z:-0.39 [[ 0.99940886 -0.03152448 -0.0137164 2.3235577 ] [ 0.03126185 0.99933143 -0.01895778 -0.15893024] [ 0.01430487 0.01851777 0.99972619 -0.39363427] [ 0. 0. 0. 1. ]] SLAMing on 18.627719421 meters Centerline goodness [0,1] 0.9371165331539575 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.16, Z:-0.40 [[ 0.99943932 -0.02981579 -0.01523351 2.32942674] [ 0.02957574 0.99943848 -0.01574774 -0.16213543] [ 0.01569448 0.01528837 0.99975995 -0.3982423 ] [ 0. 0. 0. 1. ]] SLAMing on 18.657719421 meters Centerline goodness [0,1] 0.9359175762521676 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.16, Z:-0.40 [[ 0.9995552 -0.02536183 -0.01569024 2.33089061] [ 0.0251983 0.99962697 -0.01053369 -0.16482045] [ 0.01595154 0.01013364 0.99982141 -0.39929482] [ 0. 0. 0. 1. ]] SLAMing on 18.687719421 meters Centerline goodness [0,1] 0.9381684832433533 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:-0.40 [[ 0.99966788 -0.02013081 -0.01608989 2.33077341] [ 0.02005571 0.99978727 -0.0048153 -0.16937449] [ 0.0161834 0.004491 0.99985895 -0.39815914] [ 0. 0. 0. 1. ]] SLAMing on 18.717719420999998 meters Centerline goodness [0,1] 0.9409382796842407 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:-0.40 [[ 9.99743990e-01 -1.58115970e-02 -1.61848069e-02 2.33032873e+00] [ 1.58094727e-02 9.99874989e-01 -2.59196439e-04 -1.71793562e-01] [ 1.61868819e-02 3.25681905e-06 9.99868984e-01 -3.97416704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.747719421 meters Centerline goodness [0,1] 0.9415890232216763 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:-0.40 [[ 0.99981873 -0.00882138 -0.01687279 2.33331567] [ 0.00891947 0.99994371 0.00574684 -0.17247774] [ 0.01682115 -0.0058963 0.99984113 -0.39885759] [ 0. 0. 0. 1. ]] SLAMing on 18.777719421 meters Centerline goodness [0,1] 0.9431890093290056 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:-0.40 [[ 0.99985194 -0.00359487 -0.01682795 2.33301802] [ 0.00376514 0.99994193 0.01009783 -0.17196232] [ 0.01679067 -0.0101597 0.99980741 -0.39797813] [ 0. 0. 0. 1. ]] SLAMing on 18.807719420999998 meters Centerline goodness [0,1] 0.9458026629692311 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:-0.40 [[ 0.99985042 -0.00262937 -0.01709483 2.33338912] [ 0.00280565 0.99994306 0.01029596 -0.17086388] [ 0.01706678 -0.01034239 0.99980086 -0.39729767] [ 0. 0. 0. 1. ]] SLAMing on 18.837719421 meters Centerline goodness [0,1] 0.9471496679026934 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.17, Z:-0.40 [[ 9.99845614e-01 -1.78676231e-03 -1.74801556e-02 2.33462435e+00] [ 1.97105295e-03 9.99942602e-01 1.05313076e-02 -1.70372415e-01] [ 1.74603353e-02 -1.05641360e-02 9.99791746e-01 -3.97608082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.867719421 meters Centerline goodness [0,1] 0.9457927980989906 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.40 [[ 9.99845264e-01 8.86975681e-04 -1.75687666e-02 2.33864955e+00] [-6.62814245e-04 9.99918358e-01 1.27608038e-02 -1.72586726e-01] [ 1.75786507e-02 -1.27471844e-02 9.99764222e-01 -4.01527968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.897719421 meters Centerline goodness [0,1] 0.9420969946748822 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.40 [[ 9.99841036e-01 1.40843372e-03 -1.77741100e-02 2.33985608e+00] [-1.17847618e-03 9.99915559e-01 1.29416290e-02 -1.72343059e-01] [ 1.77908366e-02 -1.29186254e-02 9.99758268e-01 -4.02338379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.927719421 meters Centerline goodness [0,1] 0.934784828741243 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.40 [[ 9.99836348e-01 1.90884179e-03 -1.79897916e-02 2.34014899e+00] [-1.68187933e-03 9.99918914e-01 1.26228767e-02 -1.70010295e-01] [ 1.80124280e-02 -1.25905543e-02 9.99758486e-01 -4.01622437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.957719421 meters Centerline goodness [0,1] 0.9349715678310316 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.40 [[ 9.99826451e-01 -5.92963764e-04 -1.86203268e-02 2.34212780e+00] [ 7.71941200e-04 9.99953561e-01 9.60622253e-03 -1.69244699e-01] [ 1.86137660e-02 -9.61892918e-03 9.99780478e-01 -4.02019826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.987719421 meters Centerline goodness [0,1] 0.9441942910698641 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.17, Z:-0.40 [[ 0.99979169 -0.00754773 -0.01896349 2.34312864] [ 0.00761381 0.99996518 0.00341484 -0.17393996] [ 0.01893705 -0.00355851 0.99981435 -0.40204373] [ 0. 0. 0. 1. ]] SLAMing on 19.017719421 meters Centerline goodness [0,1] 0.9404720547665271 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.18, Z:-0.40 [[ 9.99696175e-01 -1.50386239e-02 -1.95294053e-02 2.34588266e+00] [ 1.50033291e-02 9.99885537e-01 -1.95253363e-03 -1.80001337e-01] [ 1.95565333e-02 1.65893430e-03 9.99807376e-01 -4.04298979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.047719421 meters Centerline goodness [0,1] 0.9378340882196923 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.18, Z:-0.41 [[ 9.99678614e-01 -1.55628675e-02 -2.00116400e-02 2.34753650e+00] [ 1.55466452e-02 9.99878677e-01 -9.65970009e-04 -1.83865798e-01] [ 2.00242454e-02 6.54545693e-04 9.99799280e-01 -4.05440516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.077719421 meters Centerline goodness [0,1] 0.9344495758142941 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:-0.41 [[ 0.99966643 -0.02068001 -0.01547177 2.35904399] [ 0.02077241 0.9997672 0.00583544 -0.19036285] [ 0.01534749 -0.00615488 0.99986328 -0.40929886] [ 0. 0. 0. 1. ]] SLAMing on 19.107719421 meters Centerline goodness [0,1] 0.9360626325232425 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:-0.41 [[ 0.99966117 -0.02085845 -0.01557156 2.35877682] [ 0.02095758 0.99976096 0.00622967 -0.19225516] [ 0.01543789 -0.0065539 0.99985935 -0.40859283] [ 0. 0. 0. 1. ]] SLAMing on 19.137719421 meters Centerline goodness [0,1] 0.9392716675837053 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:-0.41 [[ 0.99964631 -0.02142891 -0.01574991 2.35779597] [ 0.02152723 0.99974965 0.00609984 -0.19406768] [ 0.01561525 -0.00643673 0.99985736 -0.40658623] [ 0. 0. 0. 1. ]] SLAMing on 19.167719421 meters Centerline goodness [0,1] 0.9424179951419649 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 0.99964558 -0.0214565 -0.01575841 2.35783257] [ 0.02156117 0.99974638 0.00650283 -0.19633952] [ 0.01561488 -0.00684029 0.99985468 -0.40646325] [ 0. 0. 0. 1. ]] SLAMing on 19.197719421 meters Centerline goodness [0,1] 0.943791809430576 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 0.99957092 -0.0247126 -0.01572457 2.35941114] [ 0.02477543 0.99968577 0.00381342 -0.19919618] [ 0.01562539 -0.00420136 0.99986909 -0.40797756] [ 0. 0. 0. 1. ]] SLAMing on 19.227719421 meters Centerline goodness [0,1] 0.9421465809278455 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 0.99956035 -0.024991 -0.01595496 2.36021834] [ 0.02506098 0.9996771 0.00420121 -0.20105966] [ 0.01584482 -0.00459921 0.99986389 -0.4083494 ] [ 0. 0. 0. 1. ]] SLAMing on 19.257719421 meters Centerline goodness [0,1] 0.9450359302159884 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 0.99954693 -0.02541125 -0.01613098 2.36130334] [ 0.02549235 0.99966329 0.00484199 -0.20485651] [ 0.0160025 -0.00525102 0.99985816 -0.40911071] [ 0. 0. 0. 1. ]] SLAMing on 19.287719421 meters Centerline goodness [0,1] 0.9447543052558727 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.21, Z:-0.41 [[ 0.99955291 -0.02504389 -0.01633337 2.36259742] [ 0.02513888 0.99966808 0.00563624 -0.20633419] [ 0.01618679 -0.00604432 0.99985072 -0.41009117] [ 0. 0. 0. 1. ]] SLAMing on 19.317719421 meters Centerline goodness [0,1] 0.9457233153226628 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 0.99960421 -0.02310373 -0.0160512 2.36034904] [ 0.02322837 0.99970113 0.00762233 -0.20317474] [ 0.0158703 -0.00799215 0.99984212 -0.40796743] [ 0. 0. 0. 1. ]] SLAMing on 19.347719421 meters Centerline goodness [0,1] 0.9463696033266745 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 0.99961802 -0.02242854 -0.01614837 2.36038915] [ 0.02254925 0.99971884 0.00733236 -0.20048319] [ 0.01597938 -0.00769369 0.99984272 -0.40737202] [ 0. 0. 0. 1. ]] SLAMing on 19.377719421 meters Centerline goodness [0,1] 0.9425830498808481 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.20, Z:-0.41 [[ 9.99827668e-01 -1.37818139e-02 -1.24376614e-02 2.36232715e+00] [ 1.37940543e-02 9.99904453e-01 8.98886786e-04 -2.00742234e-01] [ 1.24240847e-02 -1.07029766e-03 9.99922245e-01 -4.10393386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.407719421 meters Centerline goodness [0,1] 0.9408592303152411 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.20, Z:-0.41 [[ 0.99989166 -0.00809074 -0.01229639 2.36616351] [ 0.00815615 0.99995281 0.00527815 -0.20055675] [ 0.01225311 -0.00537787 0.99991047 -0.41445738] [ 0. 0. 0. 1. ]] SLAMing on 19.437719421 meters Centerline goodness [0,1] 0.9422381934377361 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.20, Z:-0.41 [[ 0.99991456 -0.00396177 -0.01245662 2.36627428] [ 0.00407232 0.99995244 0.00886161 -0.19860433] [ 0.01242092 -0.00891158 0.99988315 -0.41407487] [ 0. 0. 0. 1. ]] SLAMing on 19.467719420999998 meters Centerline goodness [0,1] 0.94375 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:-0.41 [[ 0.99992218 0.00356242 -0.01195561 2.36364211] [-0.00338085 0.99987917 0.01517296 -0.19395826] [ 0.01200822 -0.01513136 0.9998134 -0.41109279] [ 0. 0. 0. 1. ]] SLAMing on 19.497719421 meters Centerline goodness [0,1] 0.9426577978478875 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.19, Z:-0.41 [[ 0.9999202 0.00383874 -0.01203575 2.36339818] [-0.00366043 0.99988374 0.01480247 -0.1923294 ] [ 0.01209117 -0.01475723 0.999818 -0.41019021] [ 0. 0. 0. 1. ]] SLAMing on 19.527719421 meters Centerline goodness [0,1] 0.9396690019291298 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.20, Z:-0.41 [[ 9.99922386e-01 2.09779640e-03 -1.22809178e-02 2.36647005e+00] [-1.94099060e-03 9.99916624e-01 1.27662726e-02 -1.95990817e-01] [ 1.23066750e-02 -1.27414446e-02 9.99843088e-01 -4.12718305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.557719420999998 meters Centerline goodness [0,1] 0.9366782499136337 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.20, Z:-0.42 [[ 9.99919636e-01 -2.69034755e-04 -1.26747702e-02 2.36958635e+00] [ 3.97587994e-04 9.99948499e-01 1.01410235e-02 -1.97520260e-01] [ 1.26713891e-02 -1.01452479e-02 9.99868246e-01 -4.15316278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.587719421 meters Centerline goodness [0,1] 0.9267603342754316 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.20, Z:-0.42 [[ 9.99911563e-01 -1.75335422e-03 -1.31829964e-02 2.37443360e+00] [ 1.86941303e-03 9.99959563e-01 8.79651204e-03 -2.00504804e-01] [ 1.31670399e-02 -8.82037857e-03 9.99874407e-01 -4.19548669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.617719421 meters Centerline goodness [0,1] 0.927322271026517 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.20, Z:-0.42 [[ 0.99990237 -0.00360794 -0.01349958 2.37707454] [ 0.00370028 0.99996989 0.00682173 -0.20144122] [ 0.01347456 -0.00687101 0.99988561 -0.42167514] [ 0. 0. 0. 1. ]] SLAMing on 19.647719421 meters Centerline goodness [0,1] 0.9352906419999593 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.21, Z:-0.42 [[ 0.99989814 -0.00518405 -0.01329792 2.37578193] [ 0.00526585 0.99996739 0.00612339 -0.20704713] [ 0.01326574 -0.00619279 0.99989283 -0.42018344] [ 0. 0. 0. 1. ]] SLAMing on 19.677719421 meters Centerline goodness [0,1] 0.9392992001299282 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.21, Z:-0.42 [[ 0.99987481 -0.00826048 -0.01349565 2.3758204 ] [ 0.00830599 0.99995999 0.00331957 -0.20939076] [ 0.01346769 -0.00343125 0.99990342 -0.41931104] [ 0. 0. 0. 1. ]] SLAMing on 19.707719421 meters Centerline goodness [0,1] 0.9420483808828599 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.22, Z:-0.42 [[ 0.99985663 -0.01036173 -0.01339258 2.37403201] [ 0.01039755 0.99994254 0.00260745 -0.21668133] [ 0.01336479 -0.00274632 0.99990692 -0.4167967 ] [ 0. 0. 0. 1. ]] SLAMing on 19.737719421 meters Centerline goodness [0,1] 0.9462921851768875 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.22, Z:-0.42 [[ 0.99985935 -0.01003869 -0.01343503 2.37356787] [ 0.01008615 0.99994311 0.00346987 -0.21986778] [ 0.01339943 -0.00360489 0.99990373 -0.41599077] [ 0. 0. 0. 1. ]] SLAMing on 19.767719421 meters Centerline goodness [0,1] 0.9506147707841381 Centerline is valid? [False, True] Translation: X:2.37, Y:-0.23, Z:-0.42 [[ 0.99986572 -0.0099359 -0.01303136 2.37306304] [ 0.00998649 0.99994283 0.00382295 -0.2266681 ] [ 0.01299263 -0.00395257 0.99990778 -0.41568896] [ 0. 0. 0. 1. ]] SLAMing on 19.797719421 meters Centerline goodness [0,1] 0.9489972513488751 Centerline is valid? [True, False] Translation: X:2.37, Y:-0.23, Z:-0.42 [[ 0.99987158 -0.00925825 -0.01308053 2.37415849] [ 0.00931909 0.999946 0.0045981 -0.22830061] [ 0.01303725 -0.00471941 0.99990387 -0.41679083] [ 0. 0. 0. 1. ]] SLAMing on 19.827719421 meters Centerline goodness [0,1] 0.9393105416590218 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.42 [[ 0.99988742 -0.00722628 -0.01315025 2.37755146] [ 0.00730845 0.999954 0.00621123 -0.22714294] [ 0.01310476 -0.00630664 0.99989424 -0.42035536] [ 0. 0. 0. 1. ]] SLAMing on 19.857719421 meters Centerline goodness [0,1] 0.9400383297993802 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.42 [[ 0.99988441 -0.00731379 -0.01332937 2.37868666] [ 0.0073971 0.99995335 0.00621194 -0.22673448] [ 0.01328331 -0.00630983 0.99989186 -0.4212492 ] [ 0. 0. 0. 1. ]] SLAMing on 19.887719421 meters Centerline goodness [0,1] 0.9425768877081844 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.42 [[ 9.99841113e-01 -1.18775707e-02 -1.32918178e-02 2.37850755e+00] [ 1.19075057e-02 9.99926737e-01 2.17526244e-03 -2.27263847e-01] [ 1.32650072e-02 -2.33318922e-03 9.99909294e-01 -4.20751960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.917719421 meters Centerline goodness [0,1] 0.9448059921414538 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.42 [[ 9.99778695e-01 -1.61920109e-02 -1.34305724e-02 2.37879196e+00] [ 1.61723416e-02 9.99867984e-01 -1.57183911e-03 -2.28597546e-01] [ 1.34542506e-02 1.35428745e-03 9.99908570e-01 -4.20570101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.947719421 meters Centerline goodness [0,1] 0.9452116450827553 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.23, Z:-0.42 [[ 0.99956644 -0.02620871 -0.01341756 2.37881361] [ 0.02606888 0.99960508 -0.01049251 -0.2287256 ] [ 0.01368726 0.01013818 0.99985493 -0.42003401] [ 0. 0. 0. 1. ]] SLAMing on 19.977719421 meters Centerline goodness [0,1] 0.9452652171255069 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.23, Z:-0.42 [[ 0.99947135 -0.03119378 -0.00916387 2.38711958] [ 0.03116586 0.99950919 -0.00317334 -0.23024998] [ 0.00925836 0.00288606 0.99995298 -0.42193609] [ 0. 0. 0. 1. ]] SLAMing on 20.007719421 meters Centerline goodness [0,1] 0.9458031616522182 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.23, Z:-0.42 [[ 0.99927158 -0.03707793 -0.00902938 2.38675456] [ 0.03700516 0.99928227 -0.00809744 -0.23164609] [ 0.00932313 0.00775741 0.99992645 -0.42119076] [ 0. 0. 0. 1. ]] SLAMing on 20.037719421 meters Centerline goodness [0,1] 0.9480036000654557 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.23, Z:-0.42 [[ 0.99926257 -0.03732199 -0.00902133 2.38730347] [ 0.03725024 0.999274 -0.00799383 -0.23222649] [ 0.00931312 0.00765189 0.99992735 -0.42179129] [ 0. 0. 0. 1. ]] SLAMing on 20.067719421 meters Centerline goodness [0,1] 0.9468882372108178 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.23, Z:-0.42 [[ 0.99941564 -0.03285349 -0.00943536 2.38982643] [ 0.03282105 0.99945486 -0.00357199 -0.23009554] [ 0.00954756 0.00326022 0.99994911 -0.42407655] [ 0. 0. 0. 1. ]] SLAMing on 20.097719421 meters Centerline goodness [0,1] 0.9476181710335235 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.23, Z:-0.42 [[ 0.99964388 -0.02490541 -0.00958279 2.38998674] [ 0.02493952 0.99968299 0.00345618 -0.22607009] [ 0.00949368 -0.00369394 0.99994811 -0.42418299] [ 0. 0. 0. 1. ]] SLAMing on 20.127719421 meters Centerline goodness [0,1] 0.9484331533300605 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.22, Z:-0.42 [[ 0.99973543 -0.02079895 -0.00982259 2.39041834] [ 0.02086705 0.99975857 0.00688282 -0.2243699 ] [ 0.00967706 -0.00708596 0.99992807 -0.42412903] [ 0. 0. 0. 1. ]] SLAMing on 20.157719421 meters Centerline goodness [0,1] 0.9502301319423136 Centerline is valid? [False, True] Translation: X:2.39, Y:-0.22, Z:-0.43 [[ 9.99959787e-01 -7.58725595e-03 -4.78104334e-03 2.38978535e+00] [ 7.59398809e-03 9.99970197e-01 1.39151281e-03 -2.20199900e-01] [ 4.77034308e-03 -1.42776404e-03 9.99987603e-01 -4.26106023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.187719421 meters Centerline goodness [0,1] 0.9502301319423136 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.22, Z:-0.43 [[ 9.99960205e-01 -7.55732909e-03 -4.74081437e-03 2.41977456e+00] [ 7.55681835e-03 9.99971439e-01 -1.25637054e-04 -2.18876215e-01] [ 4.74162845e-03 8.98065813e-05 9.99988754e-01 -4.26433622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.217719420999998 meters Centerline goodness [0,1] 0.9496679838676824 Centerline is valid? [True, False] Translation: X:2.42, Y:-0.22, Z:-0.43 [[ 0.9999837 -0.002835 -0.00495683 2.42086536] [ 0.00285332 0.99998911 0.00369292 -0.21674951] [ 0.0049463 -0.003707 0.9999809 -0.42709756] [ 0. 0. 0. 1. ]] SLAMing on 20.247719421 meters Centerline goodness [0,1] 0.9330445620415585 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.43 [[ 9.99968373e-01 6.42840835e-03 -4.68277927e-03 2.41790708e+00] [-6.42668214e-03 9.99979275e-01 3.83584380e-04 -2.10864391e-01] [ 4.68514805e-03 -3.53477515e-04 9.99988962e-01 -4.32220594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.277719421 meters Centerline goodness [0,1] 0.914042344076334 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.43 [[ 9.99963072e-01 6.96242408e-03 -5.03784990e-03 2.41939233e+00] [-6.96103664e-03 9.99975729e-01 2.92886071e-04 -2.09690281e-01] [ 5.03976682e-03 -2.57806597e-04 9.99987267e-01 -4.33117842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.307719420999998 meters Centerline goodness [0,1] 0.914685917023851 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.44 [[ 9.99970431e-01 5.68484738e-03 -5.17867742e-03 2.42192565e+00] [-5.69218479e-03 9.99982815e-01 -1.40321453e-03 -2.11554591e-01] [ 5.17061136e-03 1.43265103e-03 9.99985606e-01 -4.35581831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.337719421 meters Centerline goodness [0,1] 0.8841155974584956 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.43 [[ 9.99971693e-01 5.42840903e-03 -5.21011613e-03 2.42173439e+00] [-5.43666900e-03 9.99983985e-01 -1.57251907e-03 -2.10940980e-01] [ 5.20149641e-03 1.60080024e-03 9.99985191e-01 -4.34998056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.367719421 meters Centerline goodness [0,1] 0.9210805733654592 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.43 [[ 9.99969649e-01 5.42826175e-03 -5.58877123e-03 2.42224418e+00] [-5.43732632e-03 9.99983925e-01 -1.60801211e-03 -2.10154141e-01] [ 5.57995268e-03 1.63835127e-03 9.99983090e-01 -4.34585517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.397719421 meters Centerline goodness [0,1] 0.8880561869074677 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.21, Z:-0.44 [[ 0.99997711 0.00317453 -0.00597461 2.42410476] [-0.00319589 0.99998853 -0.00356785 -0.21453612] [ 0.00596322 0.00358686 0.99997579 -0.43587214] [ 0. 0. 0. 1. ]] SLAMing on 20.427719421 meters Centerline goodness [0,1] 0.9007029696882749 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.22, Z:-0.44 [[ 9.99978841e-01 8.32279579e-04 -6.45179306e-03 2.42657393e+00] [-8.68378727e-04 9.99983974e-01 -5.59443105e-03 -2.18600826e-01] [ 6.44703353e-03 5.59991527e-03 9.99963538e-01 -4.37770052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.457719421 meters Centerline goodness [0,1] 0.9151833735868969 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.23, Z:-0.44 [[ 9.99996619e-01 -2.34947660e-03 -1.11487034e-03 2.43795570e+00] [ 2.35189959e-03 9.99994865e-01 2.17702276e-03 -2.26003336e-01] [ 1.10974976e-03 -2.17963747e-03 9.99997009e-01 -4.41839873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.487719421 meters Centerline goodness [0,1] 0.9342467991260134 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.23, Z:-0.44 [[ 9.99990323e-01 -4.24479623e-03 -1.15601550e-03 2.43588944e+00] [ 4.24615537e-03 9.99990294e-01 1.17579789e-03 -2.28587563e-01] [ 1.15101325e-03 -1.18069514e-03 9.99998641e-01 -4.39253117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.517719421 meters Centerline goodness [0,1] 0.9500389200704658 Centerline is valid? [False, True] Translation: X:2.43, Y:-0.24, Z:-0.44 [[ 9.99934637e-01 -1.13922110e-02 -9.69517016e-04 2.43497407e+00] [ 1.13882638e-02 9.99927215e-01 -3.98386430e-03 -2.35884848e-01] [ 1.01483147e-03 3.97256278e-03 9.99991594e-01 -4.38062661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.547719421 meters Centerline goodness [0,1] 0.9456408368611571 Centerline is valid? [True, False] Translation: X:2.44, Y:-0.24, Z:-0.44 [[ 9.99807574e-01 -1.95622865e-02 -1.46022483e-03 2.43679773e+00] [ 1.95479015e-02 9.99765767e-01 -9.28925760e-03 -2.43432263e-01] [ 1.64160191e-03 9.25892578e-03 9.99955788e-01 -4.39316764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.577719421 meters Centerline goodness [0,1] 0.947918998677114 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.25, Z:-0.44 [[ 9.99712642e-01 -2.39130090e-02 -1.67354285e-03 2.43754753e+00] [ 2.38910422e-02 9.99641306e-01 -1.21028023e-02 -2.47828608e-01] [ 1.96235698e-03 1.20593418e-02 9.99925358e-01 -4.39472962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.607719421 meters Centerline goodness [0,1] 0.9488024744114116 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.26, Z:-0.44 [[ 9.99387916e-01 -3.49448682e-02 -1.62749586e-03 2.43737003e+00] [ 3.49016582e-02 9.99157567e-01 -2.15877525e-02 -2.55659343e-01] [ 2.38050597e-03 2.15177367e-02 9.99765633e-01 -4.38377170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.637719421 meters Centerline goodness [0,1] 0.9495992004405736 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.26, Z:-0.44 [[ 9.99262059e-01 -3.83711923e-02 -1.72869624e-03 2.43813725e+00] [ 3.83173572e-02 9.98964747e-01 -2.45196768e-02 -2.58397445e-01] [ 2.66775584e-03 2.44353437e-02 9.99697853e-01 -4.38702279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.667719421 meters Centerline goodness [0,1] 0.9490135270234428 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.26, Z:-0.44 [[ 9.99218640e-01 -3.94722333e-02 -2.01299694e-03 2.43938528e+00] [ 3.94118342e-02 9.98927980e-01 -2.42816490e-02 -2.60075843e-01] [ 2.96928988e-03 2.41833404e-02 9.99703131e-01 -4.39673454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.697719421 meters Centerline goodness [0,1] 0.9504303766558818 Centerline is valid? [False, True] Translation: X:2.44, Y:-0.26, Z:-0.44 [[ 9.99331796e-01 -3.64716814e-02 -2.40356586e-03 2.43989973e+00] [ 3.64155891e-02 9.99131034e-01 -2.02751530e-02 -2.61096026e-01] [ 3.14094616e-03 2.01740778e-02 9.99791549e-01 -4.39759663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.727719421 meters Centerline goodness [0,1] 0.9518280884000407 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.27, Z:-0.44 [[ 9.99240414e-01 -3.89681436e-02 -2.82402286e-04 2.47145468e+00] [ 3.89681436e-02 9.99240453e-01 -5.54744994e-06 -2.68390923e-01] [ 2.82403962e-04 -5.46145665e-06 9.99999960e-01 -4.39663322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.757719421 meters Centerline goodness [0,1] 0.9521769290406823 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.27, Z:-0.44 [[ 9.99200850e-01 -3.99605177e-02 9.05183002e-04 2.50256146e+00] [ 3.99605140e-02 9.99201259e-01 2.21777109e-05 -2.69628246e-01] [-9.05346229e-04 1.40115905e-05 9.99999590e-01 -4.39075172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.787719421 meters Centerline goodness [0,1] 0.9513084207310865 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.27, Z:-0.44 [[ 9.99070699e-01 -4.30992625e-02 4.37439315e-04 2.53290148e+00] [ 4.30992619e-02 9.99070795e-01 1.07194377e-05 -2.73121451e-01] [-4.37494844e-04 8.14383553e-06 9.99999904e-01 -4.41535773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.817719421 meters Centerline goodness [0,1] 0.9490297174407275 Centerline is valid? [True, False] Translation: X:2.54, Y:-0.27, Z:-0.45 [[ 9.99036450e-01 -4.38873049e-02 2.75937312e-04 2.53648155e+00] [ 4.38875044e-02 9.99036187e-01 -7.64043443e-04 -2.70389039e-01] [-2.42139553e-04 7.75417449e-04 9.99999670e-01 -4.45360214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.847719421 meters Centerline goodness [0,1] 0.9470874676555082 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.45 [[ 9.99179034e-01 -4.05120978e-02 1.68245971e-04 2.53776425e+00] [ 4.05114628e-02 9.99175090e-01 2.82151212e-03 -2.69260927e-01] [-2.82412558e-04 -2.81237986e-03 9.99996005e-01 -4.47091528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.877719421 meters Centerline goodness [0,1] 0.9427696078431372 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.27, Z:-0.45 [[ 9.99310296e-01 -3.71334939e-02 -1.86965992e-04 2.54156225e+00] [ 3.71339591e-02 9.99294741e-01 5.57572696e-03 -2.65509926e-01] [-2.02120905e-05 -5.57882415e-03 9.99984438e-01 -4.51156775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.907719421 meters Centerline goodness [0,1] 0.942408164095058 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.45 [[ 9.99316214e-01 -3.69693664e-02 -6.08947629e-04 2.54276317e+00] [ 3.69720463e-02 9.99302665e-01 5.22031693e-03 -2.63596837e-01] [ 4.15531179e-04 -5.23926139e-03 9.99986189e-01 -4.51589131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.937719421 meters Centerline goodness [0,1] 0.9458627926404368 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.45 [[ 9.99378640e-01 -3.52460452e-02 -2.22616910e-04 2.54058884e+00] [ 3.52467441e-02 9.99355549e-01 6.79366323e-03 -2.59665656e-01] [-1.69763164e-05 -6.79728844e-03 9.99976898e-01 -4.49988672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.967719420999998 meters Centerline goodness [0,1] 0.9481434581920674 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.45 [[ 9.99354620e-01 -3.59212341e-02 -8.99125386e-05 2.53999543e+00] [ 3.59211301e-02 9.99336774e-01 5.97358992e-03 -2.57719830e-01] [-1.24725816e-04 -5.97296445e-03 9.99982154e-01 -4.49479993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.997719421 meters Centerline goodness [0,1] 0.9482187410528038 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.45 [[ 9.99270467e-01 -3.81907551e-02 -2.38591275e-05 2.54003819e+00] [ 3.81904870e-02 9.99260689e-01 4.42297320e-03 -2.56382086e-01] [-1.45075198e-04 -4.42065769e-03 9.99990218e-01 -4.49708968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.027719421 meters Centerline goodness [0,1] 0.9464998777605738 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.26, Z:-0.45 [[ 9.99141908e-01 -4.14165749e-02 -3.40035782e-04 2.54280610e+00] [ 4.14169382e-02 9.99141298e-01 1.14158412e-03 -2.55319266e-01] [ 2.92463288e-04 -1.15468777e-03 9.99999291e-01 -4.52020605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.057719420999998 meters Centerline goodness [0,1] 0.9286180453581334 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.25, Z:-0.45 [[ 9.98894231e-01 -4.70118688e-02 -4.47186458e-04 2.54578638e+00] [ 4.70096190e-02 9.98885843e-01 -4.14356755e-03 -2.51691317e-01] [ 6.41485076e-04 4.11796366e-03 9.99991315e-01 -4.54939044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.087719421 meters Centerline goodness [0,1] 0.9080707899720994 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.25, Z:-0.45 [[ 9.98780540e-01 -4.93698038e-02 -2.37123107e-04 2.54513998e+00] [ 4.93671828e-02 9.98759078e-01 -6.57160417e-03 -2.46299992e-01] [ 5.61267665e-04 6.55188426e-03 9.99978379e-01 -4.54428928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.117719421 meters Centerline goodness [0,1] 0.8971359748504706 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.24, Z:-0.45 [[ 9.98894351e-01 -4.70108826e-02 -2.30103027e-04 2.54399761e+00] [ 4.70096068e-02 9.98886605e-01 -3.95569708e-03 -2.44522744e-01] [ 4.15807642e-04 3.94050642e-03 9.99992150e-01 -4.53393056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.147719420999998 meters Centerline goodness [0,1] 0.8967714355508509 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.24, Z:-0.45 [[ 9.99025817e-01 -4.41281043e-02 -3.56331164e-04 2.54310525e+00] [ 4.41276575e-02 9.99025207e-01 -1.17714324e-03 -2.42213268e-01] [ 4.07928915e-04 1.16027243e-03 9.99999244e-01 -4.52291878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.177719421 meters Centerline goodness [0,1] 0.9219982471516214 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.23, Z:-0.45 [[ 9.99252987e-01 -3.86447776e-02 -2.19511497e-04 2.54306892e+00] [ 3.86452549e-02 9.99248709e-01 2.92603490e-03 -2.34092997e-01] [ 1.06270612e-04 -2.93233219e-03 9.99995695e-01 -4.52987126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.207719421 meters Centerline goodness [0,1] 0.9381624001304418 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.22, Z:-0.46 [[ 9.99396635e-01 -3.47225907e-02 -8.41364519e-04 2.54721804e+00] [ 3.47259374e-02 9.99387373e-01 4.35751678e-03 -2.24196048e-01] [ 6.89544805e-04 -4.38410478e-03 9.99990152e-01 -4.56934266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.237719421 meters Centerline goodness [0,1] 0.9399377890557852 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.22, Z:-0.46 [[ 9.99510244e-01 -3.12791168e-02 -9.42880280e-04 2.54757138e+00] [ 3.12848780e-02 9.99486795e-01 6.88503738e-03 -2.19909716e-01] [ 7.27038500e-04 -6.91116328e-03 9.99975853e-01 -4.57366209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.267719421 meters Centerline goodness [0,1] 0.9440389294403893 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.21, Z:-0.46 [[ 9.99603225e-01 -2.81393859e-02 -1.25179231e-03 2.54860619e+00] [ 2.81485752e-02 9.99571288e-01 8.05594784e-03 -2.08510921e-01] [ 1.02456623e-03 -8.08798761e-03 9.99966767e-01 -4.58029123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.297719421 meters Centerline goodness [0,1] 0.9432809062016135 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.20, Z:-0.46 [[ 9.99663125e-01 -2.59114628e-02 -1.49393887e-03 2.54957257e+00] [ 2.59245337e-02 9.99618582e-01 9.51887099e-03 -2.02682672e-01] [ 1.24672118e-03 -9.55439399e-03 9.99953579e-01 -4.58777082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.327719421 meters Centerline goodness [0,1] 0.9425385760003261 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.19, Z:-0.46 [[ 9.99727519e-01 -2.32754292e-02 -1.77239113e-03 2.55096091e+00] [ 2.32928523e-02 9.99673099e-01 1.05422413e-02 -1.89947666e-01] [ 1.52643654e-03 -1.05806528e-02 9.99942858e-01 -4.60111814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.357719421 meters Centerline goodness [0,1] 0.9401566451823448 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.19, Z:-0.46 [[ 9.99733221e-01 -2.30006169e-02 -2.11151067e-03 2.55310998e+00] [ 2.30203273e-02 9.99686566e-01 9.84047264e-03 -1.85324153e-01] [ 1.88451191e-03 -9.88645508e-03 9.99949352e-01 -4.61896694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.387719421 meters Centerline goodness [0,1] 0.9379628307391011 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.18, Z:-0.46 [[ 9.99783484e-01 -2.06756488e-02 -2.34582682e-03 2.55532060e+00] [ 2.06981929e-02 9.99735441e-01 1.00316275e-02 -1.77106087e-01] [ 2.13779580e-03 -1.00780099e-02 9.99946930e-01 -4.63775687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.417719421 meters Centerline goodness [0,1] 0.9369722188226656 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.17, Z:-0.46 [[ 9.99844096e-01 -1.74899928e-02 -2.42567265e-03 2.55490429e+00] [ 1.75181675e-02 9.99773012e-01 1.21259341e-02 -1.72706276e-01] [ 2.21303955e-03 -1.21665369e-02 9.99923536e-01 -4.63022396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.447719421 meters Centerline goodness [0,1] 0.9403243904927063 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.16, Z:-0.46 [[ 9.99942826e-01 -1.04505225e-02 -2.26527996e-03 2.55465157e+00] [ 1.04866172e-02 9.99807960e-01 1.65551575e-02 -1.62428252e-01] [ 2.09183489e-03 -1.65779661e-02 9.99860388e-01 -4.62526568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.477719421 meters Centerline goodness [0,1] 0.9436801112087823 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.15, Z:-0.46 [[ 9.99997851e-01 -1.10722167e-03 -1.75300470e-03 2.55246576e+00] [ 1.14849690e-03 9.99717930e-01 2.37221678e-02 -1.49675223e-01] [ 1.72624453e-03 -2.37241301e-02 9.99717053e-01 -4.60580085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.507719421 meters Centerline goodness [0,1] 0.9442313546423136 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.14, Z:-0.46 [[ 9.99996445e-01 1.89568060e-03 -1.87503444e-03 2.55187151e+00] [-1.84721249e-03 9.99672563e-01 2.55216457e-02 -1.44284050e-01] [ 1.92280137e-03 -2.55180914e-02 9.99672511e-01 -4.59281866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.537719421 meters Centerline goodness [0,1] 0.9457936701651615 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.14, Z:-0.46 [[ 9.99997886e-01 1.38567246e-03 -1.51906360e-03 2.55063070e+00] [-1.35166136e-03 9.99753381e-01 2.21664326e-02 -1.37616935e-01] [ 1.54940438e-03 -2.21643325e-02 9.99753140e-01 -4.57022722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.567719421 meters Centerline goodness [0,1] 0.9465594317091592 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.13, Z:-0.46 [[ 9.99998519e-01 7.74202249e-04 -1.53686279e-03 2.55043269e+00] [-7.42461347e-04 9.99788607e-01 2.05472734e-02 -1.33828075e-01] [ 1.55244566e-03 -2.05461019e-02 9.99787701e-01 -4.56521102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.597719421 meters Centerline goodness [0,1] 0.9475749586118094 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.13, Z:-0.46 [[ 9.99994629e-01 2.90684758e-03 -1.51393421e-03 2.55158358e+00] [-2.87432178e-03 9.99774067e-01 2.10606818e-02 -1.25637892e-01] [ 1.57481235e-03 -2.10562171e-02 9.99777053e-01 -4.57570957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.627719421 meters Centerline goodness [0,1] 0.9471858450675315 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.12, Z:-0.46 [[ 0.99997333 0.00571817 -0.00454358 2.5462362 ] [-0.00567477 0.9999387 0.00950746 -0.12015376] [ 0.00459767 -0.00948143 0.99994448 -0.4573423 ] [ 0. 0. 0. 1. ]] SLAMing on 21.657719421 meters Centerline goodness [0,1] 0.9523433065758534 Centerline is valid? [False, True] Translation: X:2.55, Y:-0.11, Z:-0.46 [[ 0.99989449 0.01365172 -0.00496424 2.54933775] [-0.01357144 0.9997821 0.01586104 -0.1144686 ] [ 0.00517969 -0.01579199 0.99986188 -0.45925776] [ 0. 0. 0. 1. ]] SLAMing on 21.687719421 meters Centerline goodness [0,1] 0.9544740011840843 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.10, Z:-0.45 [[ 9.99789752e-01 1.96826905e-02 -5.74836947e-03 2.57805825e+00] [-1.96827160e-02 9.99806275e-01 5.21518122e-05 -9.96400751e-02] [ 5.74828236e-03 6.10026763e-05 9.99983477e-01 -4.52046272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.717719420999998 meters Centerline goodness [0,1] 0.9543803484577972 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.08, Z:-0.45 [[ 9.99514802e-01 2.98538044e-02 -8.88320084e-03 2.60824257e+00] [-2.98542505e-02 9.99554259e-01 8.24082120e-05 -8.45809031e-02] [ 8.88170143e-03 1.82833075e-04 9.99960540e-01 -4.54759236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.747719421 meters Centerline goodness [0,1] 0.9471550541553203 Centerline is valid? [True, False] Translation: X:2.61, Y:-0.08, Z:-0.46 [[ 9.99474702e-01 3.10102837e-02 -9.41715974e-03 2.61119186e+00] [-3.10080121e-02 9.99519061e-01 3.87169320e-04 -8.32024518e-02] [ 9.42463689e-03 -9.49585380e-05 9.99955583e-01 -4.56785458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.777719421 meters Centerline goodness [0,1] 0.9518803489137591 Centerline is valid? [False, True] Translation: X:2.61, Y:-0.08, Z:-0.46 [[ 9.99453686e-01 3.16628777e-02 -9.47582800e-03 2.61157446e+00] [-3.16663652e-02 9.99498471e-01 -2.18195308e-04 -8.10047493e-02] [ 9.46416691e-03 5.18141135e-04 9.99955080e-01 -4.56394006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.807719420999998 meters Centerline goodness [0,1] 0.952532751989799 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.08, Z:-0.45 [[ 9.99458060e-01 3.20700582e-02 -7.42272635e-03 2.63903750e+00] [-3.20708347e-02 9.99485598e-01 1.44231067e-05 -7.82901015e-02] [ 7.41937064e-03 2.23637740e-04 9.99972451e-01 -4.54929816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.837719421 meters Centerline goodness [0,1] 0.9517135234968193 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.08, Z:-0.45 [[ 9.99501952e-01 3.10407740e-02 -5.68499178e-03 2.66685920e+00] [-3.10412206e-02 9.99518105e-01 9.67973101e-06 -7.69515773e-02] [ 5.68255268e-03 1.66794174e-04 9.99983840e-01 -4.53734176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.867719421 meters Centerline goodness [0,1] 0.9526885689676388 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.08, Z:-0.45 [[ 9.99524420e-01 3.00198986e-02 -7.05261984e-03 2.69562417e+00] [-3.00205518e-02 9.99549282e-01 1.32535782e-05 -7.99085599e-02] [ 7.04983896e-03 1.98476264e-04 9.99975130e-01 -4.54489247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.897719420999998 meters Centerline goodness [0,1] 0.9523907286127821 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.09, Z:-0.46 [[ 9.99585332e-01 2.65718107e-02 -1.10952015e-02 2.72455898e+00] [-2.65732153e-02 9.99646870e-01 2.08306232e-05 -8.68670800e-02] [ 1.10918370e-02 2.74013194e-04 9.99938446e-01 -4.59852732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.927719421 meters Centerline goodness [0,1] 0.950989264119123 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.09, Z:-0.46 [[ 9.99659006e-01 2.28092934e-02 -1.27124885e-02 2.75332674e+00] [-2.28108441e-02 9.99739799e-01 2.30222974e-05 -9.36229156e-02] [ 1.27097058e-02 2.66968146e-04 9.99919193e-01 -4.61622640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.957719421 meters Centerline goodness [0,1] 0.9527625215181572 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.10, Z:-0.46 [[ 9.99734645e-01 2.05021631e-02 -1.05024290e-02 2.78084163e+00] [-2.05031128e-02 9.99789789e-01 1.72406938e-05 -9.68338693e-02] [ 1.05005748e-02 1.98096368e-04 9.99944848e-01 -4.60717740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.987719421 meters Centerline goodness [0,1] 0.9534165934223167 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.10, Z:-0.46 [[ 9.99797190e-01 1.83710571e-02 -8.25124068e-03 2.80904233e+00] [-1.83715763e-02 9.99831228e-01 1.28670912e-05 -9.96289838e-02] [ 8.25008448e-03 1.38723816e-04 9.99965958e-01 -4.61198477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.017719421 meters Centerline goodness [0,1] 0.9554444331054189 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.11, Z:-0.46 [[ 9.99892366e-01 1.29784323e-02 -6.84230640e-03 2.83781510e+00] [-1.29786689e-02 9.99915773e-01 9.82371069e-06 -1.08781883e-01] [ 6.84185760e-03 7.89813757e-05 9.99976591e-01 -4.57286619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.047719421 meters Centerline goodness [0,1] 0.9522925675124418 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.11, Z:-0.46 [[ 9.99922194e-01 1.00409910e-02 -7.40162553e-03 2.86574465e+00] [-1.00411948e-02 9.99949586e-01 9.62753804e-06 -1.11492941e-01] [ 7.40134905e-03 6.46943746e-05 9.99972608e-01 -4.60764186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.077719421 meters Centerline goodness [0,1] 0.9480179812014712 Centerline is valid? [True, False] Translation: X:2.87, Y:-0.11, Z:-0.46 [[ 0.99995573 0.00566507 -0.00751299 2.86665927] [-0.00569431 0.99997627 -0.00387665 -0.11201735] [ 0.00749085 0.00391926 0.99996426 -0.46175445] [ 0. 0. 0. 1. ]] SLAMing on 22.107719421 meters Centerline goodness [0,1] 0.9480179812014712 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.11, Z:-0.46 [[ 0.99995573 0.00566507 -0.00751299 2.86665927] [-0.00569431 0.99997627 -0.00387665 -0.11201735] [ 0.00749085 0.00391926 0.99996426 -0.46175445] [ 0. 0. 0. 1. ]] SLAMing on 22.137719421 meters Centerline goodness [0,1] 0.9483750742325886 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.11, Z:-0.46 [[ 0.99996306 0.00450073 -0.00732259 2.86533706] [-0.0045325 0.99998037 -0.00432697 -0.11382874] [ 0.00730297 0.00436 0.99996383 -0.46079678] [ 0. 0. 0. 1. ]] SLAMing on 22.167719421 meters Centerline goodness [0,1] 0.951162364255007 Centerline is valid? [False, True] Translation: X:2.87, Y:-0.11, Z:-0.46 [[ 0.99995701 0.00533869 -0.00758087 2.86719383] [-0.00536473 0.99997977 -0.00341788 -0.11486911] [ 0.00756247 0.0034584 0.99996542 -0.46233976] [ 0. 0. 0. 1. ]] SLAMing on 22.197719421 meters Centerline goodness [0,1] 0.9496220633299285 Centerline is valid? [True, False] Translation: X:2.87, Y:-0.11, Z:-0.47 [[ 9.99930819e-01 8.77500772e-03 -7.83302790e-03 2.87126263e+00] [-8.78180254e-03 9.99961092e-01 -8.33484773e-04 -1.14478897e-01] [ 7.82540929e-03 9.02215216e-04 9.99968974e-01 -4.65998773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.227719421 meters Centerline goodness [0,1] 0.9495189355168885 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.11, Z:-0.47 [[ 9.99917493e-01 1.00049890e-02 -8.05651954e-03 2.87251194e+00] [-1.00097027e-02 9.99949753e-01 -5.44968032e-04 -1.12810340e-01] [ 8.05066233e-03 6.25566433e-04 9.99967397e-01 -4.66479700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.257719421 meters Centerline goodness [0,1] 0.9506735624195098 Centerline is valid? [False, True] Translation: X:2.87, Y:-0.11, Z:-0.47 [[ 0.99984636 0.01564867 -0.0078982 2.87273408] [-0.01561889 0.99987072 0.00381915 -0.11230621] [ 0.00795694 -0.0036952 0.99996152 -0.46589577] [ 0. 0. 0. 1. ]] SLAMing on 22.287719421 meters Centerline goodness [0,1] 0.9496408783090499 Centerline is valid? [True, False] Translation: X:2.87, Y:-0.11, Z:-0.47 [[ 0.99982871 0.01668234 -0.00801522 2.87324371] [-0.0166499 0.99985299 0.00409722 -0.11203911] [ 0.00808239 -0.00396306 0.99995948 -0.46574809] [ 0. 0. 0. 1. ]] SLAMing on 22.317719421 meters Centerline goodness [0,1] 0.9391800662820671 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.11, Z:-0.47 [[ 0.99978334 0.01913843 -0.00818515 2.87515961] [-0.01909057 0.99980043 0.0058865 -0.11425472] [ 0.00829618 -0.00572897 0.99994917 -0.46696014] [ 0. 0. 0. 1. ]] SLAMing on 22.347719421 meters Centerline goodness [0,1] 0.9274902843117202 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.11, Z:-0.47 [[ 0.99981745 0.01710194 -0.00851952 2.87673732] [-0.01707548 0.99984918 0.00316889 -0.11470897] [ 0.00857243 -0.00302284 0.99995869 -0.46767812] [ 0. 0. 0. 1. ]] SLAMing on 22.377719421 meters Centerline goodness [0,1] 0.93532757098569 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.12, Z:-0.47 [[ 9.99856374e-01 1.45170252e-02 -8.74568824e-03 2.87654901e+00] [-1.45129942e-02 9.99894544e-01 5.24205098e-04 -1.17630702e-01] [ 8.75237585e-03 -3.97203685e-04 9.99961618e-01 -4.66529506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.407719421 meters Centerline goodness [0,1] 0.93553746128761 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.12, Z:-0.47 [[ 0.99989362 0.01139426 -0.00910559 2.87715789] [-0.0114216 0.9999304 -0.00295667 -0.11751397] [ 0.00907127 0.00306036 0.99995417 -0.46617454] [ 0. 0. 0. 1. ]] SLAMing on 22.437719421 meters Centerline goodness [0,1] 0.9259926688919379 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.12, Z:-0.47 [[ 0.99996441 0.00761621 -0.00362964 2.88571096] [-0.00759825 0.99995895 0.00493596 -0.122395 ] [ 0.00366709 -0.00490821 0.99998123 -0.46879095] [ 0. 0. 0. 1. ]] SLAMing on 22.467719420999998 meters Centerline goodness [0,1] 0.9355573336615991 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.12, Z:-0.47 [[ 9.99984104e-01 4.11882855e-03 -3.85064545e-03 2.88610520e+00] [-4.11332386e-03 9.99990509e-01 1.43637772e-03 -1.24221425e-01] [ 3.85652509e-03 -1.42051593e-03 9.99991555e-01 -4.68583361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.497719421 meters Centerline goodness [0,1] 0.9486516969137702 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.13, Z:-0.47 [[ 9.99989214e-01 -1.69394966e-03 -4.32465261e-03 2.88795107e+00] [ 1.67909861e-03 9.99992689e-01 -3.43536729e-03 -1.31716608e-01] [ 4.33044034e-03 3.42806872e-03 9.99984748e-01 -4.69723077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.527719421 meters Centerline goodness [0,1] 0.9449093729588505 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.14, Z:-0.47 [[ 0.99997715 -0.00478584 -0.00477504 2.88950913] [ 0.0047632 0.99997741 -0.00474196 -0.1384684 ] [ 0.00479763 0.0047191 0.99997736 -0.47084029] [ 0. 0. 0. 1. ]] SLAMing on 22.557719420999998 meters Centerline goodness [0,1] 0.9476957585644372 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.14, Z:-0.47 [[ 0.99997558 -0.0046265 -0.00523711 2.89081852] [ 0.00460845 0.99998342 -0.00345292 -0.14129013] [ 0.00525299 0.0034287 0.99998032 -0.47161791] [ 0. 0. 0. 1. ]] SLAMing on 22.587719421 meters Centerline goodness [0,1] 0.9430480303092028 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.14, Z:-0.47 [[ 9.99973703e-01 -4.40684729e-03 -5.75953412e-03 2.89212325e+00] [ 4.39434657e-03 9.99987966e-01 -2.18129491e-03 -1.43911961e-01] [ 5.76907744e-03 2.15592816e-03 9.99981035e-01 -4.72215651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.617719421 meters Centerline goodness [0,1] 0.9460264968256884 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.15, Z:-0.47 [[ 0.9999501 -0.0078259 -0.00620863 2.89192535] [ 0.00779858 0.99995985 -0.00441395 -0.14955999] [ 0.00624293 0.00436531 0.99997098 -0.47093211] [ 0. 0. 0. 1. ]] SLAMing on 22.647719420999998 meters Centerline goodness [0,1] 0.9471743470643361 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.15, Z:-0.47 [[ 0.99991802 -0.01106742 -0.00643937 2.89218275] [ 0.01102118 0.99991354 -0.00717297 -0.15338731] [ 0.0065182 0.00710141 0.99995354 -0.47056217] [ 0. 0. 0. 1. ]] SLAMing on 22.677719421 meters Centerline goodness [0,1] 0.9475921255999349 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.16, Z:-0.47 [[ 0.99986833 -0.01483008 -0.00658719 2.89302126] [ 0.01476663 0.99984508 -0.00957944 -0.16020069] [ 0.00672824 0.00948091 0.99993242 -0.47127026] [ 0. 0. 0. 1. ]] SLAMing on 22.707719421 meters Centerline goodness [0,1] 0.9482520043954255 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.16, Z:-0.47 [[ 0.99986646 -0.0148202 -0.00688671 2.89409959] [ 0.01475977 0.99985282 -0.00874552 -0.16226164] [ 0.00701531 0.0086427 0.99993804 -0.47205213] [ 0. 0. 0. 1. ]] SLAMing on 22.737719421 meters Centerline goodness [0,1] 0.9471690427698575 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.16, Z:-0.47 [[ 0.99986022 -0.01509131 -0.00719656 2.89545147] [ 0.01503328 0.99985458 -0.00805072 -0.1628034 ] [ 0.00731701 0.00794141 0.9999417 -0.47316318] [ 0. 0. 0. 1. ]] SLAMing on 22.767719421 meters Centerline goodness [0,1] 0.9423194552053175 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:-0.48 [[ 0.99985707 -0.01504676 -0.0077092 2.89807596] [ 0.01499693 0.99986653 -0.00648135 -0.16671862] [ 0.0078057 0.00636481 0.99994928 -0.47586462] [ 0. 0. 0. 1. ]] SLAMing on 22.797719421 meters Centerline goodness [0,1] 0.9360230783395053 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:-0.48 [[ 0.99986242 -0.01456223 -0.00794269 2.89992925] [ 0.01452263 0.99988194 -0.00502081 -0.17067386] [ 0.00801487 0.00490477 0.99995585 -0.4778149 ] [ 0. 0. 0. 1. ]] SLAMing on 22.827719421 meters Centerline goodness [0,1] 0.9331416687056521 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.17, Z:-0.48 [[ 0.9998675 -0.01396006 -0.00837221 2.90247221] [ 0.0139307 0.99989664 -0.00355495 -0.17419418] [ 0.00842097 0.00343785 0.99995863 -0.48014704] [ 0. 0. 0. 1. ]] SLAMing on 22.857719421 meters Centerline goodness [0,1] 0.9325968881447299 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 9.99870578e-01 -1.35062791e-02 -8.74111106e-03 2.90456538e+00] [ 1.34859527e-02 9.99906228e-01 -2.38015309e-03 -1.76712392e-01] [ 8.77243839e-03 2.26196284e-03 9.99958963e-01 -4.81941925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.887719421 meters Centerline goodness [0,1] 0.9377148469471271 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 9.99907135e-01 -1.05926203e-02 -8.57422066e-03 2.90215949e+00] [ 1.05995684e-02 9.99943530e-01 7.65308192e-04 -1.76815674e-01] [ 8.56562986e-03 -8.56120161e-04 9.99962948e-01 -4.79264537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.917719421 meters Centerline goodness [0,1] 0.9403350541759341 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 9.99909540e-01 -1.02614736e-02 -8.69565589e-03 2.90202933e+00] [ 1.02692331e-02 9.99946910e-01 8.48166270e-04 -1.76265172e-01] [ 8.68649080e-03 -9.37387263e-04 9.99961832e-01 -4.78550379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.947719421 meters Centerline goodness [0,1] 0.9376159885795861 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 0.99993321 -0.00803714 -0.00830491 2.89945939] [ 0.00806369 0.99996247 0.00316863 -0.17650207] [ 0.00827913 -0.00323538 0.99996049 -0.47622187] [ 0. 0. 0. 1. ]] SLAMing on 22.977719421 meters Centerline goodness [0,1] 0.9399173249293987 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 0.99993552 -0.00782794 -0.00822726 2.89943351] [ 0.00785611 0.99996337 0.00339817 -0.1771533 ] [ 0.00820036 -0.00346258 0.99996038 -0.47626382] [ 0. 0. 0. 1. ]] SLAMing on 23.007719421 meters Centerline goodness [0,1] 0.9381380404278684 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 9.99916651e-01 -9.64675373e-03 -8.58082311e-03 2.90252784e+00] [ 9.65999700e-03 9.99952211e-01 1.50325095e-03 -1.79875312e-01] [ 8.56591155e-03 -1.58601638e-03 9.99962054e-01 -4.78886510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.037719421 meters Centerline goodness [0,1] 0.9435956018849064 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 9.99920110e-01 -9.20695284e-03 -8.66053122e-03 2.90346668e+00] [ 9.22772913e-03 9.99954634e-01 2.36206907e-03 -1.81793721e-01] [ 8.63839087e-03 -2.44179740e-03 9.99959707e-01 -4.79861249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.067719421 meters Centerline goodness [0,1] 0.9422205900355001 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.18, Z:-0.48 [[ 0.99992066 -0.00897705 -0.00883622 2.90422856] [ 0.00900428 0.99995482 0.00304721 -0.18320118] [ 0.00880846 -0.00312653 0.99995632 -0.48039788] [ 0. 0. 0. 1. ]] SLAMing on 23.097719421 meters Centerline goodness [0,1] 0.9411463664278403 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.48 [[ 0.99991108 -0.00996182 -0.0088659 2.90309604] [ 0.00998947 0.99994536 0.00308001 -0.18583576] [ 0.00883473 -0.0031683 0.99995595 -0.47897046] [ 0. 0. 0. 1. ]] SLAMing on 23.127719421 meters Centerline goodness [0,1] 0.9427446660955412 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.48 [[ 0.99990423 -0.01032011 -0.00922055 2.90302828] [ 0.0103548 0.99993946 0.00372287 -0.18947773] [ 0.00918157 -0.00381799 0.99995056 -0.47803701] [ 0. 0. 0. 1. ]] SLAMing on 23.157719421 meters Centerline goodness [0,1] 0.9436493007278973 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.19, Z:-0.48 [[ 0.99990075 -0.01060778 -0.00927133 2.90196257] [ 0.01064424 0.99993577 0.00389224 -0.19180098] [ 0.00922945 -0.00399054 0.99994945 -0.47654191] [ 0. 0. 0. 1. ]] SLAMing on 23.187719421 meters Centerline goodness [0,1] 0.9507749888124974 Centerline is valid? [False, True] Translation: X:2.90, Y:-0.20, Z:-0.48 [[ 0.99991586 -0.01257812 0.00317207 2.90466069] [ 0.01256707 0.99991497 0.00348247 -0.19603274] [-0.00321561 -0.00344231 0.99998891 -0.47758265] [ 0. 0. 0. 1. ]] SLAMing on 23.217719420999998 meters Centerline goodness [0,1] 0.9522376527520791 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.20, Z:-0.48 [[ 9.99905020e-01 -1.31230252e-02 4.21153215e-03 2.93735186e+00] [ 1.31229852e-02 9.99913889e-01 3.71299761e-05 -1.96456171e-01] [-4.21165675e-03 1.81414246e-05 9.99991131e-01 -4.76999203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.247719421 meters Centerline goodness [0,1] 0.9502057780856525 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.20, Z:-0.48 [[ 9.99865606e-01 -1.61761145e-02 2.66533007e-03 2.96881020e+00] [ 1.61761100e-02 9.99869158e-01 2.32260170e-05 -1.99208356e-01] [-2.66535704e-03 1.98917769e-05 9.99996448e-01 -4.80866586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.277719421 meters Centerline goodness [0,1] 0.9509795918367348 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.20, Z:-0.48 [[ 9.99786381e-01 -2.06516582e-02 8.38012260e-04 3.00065874e+00] [ 2.06516583e-02 9.99786732e-01 8.53567275e-06 -2.00064429e-01] [-8.38009815e-04 8.77249351e-06 9.99999649e-01 -4.80420643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.307719420999998 meters Centerline goodness [0,1] 0.9488519655894735 Centerline is valid? [True, False] Translation: X:3.00, Y:-0.20, Z:-0.48 [[ 9.99780450e-01 -2.09457185e-02 5.74136415e-04 3.00151045e+00] [ 2.09458801e-02 9.99780573e-01 -2.76851209e-04 -1.99279133e-01] [-5.68211586e-04 2.88816219e-04 9.99999797e-01 -4.80812929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.337719421 meters Centerline goodness [0,1] 0.9485849634499939 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.20, Z:-0.48 [[ 9.99774971e-01 -2.12057275e-02 5.69027554e-04 3.00181546e+00] [ 2.12061342e-02 9.99774866e-01 -7.18517164e-04 -1.98321767e-01] [-5.53662767e-04 7.30422352e-04 9.99999580e-01 -4.81126809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.367719421 meters Centerline goodness [0,1] 0.9506381076247764 Centerline is valid? [False, True] Translation: X:3.00, Y:-0.20, Z:-0.48 [[ 9.99763827e-01 -2.17258202e-02 5.27885037e-04 3.00231629e+00] [ 2.17268442e-02 9.99761907e-01 -2.01848239e-03 -1.95332877e-01] [-4.83906166e-04 2.02947495e-03 9.99997824e-01 -4.81461733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.397719420999998 meters Centerline goodness [0,1] 0.9488188173905954 Centerline is valid? [True, False] Translation: X:3.00, Y:-0.19, Z:-0.48 [[ 9.99810518e-01 -1.94578520e-02 5.66643854e-04 3.00237964e+00] [ 1.94577315e-02 9.99810657e-01 2.17275701e-04 -1.92310561e-01] [-5.70764283e-04 -2.06208927e-04 9.99999816e-01 -4.81916220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.427719421 meters Centerline goodness [0,1] 0.948186423093354 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.19, Z:-0.48 [[ 9.99806802e-01 -1.96532247e-02 3.29753252e-04 3.00351921e+00] [ 1.96532913e-02 9.99806835e-01 -1.99901946e-04 -1.90295837e-01] [-3.25760837e-04 2.06344062e-04 9.99999926e-01 -4.82716925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.457719421 meters Centerline goodness [0,1] 0.9490849938999594 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.19, Z:-0.48 [[ 9.99858099e-01 -1.68434281e-02 2.83677847e-04 3.00350208e+00] [ 1.68426385e-02 9.99854804e-01 2.58757512e-03 -1.86910335e-01] [-3.27220294e-04 -2.58243005e-03 9.99996612e-01 -4.82733370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.487719421 meters Centerline goodness [0,1] 0.9509895939604163 Centerline is valid? [False, True] Translation: X:3.00, Y:-0.18, Z:-0.48 [[ 9.99906123e-01 -1.36967161e-02 3.81188265e-04 3.00295643e+00] [ 1.36943650e-02 9.99890511e-01 5.60627089e-03 -1.84877883e-01] [-4.57934030e-04 -5.60052446e-03 9.99984212e-01 -4.82376674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.517719421 meters Centerline goodness [0,1] 0.9523595413762799 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.17, Z:-0.48 [[ 9.99987499e-01 -4.85838081e-03 1.18238560e-03 3.03465665e+00] [ 4.85838959e-03 9.99988198e-01 -4.55549205e-06 -1.66735287e-01] [-1.18234951e-03 1.02999250e-05 9.99999301e-01 -4.80585944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.547719421 meters Centerline goodness [0,1] 0.9505128887614913 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.15, Z:-0.48 [[ 9.99972234e-01 7.38561463e-03 -9.92026916e-04 3.06564177e+00] [-7.38561233e-03 9.99972726e-01 5.97395509e-06 -1.51439115e-01] [ 9.92043981e-04 1.35293701e-06 9.99999508e-01 -4.84685480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.577719421 meters Centerline goodness [0,1] 0.9483316274309109 Centerline is valid? [True, False] Translation: X:3.07, Y:-0.15, Z:-0.49 [[ 9.99960616e-01 8.77632636e-03 -1.31994521e-03 3.06809378e+00] [-8.77581260e-03 9.99961414e-01 3.94516007e-04 -1.49985810e-01] [ 1.32335668e-03 -3.82916878e-04 9.99999051e-01 -4.86751922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.607719421 meters Centerline goodness [0,1] 0.9481584206876861 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.15, Z:-0.49 [[ 9.99898777e-01 1.41433360e-02 -1.54969023e-03 3.07067245e+00] [-1.41363614e-02 9.99890295e-01 4.42278589e-03 -1.45982558e-01] [ 1.61207316e-03 -4.40043122e-03 9.99989019e-01 -4.88815617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.637719421 meters Centerline goodness [0,1] 0.9499499908146394 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:-0.49 [[ 9.99895366e-01 1.43691192e-02 -1.66926914e-03 3.07058218e+00] [-1.43629953e-02 9.99890278e-01 3.62440446e-03 -1.41333144e-01] [ 1.72116548e-03 -3.60004952e-03 9.99992039e-01 -4.88041536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.667719421 meters Centerline goodness [0,1] 0.9483764379538223 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:-0.49 [[ 9.99846332e-01 1.74481685e-02 -1.69539173e-03 3.06946266e+00] [-1.74377633e-02 9.99830129e-01 5.96964363e-03 -1.36542104e-01] [ 1.79926308e-03 -5.93916244e-03 9.99980744e-01 -4.86126878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.697719421 meters Centerline goodness [0,1] 0.9478278604935754 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:-0.49 [[ 9.99843426e-01 1.75757655e-02 -2.05332294e-03 3.07063090e+00] [-1.75633824e-02 9.99828340e-01 5.90069018e-03 -1.36337011e-01] [ 2.15667961e-03 -5.86370299e-03 9.99980483e-01 -4.86673679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.727719421 meters Centerline goodness [0,1] 0.9456150749044534 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.14, Z:-0.49 [[ 9.99895718e-01 1.42303208e-02 -2.45973034e-03 3.07225700e+00] [-1.42256752e-02 9.99897013e-01 1.89591693e-03 -1.35692104e-01] [ 2.48645653e-03 -1.86072789e-03 9.99995178e-01 -4.87635799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.757719421 meters Centerline goodness [0,1] 0.9415813877484323 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.14, Z:-0.49 [[ 9.99959586e-01 8.46278110e-03 -3.03456565e-03 3.07589613e+00] [-8.47451355e-03 9.99956585e-01 -3.87448315e-03 -1.37469062e-01] [ 3.00164500e-03 3.90004303e-03 9.99987890e-01 -4.90709088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.787719421 meters Centerline goodness [0,1] 0.9457101407817576 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.14, Z:-0.49 [[ 9.99998985e-01 -1.67255601e-04 -1.41470233e-03 3.08012154e+00] [ 1.68233259e-04 9.99999747e-01 6.90978698e-04 -1.36977443e-01] [ 1.41458640e-03 -6.91215997e-04 9.99998761e-01 -4.87559311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.817719421 meters Centerline goodness [0,1] 0.9485635890820484 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.14, Z:-0.48 [[ 9.99997186e-01 -2.05814938e-03 -1.17961578e-03 3.07732768e+00] [ 2.05734114e-03 9.99997648e-01 -6.85973985e-04 -1.36589997e-01] [ 1.18102484e-03 6.83545183e-04 9.99999069e-01 -4.84610916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.847719421 meters Centerline goodness [0,1] 0.951 Centerline is valid? [False, True] Translation: X:3.07, Y:-0.14, Z:-0.48 [[ 9.99950213e-01 -9.97191841e-03 -3.64920465e-04 3.07226830e+00] [ 9.96877729e-03 9.99920026e-01 -7.78234819e-03 -1.38890368e-01] [ 4.42496222e-04 7.77832292e-03 9.99969650e-01 -4.79547088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.877719421 meters Centerline goodness [0,1] 0.9500589694578877 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.15, Z:-0.48 [[ 9.99888977e-01 -1.48429708e-02 1.31121413e-03 3.10457489e+00] [ 1.48429749e-02 9.99889837e-01 6.60512726e-06 -1.50212296e-01] [-1.31116772e-03 1.28579245e-05 9.99999140e-01 -4.82047499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.907719421 meters Centerline goodness [0,1] 0.9479026537850067 Centerline is valid? [True, False] Translation: X:3.11, Y:-0.16, Z:-0.48 [[ 9.99746716e-01 -2.24775289e-02 1.12432798e-03 3.10628086e+00] [ 2.24841012e-02 9.99727842e-01 -6.22146077e-03 -1.55335702e-01] [-9.84178923e-04 6.24516448e-03 9.99980014e-01 -4.83545148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.937719421 meters Centerline goodness [0,1] 0.9475391111020458 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.16, Z:-0.48 [[ 9.99752383e-01 -2.22333845e-02 9.21385129e-04 3.10761089e+00] [ 2.22378890e-02 9.99739148e-01 -5.20693700e-03 -1.57293177e-01] [-8.05376951e-04 5.22613734e-03 9.99986019e-01 -4.84798331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.967719420999998 meters Centerline goodness [0,1] 0.9437636359929041 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.16, Z:-0.49 [[ 9.99845306e-01 -1.75865855e-02 2.76889489e-04 3.11039790e+00] [ 1.75864822e-02 9.99845277e-01 3.71171135e-04 -1.58987799e-01] [-2.83374281e-04 -3.66244204e-04 9.99999893e-01 -4.87267382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.997719421 meters Centerline goodness [0,1] 0.9437636359929041 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.16, Z:-0.49 [[ 9.99845306e-01 -1.75865855e-02 2.76889489e-04 3.11039790e+00] [ 1.75864822e-02 9.99845277e-01 3.71171135e-04 -1.58987799e-01] [-2.83374281e-04 -3.66244204e-04 9.99999893e-01 -4.87267382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.027719421 meters Centerline goodness [0,1] 0.9456976625497602 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.16, Z:-0.49 [[ 9.99912724e-01 -1.32111206e-02 1.06427830e-04 3.11127756e+00] [ 1.32104303e-02 9.99900434e-01 4.96059498e-03 -1.60024943e-01] [-1.71952252e-04 -4.95875608e-03 9.99987691e-01 -4.88036256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.057719420999998 meters Centerline goodness [0,1] 0.9463228388255952 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.16, Z:-0.49 [[ 9.99982704e-01 -1.32508878e-03 5.73027175e-03 3.10642808e+00] [ 1.31796008e-03 9.99998353e-01 1.24763965e-03 -1.59528178e-01] [-5.73191554e-03 -1.24006580e-03 9.99982804e-01 -4.86712053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.087719421 meters Centerline goodness [0,1] 0.9510672162592335 Centerline is valid? [False, True] Translation: X:3.11, Y:-0.16, Z:-0.49 [[ 9.99983789e-01 1.65840303e-04 5.69154640e-03 3.10625159e+00] [-1.73456057e-04 9.99999090e-01 1.33761416e-03 -1.57908661e-01] [-5.69131940e-03 -1.33857971e-03 9.99982908e-01 -4.85553414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.117719421 meters Centerline goodness [0,1] 0.9540318962352653 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.15, Z:-0.48 [[ 9.99888311e-01 1.13219428e-02 9.75593661e-03 3.13781586e+00] [-1.13226701e-02 9.99935896e-01 1.93224446e-05 -1.46873830e-01] [-9.75509245e-03 -1.29783538e-04 9.99952410e-01 -4.82484983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.147719420999998 meters Centerline goodness [0,1] 0.9550326850460839 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.14, Z:-0.48 [[ 9.99827528e-01 1.56217459e-02 1.00436382e-02 3.16863316e+00] [-1.56227195e-02 9.99877958e-01 1.84868055e-05 -1.41551086e-01] [-1.00421237e-02 -1.75392560e-04 9.99949561e-01 -4.82959857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.177719421 meters Centerline goodness [0,1] 0.9486302067420308 Centerline is valid? [True, False] Translation: X:3.17, Y:-0.14, Z:-0.49 [[ 0.99975742 0.01974668 0.00975581 3.17297415] [-0.01978193 0.99979809 0.0035301 -0.1399898 ] [-0.00968413 -0.00372223 0.99994618 -0.4870949 ] [ 0. 0. 0. 1. ]] SLAMing on 24.207719421 meters Centerline goodness [0,1] 0.939809904544342 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.14, Z:-0.49 [[ 0.99974474 0.02056557 0.00935482 3.17881399] [-0.02060216 0.99978041 0.00383187 -0.14071008] [-0.00927396 -0.00402362 0.9999489 -0.49298001] [ 0. 0. 0. 1. ]] SLAMing on 24.237719421 meters Centerline goodness [0,1] 0.9351883892767725 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.14, Z:-0.49 [[ 0.99973129 0.021344 0.00904298 3.180919 ] [-0.02138547 0.99976112 0.00451355 -0.14140054] [-0.00894448 -0.00470572 0.99994892 -0.49480191] [ 0. 0. 0. 1. ]] SLAMing on 24.267719421 meters Centerline goodness [0,1] 0.9262607137767462 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.14, Z:-0.50 [[ 0.99971544 0.0222337 0.00864284 3.18277058] [-0.02227843 0.99973872 0.00511456 -0.14157498] [-0.00852686 -0.00530565 0.99994957 -0.4959349 ] [ 0. 0. 0. 1. ]] SLAMing on 24.297719421 meters Centerline goodness [0,1] 0.9269267013561683 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.14, Z:-0.50 [[ 9.99784911e-01 1.90266321e-02 8.25345551e-03 3.18305336e+00] [-1.90376206e-02 9.99817981e-01 1.25486421e-03 -1.40805718e-01] [-8.22807738e-03 -1.41172046e-03 9.99965152e-01 -4.95187204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.327719421 meters Centerline goodness [0,1] 0.9399467187277571 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.15, Z:-0.49 [[ 9.99838908e-01 1.60735255e-02 7.98746901e-03 3.18112387e+00] [-1.60654057e-02 9.99870360e-01 -1.07969800e-03 -1.45043805e-01] [-8.00378807e-03 9.51202139e-04 9.99967517e-01 -4.92112859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.357719421 meters Centerline goodness [0,1] 0.9427039807586474 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.15, Z:-0.49 [[ 0.99987967 0.01330842 0.00797011 3.1782338 ] [-0.01327905 0.99990489 -0.00372631 -0.14652971] [-0.00801894 0.00362002 0.9999613 -0.48856075] [ 0. 0. 0. 1. ]] SLAMing on 24.387719421 meters Centerline goodness [0,1] 0.9526265364779746 Centerline is valid? [False, True] Translation: X:3.18, Y:-0.15, Z:-0.48 [[ 0.99991253 0.00697132 0.01123984 3.17796969] [-0.00700779 0.9999703 0.00320831 -0.1500451 ] [-0.01121714 -0.0032868 0.99993168 -0.48191374] [ 0. 0. 0. 1. ]] SLAMing on 24.417719421 meters Centerline goodness [0,1] 0.9525136823258937 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.15, Z:-0.48 [[ 9.99922061e-01 2.66492456e-03 1.21971572e-02 3.20993396e+00] [-2.66756387e-03 9.99996422e-01 2.00123688e-04 -1.53100984e-01] [-1.21965803e-02 -2.32644786e-04 9.99925592e-01 -4.81364056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.447719421 meters Centerline goodness [0,1] 0.9473727287608447 Centerline is valid? [True, False] Translation: X:3.21, Y:-0.16, Z:-0.49 [[ 0.99990436 -0.00753585 0.0115968 3.21421588] [ 0.00764032 0.9999304 -0.00899015 -0.157025 ] [-0.01152825 0.00907789 0.99989234 -0.48542937] [ 0. 0. 0. 1. ]] SLAMing on 24.477719421 meters Centerline goodness [0,1] 0.9432483320371658 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.16, Z:-0.49 [[ 0.99978631 -0.01768294 0.01070752 3.21987975] [ 0.0178648 0.99969359 -0.01713412 -0.16289656] [-0.01040126 0.01732175 0.99979586 -0.49135846] [ 0. 0. 0. 1. ]] SLAMing on 24.507719421 meters Centerline goodness [0,1] 0.9419258532196388 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.16, Z:-0.49 [[ 0.9997219 -0.02110126 0.01052867 3.22175334] [ 0.02130816 0.99957405 -0.01994182 -0.1649368 ] [-0.01010338 0.02016062 0.9997457 -0.49314488] [ 0. 0. 0. 1. ]] SLAMing on 24.537719421 meters Centerline goodness [0,1] 0.939300390489236 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.17, Z:-0.50 [[ 0.99966424 -0.02385121 0.0101253 3.22491439] [ 0.02406931 0.99946833 -0.02199374 -0.16634975] [-0.00959534 0.02223007 0.99970683 -0.49591138] [ 0. 0. 0. 1. ]] SLAMing on 24.567719421 meters Centerline goodness [0,1] 0.9371694607232557 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 0.9997502 -0.02010283 0.00976777 3.22600068] [ 0.02027046 0.99964352 -0.01737652 -0.16836247] [-0.00941497 0.01757018 0.9998013 -0.49681032] [ 0. 0. 0. 1. ]] SLAMing on 24.597719421 meters Centerline goodness [0,1] 0.9333183379682644 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 0.99988464 -0.01186382 0.00948433 3.22683954] [ 0.01194444 0.99989263 -0.00848902 -0.17099095] [-0.0093826 0.00860132 0.99991899 -0.49747782] [ 0. 0. 0. 1. ]] SLAMing on 24.627719421 meters Centerline goodness [0,1] 0.9356959950834784 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 0.99992792 -0.00742328 0.00943635 3.22689023] [ 0.00746143 0.9999641 -0.00401447 -0.17156229] [-0.00940621 0.00408459 0.99994742 -0.49739379] [ 0. 0. 0. 1. ]] SLAMing on 24.657719421 meters Centerline goodness [0,1] 0.9401704149768547 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 9.99951208e-01 -1.76217513e-03 9.71991682e-03 3.22588024e+00] [ 1.76088440e-03 9.99998440e-01 1.41348920e-04 -1.68915318e-01] [-9.72015073e-03 -1.24226373e-04 9.99952751e-01 -4.95845094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.687719421 meters Centerline goodness [0,1] 0.9443274949416501 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 9.99950380e-01 2.28176513e-03 9.69695417e-03 3.22592680e+00] [-2.31761257e-03 9.99990517e-01 3.68714505e-03 -1.67244648e-01] [-9.68844901e-03 -3.70943588e-03 9.99946186e-01 -4.95545559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.717719420999998 meters Centerline goodness [0,1] 0.9447825290537928 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.49 [[ 0.99992668 0.00726539 0.00968754 3.22609933] [-0.00733397 0.99994817 0.00706248 -0.16338995] [-0.00963573 -0.00713301 0.99992813 -0.49485673] [ 0. 0. 0. 1. ]] SLAMing on 24.747719421 meters Centerline goodness [0,1] 0.9425336597307221 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.50 [[ 0.99991065 0.00917185 0.00972508 3.22782523] [-0.00924844 0.99992634 0.00785965 -0.16202354] [-0.00965228 -0.00794889 0.99992182 -0.49650792] [ 0. 0. 0. 1. ]] SLAMing on 24.777719421 meters Centerline goodness [0,1] 0.9441070991930882 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.50 [[ 0.99990997 0.00945502 0.0095215 3.22889314] [-0.00953042 0.99992334 0.00790498 -0.1620297 ] [-0.00944603 -0.00799501 0.99992342 -0.49722975] [ 0. 0. 0. 1. ]] SLAMing on 24.807719420999998 meters Centerline goodness [0,1] 0.9406198490059218 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.50 [[ 0.99993097 0.00684378 0.00955039 3.22938724] [-0.00688505 0.99996707 0.00429522 -0.16074022] [-0.00952068 -0.00436067 0.99994517 -0.49725298] [ 0. 0. 0. 1. ]] SLAMing on 24.837719421 meters Centerline goodness [0,1] 0.9432454526875128 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.50 [[ 0.9999339 0.00660208 0.00941323 3.22919778] [-0.00663958 0.99997012 0.00395872 -0.16032955] [-0.00938681 -0.00402096 0.99994786 -0.49653474] [ 0. 0. 0. 1. ]] SLAMing on 24.867719421 meters Centerline goodness [0,1] 0.9436128351791002 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.50 [[ 0.99993411 0.00675886 0.00927833 3.22922966] [-0.00679659 0.99996874 0.00404158 -0.16033578] [-0.00925072 -0.00410437 0.99994879 -0.49577171] [ 0. 0. 0. 1. ]] SLAMing on 24.897719420999998 meters Centerline goodness [0,1] 0.9425146270610859 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.16, Z:-0.50 [[ 0.99993531 0.00674337 0.00915954 3.22921698] [-0.00678205 0.99996819 0.00419852 -0.16159093] [-0.00913094 -0.00426037 0.99994924 -0.49538076] [ 0. 0. 0. 1. ]] SLAMing on 24.927719421 meters Centerline goodness [0,1] 0.9428396572827418 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 9.99953785e-01 4.06753218e-03 8.71113489e-03 3.23253935e+00] [-4.08502042e-03 9.99989675e-01 1.99072111e-03 -1.65141386e-01] [-8.70294762e-03 -2.02621428e-03 9.99960076e-01 -4.98372756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.957719421 meters Centerline goodness [0,1] 0.9359491029601292 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.17, Z:-0.50 [[ 9.99964297e-01 1.88047239e-04 8.44804573e-03 3.23466422e+00] [-1.86780807e-04 9.99999971e-01 -1.50696930e-04 -1.70449513e-01] [-8.44807382e-03 1.49113617e-04 9.99964303e-01 -5.00898355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.987719421 meters Centerline goodness [0,1] 0.9409573706076172 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.17, Z:-0.50 [[ 9.99966562e-01 -6.34213304e-04 8.15307613e-03 3.23533252e+00] [ 6.31389002e-04 9.99999740e-01 3.48978697e-04 -1.74482154e-01] [-8.15329534e-03 -3.43819265e-04 9.99966702e-01 -5.01221523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.017719421 meters Centerline goodness [0,1] 0.9400744467623839 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.18, Z:-0.50 [[ 9.99959010e-01 -4.10417303e-03 8.07062949e-03 3.23594800e+00] [ 4.11686380e-03 9.99990314e-01 -1.55647902e-03 -1.80793755e-01] [-8.06416327e-03 1.58964091e-03 9.99966221e-01 -5.01623745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.047719421 meters Centerline goodness [0,1] 0.9392933267748811 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.18, Z:-0.50 [[ 9.99962428e-01 -3.83741812e-03 7.77281523e-03 3.23728493e+00] [ 3.83960057e-03 9.99992593e-01 -2.65877193e-04 -1.84366383e-01] [-7.77173738e-03 2.95711709e-04 9.99969756e-01 -5.02631416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.077719421 meters Centerline goodness [0,1] 0.9382897803950435 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.19, Z:-0.51 [[ 9.99954103e-01 -5.88867753e-03 7.55753302e-03 3.24026138e+00] [ 5.89836590e-03 9.99981810e-01 -1.26030143e-03 -1.90230764e-01] [-7.54997404e-03 1.30482068e-03 9.99970647e-01 -5.05577335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.107719421 meters Centerline goodness [0,1] 0.9410860655737705 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.19, Z:-0.51 [[ 9.99957185e-01 -5.40160086e-03 7.51334492e-03 3.24040249e+00] [ 5.40122786e-03 9.99985411e-01 6.99357560e-05 -1.94488463e-01] [-7.51361307e-03 -2.93514739e-05 9.99971772e-01 -5.05526962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.137719421 meters Centerline goodness [0,1] 0.9459498119993461 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.20, Z:-0.50 [[ 9.99952356e-01 -5.65750847e-03 7.95473549e-03 3.23819653e+00] [ 5.64946256e-03 9.99983508e-01 1.03356932e-03 -2.00898162e-01] [-7.96045172e-03 -9.88580097e-04 9.99967826e-01 -5.03112638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.167719421 meters Centerline goodness [0,1] 0.9506379503929775 Centerline is valid? [False, True] Translation: X:3.24, Y:-0.20, Z:-0.50 [[ 9.99953910e-01 -5.57238074e-03 7.81830468e-03 3.23855774e+00] [ 5.56042722e-03 9.99983340e-01 1.54981954e-03 -2.02036712e-01] [-7.82681061e-03 -1.50627499e-03 9.99968236e-01 -5.03059957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.197719421 meters Centerline goodness [0,1] 0.9469365202799492 Centerline is valid? [True, False] Translation: X:3.24, Y:-0.20, Z:-0.50 [[ 9.99950075e-01 -6.53736350e-03 7.55715329e-03 3.23861467e+00] [ 6.52423479e-03 9.99977167e-01 1.76060591e-03 -2.03883289e-01] [-7.56849046e-03 -1.71121337e-03 9.99969894e-01 -5.02517424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.227719421 meters Centerline goodness [0,1] 0.9441086379415969 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.21, Z:-0.50 [[ 0.99987815 -0.01381717 0.00726466 3.24034195] [ 0.01385205 0.99989266 -0.00477278 -0.20813174] [-0.00719794 0.00487283 0.99996222 -0.50351545] [ 0. 0. 0. 1. ]] SLAMing on 25.257719421 meters Centerline goodness [0,1] 0.9463234844936773 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.21, Z:-0.50 [[ 0.99981805 -0.0176719 0.00718112 3.24122594] [ 0.01772926 0.99981079 -0.00800378 -0.21094242] [-0.00703832 0.00812964 0.99994218 -0.50413859] [ 0. 0. 0. 1. ]] SLAMing on 25.287719421 meters Centerline goodness [0,1] 0.9472870424999491 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.21, Z:-0.50 [[ 0.99974198 -0.02155377 0.00717029 3.24186871] [ 0.02163494 0.99970045 -0.01144267 -0.2124917 ] [-0.00692151 0.01159485 0.99990882 -0.50463708] [ 0. 0. 0. 1. ]] SLAMing on 25.317719421 meters Centerline goodness [0,1] 0.9492488424287765 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.21, Z:-0.50 [[ 0.99961633 -0.02668276 0.00743165 3.24119182] [ 0.02679876 0.99951324 -0.01597228 -0.21144106] [-0.00700185 0.01616531 0.99984482 -0.50376778] [ 0. 0. 0. 1. ]] SLAMing on 25.347719421 meters Centerline goodness [0,1] 0.9537385363076235 Centerline is valid? [False, True] Translation: X:3.24, Y:-0.21, Z:-0.50 [[ 0.99963837 -0.02576838 0.00768947 3.23839684] [ 0.02587758 0.99956058 -0.01445703 -0.211394 ] [-0.00731356 0.01465079 0.99986592 -0.50082307] [ 0. 0. 0. 1. ]] SLAMing on 25.377719421 meters Centerline goodness [0,1] 0.9580625507717303 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.21, Z:-0.50 [[ 9.99635946e-01 -2.51851242e-02 9.67905776e-03 3.27102787e+00] [ 2.51860850e-02 9.99682780e-01 2.26367915e-05 -2.12477467e-01] [-9.67655748e-03 2.21149021e-04 9.99953157e-01 -4.97477799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.407719421 meters Centerline goodness [0,1] 0.9575911789652247 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.21, Z:-0.50 [[ 9.99685903e-01 -2.26011757e-02 1.08297062e-02 3.30234316e+00] [ 2.26022453e-02 9.99744536e-01 2.36343203e-05 -2.10963936e-01] [-1.08274738e-02 2.21148779e-04 9.99941357e-01 -4.97878859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.437719421 meters Centerline goodness [0,1] 0.9553809514116474 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.21, Z:-0.50 [[ 9.99756371e-01 -2.04485941e-02 8.30980246e-03 3.33394413e+00] [ 2.04491357e-02 9.99790894e-01 1.97906693e-05 -2.07541424e-01] [-8.30846953e-03 1.50142431e-04 9.99965473e-01 -5.00623954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.467719420999998 meters Centerline goodness [0,1] 0.9527445231696392 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.19, Z:-0.51 [[ 9.99905603e-01 -1.26496216e-02 5.36399650e-03 3.36505940e+00] [ 1.26497415e-02 9.99919989e-01 1.15908274e-05 -1.94494027e-01] [-5.36371394e-03 5.62634356e-05 9.99985614e-01 -5.06274167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.497719421 meters Centerline goodness [0,1] 0.9510789602746444 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.19, Z:-0.51 [[ 9.99968567e-01 -7.18883283e-03 3.34459207e-03 3.39692065e+00] [ 7.18884513e-03 9.99974160e-01 8.34198478e-06 -1.85923562e-01] [-3.34456562e-03 1.57020319e-05 9.99994407e-01 -5.08663224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.527719421 meters Centerline goodness [0,1] 0.9492895639392455 Centerline is valid? [True, False] Translation: X:3.40, Y:-0.18, Z:-0.51 [[ 9.99994188e-01 7.05389596e-04 3.33558153e-03 3.40029482e+00] [-7.27392088e-04 9.99977957e-01 6.59969258e-03 -1.82732333e-01] [-3.33085265e-03 -6.60208050e-03 9.99972659e-01 -5.12065060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.557719420999998 meters Centerline goodness [0,1] 0.9478136200716846 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.51 [[ 9.99993560e-01 1.60188697e-03 3.21139773e-03 3.40143425e+00] [-1.62288927e-03 9.99977245e-01 6.54802293e-03 -1.81271407e-01] [-3.20083546e-03 -6.55319251e-03 9.99973405e-01 -5.12878258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.587719421 meters Centerline goodness [0,1] 0.9449895743897951 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.18, Z:-0.52 [[ 9.99980728e-01 5.26020020e-03 3.29748118e-03 3.40386775e+00] [-5.29087984e-03 9.99942147e-01 9.36533055e-03 -1.79512181e-01] [-3.24802689e-03 -9.38259664e-03 9.99950707e-01 -5.15396402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.617719421 meters Centerline goodness [0,1] 0.9421980617314114 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.18, Z:-0.52 [[ 9.99950579e-01 9.43484638e-03 3.13418185e-03 3.40526841e+00] [-9.47474754e-03 9.99870997e-01 1.29699036e-02 -1.76602664e-01] [-3.01140848e-03 -1.29989582e-02 9.99910975e-01 -5.16321070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.647719420999998 meters Centerline goodness [0,1] 0.9428355062526863 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.17, Z:-0.52 [[ 9.99946695e-01 9.92335861e-03 2.85195336e-03 3.40646789e+00] [-9.95890322e-03 9.99869354e-01 1.27316947e-02 -1.74407313e-01] [-2.72523959e-03 -1.27594184e-02 9.99914882e-01 -5.16970716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.677719421 meters Centerline goodness [0,1] 0.9374030216414864 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.17, Z:-0.52 [[ 9.99922733e-01 1.21470103e-02 2.64156826e-03 3.40909972e+00] [-1.21831945e-02 9.99825759e-01 1.41428639e-02 -1.74204903e-01] [-2.46931448e-03 -1.41739538e-02 9.99896495e-01 -5.19095368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.707719421 meters Centerline goodness [0,1] 0.937674513400591 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.17, Z:-0.52 [[ 9.99920374e-01 1.23877650e-02 2.40610187e-03 3.40984358e+00] [-1.24207574e-02 9.99821763e-01 1.42185678e-02 -1.74564775e-01] [-2.22953673e-03 -1.42473212e-02 9.99896016e-01 -5.19247345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.737719420999998 meters Centerline goodness [0,1] 0.942168919605651 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.17, Z:-0.52 [[ 9.99940745e-01 1.05641928e-02 2.62764867e-03 3.40709390e+00] [-1.05957210e-02 9.99868347e-01 1.22889960e-02 -1.74651690e-01] [-2.49747941e-03 -1.23161097e-02 9.99921035e-01 -5.15769684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.767719421 meters Centerline goodness [0,1] 0.9463092699766473 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.17, Z:-0.52 [[ 9.99975387e-01 6.52378368e-03 2.58183155e-03 3.40688105e+00] [-6.54331509e-03 9.99949481e-01 7.63021675e-03 -1.72857371e-01] [-2.53192324e-03 -7.64692268e-03 9.99967556e-01 -5.15052819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.797719421 meters Centerline goodness [0,1] 0.951221993854419 Centerline is valid? [False, True] Translation: X:3.41, Y:-0.17, Z:-0.52 [[ 9.99993721e-01 2.31571109e-03 2.68225239e-03 3.40698728e+00] [-2.32486090e-03 9.99991473e-01 3.41316307e-03 -1.73675114e-01] [-2.67432562e-03 -3.41937750e-03 9.99990578e-01 -5.15196795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.827719421 meters Centerline goodness [0,1] 0.9513109377228187 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.18, Z:-0.52 [[ 9.99995847e-01 2.86879236e-04 2.86771584e-03 3.43726069e+00] [-2.87066092e-04 9.99999957e-01 6.47470711e-05 -1.77395602e-01] [-2.86769714e-03 -6.55700262e-05 9.99995886e-01 -5.16320146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.857719421 meters Centerline goodness [0,1] 0.9479954227798438 Centerline is valid? [True, False] Translation: X:3.44, Y:-0.18, Z:-0.52 [[ 9.99987173e-01 -4.30775042e-03 2.66403992e-03 3.43815095e+00] [ 4.31629497e-03 9.99985533e-01 -3.20997809e-03 -1.80205170e-01] [-2.65017360e-03 3.22143569e-03 9.99991299e-01 -5.16905194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.887719421 meters Centerline goodness [0,1] 0.9496825913567185 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.18, Z:-0.52 [[ 9.99946676e-01 -1.00495452e-02 2.37751028e-03 3.43873381e+00] [ 1.00656579e-02 9.99925774e-01 -6.86509190e-03 -1.83084353e-01] [-2.30834275e-03 6.88865703e-03 9.99973609e-01 -5.16988473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.917719421 meters Centerline goodness [0,1] 0.9496825913567185 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.18, Z:-0.52 [[ 9.99946676e-01 -1.00495452e-02 2.37751028e-03 3.43873381e+00] [ 1.00656579e-02 9.99925774e-01 -6.86509190e-03 -1.83084353e-01] [-2.30834275e-03 6.88865703e-03 9.99973609e-01 -5.16988473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.947719421 meters Centerline goodness [0,1] 0.9476534663544742 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.19, Z:-0.52 [[ 9.99903769e-01 -1.37003361e-02 2.18037425e-03 3.44040618e+00] [ 1.37207495e-02 9.99859393e-01 -9.64030067e-03 -1.85906289e-01] [-2.04799232e-03 9.66928934e-03 9.99951154e-01 -5.18455993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.977719421 meters Centerline goodness [0,1] 0.9455326109180127 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.19, Z:-0.52 [[ 9.99853849e-01 -1.69850051e-02 1.94705930e-03 3.44291759e+00] [ 1.70070336e-02 9.99784331e-01 -1.19185303e-02 -1.89695521e-01] [-1.74420309e-03 1.19499021e-02 9.99927076e-01 -5.20970215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.007719421 meters Centerline goodness [0,1] 0.9381884944920441 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.20, Z:-0.53 [[ 9.99703232e-01 -2.43523873e-02 -6.39815141e-04 3.45208846e+00] [ 2.43393027e-02 9.99579759e-01 -1.57449468e-02 -1.96322656e-01] [ 1.02297331e-03 1.57247015e-02 9.99875836e-01 -5.29487381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.037719421 meters Centerline goodness [0,1] 0.9392833849665743 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.20, Z:-0.53 [[ 9.99574241e-01 -2.91743316e-02 -4.41836649e-04 3.45318017e+00] [ 2.91603591e-02 9.99388069e-01 -1.93173982e-02 -1.99856707e-01] [ 1.00513846e-03 1.92962896e-02 9.99813304e-01 -5.30815549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.067719421 meters Centerline goodness [0,1] 0.9416603881162312 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.20, Z:-0.53 [[ 9.99557066e-01 -2.97582729e-02 -3.42774850e-04 3.45244781e+00] [ 2.97460916e-02 9.99370561e-01 -1.93300878e-02 -2.00724021e-01] [ 9.17789122e-04 1.93113296e-02 9.99813098e-01 -5.29841368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.097719421 meters Centerline goodness [0,1] 0.9447041293298769 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.20, Z:-0.53 [[ 9.99585473e-01 -2.87895419e-02 -2.11329115e-04 3.45031964e+00] [ 2.87811352e-02 9.99425120e-01 -1.79185937e-02 -2.00385544e-01] [ 7.27075731e-04 1.79050837e-02 9.99839427e-01 -5.27540490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.127719421 meters Centerline goodness [0,1] 0.9497522279095377 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.20, Z:-0.52 [[ 9.99691224e-01 -2.48434145e-02 5.10544403e-04 3.44598304e+00] [ 2.48481076e-02 9.99594966e-01 -1.38735884e-02 -1.97416496e-01] [-1.65670309e-04 1.38819906e-02 9.99903627e-01 -5.23387072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.157719421 meters Centerline goodness [0,1] 0.9515353236052199 Centerline is valid? [False, True] Translation: X:3.45, Y:-0.19, Z:-0.52 [[ 9.99778826e-01 -2.10201070e-02 6.74651288e-04 3.44654838e+00] [ 2.10261304e-02 9.99721555e-01 -1.07105176e-02 -1.94472585e-01] [-4.49327209e-04 1.07223340e-02 9.99942413e-01 -5.24158525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.187719421 meters Centerline goodness [0,1] 0.9504992867332382 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.19, Z:-0.53 [[ 9.99829267e-01 -1.84658497e-02 -6.70520461e-04 3.47789225e+00] [ 1.84658567e-02 9.99829492e-01 4.16633787e-06 -1.92855118e-01] [ 6.70329197e-04 -1.65473613e-05 9.99999775e-01 -5.28078494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.217719420999998 meters Centerline goodness [0,1] 0.9452580836244051 Centerline is valid? [True, False] Translation: X:3.48, Y:-0.19, Z:-0.53 [[ 9.99889369e-01 -1.48550732e-02 -7.59166866e-04 3.48274938e+00] [ 1.48567270e-02 9.99887165e-01 2.22138173e-03 -1.88664068e-01] [ 7.26082417e-04 -2.23241471e-03 9.99997245e-01 -5.33381657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.247719421 meters Centerline goodness [0,1] 0.9450462190006923 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.19, Z:-0.54 [[ 9.99926200e-01 -1.21156220e-02 -8.97841095e-04 3.48498110e+00] [ 1.21193873e-02 9.99917251e-01 4.31414810e-03 -1.85387333e-01] [ 8.45498212e-04 -4.32471100e-03 9.99990291e-01 -5.35532807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.277719421 meters Centerline goodness [0,1] 0.9461085170156801 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.18, Z:-0.53 [[ 9.99981243e-01 -6.08485166e-03 -6.98815550e-04 3.48372178e+00] [ 6.09097031e-03 9.99939902e-01 9.11555651e-03 -1.77478111e-01] [ 6.43306743e-04 -9.11964200e-03 9.99958208e-01 -5.34224859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.307719420999998 meters Centerline goodness [0,1] 0.9484725050916497 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.17, Z:-0.53 [[ 9.99979263e-01 -6.39212362e-03 -7.83614649e-04 3.48338319e+00] [ 6.39786390e-03 9.99950987e-01 7.55589248e-03 -1.72493067e-01] [ 7.35278043e-04 -7.56074926e-03 9.99971147e-01 -5.33147483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.337719421 meters Centerline goodness [0,1] 0.952534599618491 Centerline is valid? [False, True] Translation: X:3.48, Y:-0.17, Z:-0.53 [[ 9.99972490e-01 -7.41698258e-03 -8.51901373e-05 3.48158657e+00] [ 7.41729449e-03 9.99962047e-01 4.57044247e-03 -1.65379984e-01] [ 5.12880118e-05 -4.57094862e-03 9.99989552e-01 -5.30916649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.367719421 meters Centerline goodness [0,1] 0.9533098491173057 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.16, Z:-0.53 [[ 9.99966316e-01 -8.05145434e-03 1.59414983e-03 3.51265126e+00] [ 8.05146763e-03 9.99967586e-01 -1.91946525e-06 -1.61828112e-01] [-1.59408270e-03 1.47546463e-05 9.99998729e-01 -5.28708348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.397719420999998 meters Centerline goodness [0,1] 0.9515649802596768 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.16, Z:-0.53 [[ 9.99931853e-01 -1.16437943e-02 8.43513306e-04 3.54517610e+00] [ 1.16437984e-02 9.99932209e-01 -2.25548072e-08 -1.62226321e-01] [-8.43455860e-04 9.84425218e-06 9.99999644e-01 -5.32441571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.427719421 meters Centerline goodness [0,1] 0.9516510395434162 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.16, Z:-0.53 [[ 9.99895222e-01 -1.44739580e-02 -2.24203798e-04 3.57705701e+00] [ 1.44739587e-02 9.99895247e-01 1.85767313e-06 -1.63357250e-01] [ 2.24153425e-04 -5.10259502e-06 9.99999975e-01 -5.34878896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.457719421 meters Centerline goodness [0,1] 0.9528037951587398 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.16, Z:-0.53 [[ 9.99815388e-01 -1.91694687e-02 1.31201105e-03 3.60935511e+00] [ 1.91694866e-02 9.99816249e-01 -1.05169391e-06 -1.61397765e-01] [-1.31174981e-03 2.62020780e-05 9.99999139e-01 -5.33981495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.487719420999998 meters Centerline goodness [0,1] 0.9534679901351324 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.16, Z:-0.53 [[ 9.99815875e-01 -1.90428466e-02 2.36361897e-03 3.64142884e+00] [ 1.90429075e-02 9.99818667e-01 -3.26380725e-06 -1.57716454e-01] [-2.36312822e-03 4.82733836e-05 9.99997207e-01 -5.32692790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.517719421 meters Centerline goodness [0,1] 0.9523809523809523 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.15, Z:-0.54 [[ 9.99917302e-01 -1.27424867e-02 1.73716243e-03 3.67138075e+00] [ 1.27425114e-02 9.99918811e-01 -3.14973088e-06 -1.48512763e-01] [-1.73698125e-03 2.52852823e-05 9.99998491e-01 -5.36024295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.547719421 meters Centerline goodness [0,1] 0.9478670076726343 Centerline is valid? [True, False] Translation: X:3.67, Y:-0.14, Z:-0.54 [[ 9.99993823e-01 -1.89554393e-03 -2.95998453e-03 3.66753234e+00] [ 1.88709810e-03 9.99994148e-01 -2.85352591e-03 -1.43671189e-01] [ 2.96537619e-03 2.84792250e-03 9.99991548e-01 -5.37928263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.577719421 meters Centerline goodness [0,1] 0.9490353335924873 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.14, Z:-0.54 [[ 9.99992652e-01 2.19612370e-03 -3.14211161e-03 3.66861558e+00] [-2.19534412e-03 9.99997559e-01 2.51535475e-04 -1.39634756e-01] [ 3.14265634e-03 -2.44635611e-04 9.99995032e-01 -5.38569749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.607719421 meters Centerline goodness [0,1] 0.9508053185640691 Centerline is valid? [False, True] Translation: X:3.67, Y:-0.13, Z:-0.54 [[ 9.99929083e-01 1.14455587e-02 -3.29058753e-03 3.66994005e+00] [-1.14191979e-02 9.99903424e-01 7.92115533e-03 -1.33298454e-01] [ 3.38093178e-03 -7.88301772e-03 9.99963213e-01 -5.39056330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.637719421 meters Centerline goodness [0,1] 0.9494914494201097 Centerline is valid? [True, False] Translation: X:3.67, Y:-0.13, Z:-0.54 [[ 9.99869871e-01 1.57563749e-02 -3.46086920e-03 3.67106974e+00] [-1.57148487e-02 9.99807883e-01 1.17150169e-02 -1.32136107e-01] [ 3.64479050e-03 -1.16591054e-02 9.99925388e-01 -5.39714268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.667719421 meters Centerline goodness [0,1] 0.9515934995819995 Centerline is valid? [False, True] Translation: X:3.67, Y:-0.13, Z:-0.54 [[ 9.99766564e-01 2.13189460e-02 -3.51012914e-03 3.67269181e+00] [-2.12590050e-02 9.99640959e-01 1.63097350e-02 -1.32733658e-01] [ 3.85657522e-03 -1.62313058e-02 9.99860826e-01 -5.40823778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.697719421 meters Centerline goodness [0,1] 0.9453530686511019 Centerline is valid? [True, False] Translation: X:3.68, Y:-0.13, Z:-0.54 [[ 0.99972509 0.02311479 -0.00393114 3.67533095] [-0.02304198 0.9995786 0.01765479 -0.13463596] [ 0.00433757 -0.01755935 0.99983641 -0.54274734] [ 0. 0. 0. 1. ]] SLAMing on 26.727719421 meters Centerline goodness [0,1] 0.9446801566579635 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.13, Z:-0.54 [[ 0.99971271 0.0236072 -0.00414657 3.67651192] [-0.02352883 0.99956061 0.01802748 -0.1348336 ] [ 0.00457033 -0.01792474 0.99982889 -0.54352294] [ 0. 0. 0. 1. ]] SLAMing on 26.757719421 meters Centerline goodness [0,1] 0.9347706365880025 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.14, Z:-0.54 [[ 0.99969772 0.02418657 -0.00441428 3.67732066] [-0.02409994 0.99953419 0.01872412 -0.13537485] [ 0.00486509 -0.01861207 0.99981494 -0.54357185] [ 0. 0. 0. 1. ]] SLAMing on 26.787719421 meters Centerline goodness [0,1] 0.92639692502709 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.14, Z:-0.54 [[ 0.9997668 0.02105038 -0.00481848 3.67836218] [-0.0209746 0.99966338 0.01527052 -0.13560155] [ 0.00513831 -0.0151659 0.99987179 -0.54377747] [ 0. 0. 0. 1. ]] SLAMing on 26.817719421 meters Centerline goodness [0,1] 0.9378747263091121 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.14, Z:-0.54 [[ 0.99987255 0.01494352 -0.00561991 3.68082791] [-0.0148882 0.99984154 0.00975941 -0.14245423] [ 0.00576486 -0.0096745 0.99993658 -0.54486024] [ 0. 0. 0. 1. ]] SLAMing on 26.847719421 meters Centerline goodness [0,1] 0.9425877273375287 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.14, Z:-0.55 [[ 0.99993609 0.00943585 -0.00622712 3.68365301] [-0.00941041 0.99994731 0.00410227 -0.14493274] [ 0.0062655 -0.00404341 0.9999722 -0.54657008] [ 0. 0. 0. 1. ]] SLAMing on 26.877719421 meters Centerline goodness [0,1] 0.948284992667427 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.15, Z:-0.55 [[ 9.99967097e-01 5.19179031e-03 -6.23307172e-03 3.68372816e+00] [-5.18548871e-03 9.99986028e-01 1.02673112e-03 -1.50900127e-01] [ 6.23831521e-03 -9.94375816e-04 9.99980047e-01 -5.46553740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.907719421 meters Centerline goodness [0,1] 0.9479671157055065 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.15, Z:-0.55 [[ 9.99973857e-01 3.17687287e-03 -6.49552159e-03 3.68472259e+00] [-3.18143908e-03 9.99994699e-01 -6.92766426e-04 -1.51844011e-01] [ 6.49328633e-03 7.13413421e-04 9.99978664e-01 -5.46932806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.937719421 meters Centerline goodness [0,1] 0.9476754860161971 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.16, Z:-0.55 [[ 9.99976778e-01 -1.12759062e-04 -6.81401762e-03 3.68559686e+00] [ 9.58797630e-05 9.99996927e-01 -2.47741935e-03 -1.58184662e-01] [ 6.81427603e-03 2.47670849e-03 9.99973715e-01 -5.47277404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.967719420999998 meters Centerline goodness [0,1] 0.9496407295952835 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.16, Z:-0.55 [[ 9.99970400e-01 -3.11781623e-03 -7.03410454e-03 3.68667310e+00] [ 3.08413020e-03 9.99983749e-01 -4.79473302e-03 -1.62554036e-01] [ 7.04893933e-03 4.77289700e-03 9.99963765e-01 -5.47969637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.997719421 meters Centerline goodness [0,1] 0.9498100257384483 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.17, Z:-0.55 [[ 0.99993212 -0.00919512 -0.00715563 3.68765286] [ 0.00912382 0.99990904 -0.00993272 -0.16950521] [ 0.00724631 0.00986676 0.99992507 -0.54840314] [ 0. 0. 0. 1. ]] SLAMing on 27.027719421 meters Centerline goodness [0,1] 0.9513263518194043 Centerline is valid? [False, True] Translation: X:3.69, Y:-0.17, Z:-0.55 [[ 0.99993295 -0.00880627 -0.0075192 3.68884389] [ 0.00874124 0.99992449 -0.00863782 -0.17296731] [ 0.0075947 0.00857151 0.99993442 -0.54901722] [ 0. 0. 0. 1. ]] SLAMing on 27.057719420999998 meters Centerline goodness [0,1] 0.9491866612444083 Centerline is valid? [True, False] Translation: X:3.69, Y:-0.18, Z:-0.55 [[ 0.99992652 -0.00899281 -0.00812975 3.69045349] [ 0.00893481 0.99993457 -0.00714375 -0.1781104 ] [ 0.00819346 0.00707059 0.99994144 -0.5497909 ] [ 0. 0. 0. 1. ]] SLAMing on 27.087719421 meters Centerline goodness [0,1] 0.9506331699346405 Centerline is valid? [False, True] Translation: X:3.69, Y:-0.18, Z:-0.55 [[ 0.99992633 -0.00866238 -0.00850284 3.6916317 ] [ 0.00861169 0.99994504 -0.00598015 -0.18108465] [ 0.00855418 0.00590649 0.99994597 -0.55036123] [ 0. 0. 0. 1. ]] SLAMing on 27.117719421 meters Centerline goodness [0,1] 0.947929018276976 Centerline is valid? [True, False] Translation: X:3.69, Y:-0.19, Z:-0.55 [[ 0.99988859 -0.01193713 -0.00896176 3.69313086] [ 0.01186621 0.99989818 -0.00792601 -0.1862412 ] [ 0.00905546 0.00781878 0.99992843 -0.55091027] [ 0. 0. 0. 1. ]] SLAMing on 27.147719420999998 meters Centerline goodness [0,1] 0.950251491640703 Centerline is valid? [False, True] Translation: X:3.69, Y:-0.19, Z:-0.55 [[ 0.99988402 -0.01218162 -0.0091409 3.69377186] [ 0.01211699 0.99990143 -0.00709273 -0.19012389] [ 0.0092264 0.00698114 0.99993307 -0.55125173] [ 0. 0. 0. 1. ]] SLAMing on 27.177719421 meters Centerline goodness [0,1] 0.952162101435954 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.20, Z:-0.55 [[ 9.99849287e-01 -1.60905245e-02 -6.51899937e-03 3.72316738e+00] [ 1.60903937e-02 9.99870539e-01 -7.25111217e-05 -1.99827178e-01] [ 6.51932216e-03 -3.23930731e-05 9.99978748e-01 -5.49931242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.207719421 meters Centerline goodness [0,1] 0.9508979591836735 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.20, Z:-0.55 [[ 9.99840505e-01 -1.65738470e-02 -6.65369039e-03 3.75251030e+00] [ 1.65737448e-02 9.99862644e-01 -7.05032845e-05 -2.00167329e-01] [ 6.65394498e-03 -3.97845267e-05 9.99977861e-01 -5.51648494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.237719420999998 meters Centerline goodness [0,1] 0.9496838670201917 Centerline is valid? [True, False] Translation: X:3.75, Y:-0.20, Z:-0.55 [[ 9.99840203e-01 -1.64158119e-02 -7.07742309e-03 3.75393459e+00] [ 1.64183824e-02 9.99865163e-01 3.05244328e-04 -2.00288589e-01] [ 7.07145795e-03 -4.21395389e-04 9.99974908e-01 -5.52181871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.267719421 meters Centerline goodness [0,1] 0.9489319160222798 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.20, Z:-0.55 [[ 9.99842544e-01 -1.61748966e-02 -7.29793116e-03 3.75508104e+00] [ 1.61822185e-02 9.99868612e-01 9.45344234e-04 -2.02213731e-01] [ 7.28168145e-03 -1.06329210e-03 9.99972923e-01 -5.52933812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.297719421 meters Centerline goodness [0,1] 0.9494624531682685 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.20, Z:-0.55 [[ 9.99832533e-01 -1.67525573e-02 -7.36601269e-03 3.75549158e+00] [ 1.67596877e-02 9.99859135e-01 9.07351359e-04 -2.03654020e-01] [ 7.34977462e-03 -1.03065148e-03 9.99972459e-01 -5.53132899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.327719421 meters Centerline goodness [0,1] 0.9511265164644714 Centerline is valid? [False, True] Translation: X:3.76, Y:-0.20, Z:-0.55 [[ 9.99807929e-01 -1.81174525e-02 -7.47419155e-03 3.75624458e+00] [ 1.81154836e-02 9.99835846e-01 -3.31054327e-04 -1.98679358e-01] [ 7.47896249e-03 1.95592146e-04 9.99972013e-01 -5.53675411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.357719421 meters Centerline goodness [0,1] 0.9505491159334971 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.20, Z:-0.55 [[ 9.99719205e-01 -2.22598973e-02 -8.12453983e-03 3.78611960e+00] [ 2.22605207e-02 9.99752204e-01 -1.37000205e-05 -1.99459101e-01] [ 8.12283156e-03 -1.67160314e-04 9.99966995e-01 -5.54465769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.387719421 meters Centerline goodness [0,1] 0.9469953900205114 Centerline is valid? [True, False] Translation: X:3.79, Y:-0.20, Z:-0.56 [[ 0.9995323 -0.02946064 -0.00820102 3.78846841] [ 0.02940322 0.99954287 -0.00703545 -0.19688675] [ 0.00840454 0.00679102 0.99994162 -0.55651518] [ 0. 0. 0. 1. ]] SLAMing on 27.417719421 meters Centerline goodness [0,1] 0.945059633866347 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.20, Z:-0.56 [[ 0.99949778 -0.03058851 -0.00827889 3.78905414] [ 0.0305263 0.99950554 -0.00753822 -0.19723179] [ 0.00850538 0.00728171 0.99993732 -0.55700967] [ 0. 0. 0. 1. ]] SLAMing on 27.447719421 meters Centerline goodness [0,1] 0.9257422724409129 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.19, Z:-0.56 [[ 0.99929286 -0.03672245 -0.00807697 3.78940108] [ 0.03661218 0.99923969 -0.01340136 -0.19393365] [ 0.00856296 0.01309617 0.99987758 -0.55742897] [ 0. 0. 0. 1. ]] SLAMing on 27.477719421 meters Centerline goodness [0,1] 0.9031367373870673 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.19, Z:-0.56 [[ 0.99925025 -0.03785227 -0.0081324 3.79020779] [ 0.03773483 0.99918776 -0.014139 -0.19276665] [ 0.00866099 0.01382153 0.99986697 -0.55818543] [ 0. 0. 0. 1. ]] SLAMing on 27.507719421 meters Centerline goodness [0,1] 0.8901401554562702 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.19, Z:-0.56 [[ 0.99921936 -0.03866862 -0.00808741 3.79054238] [ 0.03854568 0.99914661 -0.01484195 -0.19100197] [ 0.00865443 0.01451863 0.99985714 -0.55859379] [ 0. 0. 0. 1. ]] SLAMing on 27.537719421 meters Centerline goodness [0,1] 0.8274045333877884 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.18, Z:-0.56 [[ 0.99913135 -0.04096948 -0.0076184 3.78910965] [ 0.04083075 0.9990119 -0.01755205 -0.18384552] [ 0.00832997 0.01722574 0.99981693 -0.55759909] [ 0. 0. 0. 1. ]] SLAMing on 27.567719421 meters Centerline goodness [0,1] 0.7834557323541411 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.18, Z:-0.56 [[ 0.99915432 -0.04049266 -0.00714085 3.78710411] [ 0.04036663 0.9990405 -0.01698878 -0.17749709] [ 0.00782192 0.01668616 0.99983018 -0.55641435] [ 0. 0. 0. 1. ]] SLAMing on 27.597719421 meters Centerline goodness [0,1] 0.770605900734548 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.18, Z:-0.56 [[ 0.99913896 -0.04086286 -0.00718123 3.78824527] [ 0.04073115 0.99901478 -0.01761931 -0.1750025 ] [ 0.00789414 0.01731164 0.99981898 -0.55748365] [ 0. 0. 0. 1. ]] SLAMing on 27.627719421 meters Centerline goodness [0,1] 0.7454556545077468 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.17, Z:-0.56 [[ 0.99912131 -0.04130907 -0.00708287 3.79123246] [ 0.04116891 0.99897328 -0.01890805 -0.16908466] [ 0.00785667 0.01859984 0.99979614 -0.56088612] [ 0. 0. 0. 1. ]] SLAMing on 27.657719421 meters Centerline goodness [0,1] 0.734676078049572 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.17, Z:-0.56 [[ 0.9992465 -0.03816239 -0.00707612 3.79181631] [ 0.03804518 0.99914764 -0.01601734 -0.16577485] [ 0.00768135 0.01573606 0.99984667 -0.56177687] [ 0. 0. 0. 1. ]] SLAMing on 27.687719421 meters Centerline goodness [0,1] 0.7435320356853203 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.16, Z:-0.56 [[ 0.99941268 -0.03354261 -0.00701309 3.79284062] [ 0.03345736 0.99936883 -0.01193898 -0.15526756] [ 0.00740913 0.01169733 0.99990413 -0.56349103] [ 0. 0. 0. 1. ]] SLAMing on 27.717719420999998 meters Centerline goodness [0,1] 0.7333360445727765 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.15, Z:-0.57 [[ 0.99948664 -0.03122694 -0.00716484 3.79434845] [ 0.03115486 0.99946494 -0.00995995 -0.15074769] [ 0.00747203 0.00973162 0.99992473 -0.56501492] [ 0. 0. 0. 1. ]] SLAMing on 27.747719421 meters Centerline goodness [0,1] 0.7620240787141722 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.14, Z:-0.57 [[ 0.99954945 -0.02913072 -0.007232 3.79774521] [ 0.02906651 0.99953847 -0.00883049 -0.14296543] [ 0.0074859 0.0086163 0.99993486 -0.568907 ] [ 0. 0. 0. 1. ]] SLAMing on 27.777719421 meters Centerline goodness [0,1] 0.7665189239976307 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.14, Z:-0.57 [[ 0.99955075 -0.02904212 -0.00740607 3.79964545] [ 0.02897311 0.99953729 -0.00926103 -0.13948425] [ 0.0076716 0.0090423 0.99992969 -0.57065035] [ 0. 0. 0. 1. ]] SLAMing on 27.807719420999998 meters Centerline goodness [0,1] 0.7665189239976307 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.14, Z:-0.57 [[ 0.99955075 -0.02904212 -0.00740607 3.79964545] [ 0.02897311 0.99953729 -0.00926103 -0.13948425] [ 0.0076716 0.0090423 0.99992969 -0.57065035] [ 0. 0. 0. 1. ]] SLAMing on 27.837719421 meters Centerline goodness [0,1] 0.7449751810562292 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.13, Z:-0.57 [[ 0.99951512 -0.03023381 -0.00744622 3.80030873] [ 0.03014946 0.99948275 -0.01119106 -0.13125412] [ 0.00778071 0.01096113 0.99990965 -0.57110332] [ 0. 0. 0. 1. ]] SLAMing on 27.867719421 meters Centerline goodness [0,1] 0.7015198309492847 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:-0.57 [[ 0.99954997 -0.02908863 -0.0073283 3.80006523] [ 0.02901146 0.99952471 -0.01042574 -0.12310108] [ 0.00762808 0.01020844 0.9999188 -0.57109699] [ 0. 0. 0. 1. ]] SLAMing on 27.897719420999998 meters Centerline goodness [0,1] 0.722083155259784 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:-0.57 [[ 0.99962545 -0.02637775 -0.00729204 3.79967483] [ 0.02632106 0.9996234 -0.00776319 -0.1199833 ] [ 0.00749406 0.00756835 0.99994328 -0.57088433] [ 0. 0. 0. 1. ]] SLAMing on 27.927719421 meters Centerline goodness [0,1] 0.6842829673110009 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.12, Z:-0.57 [[ 0.99969439 -0.02365442 -0.00718356 3.79923508] [ 0.02361662 0.99970703 -0.00530254 -0.1163126 ] [ 0.00730689 0.00513127 0.99996014 -0.57062486] [ 0. 0. 0. 1. ]] SLAMing on 27.957719421 meters Centerline goodness [0,1] 0.6956849482519762 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.11, Z:-0.57 [[ 9.99774010e-01 -2.04244307e-02 -5.89665728e-03 3.79532516e+00] [ 2.04092409e-02 9.99788264e-01 -2.62480090e-03 -1.06370742e-01] [ 5.94901881e-03 2.50386142e-03 9.99979170e-01 -5.69304810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.987719420999998 meters Centerline goodness [0,1] 0.7125813227826158 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.10, Z:-0.57 [[ 9.99836864e-01 -1.70631287e-02 -5.92404422e-03 3.79575303e+00] [ 1.70630461e-02 9.99854414e-01 -6.44851708e-05 -1.01594397e-01] [ 5.92428207e-03 -3.66075886e-05 9.99982451e-01 -5.69723621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.017719421 meters Centerline goodness [0,1] 0.7852771998531392 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.09, Z:-0.57 [[ 0.99992583 -0.01049811 -0.00617381 3.79884659] [ 0.01052253 0.99993689 0.00393708 -0.08997629] [ 0.00613209 -0.00400175 0.99997319 -0.57221935] [ 0. 0. 0. 1. ]] SLAMing on 28.047719421 meters Centerline goodness [0,1] 0.7957484245846632 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.08, Z:-0.57 [[ 0.9999758 -0.00421767 -0.00553259 3.79845555] [ 0.00425717 0.99996539 0.00714817 -0.07931548] [ 0.00550225 -0.00717155 0.99995915 -0.57162143] [ 0. 0. 0. 1. ]] SLAMing on 28.077719421 meters Centerline goodness [0,1] 0.8326075845855054 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.07, Z:-0.57 [[ 9.99984620e-01 -1.16648381e-03 -5.42206096e-03 3.79793801e+00] [ 1.21463453e-03 9.99959783e-01 8.88572654e-03 -7.35324718e-02] [ 5.41147785e-03 -8.89217570e-03 9.99945821e-01 -5.70674453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.107719421 meters Centerline goodness [0,1] 0.8795982500462136 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.06, Z:-0.57 [[ 0.9999549 0.00813883 -0.00489498 3.79705996] [-0.00805927 0.99983854 0.01606045 -0.06161734] [ 0.0050249 -0.01602028 0.99985904 -0.5696407 ] [ 0. 0. 0. 1. ]] SLAMing on 28.137719421 meters Centerline goodness [0,1] 0.9248743097337839 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.06, Z:-0.57 [[ 0.99991214 0.01223114 -0.00511007 3.79847028] [-0.01213285 0.99974885 0.01884238 -0.05673607] [ 0.00533925 -0.01877872 0.99980941 -0.57026532] [ 0. 0. 0. 1. ]] SLAMing on 28.167719421 meters Centerline goodness [0,1] 0.9410078517718417 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.05, Z:-0.57 [[ 0.99977667 0.02040355 -0.00550446 3.80380485] [-0.02026158 0.99948906 0.02472005 -0.051025 ] [ 0.00600602 -0.024603 0.99967926 -0.57457458] [ 0. 0. 0. 1. ]] SLAMing on 28.197719421 meters Centerline goodness [0,1] 0.9434096670787152 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.05, Z:-0.58 [[ 0.999678 0.02473737 -0.00565241 3.80553404] [-0.024569 0.99930224 0.02813188 -0.04780712] [ 0.00634438 -0.02798394 0.99958824 -0.57578684] [ 0. 0. 0. 1. ]] SLAMing on 28.227719421 meters Centerline goodness [0,1] 0.9429242091016748 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.04, Z:-0.58 [[ 0.99939393 0.03436745 -0.0055363 3.80797268] [-0.03414734 0.99877266 0.03587676 -0.04078139] [ 0.0067625 -0.03566597 0.99934089 -0.57732761] [ 0. 0. 0. 1. ]] SLAMing on 28.257719421 meters Centerline goodness [0,1] 0.9431002051983584 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.03, Z:-0.58 [[ 0.99897263 0.04486186 -0.006411 3.81735862] [-0.04458169 0.99825765 0.03865405 -0.03213456] [ 0.00813393 -0.03832852 0.99923209 -0.57749273] [ 0. 0. 0. 1. ]] SLAMing on 28.287719421 meters Centerline goodness [0,1] 0.9451711781720848 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.03, Z:-0.58 [[ 0.99875587 0.04944248 -0.00649194 3.81936215] [-0.04912811 0.99791174 0.0419356 -0.02766411] [ 0.00855178 -0.04156449 0.99909922 -0.57862816] [ 0. 0. 0. 1. ]] SLAMing on 28.317719421 meters Centerline goodness [0,1] 0.9451821437931336 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.02, Z:-0.58 [[ 0.99853687 0.05368203 -0.0065088 3.82080846] [-0.05333411 0.99755115 0.04524566 -0.02475599] [ 0.00892174 -0.04483232 0.99895469 -0.5794742 ] [ 0. 0. 0. 1. ]] SLAMing on 28.347719421 meters Centerline goodness [0,1] 0.9499179520840171 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.02, Z:-0.57 [[ 0.99815454 0.06010553 -0.00865073 3.8459653 ] [-0.05983452 0.99779381 0.02876358 -0.02103297] [ 0.01036049 -0.02819289 0.99954881 -0.57338631] [ 0. 0. 0. 1. ]] SLAMing on 28.377719421 meters Centerline goodness [0,1] 0.952155637227932 Centerline is valid? [False, True] Translation: X:3.85, Y:-0.02, Z:-0.57 [[ 0.99813136 0.06047031 -0.00878184 3.84689488] [-0.06019798 0.99777879 0.0285253 -0.02041723] [ 0.01048726 -0.02794335 0.99955449 -0.57377318] [ 0. 0. 0. 1. ]] SLAMing on 28.407719421 meters Centerline goodness [0,1] 0.9562614592767678 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.00, Z:-0.56 [[ 9.97971021e-01 6.31770096e-02 -7.90607606e-03 3.87646522e+00] [-6.31758718e-02 9.98002332e-01 3.93815235e-04 -3.24031936e-03] [ 7.91516241e-03 1.06457056e-04 9.99968669e-01 -5.58339238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.437719421 meters Centerline goodness [0,1] 0.9562248370665303 Centerline is valid? [True, True] Translation: X:3.91, Y:0.00, Z:-0.56 [[ 9.97721491e-01 6.68736209e-02 -8.92997708e-03 3.90532104e+00] [-6.68723370e-02 9.97761442e-01 4.42618298e-04 3.05412777e-03] [ 8.93958629e-03 1.55558648e-04 9.99960029e-01 -5.55053761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.467719420999998 meters Centerline goodness [0,1] 0.9545797127150204 Centerline is valid? [True, True] Translation: X:3.93, Y:0.00, Z:-0.56 [[ 9.97327891e-01 7.20273141e-02 -1.22124269e-02 3.93445269e+00] [-7.20252606e-02 9.97402623e-01 6.08458080e-04 3.68228898e-04] [ 1.22245322e-02 2.72771015e-04 9.99925240e-01 -5.58694705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.497719421 meters Centerline goodness [0,1] 0.9541772431298974 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.00, Z:-0.56 [[ 9.97187620e-01 7.38919201e-02 -1.25233290e-02 3.96300454e+00] [-7.38899885e-02 9.97266207e-01 6.17496500e-04 -2.49992045e-03] [ 1.25347208e-02 3.09588769e-04 9.99921389e-01 -5.60717186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.527719421 meters Centerline goodness [0,1] 0.9522588843608957 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.00, Z:-0.56 [[ 9.97023651e-01 7.61386611e-02 -1.21137693e-02 3.99055405e+00] [-7.61370087e-02 9.97097186e-01 5.98187663e-04 -3.80367612e-03] [ 1.21241505e-02 3.25898910e-04 9.99926447e-01 -5.61412483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.557719420999998 meters Centerline goodness [0,1] 0.9412866554708694 Centerline is valid? [True, False] Translation: X:3.99, Y:-0.01, Z:-0.56 [[ 9.96895716e-01 7.77071770e-02 -1.26698762e-02 3.99224011e+00] [-7.76830554e-02 9.96975251e-01 2.38575074e-03 -8.50882750e-03] [ 1.28169430e-02 -1.39411000e-03 9.99916888e-01 -5.61725493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.587719421 meters Centerline goodness [0,1] 0.9375187165775402 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.01, Z:-0.56 [[ 9.97076027e-01 7.53082369e-02 -1.29639878e-02 3.99325775e+00] [-7.53221356e-02 9.97159081e-01 -5.86510532e-04 -9.14182908e-03] [ 1.28829891e-02 1.56127084e-03 9.99915792e-01 -5.62050897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.617719421 meters Centerline goodness [0,1] 0.928681548436147 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.01, Z:-0.56 [[ 9.97258783e-01 7.27556845e-02 -1.34733070e-02 3.99450326e+00] [-7.27974895e-02 9.97343254e-01 -2.63816054e-03 -1.37910722e-02] [ 1.32455707e-02 3.61175170e-03 9.99905751e-01 -5.62713237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.647719420999998 meters Centerline goodness [0,1] 0.9269752259792434 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.02, Z:-0.56 [[ 0.99745616 0.06984483 -0.01424433 3.99638162] [-0.06992714 0.99753768 -0.00536422 -0.01645261] [ 0.0138346 0.00634664 0.99988416 -0.56366725] [ 0. 0. 0. 1. ]] SLAMing on 28.677719421 meters Centerline goodness [0,1] 0.9098047361861238 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.02, Z:-0.57 [[ 0.99784062 0.06394874 -0.01498877 3.99884384] [-0.06411582 0.99788244 -0.01094474 -0.02223002] [ 0.01425713 0.01188213 0.99982776 -0.56561228] [ 0. 0. 0. 1. ]] SLAMing on 28.707719421 meters Centerline goodness [0,1] 0.9154294968958285 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.03, Z:-0.57 [[ 0.99800695 0.06120389 -0.01536922 4.00027915] [-0.06140918 0.99802459 -0.01326042 -0.02571395] [ 0.01452727 0.0141778 0.99979395 -0.5668715 ] [ 0. 0. 0. 1. ]] SLAMing on 28.737719420999998 meters Centerline goodness [0,1] 0.9279701233854661 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.03, Z:-0.57 [[ 0.9984152 0.05511086 -0.01139669 4.01178668] [-0.05519615 0.99844878 -0.00730917 -0.03388369] [ 0.0109762 0.00792664 0.99990834 -0.57098631] [ 0. 0. 0. 1. ]] SLAMing on 28.767719421 meters Centerline goodness [0,1] 0.9337260070846034 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.04, Z:-0.57 [[ 0.99857221 0.05205991 -0.01197099 4.01324754] [-0.05217724 0.99859066 -0.00970685 -0.03718495] [ 0.01144878 0.0103176 0.99988123 -0.57181098] [ 0. 0. 0. 1. ]] SLAMing on 28.797719421 meters Centerline goodness [0,1] 0.9410310297935468 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.05, Z:-0.57 [[ 0.99907648 0.04065969 -0.01389152 4.01936784] [-0.04073759 0.99915544 -0.0053714 -0.04714224] [ 0.01366139 0.00593235 0.99988908 -0.57009917] [ 0. 0. 0. 1. ]] SLAMing on 28.827719420999998 meters Centerline goodness [0,1] 0.939228903777385 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.05, Z:-0.57 [[ 0.99922161 0.03671949 -0.01441729 4.02002596] [-0.03683836 0.99928867 -0.0080677 -0.05190518] [ 0.0141108 0.00859253 0.99986352 -0.5702933 ] [ 0. 0. 0. 1. ]] SLAMing on 28.857719421 meters Centerline goodness [0,1] 0.9364020686258414 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.06, Z:-0.57 [[ 0.99959995 0.02643799 -0.01004815 4.03046897] [-0.0264941 0.99963388 -0.00549246 -0.06251163] [ 0.00989926 0.00575648 0.99993443 -0.57371017] [ 0. 0. 0. 1. ]] SLAMing on 28.887719421 meters Centerline goodness [0,1] 0.9404202972834443 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.07, Z:-0.57 [[ 9.99859994e-01 1.63791660e-02 -3.42269350e-03 4.03640908e+00] [-1.63913343e-02 9.99859323e-01 -3.55789410e-03 -7.41203064e-02] [ 3.36393666e-03 3.61349849e-03 9.99987813e-01 -5.73843530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.917719421 meters Centerline goodness [0,1] 0.9417521542880591 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.08, Z:-0.57 [[ 9.99909110e-01 1.29792260e-02 -3.64838452e-03 4.03680495e+00] [-1.30009977e-02 9.99897431e-01 -6.00847445e-03 -7.90626020e-02] [ 3.57002496e-03 6.05536098e-03 9.99975293e-01 -5.73902847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.947719421 meters Centerline goodness [0,1] 0.9397022027154518 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.09, Z:-0.58 [[ 9.99974082e-01 6.95301103e-03 1.86844350e-03 4.04563418e+00] [-6.95456835e-03 9.99975474e-01 8.28284499e-04 -8.85574417e-02] [-1.86263861e-03 -8.41257249e-04 9.99997911e-01 -5.77207083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.977719421 meters Centerline goodness [0,1] 0.9411283394018738 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.09, Z:-0.58 [[ 9.99990728e-01 3.97816312e-03 1.64886867e-03 4.04649468e+00] [-3.97498887e-03 9.99990249e-01 -1.92393341e-03 -9.05593393e-02] [-1.65650631e-03 1.91736134e-03 9.99996790e-01 -5.77394680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.007719421 meters Centerline goodness [0,1] 0.9399163521371009 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-0.58 [[ 9.99997219e-01 1.92018433e-03 1.36924024e-03 4.04794184e+00] [-1.91582839e-03 9.99993123e-01 -3.17553449e-03 -9.64567565e-02] [-1.37532843e-03 3.17290243e-03 9.99994021e-01 -5.78081722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.037719421 meters Centerline goodness [0,1] 0.9406440064278595 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-0.58 [[ 9.99995716e-01 2.70285311e-03 1.12352848e-03 4.04930989e+00] [-2.70085341e-03 9.99994773e-01 -1.77756487e-03 -9.99495230e-02] [-1.12832710e-03 1.77452277e-03 9.99997789e-01 -5.79122779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.067719421 meters Centerline goodness [0,1] 0.9385611834174448 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99994786e-01 2.99934121e-03 1.19650392e-03 4.04946471e+00] [-2.99841456e-03 9.99995204e-01 -7.75504010e-04 -1.05907870e-01] [-1.19882418e-03 7.71912352e-04 9.99998983e-01 -5.79341858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.097719421 meters Centerline goodness [0,1] 0.9397377608183811 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99999026e-01 1.05953640e-03 9.08143835e-04 4.05219949e+00] [-1.05717926e-03 9.99996082e-01 -2.59211385e-03 -1.08015133e-01] [-9.10886715e-04 2.59115125e-03 9.99996228e-01 -5.81633238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.127719421 meters Centerline goodness [0,1] 0.9387767584097859 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99999209e-01 7.31193492e-04 1.02325987e-03 4.05248465e+00] [-7.29117836e-04 9.99997679e-01 -2.02737900e-03 -1.10578714e-01] [-1.02473990e-03 2.02663132e-03 9.99997421e-01 -5.82224468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.157719421 meters Centerline goodness [0,1] 0.9396771626226965 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99999403e-01 6.05169671e-04 9.10310702e-04 4.05287094e+00] [-6.03371921e-04 9.99997870e-01 -1.97385467e-03 -1.10028577e-01] [-9.11503280e-04 1.97330423e-03 9.99997638e-01 -5.82256309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.187719421 meters Centerline goodness [0,1] 0.938880286855187 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99999493e-01 7.27136500e-04 6.97116297e-04 4.05356546e+00] [-7.25851927e-04 9.99998042e-01 -1.84118092e-03 -1.09683605e-01] [-6.98453721e-04 1.84067398e-03 9.99998062e-01 -5.82066248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.217719420999998 meters Centerline goodness [0,1] 0.9377962085308057 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99999445e-01 8.50925943e-04 6.21839972e-04 4.05374489e+00] [-8.49615318e-04 9.99997424e-01 -2.10488994e-03 -1.09179365e-01] [-6.23629475e-04 2.10436045e-03 9.99997591e-01 -5.81841550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.247719421 meters Centerline goodness [0,1] 0.9368931046466463 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-0.58 [[ 9.99998832e-01 1.41216134e-03 5.84524030e-04 4.05447604e+00] [-1.41083390e-03 9.99996439e-01 -2.26519485e-03 -1.07898886e-01] [-5.87720770e-04 2.26436754e-03 9.99997264e-01 -5.82264948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.277719421 meters Centerline goodness [0,1] 0.9375614552605703 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.10, Z:-0.58 [[ 9.99976344e-01 6.84711183e-03 6.54726858e-04 4.05606815e+00] [-6.84807458e-03 9.99975457e-01 1.47971134e-03 -1.04596109e-01] [-6.44579040e-04 -1.48415995e-03 9.99998691e-01 -5.83517494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.307719420999998 meters Centerline goodness [0,1] 0.9416510471844185 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.10, Z:-0.58 [[ 9.99872996e-01 1.59231143e-02 6.68419544e-04 4.05753549e+00] [-1.59287286e-02 9.99828363e-01 9.46155288e-03 -1.02994867e-01] [-5.17647430e-04 -9.47099830e-03 9.99955015e-01 -5.84464147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.337719421 meters Centerline goodness [0,1] 0.9422010115842715 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.10, Z:-0.58 [[ 9.99797259e-01 2.01256225e-02 6.32460491e-04 4.05820360e+00] [-2.01321883e-02 9.99711317e-01 1.31140019e-02 -1.01209949e-01] [-3.68350458e-04 -1.31240760e-02 9.99913808e-01 -5.84721858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.367719421 meters Centerline goodness [0,1] 0.9437868610747051 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.10, Z:-0.58 [[ 9.99693814e-01 2.47328718e-02 7.50045070e-04 4.05845124e+00] [-2.47420354e-02 9.99550142e-01 1.69512591e-02 -9.90772038e-02] [-3.30454336e-04 -1.69646266e-02 9.99856036e-01 -5.84473632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.397719420999998 meters Centerline goodness [0,1] 0.9428274851420663 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.10, Z:-0.59 [[ 9.99757024e-01 2.20380775e-02 4.64830659e-04 4.05972553e+00] [-2.20423579e-02 9.99664858e-01 1.35759428e-02 -9.92432576e-02] [-1.65487195e-04 -1.35828901e-02 9.99907735e-01 -5.85117285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.427719421 meters Centerline goodness [0,1] 0.9405045507299493 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.11, Z:-0.59 [[ 9.99793534e-01 2.03191970e-02 1.36698566e-04 4.06278647e+00] [-2.03193644e-02 9.99720426e-01 1.20910675e-02 -1.05412839e-01] [ 1.09020435e-04 -1.20913488e-02 9.99926891e-01 -5.87769371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.457719421 meters Centerline goodness [0,1] 0.941859515938125 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.11, Z:-0.59 [[ 9.99845809e-01 1.75594106e-02 -1.61269291e-04 4.06352003e+00] [-1.75571343e-02 9.99802106e-01 9.35389551e-03 -1.07937115e-01] [ 3.25486268e-04 -9.34962179e-03 9.99956238e-01 -5.87619866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.487719420999998 meters Centerline goodness [0,1] 0.941159686130643 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.11, Z:-0.59 [[ 9.99895987e-01 1.44169602e-02 -4.06902215e-04 4.06380059e+00] [-1.44144684e-02 9.99880557e-01 5.57633640e-03 -1.06858933e-01] [ 4.87247433e-04 -5.56989112e-03 9.99984369e-01 -5.86931787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.517719421 meters Centerline goodness [0,1] 0.9413238289205703 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.11, Z:-0.59 [[ 9.99930881e-01 1.17451097e-02 -5.34206926e-04 4.06433547e+00] [-1.17439152e-02 9.99928647e-01 2.18675618e-03 -1.06172820e-01] [ 5.59852499e-04 -2.18033136e-03 9.99997466e-01 -5.86710192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.547719421 meters Centerline goodness [0,1] 0.9401561321620024 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.11, Z:-0.59 [[ 9.99955439e-01 9.42130494e-03 -5.98791530e-04 4.06538334e+00] [-9.42133248e-03 9.99955617e-01 -4.31891550e-05 -1.10200487e-01] [ 5.98358056e-04 4.88286445e-05 9.99999820e-01 -5.87366156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.577719420999998 meters Centerline goodness [0,1] 0.9405255313501705 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.11, Z:-0.59 [[ 9.99979260e-01 6.39291719e-03 -7.80796895e-04 4.06657122e+00] [-6.39522482e-03 9.99975081e-01 -2.98963218e-03 -1.12536406e-01] [ 7.61664968e-04 2.99456355e-03 9.99995226e-01 -5.88324625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.607719421 meters Centerline goodness [0,1] 0.9353511487697572 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.12, Z:-0.59 [[ 9.99999014e-01 4.84749192e-04 -1.31787743e-03 4.06995487e+00] [-4.94672383e-04 9.99971453e-01 -7.53980689e-03 -1.19765920e-01] [ 1.31418489e-03 7.54045138e-03 9.99970707e-01 -5.91283884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.637719421 meters Centerline goodness [0,1] 0.9356684513834961 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.12, Z:-0.59 [[ 9.99995122e-01 -2.68281573e-03 -1.59925413e-03 4.07173401e+00] [ 2.66708723e-03 9.99948840e-01 -9.75720870e-03 -1.23612971e-01] [ 1.62534910e-03 9.75289576e-03 9.99951118e-01 -5.92867901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.667719421 meters Centerline goodness [0,1] 0.9353462355054711 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.13, Z:-0.59 [[ 9.99942790e-01 -1.05811859e-02 -1.56694095e-03 4.07159552e+00] [ 1.05541574e-02 9.99810542e-01 -1.63551327e-02 -1.27671971e-01] [ 1.73970078e-03 1.63376593e-02 9.99865018e-01 -5.92374337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.697719421 meters Centerline goodness [0,1] 0.9341247624690955 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.13, Z:-0.59 [[ 9.99934961e-01 -1.12827786e-02 -1.66500777e-03 4.07139879e+00] [ 1.12552296e-02 9.99813098e-01 -1.57190462e-02 -1.30865703e-01] [ 1.84205109e-03 1.56992838e-02 9.99875062e-01 -5.92095818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.727719421 meters Centerline goodness [0,1] 0.9341247624690955 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.13, Z:-0.59 [[ 9.99934961e-01 -1.12827786e-02 -1.66500777e-03 4.07139879e+00] [ 1.12552296e-02 9.99813098e-01 -1.57190462e-02 -1.30865703e-01] [ 1.84205109e-03 1.56992838e-02 9.99875062e-01 -5.92095818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.757719421 meters Centerline goodness [0,1] 0.9341332027424094 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.14, Z:-0.59 [[ 9.99774122e-01 -2.11158055e-02 2.41422974e-03 4.07958569e+00] [ 2.11442590e-02 9.99699041e-01 -1.24397288e-02 -1.37518312e-01] [-2.15082827e-03 1.24879660e-02 9.99919709e-01 -5.93681260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.787719421 meters Centerline goodness [0,1] 0.9328122773808797 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.14, Z:-0.59 [[ 9.99697629e-01 -2.44883980e-02 2.22895327e-03 4.08103517e+00] [ 2.45190128e-02 9.99587751e-01 -1.49380782e-02 -1.41550127e-01] [-1.86222478e-03 1.49882131e-02 9.99885936e-01 -5.94902106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.817719421 meters Centerline goodness [0,1] 0.9326379569761295 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.60 [[ 9.99527803e-01 -3.06763986e-02 1.76912477e-03 4.08515297e+00] [ 3.07055598e-02 9.99330374e-01 -1.98990595e-02 -1.46468277e-01] [-1.15750864e-03 1.99439852e-02 9.99800429e-01 -5.98564842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.847719421 meters Centerline goodness [0,1] 0.9345841991606568 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.60 [[ 9.99529930e-01 -3.06217065e-02 1.49309939e-03 4.08593473e+00] [ 3.06444806e-02 9.99351575e-01 -1.89035678e-02 -1.49229485e-01] [-9.13271721e-04 1.89404370e-02 9.99820197e-01 -5.99036012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.877719421 meters Centerline goodness [0,1] 0.9360518246248197 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.60 [[ 9.99530069e-01 -3.06212833e-02 1.40653850e-03 4.08502528e+00] [ 3.06416172e-02 9.99369213e-01 -1.79517910e-02 -1.52493824e-01] [-8.55944392e-04 1.79864535e-02 9.99837864e-01 -5.97478906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.907719421 meters Centerline goodness [0,1] 0.9379005839623985 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.15, Z:-0.60 [[ 9.99551635e-01 -2.99145252e-02 1.28430246e-03 4.08481186e+00] [ 2.99320297e-02 9.99407811e-01 -1.69735264e-02 -1.54608349e-01] [-7.75786926e-04 1.70043578e-02 9.99855114e-01 -5.96544299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.937719421 meters Centerline goodness [0,1] 0.938875702432394 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99659300e-01 -2.60800027e-02 1.05740704e-03 4.08549295e+00] [ 2.60911005e-02 9.99582982e-01 -1.23740105e-02 -1.56422942e-01] [-7.34251851e-04 1.23973836e-02 9.99922880e-01 -5.97225294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.967719420999998 meters Centerline goodness [0,1] 0.9373647462333102 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99754224e-01 -2.21494621e-02 9.45364288e-04 4.08599152e+00] [ 2.21563005e-02 9.99722758e-01 -7.96900163e-03 -1.57737680e-01] [-7.68593093e-04 7.98798881e-03 9.99967800e-01 -5.97848310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.997719421 meters Centerline goodness [0,1] 0.9351623990725864 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99853287e-01 -1.71163242e-02 6.60271661e-04 4.08788917e+00] [ 1.71182519e-02 9.99848870e-01 -3.03362088e-03 -1.58885707e-01] [-6.08247435e-04 3.04447850e-03 9.99995181e-01 -5.99368059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.027719421 meters Centerline goodness [0,1] 0.9364124247845178 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99915688e-01 -1.29725374e-02 5.74803224e-04 4.08845857e+00] [ 1.29716854e-02 9.99914795e-01 1.46207401e-03 -1.60178167e-01] [-5.93721058e-04 -1.45449457e-03 9.99998766e-01 -5.99948882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.057719420999998 meters Centerline goodness [0,1] 0.936513753995887 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99961773e-01 -8.72222076e-03 6.12358812e-04 4.08841134e+00] [ 8.71889214e-03 9.99948245e-01 5.24284747e-03 -1.58385494e-01] [-6.58056393e-04 -5.23730796e-03 9.99986069e-01 -5.99705326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.087719421 meters Centerline goodness [0,1] 0.9384997354389678 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99976253e-01 -6.88005641e-03 3.97743080e-04 4.09039590e+00] [ 6.87741595e-03 9.99956523e-01 6.29714777e-03 -1.57486714e-01] [-4.41050519e-04 -6.29426279e-03 9.99980094e-01 -6.01059274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.117719421 meters Centerline goodness [0,1] 0.9364071905327382 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.16, Z:-0.60 [[ 9.99981355e-01 -6.10103504e-03 2.59753020e-04 4.09119353e+00] [ 6.09924632e-03 9.99960885e-01 6.40529208e-03 -1.56143414e-01] [-2.98821771e-04 -6.40358836e-03 9.99979452e-01 -6.01433659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.147719420999998 meters Centerline goodness [0,1] 0.937534391750056 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.60 [[ 9.99999770e-01 -6.61503335e-04 -1.46832533e-04 4.09375009e+00] [ 6.63058429e-04 9.99940848e-01 1.08563895e-02 -1.53827231e-01] [ 1.39642310e-04 -1.08564843e-02 9.99941057e-01 -6.03235578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.177719421 meters Centerline goodness [0,1] 0.9359491504706026 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.60 [[ 9.99999929e-01 1.34645858e-04 -3.51569706e-04 4.09493636e+00] [-1.30913246e-04 9.99943857e-01 1.05955129e-02 -1.51747807e-01] [ 3.52976610e-04 -1.05954661e-02 9.99943804e-01 -6.03861226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.207719421 meters Centerline goodness [0,1] 0.9368714062214276 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:-0.60 [[ 9.99983948e-01 5.64656912e-03 -4.69919604e-04 4.09589489e+00] [-5.63903091e-03 9.99875489e-01 1.47379827e-02 -1.50281574e-01] [ 5.53080131e-04 -1.47350962e-02 9.99891280e-01 -6.04079991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.237719420999998 meters Centerline goodness [0,1] 0.9354171734371199 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:-0.60 [[ 9.99979045e-01 6.45093339e-03 -5.43291903e-04 4.09616338e+00] [-6.44234097e-03 9.99873257e-01 1.45590453e-02 -1.48293586e-01] [ 6.37142477e-04 -1.45552402e-02 9.99893864e-01 -6.03769514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.267719421 meters Centerline goodness [0,1] 0.9366079438871218 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.61 [[ 9.99940259e-01 1.08687762e-02 -1.16066740e-03 4.09028653e+00] [-1.08613899e-02 9.99921847e-01 6.19110014e-03 -1.46627903e-01] [ 1.22786637e-03 -6.17812382e-03 9.99980161e-01 -6.05529200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.297719421 meters Centerline goodness [0,1] 0.9367343616458427 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.15, Z:-0.61 [[ 9.99950541e-01 9.84468701e-03 -1.41324084e-03 4.09312864e+00] [-9.83769340e-03 9.99939734e-01 4.87310937e-03 -1.47019570e-01] [ 1.46112991e-03 -4.85896532e-03 9.99987128e-01 -6.08104801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.327719420999998 meters Centerline goodness [0,1] 0.9347883678751198 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.15, Z:-0.61 [[ 9.99968649e-01 7.71272793e-03 -1.79302426e-03 4.09641181e+00] [-7.70715407e-03 9.99965510e-01 3.09503447e-03 -1.50933416e-01] [ 1.81683358e-03 -3.08111832e-03 9.99993603e-01 -6.11167301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.357719421 meters Centerline goodness [0,1] 0.9364632429454612 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.16, Z:-0.61 [[ 9.99989317e-01 4.19473045e-03 -1.94163357e-03 4.09699422e+00] [-4.19370832e-03 9.99991066e-01 5.30203979e-04 -1.56322670e-01] [ 1.94384028e-03 -5.22055670e-04 9.99997974e-01 -6.11566761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.387719421 meters Centerline goodness [0,1] 0.9369552408622687 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.16, Z:-0.61 [[ 9.99996754e-01 1.27420236e-03 -2.20648163e-03 4.09800482e+00] [-1.27814966e-03 9.99997584e-01 -1.78847082e-03 -1.59923837e-01] [ 2.20419743e-03 1.79128523e-03 9.99995966e-01 -6.12043746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.417719421 meters Centerline goodness [0,1] 0.9351692836113837 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.17, Z:-0.61 [[ 9.99981940e-01 -5.43122092e-03 -2.57334031e-03 4.09902331e+00] [ 5.41300783e-03 9.99960621e-01 -7.03248498e-03 -1.66158210e-01] [ 2.61143395e-03 7.01842846e-03 9.99971961e-01 -6.12381811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.447719421 meters Centerline goodness [0,1] 0.9346594974751089 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.17, Z:-0.61 [[ 9.99980946e-01 -5.42502129e-03 -2.94574206e-03 4.10053035e+00] [ 5.40834593e-03 9.99969472e-01 -5.63959765e-03 -1.70025667e-01] [ 2.97624707e-03 5.62355860e-03 9.99979759e-01 -6.13582464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.477719421 meters Centerline goodness [0,1] 0.927674300254453 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.18, Z:-0.62 [[ 9.99954936e-01 -8.87617482e-03 -3.36727464e-03 4.10258445e+00] [ 8.85027170e-03 9.99931718e-01 -7.63105362e-03 -1.75303906e-01] [ 3.43477928e-03 7.60090844e-03 9.99965214e-01 -6.15134871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.507719421 meters Centerline goodness [0,1] 0.9283796248846982 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.18, Z:-0.62 [[ 9.99953784e-01 -8.95281801e-03 -3.50386441e-03 4.10314471e+00] [ 8.92924058e-03 9.99937769e-01 -6.68774944e-03 -1.79184893e-01] [ 3.56352057e-03 6.65615351e-03 9.99971498e-01 -6.15647332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.537719421 meters Centerline goodness [0,1] 0.9246442100952186 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-0.62 [[ 9.99891174e-01 -1.41924518e-02 -4.02677966e-03 4.10785353e+00] [ 1.41474309e-02 9.99839447e-01 -1.09968433e-02 -1.82934089e-01] [ 4.18220532e-03 1.09386779e-02 9.99931425e-01 -6.20065188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.567719421 meters Centerline goodness [0,1] 0.9268937530742745 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 0.99988191 -0.01476912 -0.00424807 4.10901002] [ 0.01472444 0.99983789 -0.01036219 -0.18578232] [ 0.00440042 0.01029841 0.99993729 -0.62119214] [ 0. 0. 0. 1. ]] SLAMing on 30.597719421 meters Centerline goodness [0,1] 0.9275081170488657 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 9.99716520e-01 -2.34614779e-02 -4.05442390e-03 4.10794420e+00] [ 2.33842596e-02 9.99561869e-01 -1.81451524e-02 -1.88020516e-01] [ 4.47835962e-03 1.80451989e-02 9.99827143e-01 -6.19576719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.627719421 meters Centerline goodness [0,1] 0.9295455010120423 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 9.99609625e-01 -2.76418946e-02 -4.06482059e-03 4.10750935e+00] [ 2.75463971e-02 9.99380085e-01 -2.19235469e-02 -1.89388753e-01] [ 4.66830912e-03 2.18030174e-02 9.99751387e-01 -6.18581015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.657719421 meters Centerline goodness [0,1] 0.9343302460320698 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 0.99947221 -0.03219016 -0.0043694 4.10806958] [ 0.03206765 0.9991555 -0.02568961 -0.19112763] [ 0.00519267 0.02553593 0.99966042 -0.61816617] [ 0. 0. 0. 1. ]] SLAMing on 30.687719421 meters Centerline goodness [0,1] 0.9333769045382133 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 0.99946092 -0.03250889 -0.00458755 4.10900844] [ 0.03238357 0.99915874 -0.02516181 -0.19339201] [ 0.00540167 0.02499968 0.99967287 -0.6189054 ] [ 0. 0. 0. 1. ]] SLAMing on 30.717719420999998 meters Centerline goodness [0,1] 0.9353173709112509 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.20, Z:-0.62 [[ 0.99932409 -0.03650571 -0.00432407 4.10863029] [ 0.03636742 0.99892856 -0.02862053 -0.19557511] [ 0.00536425 0.02844393 0.999581 -0.61848406] [ 0. 0. 0. 1. ]] SLAMing on 30.747719421 meters Centerline goodness [0,1] 0.935803629823414 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.20, Z:-0.62 [[ 0.99932334 -0.03651925 -0.00438219 4.10822346] [ 0.03638044 0.99893408 -0.02841053 -0.19592415] [ 0.00541505 0.02823188 0.99958673 -0.61770592] [ 0. 0. 0. 1. ]] SLAMing on 30.777719421 meters Centerline goodness [0,1] 0.9396643471142039 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.20, Z:-0.62 [[ 0.99939485 -0.03450342 -0.00440891 4.10652599] [ 0.03437792 0.99907258 -0.02592559 -0.19500914] [ 0.00529934 0.02575834 0.99965415 -0.61565683] [ 0. 0. 0. 1. ]] SLAMing on 30.807719420999998 meters Centerline goodness [0,1] 0.9387875941768585 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.20, Z:-0.62 [[ 0.9995055 -0.03110534 -0.00460569 4.10679839] [ 0.03099756 0.99928021 -0.02186823 -0.19623291] [ 0.00528259 0.02171465 0.99975025 -0.6158623 ] [ 0. 0. 0. 1. ]] SLAMing on 30.837719421 meters Centerline goodness [0,1] 0.9397555949976539 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.20, Z:-0.62 [[ 0.99959562 -0.02804743 -0.00468473 4.1071511 ] [ 0.02795763 0.99944263 -0.01824306 -0.19709034] [ 0.00519379 0.01810471 0.99982261 -0.61637223] [ 0. 0. 0. 1. ]] SLAMing on 30.867719421 meters Centerline goodness [0,1] 0.9416359918200409 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.20, Z:-0.62 [[ 0.99968417 -0.02466314 -0.00482615 4.10770202] [ 0.02459154 0.99959428 -0.01437149 -0.19753348] [ 0.00517864 0.01424827 0.99988508 -0.61696773] [ 0. 0. 0. 1. ]] SLAMing on 30.897719420999998 meters Centerline goodness [0,1] 0.9420691340924368 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 0.99976396 -0.02116461 -0.00490652 4.10811294] [ 0.02110713 0.99971125 -0.01148464 -0.19358707] [ 0.00514817 0.01137836 0.99992201 -0.61721126] [ 0. 0. 0. 1. ]] SLAMing on 30.927719421 meters Centerline goodness [0,1] 0.9416135450079175 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 0.9998843 -0.01441945 -0.00484351 4.10925326] [ 0.01439379 0.9998824 -0.00529165 -0.19050794] [ 0.00491924 0.00522132 0.99997427 -0.61869397] [ 0. 0. 0. 1. ]] SLAMing on 30.957719421 meters Centerline goodness [0,1] 0.9424169024405138 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.19, Z:-0.62 [[ 9.99931756e-01 -1.05805112e-02 -4.95346105e-03 4.11031508e+00] [ 1.05729558e-02 9.99942905e-01 -1.54898751e-03 -1.89310897e-01] [ 4.96956731e-03 1.49650907e-03 9.99986532e-01 -6.19862050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.987719420999998 meters Centerline goodness [0,1] 0.9406315532300425 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-0.62 [[ 9.99955869e-01 -7.91073694e-03 -5.06762800e-03 4.11258854e+00] [ 7.91415669e-03 9.99968468e-01 6.55124282e-04 -1.84575364e-01] [ 5.06228569e-03 -6.95201372e-04 9.99986945e-01 -6.22265863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.017719421 meters Centerline goodness [0,1] 0.9405188563981428 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-0.62 [[ 9.99954334e-01 -8.01308110e-03 -5.20770926e-03 4.11330056e+00] [ 8.01447034e-03 9.99967853e-01 2.45951766e-04 -1.82295013e-01] [ 5.20557101e-03 -2.87677566e-04 9.99986410e-01 -6.22662772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.047719421 meters Centerline goodness [0,1] 0.9406926318789829 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.18, Z:-0.62 [[ 9.99966499e-01 -6.30848901e-03 -5.21581444e-03 4.11263566e+00] [ 6.31844847e-03 9.99978242e-01 1.89520562e-03 -1.77953542e-01] [ 5.20374508e-03 -1.92809798e-03 9.99984602e-01 -6.21806303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.077719420999998 meters Centerline goodness [0,1] 0.9397985810976107 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-0.62 [[ 9.99964325e-01 -6.54811256e-03 -5.33575878e-03 4.11321955e+00] [ 6.55329015e-03 9.99978072e-01 9.53451212e-04 -1.74472861e-01] [ 5.32939847e-03 -9.88383973e-04 9.99985310e-01 -6.22058229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.107719421 meters Centerline goodness [0,1] 0.9398309904932153 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.17, Z:-0.62 [[ 9.99980166e-01 -3.45270621e-03 -5.26740744e-03 4.11315979e+00] [ 3.46443754e-03 9.99991535e-01 2.21965992e-03 -1.68030819e-01] [ 5.25969902e-03 -2.23786450e-03 9.99983664e-01 -6.21408543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.137719421 meters Centerline goodness [0,1] 0.9397666415524649 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-0.62 [[ 9.99986654e-01 -5.50343239e-05 -5.16612181e-03 4.11280915e+00] [ 7.87978248e-05 9.99989418e-01 4.59978154e-03 -1.64417019e-01] [ 5.16581399e-03 -4.60012723e-03 9.99976076e-01 -6.20966190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.167719421 meters Centerline goodness [0,1] 0.9413457417498317 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.16, Z:-0.62 [[ 0.99993723 0.01000676 -0.00504023 4.11414015] [-0.00994284 0.9998718 0.01255047 -0.15612725] [ 0.00516518 -0.01249957 0.99990854 -0.62211593] [ 0. 0. 0. 1. ]] SLAMing on 31.197719421 meters Centerline goodness [0,1] 0.9386291179596175 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-0.62 [[ 0.99989468 0.01355926 -0.00517401 4.11518909] [-0.01347983 0.99979529 0.01508882 -0.15122241] [ 0.00537755 -0.01501748 0.99987277 -0.62280981] [ 0. 0. 0. 1. ]] SLAMing on 31.227719421 meters Centerline goodness [0,1] 0.9381114158241578 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99979024 0.0198277 -0.00513186 4.11672053] [-0.01972076 0.99960325 0.02011034 -0.14439456] [ 0.00552857 -0.02000492 0.9997846 -0.62413125] [ 0. 0. 0. 1. ]] SLAMing on 31.257719421 meters Centerline goodness [0,1] 0.9349347919260362 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99978375 0.0200444 -0.00553794 4.11789096] [-0.01993282 0.99961078 0.01951834 -0.14226722] [ 0.00592702 -0.01940373 0.99979416 -0.62441544] [ 0. 0. 0. 1. ]] SLAMing on 31.287719421 meters Centerline goodness [0,1] 0.9358885160022918 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99977652 0.02037866 -0.00562246 4.118761 ] [-0.02026819 0.99961308 0.01904955 -0.14103034] [ 0.00600849 -0.01893133 0.99980273 -0.62492017] [ 0. 0. 0. 1. ]] SLAMing on 31.317719421 meters Centerline goodness [0,1] 0.9374923572331146 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99977514 0.020395 -0.00580687 4.11931561] [-0.02028295 0.99961859 0.01874235 -0.14062675] [ 0.00618691 -0.01862036 0.99980748 -0.62498502] [ 0. 0. 0. 1. ]] SLAMing on 31.347719421 meters Centerline goodness [0,1] 0.9369165083450798 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99976396 0.02084185 -0.0061356 4.1199492 ] [-0.02072493 0.99961331 0.01853947 -0.13885185] [ 0.00651962 -0.01840793 0.9998093 -0.6246097 ] [ 0. 0. 0. 1. ]] SLAMing on 31.377719421 meters Centerline goodness [0,1] 0.9339804234754474 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99973403 0.02210838 -0.0065643 4.12100274] [-0.02197853 0.99957338 0.01923561 -0.13768156] [ 0.00698677 -0.01908622 0.99979343 -0.62441252] [ 0. 0. 0. 1. ]] SLAMing on 31.407719421 meters Centerline goodness [0,1] 0.9340677274581803 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.99971907 0.02269341 -0.00684029 4.12200261] [-0.02255307 0.99954679 0.0199394 -0.13939016] [ 0.00728968 -0.01977953 0.99977779 -0.62484604] [ 0. 0. 0. 1. ]] SLAMing on 31.437719421 meters Centerline goodness [0,1] 0.9388893429225237 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.14, Z:-0.62 [[ 0.9997747 0.02005273 -0.00695962 4.12208024] [-0.01992773 0.99964671 0.01758786 -0.1445543 ] [ 0.00730985 -0.01744521 0.9998211 -0.62447629] [ 0. 0. 0. 1. ]] SLAMing on 31.467719420999998 meters Centerline goodness [0,1] 0.939194690986076 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-0.62 [[ 0.99982943 0.01701927 -0.00717298 4.12251771] [-0.01691637 0.99975649 0.01417055 -0.14535277] [ 0.00741241 -0.01404679 0.99987386 -0.62430388] [ 0. 0. 0. 1. ]] SLAMing on 31.497719421 meters Centerline goodness [0,1] 0.941021001484132 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.15, Z:-0.62 [[ 0.99986208 0.01495592 -0.00722102 4.123359 ] [-0.01487026 0.9998201 0.01177447 -0.14786849] [ 0.00739582 -0.01166547 0.9999046 -0.62481252] [ 0. 0. 0. 1. ]] SLAMing on 31.527719421 meters Centerline goodness [0,1] 0.940260901369529 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.15, Z:-0.63 [[ 0.99989015 0.0127583 -0.00754396 4.12541448] [-0.01268855 0.99987696 0.00922297 -0.14884351] [ 0.0076607 -0.00912624 0.99992901 -0.62630753] [ 0. 0. 0. 1. ]] SLAMing on 31.557719420999998 meters Centerline goodness [0,1] 0.9360590851593422 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.15, Z:-0.63 [[ 0.99992274 0.00957063 -0.00793213 4.12730303] [-0.009516 0.99993093 0.00689728 -0.15313434] [ 0.00799759 -0.00682127 0.99994475 -0.62788338] [ 0. 0. 0. 1. ]] SLAMing on 31.587719421 meters Centerline goodness [0,1] 0.9365069665118553 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.16, Z:-0.63 [[ 9.99962011e-01 3.01684784e-03 -8.17772018e-03 4.12745756e+00] [-3.00774217e-03 9.99994843e-01 1.12554254e-03 -1.57026784e-01] [ 8.18107360e-03 -1.10090331e-03 9.99965928e-01 -6.27303809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.617719421 meters Centerline goodness [0,1] 0.9365069665118553 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.16, Z:-0.63 [[ 9.99962011e-01 3.01684784e-03 -8.17772018e-03 4.12745756e+00] [-3.00774217e-03 9.99994843e-01 1.12554254e-03 -1.57026784e-01] [ 8.18107360e-03 -1.10090331e-03 9.99965928e-01 -6.27303809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.647719420999998 meters Centerline goodness [0,1] 0.937043328762357 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.16, Z:-0.63 [[ 9.99964229e-01 -6.65567535e-04 -8.43192522e-03 4.12794429e+00] [ 6.49210589e-04 9.99997903e-01 -1.94247123e-03 -1.59931852e-01] [ 8.43320038e-03 1.93692765e-03 9.99962564e-01 -6.27248467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.677719421 meters Centerline goodness [0,1] 0.9380872620312117 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.17, Z:-0.63 [[ 0.99993368 -0.00724008 -0.008956 4.13032886] [ 0.0071811 0.99995243 -0.0066 -0.16912945] [ 0.00900335 0.00653524 0.99993811 -0.62904405] [ 0. 0. 0. 1. ]] SLAMing on 31.707719421 meters Centerline goodness [0,1] 0.9360535062498726 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.17, Z:-0.63 [[ 0.99990372 -0.01043197 -0.00914998 4.13144753] [ 0.01034941 0.99990572 -0.00902432 -0.17281177] [ 0.00924326 0.00892876 0.99991742 -0.62981748] [ 0. 0. 0. 1. ]] SLAMing on 31.737719420999998 meters Centerline goodness [0,1] 0.9429038854805726 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.18, Z:-0.63 [[ 0.99988378 -0.01222586 -0.00910776 4.12874902] [ 0.01213821 0.99988008 -0.00961711 -0.17687321] [ 0.00922425 0.00950544 0.99991228 -0.62651142] [ 0. 0. 0. 1. ]] SLAMing on 31.767719421 meters Centerline goodness [0,1] 0.9444080831219831 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.18, Z:-0.63 [[ 0.99988729 -0.01189728 -0.00915733 4.12797195] [ 0.01181353 0.99988839 -0.00914638 -0.17782581] [ 0.00926513 0.00903717 0.99991624 -0.6252403 ] [ 0. 0. 0. 1. ]] SLAMing on 31.797719421 meters Centerline goodness [0,1] 0.9454959905564375 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.18, Z:-0.63 [[ 0.99990174 -0.01038114 -0.00942021 4.12936916] [ 0.0103152 0.99992215 -0.00702092 -0.18217388] [ 0.00949236 0.00692306 0.99993098 -0.62612377] [ 0. 0. 0. 1. ]] SLAMing on 31.827719420999998 meters Centerline goodness [0,1] 0.9430368079310133 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.18, Z:-0.63 [[ 0.99991096 -0.00925945 -0.00960915 4.13143794] [ 0.00920575 0.99994185 -0.00561733 -0.18410652] [ 0.00966061 0.00552837 0.99993805 -0.62816952] [ 0. 0. 0. 1. ]] SLAMing on 31.857719421 meters Centerline goodness [0,1] 0.9362089790570557 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.63 [[ 9.99935875e-01 -4.77600049e-03 -1.02681522e-02 4.13684280e+00] [ 4.76545014e-03 9.99988092e-01 -1.05170478e-03 -1.85480377e-01] [ 1.02730529e-02 1.00270497e-03 9.99946728e-01 -6.33266343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.887719421 meters Centerline goodness [0,1] 0.932576700892037 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.64 [[ 9.99938868e-01 -2.74784260e-03 -1.07102622e-02 4.14024566e+00] [ 2.75571368e-03 9.99995944e-01 7.20221934e-04 -1.85778233e-01] [ 1.07082397e-02 -7.49692322e-04 9.99942384e-01 -6.36113000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.917719421 meters Centerline goodness [0,1] 0.930472646986671 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.64 [[ 9.99940193e-01 -7.93915627e-04 -1.09077718e-02 4.14093260e+00] [ 8.21734919e-04 9.99996421e-01 2.54616517e-03 -1.89417116e-01] [ 1.09057113e-02 -2.55497619e-03 9.99937267e-01 -6.36186364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.947719421 meters Centerline goodness [0,1] 0.9329753787105467 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.64 [[ 9.99938915e-01 -4.60241110e-04 -1.10432617e-02 4.14081284e+00] [ 4.95006406e-04 9.99994930e-01 3.14557358e-03 -1.91771591e-01] [ 1.10417580e-02 -3.15084792e-03 9.99934074e-01 -6.35535716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.977719421 meters Centerline goodness [0,1] 0.9363645652396035 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.63 [[ 9.99936661e-01 2.38877460e-03 -1.09985571e-02 4.13865891e+00] [-2.31945908e-03 9.99977397e-01 6.31068625e-03 -1.93634627e-01] [ 1.10133833e-02 -6.28477583e-03 9.99919600e-01 -6.32874885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.007719421 meters Centerline goodness [0,1] 0.9377547692809391 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.63 [[ 9.99934535e-01 2.78957761e-03 -1.10970493e-02 4.13872905e+00] [-2.71973089e-03 9.99976429e-01 6.30428943e-03 -1.92803057e-01] [ 1.11143741e-02 -6.27369573e-03 9.99918552e-01 -6.32478369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.037719421 meters Centerline goodness [0,1] 0.9307451012343667 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.63 [[ 0.99992804 0.00499414 -0.01090788 4.13856586] [-0.00491279 0.99996001 0.0074724 -0.19357247] [ 0.01094476 -0.00741828 0.99991259 -0.63218724] [ 0. 0. 0. 1. ]] SLAMing on 32.067719421 meters Centerline goodness [0,1] 0.8911390346061567 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.63 [[ 0.99991245 0.00754269 -0.0108723 4.13999006] [-0.00744449 0.99993138 0.00904475 -0.19414592] [ 0.01093977 -0.00896302 0.99989999 -0.63348568] [ 0. 0. 0. 1. ]] SLAMing on 32.097719421 meters Centerline goodness [0,1] 0.8738490435066658 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.63 [[ 0.99990675 0.00788456 -0.01114968 4.14152413] [-0.00778227 0.99992751 0.00918772 -0.19413223] [ 0.01122131 -0.0091001 0.99989563 -0.63467503] [ 0. 0. 0. 1. ]] SLAMing on 32.127719421 meters Centerline goodness [0,1] 0.8895410667539267 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.19, Z:-0.64 [[ 0.9999121 0.00683444 -0.01136185 4.1443776 ] [-0.00674491 0.99994605 0.00789962 -0.19389305] [ 0.01141522 -0.00782229 0.99990425 -0.63738372] [ 0. 0. 0. 1. ]] SLAMing on 32.157719420999996 meters Centerline goodness [0,1] 0.8615734812917911 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.19, Z:-0.64 [[ 9.99959458e-01 6.78901884e-03 -5.91530707e-03 4.15180775e+00] [-6.79616239e-03 9.99976200e-01 -1.18837491e-03 -1.92362251e-01] [ 5.90709839e-03 1.22852812e-03 9.99981798e-01 -6.38929325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.187719421 meters Centerline goodness [0,1] 0.8894138340082628 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.20, Z:-0.64 [[ 9.99966905e-01 5.81834766e-03 -5.68640451e-03 4.14911649e+00] [-5.82814115e-03 9.99981559e-01 -1.70721409e-03 -1.95179196e-01] [ 5.67636648e-03 1.74029876e-03 9.99982375e-01 -6.36085276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.217719421 meters Centerline goodness [0,1] 0.9038465471053762 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.20, Z:-0.64 [[ 9.99966980e-01 5.58300690e-03 -5.90491334e-03 4.14922217e+00] [-5.59105080e-03 9.99983463e-01 -1.34660941e-03 -1.97738512e-01] [ 5.89729756e-03 1.37957961e-03 9.99981659e-01 -6.35648054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.247719421 meters Centerline goodness [0,1] 0.9202608536659691 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.20, Z:-0.64 [[ 9.99997024e-01 1.03889457e-04 -2.43733577e-03 4.15832110e+00] [-9.34465339e-05 9.99990818e-01 4.28428757e-03 -2.03455964e-01] [ 2.43775848e-03 -4.28404706e-03 9.99987852e-01 -6.36935391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.277719421 meters Centerline goodness [0,1] 0.9265588631630528 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.21, Z:-0.64 [[ 9.99992108e-01 -2.99265065e-03 -2.61289553e-03 4.15859929e+00] [ 2.99687298e-03 9.99994208e-01 1.61354134e-03 -2.06334022e-01] [ 2.60805163e-03 -1.62135912e-03 9.99995285e-01 -6.36781467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.307719421 meters Centerline goodness [0,1] 0.9332093061291246 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.21, Z:-0.64 [[ 9.99981336e-01 -5.43910376e-03 -2.78281219e-03 4.15985413e+00] [ 5.44181071e-03 9.99984727e-01 9.66096391e-04 -2.14215636e-01] [ 2.77751499e-03 -9.81221897e-04 9.99995661e-01 -6.37856681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.337719421 meters Centerline goodness [0,1] 0.9318358814608354 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.22, Z:-0.64 [[ 9.99984669e-01 -4.78030141e-03 -2.79456498e-03 4.16016544e+00] [ 4.78740035e-03 9.99985317e-01 2.53912010e-03 -2.18379104e-01] [ 2.78238619e-03 -2.55245988e-03 9.99992872e-01 -6.38156086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.367719421 meters Centerline goodness [0,1] 0.9179693860934701 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.23, Z:-0.64 [[ 9.99990249e-01 -3.45309035e-03 -2.75285699e-03 4.16015569e+00] [ 3.46629958e-03 9.99982433e-01 4.80812703e-03 -2.26231096e-01] [ 2.73620574e-03 -4.81762238e-03 9.99984652e-01 -6.37853063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.397719421 meters Centerline goodness [0,1] 0.8995117982099268 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.23, Z:-0.64 [[ 9.99992362e-01 -2.70068004e-03 -2.82530337e-03 4.16046413e+00] [ 2.71749569e-03 9.99978517e-01 5.96499254e-03 -2.29602411e-01] [ 2.80913314e-03 -5.97262473e-03 9.99978218e-01 -6.37948247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.427719421 meters Centerline goodness [0,1] 0.86220898202371 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.24, Z:-0.64 [[ 9.99990979e-01 -2.87459949e-03 -3.12716946e-03 4.16223065e+00] [ 2.89435321e-03 9.99975772e-01 6.33072691e-03 -2.37702192e-01] [ 3.10889539e-03 -6.33972093e-03 9.99975071e-01 -6.39154635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.457719421 meters Centerline goodness [0,1] 0.8554113788678169 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.24, Z:-0.64 [[ 9.99983396e-01 -4.28884219e-03 -3.84891718e-03 4.16522512e+00] [ 4.30897967e-03 9.99976992e-01 5.23903325e-03 -2.42690070e-01] [ 3.82635924e-03 -5.25553116e-03 9.99978869e-01 -6.40984186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.487719421 meters Centerline goodness [0,1] 0.8242298203763737 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.25, Z:-0.64 [[ 9.99977308e-01 -5.29683413e-03 -4.16246707e-03 4.16892965e+00] [ 5.31914316e-03 9.99971451e-01 5.36690035e-03 -2.52612314e-01] [ 4.13392066e-03 -5.38891932e-03 9.99976935e-01 -6.44395837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.517719421 meters Centerline goodness [0,1] 0.8171460131735058 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.26, Z:-0.65 [[ 0.99997388 -0.00562481 -0.00453987 4.17268807] [ 0.00565213 0.99996587 0.00602592 -0.25825783] [ 0.00450582 -0.00605143 0.99997154 -0.64795882] [ 0. 0. 0. 1. ]] SLAMing on 32.547719421 meters Centerline goodness [0,1] 0.8114368662087014 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.26, Z:-0.65 [[ 0.99997549 -0.00517057 -0.00472041 4.17322287] [ 0.00520362 0.99996184 0.0070173 -0.26094238] [ 0.00468394 -0.0070417 0.99996424 -0.64807867] [ 0. 0. 0. 1. ]] SLAMing on 32.577719421 meters Centerline goodness [0,1] 0.8442034175790443 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.27, Z:-0.65 [[ 9.99971144e-01 -6.32333728e-03 -4.21035763e-03 4.17086593e+00] [ 6.35168491e-03 9.99957020e-01 6.75385043e-03 -2.67561155e-01] [ 4.16746979e-03 -6.78039840e-03 9.99968329e-01 -6.45896421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.607719421 meters Centerline goodness [0,1] 0.7984950172869636 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.27, Z:-0.65 [[ 0.99995213 -0.00883157 -0.00421221 4.17095201] [ 0.00884967 0.99995161 0.00429662 -0.27022951] [ 0.00417406 -0.00433369 0.9999819 -0.64557176] [ 0. 0. 0. 1. ]] SLAMing on 32.637719421 meters Centerline goodness [0,1] 0.8394172498928768 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.28, Z:-0.64 [[ 9.99923999e-01 -1.17377037e-02 -3.77135629e-03 4.16742438e+00] [ 1.17471298e-02 9.99927907e-01 2.48702898e-03 -2.78190047e-01] [ 3.74189239e-03 -2.53114258e-03 9.99989796e-01 -6.41888332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.667719421 meters Centerline goodness [0,1] 0.8403539967706992 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.29, Z:-0.64 [[ 9.99884899e-01 -1.47142643e-02 -3.69843418e-03 4.16740096e+00] [ 1.47186243e-02 9.99891009e-01 1.15444470e-03 -2.85447499e-01] [ 3.68104427e-03 -1.20874769e-03 9.99992494e-01 -6.41681546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.697719421 meters Centerline goodness [0,1] 0.895536115766668 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.29, Z:-0.64 [[ 9.99881791e-01 -1.48548517e-02 -3.96712023e-03 4.16868350e+00] [ 1.48641154e-02 9.99886841e-01 2.31593561e-03 -2.89363636e-01] [ 3.93226844e-03 -2.37462958e-03 9.99989449e-01 -6.42582192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.727719420999996 meters Centerline goodness [0,1] 0.9151345726120759 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.29, Z:-0.64 [[ 9.99840843e-01 -1.73183376e-02 -4.28540831e-03 4.17130376e+00] [ 1.73208317e-02 9.99849834e-01 5.45568323e-04 -2.91795822e-01] [ 4.27531645e-03 -6.19708328e-04 9.99990669e-01 -6.44795837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.757719421 meters Centerline goodness [0,1] 0.9399001064439532 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.30, Z:-0.65 [[ 0.99969394 -0.02433044 -0.00447925 4.17367026] [ 0.02430938 0.99969344 -0.00469814 -0.29728454] [ 0.00459218 0.00458781 0.99997893 -0.64687805] [ 0. 0. 0. 1. ]] SLAMing on 32.787719421 meters Centerline goodness [0,1] 0.9445179949895106 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.30, Z:-0.65 [[ 0.99939298 -0.03458311 -0.00420566 4.17286544] [ 0.03452398 0.99931401 -0.01340157 -0.30472892] [ 0.00466625 0.01324824 0.99990135 -0.64545358] [ 0. 0. 0. 1. ]] SLAMing on 32.817719421 meters Centerline goodness [0,1] 0.9475239453841451 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.31, Z:-0.64 [[ 0.99926649 -0.03806555 -0.00418323 4.17232249] [ 0.0379949 0.99915243 -0.01583691 -0.30947052] [ 0.00478253 0.01566636 0.99986584 -0.64434543] [ 0. 0. 0. 1. ]] SLAMing on 32.847719421 meters Centerline goodness [0,1] 0.9494557559172504 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.31, Z:-0.64 [[ 0.99913216 -0.04144251 -0.0041763 4.17184295] [ 0.04135877 0.99897378 -0.01846196 -0.31290855] [ 0.00493712 0.01827322 0.99982084 -0.64330142] [ 0. 0. 0. 1. ]] SLAMing on 32.877719421 meters Centerline goodness [0,1] 0.9526936095591534 Centerline is valid? [False, True] Translation: X:4.18, Y:-0.32, Z:-0.64 [[ 0.99896362 -0.04526144 -0.00480457 4.17514905] [ 0.04520441 0.99891295 -0.01137885 -0.31884313] [ 0.00531437 0.01114987 0.99992372 -0.63760038] [ 0. 0. 0. 1. ]] SLAMing on 32.907719420999996 meters Centerline goodness [0,1] 0.9548945706427625 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.32, Z:-0.64 [[ 9.98877541e-01 -4.70885851e-02 -5.13056167e-03 4.20377250e+00] [ 4.70878408e-02 9.98890717e-01 -2.65848229e-04 -3.22284424e-01] [ 5.13738884e-03 2.39627542e-05 9.99986803e-01 -6.36043966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.937719421 meters Centerline goodness [0,1] 0.9509883673635402 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.32, Z:-0.64 [[ 9.98954387e-01 -4.54134160e-02 -5.26828503e-03 4.23132127e+00] [ 4.54126316e-02 9.98968278e-01 -2.68479835e-04 -3.18169320e-01] [ 5.27504221e-03 2.89524220e-05 9.99986086e-01 -6.39504288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.967719421 meters Centerline goodness [0,1] 0.9529126510320096 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.31, Z:-0.64 [[ 9.99222589e-01 -3.90219673e-02 -5.61285971e-03 4.25951877e+00] [ 3.90209454e-02 9.99238350e-01 -2.91515461e-04 -3.08459947e-01] [ 5.61996018e-03 7.22697416e-05 9.99984205e-01 -6.38699379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.997719421 meters Centerline goodness [0,1] 0.9527215667094618 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.30, Z:-0.64 [[ 9.99324093e-01 -3.63442502e-02 -5.51835130e-03 4.28793440e+00] [ 3.63432117e-02 9.99339326e-01 -2.88387002e-04 -3.01959067e-01] [ 5.52518668e-03 8.76374699e-05 9.99984732e-01 -6.40280313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.027719421 meters Centerline goodness [0,1] 0.9504090187619552 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.29, Z:-0.64 [[ 9.99529972e-01 -2.98123604e-02 -7.14550691e-03 4.31514550e+00] [ 2.98104922e-02 9.99555501e-01 -3.67833014e-04 -2.87441530e-01] [ 7.15329671e-03 1.54649044e-04 9.99974403e-01 -6.44220501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.057719421 meters Centerline goodness [0,1] 0.9448563862293746 Centerline is valid? [True, False] Translation: X:4.32, Y:-0.28, Z:-0.65 [[ 0.99969911 -0.02326228 -0.00778215 4.31782496] [ 0.02330205 0.99971567 0.00505931 -0.28333939] [ 0.00766225 -0.00523913 0.99995692 -0.64631842] [ 0. 0. 0. 1. ]] SLAMing on 33.087719421 meters Centerline goodness [0,1] 0.9318910747482176 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:-0.65 [[ 0.99977701 -0.0194434 -0.00823914 4.31911321] [ 0.01951254 0.99977435 0.00839653 -0.28178914] [ 0.00807402 -0.00855543 0.99993081 -0.6469725 ] [ 0. 0. 0. 1. ]] SLAMing on 33.117719421 meters Centerline goodness [0,1] 0.9302282918874847 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:-0.65 [[ 0.99982823 -0.01634312 -0.00874145 4.32148227] [ 0.01643905 0.99980417 0.01101714 -0.28028021] [ 0.00855969 -0.01115895 0.9999011 -0.64869554] [ 0. 0. 0. 1. ]] SLAMing on 33.147719421 meters Centerline goodness [0,1] 0.8881333088280341 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.28, Z:-0.65 [[ 0.99987333 -0.01300806 -0.00917146 4.32420348] [ 0.01313245 0.99982079 0.01363517 -0.2781612 ] [ 0.00899245 -0.01375388 0.99986497 -0.6509845 ] [ 0. 0. 0. 1. ]] SLAMing on 33.177719421 meters Centerline goodness [0,1] 0.834888993280366 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:-0.65 [[ 0.99992311 -0.01085469 -0.00599607 4.32836408] [ 0.01088397 0.9999289 0.00487278 -0.27665749] [ 0.00594275 -0.00493767 0.99997015 -0.64797713] [ 0. 0. 0. 1. ]] SLAMing on 33.207719421 meters Centerline goodness [0,1] 0.877423695638877 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:-0.65 [[ 0.99992567 -0.01052387 -0.00615594 4.3278511 ] [ 0.01055597 0.99993074 0.00520424 -0.27710924] [ 0.00610074 -0.00526884 0.99996751 -0.64683128] [ 0. 0. 0. 1. ]] SLAMing on 33.237719421 meters Centerline goodness [0,1] 0.858671722113503 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:-0.65 [[ 0.99993423 -0.00960725 -0.00626387 4.32744545] [ 0.00964805 0.99993222 0.00651654 -0.28038167] [ 0.00620084 -0.00657655 0.99995915 -0.64590308] [ 0. 0. 0. 1. ]] SLAMing on 33.267719421 meters Centerline goodness [0,1] 0.8516341743119267 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:-0.65 [[ 0.99993518 -0.00942356 -0.00638954 4.32820562] [ 0.00946943 0.99992933 0.00718816 -0.28305711] [ 0.00632135 -0.0072482 0.99995375 -0.64645827] [ 0. 0. 0. 1. ]] SLAMing on 33.297719421 meters Centerline goodness [0,1] 0.8525686928412137 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.29, Z:-0.65 [[ 0.99992121 -0.01047707 -0.00691475 4.33160101] [ 0.01052356 0.99992204 0.00672127 -0.28568987] [ 0.0068438 -0.00679351 0.9999535 -0.64928018] [ 0. 0. 0. 1. ]] SLAMing on 33.327719421 meters Centerline goodness [0,1] 0.8942342929272364 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.29, Z:-0.65 [[ 9.99870772e-01 -1.44931248e-02 -6.95618312e-03 4.33063689e+00] [ 1.45204543e-02 9.99886988e-01 3.89451439e-03 -2.89384185e-01] [ 6.89895331e-03 -3.99501805e-03 9.99968222e-01 -6.47375955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.357719421 meters Centerline goodness [0,1] 0.935063615300191 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.29, Z:-0.65 [[ 9.99816911e-01 -1.78131968e-02 -6.98813586e-03 4.33013763e+00] [ 1.78226108e-02 9.99840336e-01 1.28717737e-03 -2.92824363e-01] [ 6.96409136e-03 -1.41148853e-03 9.99974754e-01 -6.46388655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.387719421 meters Centerline goodness [0,1] 0.9466789290823625 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.30, Z:-0.65 [[ 9.99742813e-01 -2.15720382e-02 -6.99684175e-03 4.33037214e+00] [ 2.15594789e-02 9.99765827e-01 -1.86548675e-03 -2.95540523e-01] [ 7.03544563e-03 1.71415871e-03 9.99973782e-01 -6.46368501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.417719421 meters Centerline goodness [0,1] 0.9470770864822909 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.30, Z:-0.65 [[ 0.99954813 -0.02918029 -0.00721452 4.3335538 ] [ 0.02912109 0.99954243 -0.00817932 -0.29782374] [ 0.0074499 0.00796553 0.99994052 -0.6493286 ] [ 0. 0. 0. 1. ]] SLAMing on 33.447719421 meters Centerline goodness [0,1] 0.9410373511662046 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99927185 -0.03743518 -0.00737421 4.33646081] [ 0.03732019 0.99918837 -0.015159 -0.29959864] [ 0.00793571 0.01487275 0.9998579 -0.65190519] [ 0. 0. 0. 1. ]] SLAMing on 33.477719420999996 meters Centerline goodness [0,1] 0.9392554818969914 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99910565 -0.04162458 -0.00743559 4.33729478] [ 0.04147735 0.99895945 -0.01896422 -0.30045986] [ 0.00821723 0.01863885 0.99979251 -0.65234389] [ 0. 0. 0. 1. ]] SLAMing on 33.507719421 meters Centerline goodness [0,1] 0.9417640677133441 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99888393 -0.04663661 -0.00747865 4.33748142] [ 0.04645017 0.99864606 -0.0234187 -0.30096979] [ 0.00856069 0.02304518 0.99969777 -0.65185425] [ 0. 0. 0. 1. ]] SLAMing on 33.537719421 meters Centerline goodness [0,1] 0.9417640677133441 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99888393 -0.04663661 -0.00747865 4.33748142] [ 0.04645017 0.99864606 -0.0234187 -0.30096979] [ 0.00856069 0.02304518 0.99969777 -0.65185425] [ 0. 0. 0. 1. ]] SLAMing on 33.567719421 meters Centerline goodness [0,1] 0.9425019425019425 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99887246 -0.04685155 -0.00766466 4.33728813] [ 0.04665824 0.99862954 -0.02370761 -0.3001312 ] [ 0.00876489 0.02332325 0.99968955 -0.6510694 ] [ 0. 0. 0. 1. ]] SLAMing on 33.597719421 meters Centerline goodness [0,1] 0.9462350256702795 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.30, Z:-0.65 [[ 0.9990881 -0.04198021 -0.00778628 4.33486319] [ 0.0418251 0.99894207 -0.01911552 -0.2979682 ] [ 0.00858052 0.01877243 0.99978696 -0.64827815] [ 0. 0. 0. 1. ]] SLAMing on 33.627719421 meters Centerline goodness [0,1] 0.9486787062544638 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99938887 -0.03398496 -0.00817961 4.33515772] [ 0.03388965 0.99935917 -0.01152147 -0.2960845 ] [ 0.00856592 0.01123722 0.99990017 -0.64834876] [ 0. 0. 0. 1. ]] SLAMing on 33.657719420999996 meters Centerline goodness [0,1] 0.945549503233572 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99951817 -0.02984827 -0.00851555 4.3365338 ] [ 0.02978386 0.99952752 -0.00759316 -0.29502087] [ 0.00873816 0.00733587 0.99993491 -0.64949621] [ 0. 0. 0. 1. ]] SLAMing on 33.687719421 meters Centerline goodness [0,1] 0.9444705305922463 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.29, Z:-0.65 [[ 9.99642037e-01 -2.52830152e-02 -8.75030297e-03 4.33725814e+00] [ 2.52539047e-02 9.99675214e-01 -3.42146545e-03 -2.94211412e-01] [ 8.83396596e-03 3.19926138e-03 9.99955862e-01 -6.50069442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.717719421 meters Centerline goodness [0,1] 0.9473222303861539 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 9.99727016e-01 -2.15677160e-02 -8.98487064e-03 4.33685936e+00] [ 2.15758017e-02 9.99766892e-01 8.03956276e-04 -2.96902492e-01] [ 8.96543670e-03 -9.97592596e-04 9.99959312e-01 -6.49121913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.747719421 meters Centerline goodness [0,1] 0.9537604115629593 Centerline is valid? [False, True] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99981086 -0.01712929 -0.00920992 4.33633581] [ 0.01717955 0.99983781 0.00540603 -0.29937431] [ 0.00911583 -0.00556323 0.99994297 -0.64796202] [ 0. 0. 0. 1. ]] SLAMing on 33.777719421 meters Centerline goodness [0,1] 0.9448097027115322 Centerline is valid? [True, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99985501 -0.0140435 -0.00963045 4.33874422] [ 0.01412316 0.99986619 0.00825419 -0.29824715] [ 0.00951324 -0.00838901 0.99991956 -0.64986532] [ 0. 0. 0. 1. ]] SLAMing on 33.807719421 meters Centerline goodness [0,1] 0.9449333360556996 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.30, Z:-0.65 [[ 0.99989214 -0.01065157 -0.01011239 4.34106882] [ 0.01076603 0.99987783 0.01133196 -0.29663208] [ 0.00999045 -0.01143961 0.99988466 -0.65162412] [ 0. 0. 0. 1. ]] SLAMing on 33.837719421 meters Centerline goodness [0,1] 0.9256737472988951 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.29, Z:-0.65 [[ 9.99940937e-01 -3.42598585e-03 -1.03142910e-02 4.34309548e+00] [ 3.61067344e-03 9.99832529e-01 1.79409408e-02 -2.94015341e-01] [ 1.02510982e-02 -1.79771227e-02 9.99785846e-01 -6.53584654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.867719421 meters Centerline goodness [0,1] 0.8722617354196301 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:-0.65 [[ 9.99976981e-01 1.19377014e-03 -6.67930472e-03 4.35113015e+00] [-1.12205537e-03 9.99941799e-01 1.07303260e-02 -2.90603311e-01] [ 6.69172552e-03 -1.07225844e-02 9.99920120e-01 -6.54650132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.897719421 meters Centerline goodness [0,1] 0.7857798820432236 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:-0.65 [[ 9.99976185e-01 1.47570591e-03 -6.74175063e-03 4.35150258e+00] [-1.40354987e-03 9.99941821e-01 1.06950867e-02 -2.91225312e-01] [ 6.75714120e-03 -1.06853696e-02 9.99920079e-01 -6.54922981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.927719421 meters Centerline goodness [0,1] 0.8535778467570658 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:-0.65 [[ 9.99978826e-01 -1.12395141e-03 -6.40974800e-03 4.35088844e+00] [ 1.17226220e-03 9.99970899e-01 7.53831099e-03 -2.93112579e-01] [ 6.40108878e-03 -7.54566528e-03 9.99951043e-01 -6.54723774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.957719421 meters Centerline goodness [0,1] 0.854651874209732 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:-0.65 [[ 9.99976948e-01 -1.50960354e-03 -6.62002868e-03 4.35148231e+00] [ 1.55874329e-03 9.99971227e-01 7.42402482e-03 -2.93435915e-01] [ 6.60863086e-03 -7.43417261e-03 9.99950528e-01 -6.54903753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.987719421 meters Centerline goodness [0,1] 0.8135234215885947 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:-0.66 [[ 9.99970274e-01 -3.52545396e-03 -6.85729791e-03 4.35339020e+00] [ 3.56616947e-03 9.99976032e-01 5.93440756e-03 -2.91316064e-01] [ 6.83621208e-03 -5.95868544e-03 9.99958879e-01 -6.56585733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.017719421 meters Centerline goodness [0,1] 0.9202871870397644 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:-0.66 [[ 9.99966577e-01 -4.15981608e-03 -7.03857659e-03 4.35420515e+00] [ 4.20102325e-03 9.99974065e-01 5.84985359e-03 -2.92173969e-01] [ 7.01405973e-03 -5.87922729e-03 9.99958118e-01 -6.57115177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.047719421 meters Centerline goodness [0,1] 0.9331258771126976 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.30, Z:-0.66 [[ 9.99904842e-01 -1.18509631e-02 -7.06131801e-03 4.35498321e+00] [ 1.18439554e-02 9.99929324e-01 -1.03340184e-03 -2.95773873e-01] [ 7.07306576e-03 9.49669573e-04 9.99974535e-01 -6.57708825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.077719421 meters Centerline goodness [0,1] 0.9407504131556934 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.30, Z:-0.66 [[ 0.99977311 -0.02009295 -0.00707131 4.35477778] [ 0.0200349 0.99976577 -0.00818573 -0.30004428] [ 0.00723413 0.0080422 0.99994149 -0.65694935] [ 0. 0. 0. 1. ]] SLAMing on 34.107719421 meters Centerline goodness [0,1] 0.9457308987044782 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.66 [[ 0.99975826 -0.02072303 -0.00734763 4.35571823] [ 0.02066496 0.9997553 -0.00789302 -0.30201248] [ 0.0075094 0.00773928 0.99994185 -0.65737625] [ 0. 0. 0. 1. ]] SLAMing on 34.137719421 meters Centerline goodness [0,1] 0.9433693796243597 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.66 [[ 0.99963853 -0.02580198 -0.00755469 4.35676919] [ 0.02570914 0.99959577 -0.01213819 -0.3025417 ] [ 0.00786483 0.01193958 0.99989779 -0.65787732] [ 0. 0. 0. 1. ]] SLAMing on 34.167719421 meters Centerline goodness [0,1] 0.9425306023020239 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.66 [[ 0.99961204 -0.0267501 -0.0077586 4.35730946] [ 0.02665525 0.99957168 -0.01208095 -0.30471462] [ 0.00807844 0.01186946 0.99989692 -0.65793171] [ 0. 0. 0. 1. ]] SLAMing on 34.197719421 meters Centerline goodness [0,1] 0.944387838278448 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.31, Z:-0.66 [[ 0.99947178 -0.03158804 -0.00763966 4.35628512] [ 0.03146345 0.99937822 -0.01591333 -0.30755415] [ 0.00813758 0.01566455 0.99984419 -0.65640306] [ 0. 0. 0. 1. ]] SLAMing on 34.227719420999996 meters Centerline goodness [0,1] 0.9451630013464442 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.31, Z:-0.66 [[ 0.9994594 -0.03194796 -0.00776128 4.35599516] [ 0.03182287 0.9993696 -0.01573844 -0.30871658] [ 0.0082592 0.01548294 0.99984602 -0.6556496 ] [ 0. 0. 0. 1. ]] SLAMing on 34.257719421 meters Centerline goodness [0,1] 0.9474491360801554 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.31, Z:-0.65 [[ 0.99941591 -0.03328283 -0.00775245 4.35546579] [ 0.03314922 0.99930973 -0.01676889 -0.30614949] [ 0.00830522 0.01650211 0.99982934 -0.65487768] [ 0. 0. 0. 1. ]] SLAMing on 34.287719421 meters Centerline goodness [0,1] 0.9502863781822629 Centerline is valid? [False, True] Translation: X:4.36, Y:-0.31, Z:-0.65 [[ 0.99948729 -0.03104723 -0.00782509 4.35519478] [ 0.03093887 0.99942864 -0.01360829 -0.30644444] [ 0.00824312 0.01335921 0.99987678 -0.65444322] [ 0. 0. 0. 1. ]] SLAMing on 34.317719421 meters Centerline goodness [0,1] 0.9493039514299147 Centerline is valid? [True, False] Translation: X:4.36, Y:-0.31, Z:-0.65 [[ 0.99947381 -0.0314577 -0.00790635 4.35525619] [ 0.03134321 0.99940767 -0.01420981 -0.30513479] [ 0.00834868 0.01395452 0.99986778 -0.65425186] [ 0. 0. 0. 1. ]] SLAMing on 34.347719421 meters Centerline goodness [0,1] 0.948336091193234 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.66 [[ 0.99966801 -0.0243767 -0.00834518 4.35649333] [ 0.02431254 0.99967471 -0.0077059 -0.30165509] [ 0.00853031 0.00750045 0.99993549 -0.65513494] [ 0. 0. 0. 1. ]] SLAMing on 34.377719421 meters Centerline goodness [0,1] 0.9490294737272709 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.30, Z:-0.66 [[ 9.99818929e-01 -1.70834658e-02 -8.38233217e-03 4.35630294e+00] [ 1.70774362e-02 9.99853858e-01 -7.90373866e-04 -2.98620770e-01] [ 8.39460948e-03 6.47082010e-04 9.99964555e-01 -6.55079451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.407719420999996 meters Centerline goodness [0,1] 0.954468802698145 Centerline is valid? [False, True] Translation: X:4.36, Y:-0.29, Z:-0.66 [[ 9.99979691e-01 -5.51311630e-03 -3.19751935e-03 4.36252944e+00] [ 5.50861924e-03 9.99983828e-01 -1.41352520e-03 -2.87538889e-01] [ 3.20526057e-03 1.39588258e-03 9.99993889e-01 -6.55446080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.437719421 meters Centerline goodness [0,1] 0.9564358452138493 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.28, Z:-0.66 [[ 9.99997858e-01 -1.28363803e-03 -1.62364054e-03 4.39208781e+00] [ 1.28360711e-03 9.99999176e-01 -2.00843763e-05 -2.79810052e-01] [ 1.62366498e-03 1.80002167e-05 9.99998682e-01 -6.55472069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.467719421 meters Centerline goodness [0,1] 0.9584951703101169 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.27, Z:-0.65 [[ 9.99998327e-01 1.73624780e-03 5.76348828e-04 4.42222398e+00] [-1.73625203e-03 9.99998493e-01 6.83246352e-06 -2.73921909e-01] [-5.76336096e-04 -7.83313891e-06 9.99999834e-01 -6.53745092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.497719421 meters Centerline goodness [0,1] 0.959585070680362 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.27, Z:-0.66 [[ 9.99999164e-01 1.17828936e-03 5.32785537e-04 4.45234854e+00] [-1.17829311e-03 9.99999306e-01 6.72148650e-06 -2.71765217e-01] [-5.32777247e-04 -7.34925841e-06 9.99999858e-01 -6.55519553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.527719421 meters Centerline goodness [0,1] 0.9556277275956562 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.27, Z:-0.66 [[ 9.99998549e-01 -5.72685908e-04 -1.60435355e-03 4.48238583e+00] [ 5.72656186e-04 9.99999836e-01 -1.89854825e-05 -2.66563524e-01] [ 1.60436416e-03 1.80667120e-05 9.99998713e-01 -6.58643295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.557719421 meters Centerline goodness [0,1] 0.9523327598421213 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.26, Z:-0.66 [[ 9.99991816e-01 9.63728464e-04 -3.92918385e-03 4.51231281e+00] [-9.63920631e-04 9.99999534e-01 -4.70141593e-05 -2.61550820e-01] [ 3.92913671e-03 5.08011960e-05 9.99992280e-01 -6.61687826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.587719421 meters Centerline goodness [0,1] 0.9463478225445064 Centerline is valid? [True, False] Translation: X:4.51, Y:-0.26, Z:-0.67 [[ 9.99970179e-01 7.09197997e-03 -3.05682289e-03 4.51149340e+00] [-7.10364302e-03 9.99967466e-01 -3.82159684e-03 -2.57824008e-01] [ 3.02962075e-03 3.84319745e-03 9.99988026e-01 -6.69345589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.617719421 meters Centerline goodness [0,1] 0.9439183823080213 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.26, Z:-0.67 [[ 9.99944895e-01 9.94229425e-03 -3.37002762e-03 4.51414703e+00] [-9.94805346e-03 9.99949078e-01 -1.69651605e-03 -2.56500765e-01] [ 3.35298875e-03 1.72994778e-03 9.99992882e-01 -6.71613234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.647719421 meters Centerline goodness [0,1] 0.9273057608296248 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.25, Z:-0.67 [[ 9.99883143e-01 1.49513655e-02 -3.18694409e-03 4.51406124e+00] [-1.49458317e-02 9.99886768e-01 1.75320062e-03 -2.53034048e-01] [ 3.21279597e-03 -1.70536422e-03 9.99993385e-01 -6.71586431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.677719421 meters Centerline goodness [0,1] 0.9031915545300472 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.25, Z:-0.67 [[ 9.99873834e-01 1.55558048e-02 -3.21451146e-03 4.51421854e+00] [-1.55514070e-02 9.99878105e-01 1.38861013e-03 -2.50385688e-01] [ 3.23572058e-03 -1.33844475e-03 9.99993869e-01 -6.71521913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.707719421 meters Centerline goodness [0,1] 0.906786774490736 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.67 [[ 9.99806054e-01 1.94151565e-02 -3.30243797e-03 4.51515865e+00] [-1.93984418e-02 9.99799229e-01 5.02022789e-03 -2.48577643e-01] [ 3.39924345e-03 -4.95519208e-03 9.99981945e-01 -6.72275536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.737719421 meters Centerline goodness [0,1] 0.884881825590872 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.67 [[ 9.99861384e-01 1.62246167e-02 -3.73830410e-03 4.51772089e+00] [-1.62166551e-02 9.99866189e-01 2.15028012e-03 -2.50537999e-01] [ 3.77269135e-03 -2.08935927e-03 9.99990701e-01 -6.74428443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.767719421 meters Centerline goodness [0,1] 0.9059834292477857 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.25, Z:-0.67 [[ 9.99915255e-01 1.24096208e-02 -3.93486554e-03 4.51830017e+00] [-1.24147169e-02 9.99922124e-01 -1.27334643e-03 -2.53059806e-01] [ 3.91875737e-03 1.32208876e-03 9.99991448e-01 -6.74815431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.797719421 meters Centerline goodness [0,1] 0.9440203041529361 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.26, Z:-0.67 [[ 9.99981030e-01 4.71813161e-03 -3.95967899e-03 4.51797349e+00] [-4.74854350e-03 9.99959030e-01 -7.70646109e-03 -2.58491278e-01] [ 3.92315667e-03 7.72511760e-03 9.99962465e-01 -6.74476249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.827719421 meters Centerline goodness [0,1] 0.9484207298374732 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.26, Z:-0.67 [[ 9.99985345e-01 3.24519092e-03 -4.33345383e-03 4.51882268e+00] [-3.28034898e-03 9.99961563e-01 -8.13086407e-03 -2.60709865e-01] [ 4.30690106e-03 8.14496015e-03 9.99957554e-01 -6.74702877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.857719421 meters Centerline goodness [0,1] 0.9471343167860277 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.26, Z:-0.67 [[ 9.99989513e-01 -1.13761995e-03 -4.43612907e-03 4.51914591e+00] [ 1.08436885e-03 9.99927554e-01 -1.19879399e-02 -2.60445559e-01] [ 4.44944541e-03 1.19830038e-02 9.99918302e-01 -6.74776165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.887719421 meters Centerline goodness [0,1] 0.9451137338179442 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.26, Z:-0.67 [[ 9.99988253e-01 -1.11756734e-03 -4.71648804e-03 4.51986700e+00] [ 1.06373569e-03 9.99934445e-01 -1.14006198e-02 -2.62076374e-01] [ 4.72891981e-03 1.13954688e-02 9.99923887e-01 -6.74980713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.917719421 meters Centerline goodness [0,1] 0.9432729493181355 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.27, Z:-0.68 [[ 9.99976411e-01 -4.50212731e-03 -5.18730580e-03 4.52105382e+00] [ 4.42751739e-03 9.99887862e-01 -1.43059814e-02 -2.65640521e-01] [ 5.25113146e-03 1.42826770e-02 9.99884209e-01 -6.75274418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.947719421 meters Centerline goodness [0,1] 0.943559380658813 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.27, Z:-0.68 [[ 9.99975308e-01 -4.46812524e-03 -5.42397167e-03 4.52204866e+00] [ 4.39357762e-03 9.99896784e-01 -1.36790761e-02 -2.68446679e-01] [ 5.48453166e-03 1.36549077e-02 9.99891726e-01 -6.75901207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.977719420999996 meters Centerline goodness [0,1] 0.9432495676060637 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.27, Z:-0.68 [[ 0.99997356 -0.00468641 -0.00556073 4.52246648] [ 0.00461313 0.99990331 -0.01311823 -0.27052476] [ 0.00562167 0.01309223 0.99989849 -0.67603446] [ 0. 0. 0. 1. ]] SLAMing on 35.007719421 meters Centerline goodness [0,1] 0.9384574587438549 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.27, Z:-0.67 [[ 9.99976940e-01 -3.82580992e-03 -5.61086130e-03 4.52090896e+00] [ 3.75978735e-03 9.99924125e-01 -1.17306391e-02 -2.70181708e-01] [ 5.65531477e-03 1.17092729e-02 9.99915452e-01 -6.74136438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.037719421 meters Centerline goodness [0,1] 0.9425142648283145 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.27, Z:-0.67 [[ 9.99976516e-01 -3.56245763e-03 -5.85458846e-03 4.52155125e+00] [ 3.49609238e-03 9.99929962e-01 -1.13070023e-02 -2.71161957e-01] [ 5.89445914e-03 1.12862686e-02 9.99918934e-01 -6.74223863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.067719421 meters Centerline goodness [0,1] 0.9456656567094374 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.28, Z:-0.67 [[ 9.99976098e-01 -3.33066213e-03 -6.05883609e-03 4.52121188e+00] [ 3.26807013e-03 9.99941495e-01 -1.03114291e-02 -2.75848868e-01] [ 6.09282551e-03 1.02913820e-02 9.99928480e-01 -6.73306815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.097719421 meters Centerline goodness [0,1] 0.9474489483669597 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.28, Z:-0.67 [[ 9.99977617e-01 -2.75266473e-03 -6.09822046e-03 4.52089983e+00] [ 2.69413731e-03 9.99950434e-01 -9.58497310e-03 -2.77720296e-01] [ 6.12430241e-03 9.56832912e-03 9.99935468e-01 -6.72749871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.127719421 meters Centerline goodness [0,1] 0.9525788315815205 Centerline is valid? [False, True] Translation: X:4.52, Y:-0.28, Z:-0.67 [[ 9.99981995e-01 1.39869324e-03 -5.83553843e-03 4.51980484e+00] [-1.42716495e-03 9.99987085e-01 -4.87771094e-03 -2.79830633e-01] [ 5.82864064e-03 4.88595139e-03 9.99971077e-01 -6.71735592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.157719420999996 meters Centerline goodness [0,1] 0.95410130352298 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.28, Z:-0.67 [[ 9.99984590e-01 2.61521702e-03 -4.89691705e-03 4.54900748e+00] [-2.61548583e-03 9.99996578e-01 -4.84899246e-05 -2.79661246e-01] [ 4.89677348e-03 6.12969945e-05 9.99988009e-01 -6.71028778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.187719421 meters Centerline goodness [0,1] 0.9520363651188389 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.28, Z:-0.67 [[ 9.99965176e-01 5.70447252e-03 -6.09139227e-03 4.57801316e+00] [-5.70491037e-03 9.99983725e-01 -5.45079339e-05 -2.77234896e-01] [ 6.09098219e-03 8.92568827e-05 9.99981446e-01 -6.73553622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.217719421 meters Centerline goodness [0,1] 0.9522228108064056 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.28, Z:-0.67 [[ 9.99950235e-01 7.49143332e-03 -6.58831171e-03 4.60634229e+00] [-7.49199608e-03 9.99971933e-01 -6.07413719e-05 -2.76236391e-01] [ 6.58767176e-03 1.10097955e-04 9.99978295e-01 -6.74629478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.247719421 meters Centerline goodness [0,1] 0.9534973723876645 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.28, Z:-0.67 [[ 9.99956152e-01 8.03458334e-03 -4.81028292e-03 4.63488720e+00] [-8.03489128e-03 9.99967719e-01 -4.46940152e-05 -2.76236094e-01] [ 4.80976854e-03 8.33421558e-05 9.99988430e-01 -6.73952975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.277719421 meters Centerline goodness [0,1] 0.9576595658018003 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.27, Z:-0.67 [[ 9.99958128e-01 9.12338566e-03 -7.11533226e-04 4.66394752e+00] [-9.12339341e-03 9.99958381e-01 -7.64656660e-06 -2.74372924e-01] [ 7.11433850e-04 1.41378440e-05 9.99999747e-01 -6.70440795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.307719421 meters Centerline goodness [0,1] 0.9599756567603205 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.27, Z:-0.67 [[ 9.99937523e-01 1.11077861e-02 1.25216735e-03 4.69321526e+00] [-1.11078080e-02 9.99938306e-01 1.05153716e-05 -2.72025933e-01] [-1.25197330e-03 -2.44235491e-05 9.99999216e-01 -6.68698260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.337719420999996 meters Centerline goodness [0,1] 0.956610183282817 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.26, Z:-0.67 [[ 9.99811946e-01 1.93920210e-02 -1.49941117e-04 4.72300571e+00] [-1.93920214e-02 9.99811957e-01 -1.35711585e-06 -2.63450339e-01] [ 1.49886604e-04 4.26452198e-06 9.99999989e-01 -6.69348638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.367719421 meters Centerline goodness [0,1] 0.943092406221409 Centerline is valid? [True, False] Translation: X:4.72, Y:-0.26, Z:-0.67 [[ 9.99788698e-01 2.05520702e-02 -4.15360408e-04 4.72434991e+00] [-2.05520751e-02 9.99788784e-01 -7.63333201e-06 -2.61464722e-01] [ 4.15115797e-04 1.61682374e-05 9.99999914e-01 -6.70220278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.397719421 meters Centerline goodness [0,1] 0.8950023391574965 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.26, Z:-0.68 [[ 9.99599261e-01 2.82973569e-02 -7.59486377e-04 4.72965039e+00] [-2.82913104e-02 9.99574865e-01 7.04916301e-03 -2.58098742e-01] [ 9.58636174e-04 -7.02485127e-03 9.99974866e-01 -6.75240611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.427719421 meters Centerline goodness [0,1] 0.8950023391574965 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.26, Z:-0.68 [[ 9.99599261e-01 2.82973569e-02 -7.59486377e-04 4.72965039e+00] [-2.82913104e-02 9.99574865e-01 7.04916301e-03 -2.58098742e-01] [ 9.58636174e-04 -7.02485127e-03 9.99974866e-01 -6.75240611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.457719421 meters Centerline goodness [0,1] 0.867196713977795 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.26, Z:-0.68 [[ 9.99517793e-01 3.10325547e-02 -1.07837573e-03 4.73237537e+00] [-3.10208609e-02 9.99473092e-01 9.55223325e-03 -2.56060182e-01] [ 1.37423773e-03 -9.51417495e-03 9.99953795e-01 -6.77480533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.487719421 meters Centerline goodness [0,1] 0.8522300277732396 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.26, Z:-0.68 [[ 9.99521426e-01 3.09082956e-02 -1.26328497e-03 4.73210672e+00] [-3.08953951e-02 9.99480279e-01 9.20030094e-03 -2.55563803e-01] [ 1.54699403e-03 -9.15686823e-03 9.99956878e-01 -6.76690168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.517719421 meters Centerline goodness [0,1] 0.880773318074062 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.26, Z:-0.68 [[ 9.99725343e-01 2.33914478e-02 -1.44170878e-03 4.73158331e+00] [-2.33886221e-02 9.99724554e-01 1.94656059e-03 -2.60080258e-01] [ 1.48684454e-03 -1.91230638e-03 9.99997066e-01 -6.76073461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.547719421 meters Centerline goodness [0,1] 0.900825770582945 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.26, Z:-0.68 [[ 9.99819662e-01 1.89017738e-02 -1.83494098e-03 4.73391934e+00] [-1.89062505e-02 9.99818250e-01 -2.45380600e-03 -2.60591097e-01] [ 1.78822619e-03 2.48805534e-03 9.99995306e-01 -6.78190049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.577719421 meters Centerline goodness [0,1] 0.9338368518556218 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.26, Z:-0.68 [[ 9.99896867e-01 1.24457033e-02 -7.16652764e-03 4.74678754e+00] [-1.24550839e-02 9.99921631e-01 -1.26579663e-03 -2.59885176e-01] [ 7.15021228e-03 1.35492579e-03 9.99973519e-01 -6.80380628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.607719421 meters Centerline goodness [0,1] 0.9378508011021532 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.26, Z:-0.68 [[ 0.99993651 0.00856839 -0.00731838 4.74694676] [-0.00860519 0.99995042 -0.00501143 -0.25985566] [ 0.00727507 0.00507409 0.99996066 -0.68026423] [ 0. 0. 0. 1. ]] SLAMing on 35.637719421 meters Centerline goodness [0,1] 0.939983696759731 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.26, Z:-0.68 [[ 0.99995879 0.00514697 -0.00747884 4.74628348] [-0.00520332 0.99995808 -0.00753431 -0.26392547] [ 0.00743974 0.00757291 0.99994365 -0.67906725] [ 0. 0. 0. 1. ]] SLAMing on 35.667719421 meters Centerline goodness [0,1] 0.9440318302387268 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.68 [[ 0.99995961 0.00499715 -0.00746992 4.74637427] [-0.00505048 0.99996177 -0.00713771 -0.26581469] [ 0.00743397 0.00717515 0.99994663 -0.67908437] [ 0. 0. 0. 1. ]] SLAMing on 35.697719421 meters Centerline goodness [0,1] 0.942878126402546 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.68 [[ 9.99961312e-01 4.52254266e-03 -7.54463827e-03 4.74687047e+00] [-4.57288764e-03 9.99967305e-01 -6.66909686e-03 -2.68575247e-01] [ 7.51423032e-03 6.70333963e-03 9.99949300e-01 -6.79455443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.727719420999996 meters Centerline goodness [0,1] 0.9418455590599247 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.68 [[ 9.99959770e-01 4.51411501e-03 -7.75126070e-03 4.74765294e+00] [-4.56450031e-03 9.99968490e-01 -6.49493125e-03 -2.68999358e-01] [ 7.72169759e-03 6.53005059e-03 9.99948866e-01 -6.79828533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.757719421 meters Centerline goodness [0,1] 0.9457610554605423 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.27, Z:-0.68 [[ 9.99961154e-01 4.34894327e-03 -7.66665545e-03 4.74442411e+00] [-4.39767591e-03 9.99970162e-01 -6.35108511e-03 -2.69188410e-01] [ 7.63880618e-03 6.38455386e-03 9.99950442e-01 -6.76012746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.787719421 meters Centerline goodness [0,1] 0.9509279775577826 Centerline is valid? [False, True] Translation: X:4.74, Y:-0.27, Z:-0.67 [[ 9.99976188e-01 1.16039288e-03 -6.80275746e-03 4.74370320e+00] [-1.15772726e-03 9.99999252e-01 3.95769135e-04 -2.70465179e-01] [ 6.80321162e-03 -3.87883973e-04 9.99976783e-01 -6.67256357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.817719421 meters Centerline goodness [0,1] 0.9497253306205493 Centerline is valid? [True, False] Translation: X:4.74, Y:-0.27, Z:-0.67 [[ 9.99976827e-01 3.86316335e-04 -6.79673660e-03 4.74374823e+00] [-3.86898766e-04 9.99999922e-01 -8.43780709e-05 -2.70445301e-01] [ 6.79670347e-03 8.70057646e-05 9.99976898e-01 -6.67267910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.847719421 meters Centerline goodness [0,1] 0.9484634433483539 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.67 [[ 9.99974523e-01 -9.61453641e-04 -7.07314371e-03 4.74611248e+00] [ 9.53086896e-04 9.99998842e-01 -1.18616476e-03 -2.70389636e-01] [ 7.07427596e-03 1.17939322e-03 9.99974281e-01 -6.69315693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.877719421 meters Centerline goodness [0,1] 0.94341475389714 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.67 [[ 9.99964288e-01 -4.05471265e-03 -7.41500705e-03 4.74919960e+00] [ 4.02424811e-03 9.99983420e-01 -4.11881198e-03 -2.70850854e-01] [ 7.43158471e-03 4.08882506e-03 9.99964026e-01 -6.72174598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.907719420999996 meters Centerline goodness [0,1] 0.9424671488234695 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.67 [[ 9.99961042e-01 -4.57174262e-03 -7.55072923e-03 4.75034958e+00] [ 4.53536865e-03 9.99978063e-01 -4.82739729e-03 -2.68712676e-01] [ 7.57263321e-03 4.79296389e-03 9.99959841e-01 -6.73148028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.937719421 meters Centerline goodness [0,1] 0.9430106651469511 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.67 [[ 9.99969608e-01 -1.65975312e-03 -7.61767114e-03 4.75064413e+00] [ 1.64799863e-03 9.99997442e-01 -1.54907352e-03 -2.68456183e-01] [ 7.62022274e-03 1.53647253e-03 9.99969785e-01 -6.73190827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.967719421 meters Centerline goodness [0,1] 0.9418701753671304 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.27, Z:-0.67 [[ 9.99970012e-01 9.66328809e-04 -7.68389752e-03 4.74926463e+00] [-9.63135844e-04 9.99999448e-01 4.19229368e-04 -2.65969527e-01] [ 7.68429839e-03 -4.11816158e-04 9.99970391e-01 -6.71306646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.997719421 meters Centerline goodness [0,1] 0.9458820652838339 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.26, Z:-0.67 [[ 9.99969401e-01 1.85299733e-03 -7.60026521e-03 4.74867580e+00] [-1.85125248e-03 9.99998258e-01 2.36606495e-04 -2.63696319e-01] [ 7.60069040e-03 -2.22529245e-04 9.99971090e-01 -6.70495153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.027719421 meters Centerline goodness [0,1] 0.9534572037770332 Centerline is valid? [False, True] Translation: X:4.75, Y:-0.26, Z:-0.67 [[ 0.99992506 0.0098621 -0.00725408 4.74671975] [-0.00980986 0.99992595 0.0072017 -0.26139594] [ 0.00732457 -0.00713 0.99994776 -0.66857437] [ 0. 0. 0. 1. ]] SLAMing on 36.057719421 meters Centerline goodness [0,1] 0.9533858524837748 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.25, Z:-0.67 [[ 9.99848585e-01 1.50168482e-02 -8.79216137e-03 4.77589450e+00] [-1.50178297e-02 9.99887225e-01 -4.56261826e-05 -2.53092371e-01] [ 8.79048467e-03 1.77658456e-04 9.99961347e-01 -6.68651134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.087719420999996 meters Centerline goodness [0,1] 0.9503254328871423 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.24, Z:-0.67 [[ 9.99586872e-01 2.62910084e-02 -1.16132498e-02 4.80606408e+00] [-2.62934647e-02 9.99654265e-01 -5.88582858e-05 -2.40981242e-01] [ 1.16076872e-02 3.64186543e-04 9.99932562e-01 -6.71804786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.117719421 meters Centerline goodness [0,1] 0.9398692810457516 Centerline is valid? [True, False] Translation: X:4.81, Y:-0.24, Z:-0.67 [[ 9.99458620e-01 3.07770317e-02 -1.16293213e-02 4.80697789e+00] [-3.07336537e-02 9.99520038e-01 3.89057693e-03 -2.39993252e-01] [ 1.17434801e-02 -3.53105912e-03 9.99924808e-01 -6.72436082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.147719421 meters Centerline goodness [0,1] 0.8878533325157888 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.67 [[ 0.9992516 0.03695866 -0.01141506 4.80727965] [-0.03685929 0.99928175 0.0087969 -0.2390368 ] [ 0.01173198 -0.00836956 0.99989615 -0.67266727] [ 0. 0. 0. 1. ]] SLAMing on 36.177719421 meters Centerline goodness [0,1] 0.8479778847138323 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.67 [[ 0.99918786 0.03857042 -0.01165938 4.80908549] [-0.03845033 0.99920687 0.01035426 -0.24305378] [ 0.01204951 -0.00989754 0.99987842 -0.67414394] [ 0. 0. 0. 1. ]] SLAMing on 36.207719421 meters Centerline goodness [0,1] 0.8177704985157129 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.68 [[ 0.99925216 0.03671503 -0.01212962 4.81159408] [-0.03661543 0.99929468 0.00833404 -0.24445727] [ 0.01242705 -0.00788367 0.9998917 -0.67620138] [ 0. 0. 0. 1. ]] SLAMing on 36.237719421 meters Centerline goodness [0,1] 0.8216547497446374 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.68 [[ 0.99931754 0.03478814 -0.01241972 4.81426284] [-0.03470436 0.99937381 0.00689826 -0.24470644] [ 0.01265192 -0.00646253 0.99989908 -0.67877171] [ 0. 0. 0. 1. ]] SLAMing on 36.267719421 meters Centerline goodness [0,1] 0.8741241599084837 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.24, Z:-0.68 [[ 9.99432104e-01 3.12418970e-02 -1.26258681e-02 4.81429722e+00] [-3.12065598e-02 9.99508496e-01 2.98622613e-03 -2.43152378e-01] [ 1.27129578e-02 -2.59052036e-03 9.99915831e-01 -6.78467582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.297719421 meters Centerline goodness [0,1] 0.9109622610684529 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.25, Z:-0.68 [[ 9.99546754e-01 2.71207270e-02 -1.30672076e-02 4.81430646e+00] [-2.71250063e-02 9.99632038e-01 -1.50334292e-04 -2.47623330e-01] [ 1.30583222e-02 5.04714243e-04 9.99914609e-01 -6.77665967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.327719421 meters Centerline goodness [0,1] 0.9044874938695439 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.25, Z:-0.68 [[ 9.99637576e-01 2.34316955e-02 -1.32541408e-02 4.81474626e+00] [-2.34781165e-02 9.99718712e-01 -3.35766743e-03 -2.51144272e-01] [ 1.31717367e-02 3.66763280e-03 9.99906523e-01 -6.77960386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.357719421 meters Centerline goodness [0,1] 0.9367868879227644 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.26, Z:-0.68 [[ 9.99819638e-01 1.52637764e-02 -1.13008147e-02 4.82048047e+00] [-1.52666307e-02 9.99883444e-01 -1.66342780e-04 -2.57727701e-01] [ 1.12969585e-02 3.38838142e-04 9.99936130e-01 -6.75965801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.387719421 meters Centerline goodness [0,1] 0.948151166344097 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.26, Z:-0.68 [[ 9.99831620e-01 1.41865913e-02 -1.16392535e-02 4.82073146e+00] [-1.41898058e-02 9.99899301e-01 -1.93638907e-04 -2.60114073e-01] [ 1.16353344e-02 3.58765049e-04 9.99932243e-01 -6.75438970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.417719421 meters Centerline goodness [0,1] 0.9487409339092169 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99908791e-01 7.09167616e-03 -1.14942559e-02 4.82539387e+00] [-7.04595924e-03 9.99967125e-01 4.01299840e-03 -2.65197511e-01] [ 1.15223369e-02 -3.93164432e-03 9.99925886e-01 -6.70976104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.447719421 meters Centerline goodness [0,1] 0.9478513876454789 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99929268e-01 3.22903331e-03 -1.14469656e-02 4.82569606e+00] [-3.22374712e-03 9.99994688e-01 4.80219793e-04 -2.66420287e-01] [ 1.14484554e-02 -4.43283704e-04 9.99934366e-01 -6.71363023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.477719420999996 meters Centerline goodness [0,1] 0.9463586690588811 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99933229e-01 -9.11742794e-04 -1.15197807e-02 4.82599088e+00] [ 8.81450828e-04 9.99996142e-01 -2.63436462e-03 -2.69661392e-01] [ 1.15221381e-02 2.62403460e-03 9.99930175e-01 -6.71473808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.507719421 meters Centerline goodness [0,1] 0.9423854860458465 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99930141e-01 -1.95539801e-03 -1.16571682e-02 4.82700214e+00] [ 1.92470843e-03 9.99994654e-01 -2.64331702e-03 -2.71286793e-01] [ 1.16622746e-02 2.62069571e-03 9.99928559e-01 -6.72262276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.537719421 meters Centerline goodness [0,1] 0.9425897670633709 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99924635e-01 -2.46465612e-03 -1.20270815e-02 4.82834366e+00] [ 2.43043325e-03 9.99992959e-01 -2.85927186e-03 -2.71533276e-01] [ 1.20340439e-02 2.82982535e-03 9.99923584e-01 -6.72922240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.567719421 meters Centerline goodness [0,1] 0.9410158717222551 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99921393e-01 -2.93149541e-03 -1.21907203e-02 4.82901245e+00] [ 2.89866428e-03 9.99992127e-01 -2.70992193e-03 -2.73234845e-01] [ 1.21985684e-02 2.67437210e-03 9.99922018e-01 -6.73302358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.597719421 meters Centerline goodness [0,1] 0.9392512843604806 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 0.99989933 -0.00716043 -0.01224981 4.83019931] [ 0.00708318 0.99995483 -0.00633841 -0.27499077] [ 0.01229465 0.00625101 0.99990488 -0.67447757] [ 0. 0. 0. 1. ]] SLAMing on 36.627719421 meters Centerline goodness [0,1] 0.9413704803851275 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 0.99989536 -0.00779747 -0.01218482 4.82932713] [ 0.00771179 0.99994532 -0.0070633 -0.27207163] [ 0.01223923 0.0069686 0.99990082 -0.67342081] [ 0. 0. 0. 1. ]] SLAMing on 36.657719420999996 meters Centerline goodness [0,1] 0.9424616138516825 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99903969e-01 -5.79069626e-03 -1.25904728e-02 4.83080303e+00] [ 5.73046290e-03 9.99971989e-01 -4.81486737e-03 -2.71377375e-01] [ 1.26180016e-02 4.74225576e-03 9.99909144e-01 -6.73998645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.687719421 meters Centerline goodness [0,1] 0.9459962375265827 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.27, Z:-0.67 [[ 9.99920316e-01 -2.00498037e-03 -1.24636238e-02 4.82992390e+00] [ 1.98561458e-03 9.99996803e-01 -1.56596468e-03 -2.69505097e-01] [ 1.24667237e-02 1.54109194e-03 9.99921100e-01 -6.73020981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.717719421 meters Centerline goodness [0,1] 0.9481619963016399 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.27, Z:-0.68 [[ 9.99979151e-01 2.14811585e-03 -6.08954671e-03 4.83870607e+00] [-2.19061513e-03 9.99973233e-01 -6.98099827e-03 -2.66412604e-01] [ 6.07438772e-03 6.99419258e-03 9.99957091e-01 -6.75439443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.747719421 meters Centerline goodness [0,1] 0.9531434384537131 Centerline is valid? [False, True] Translation: X:4.84, Y:-0.26, Z:-0.67 [[ 9.99964598e-01 6.15405174e-03 -5.73842452e-03 4.83685833e+00] [-6.17981685e-03 9.99970856e-01 -4.48305738e-03 -2.61885992e-01] [ 5.71066831e-03 4.51836109e-03 9.99973486e-01 -6.73569883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.777719421 meters Centerline goodness [0,1] 0.9526622397849024 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.25, Z:-0.68 [[ 9.99887558e-01 1.26718174e-02 -8.01852407e-03 4.86497864e+00] [-1.26726989e-02 9.99919696e-01 -5.91219660e-05 -2.51021223e-01] [ 8.01713097e-03 1.60731659e-04 9.99967849e-01 -6.77026947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.807719421 meters Centerline goodness [0,1] 0.949338397451605 Centerline is valid? [True, False] Translation: X:4.87, Y:-0.25, Z:-0.68 [[ 9.99841093e-01 1.57692069e-02 -8.31388662e-03 4.86729352e+00] [-1.57502693e-02 9.99873222e-01 2.33840926e-03 -2.47826557e-01] [ 8.34970746e-03 -2.20709172e-03 9.99962705e-01 -6.78894634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.837719420999996 meters Centerline goodness [0,1] 0.9428285059728359 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.68 [[ 0.99969443 0.02314615 -0.00867774 4.87066298] [-0.02307292 0.99969811 0.00844614 -0.2436913 ] [ 0.00887062 -0.00824334 0.99992668 -0.68176343] [ 0. 0. 0. 1. ]] SLAMing on 36.867719421 meters Centerline goodness [0,1] 0.9367955485803966 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.68 [[ 0.9996741 0.02392821 -0.00889556 4.87179436] [-0.02385325 0.99967985 0.00843877 -0.24266517] [ 0.00909464 -0.00822383 0.99992483 -0.68256331] [ 0. 0. 0. 1. ]] SLAMing on 36.897719421 meters Centerline goodness [0,1] 0.9108583331631507 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.68 [[ 0.99965319 0.0248132 -0.00882021 4.87213436] [-0.02473451 0.99965424 0.00892242 -0.24355982] [ 0.00903855 -0.00870116 0.99992129 -0.6830614 ] [ 0. 0. 0. 1. ]] SLAMing on 36.927719421 meters Centerline goodness [0,1] 0.91946143929938 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.68 [[ 0.99972359 0.02178254 -0.00884622 4.87144107] [-0.02173418 0.99974851 0.00552629 -0.24376733] [ 0.00896437 -0.0053325 0.9999456 -0.6821717 ] [ 0. 0. 0. 1. ]] SLAMing on 36.957719421 meters Centerline goodness [0,1] 0.894868227205762 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.24, Z:-0.68 [[ 9.99787990e-01 1.85017273e-02 -9.03669526e-03 4.87158144e+00] [-1.84860112e-02 9.99827463e-01 1.81958738e-03 -2.43493612e-01] [ 9.06880161e-03 -1.65214916e-03 9.99957513e-01 -6.81984246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.987719421 meters Centerline goodness [0,1] 0.9187441348076217 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.25, Z:-0.68 [[ 9.99830203e-01 1.58656613e-02 -9.37264587e-03 4.87236458e+00] [-1.58683062e-02 9.99874069e-01 -2.07887365e-04 -2.47418324e-01] [ 9.36816729e-03 3.56580081e-04 9.99956054e-01 -6.82140278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.017719421 meters Centerline goodness [0,1] 0.9341488277268094 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.25, Z:-0.68 [[ 9.99873198e-01 1.26894638e-02 -9.62106043e-03 4.87281827e+00] [-1.27207820e-02 9.99913964e-01 -3.20099774e-03 -2.49049555e-01] [ 9.57961373e-03 3.32297926e-03 9.99948593e-01 -6.82131698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.047719421 meters Centerline goodness [0,1] 0.9441039470458445 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.25, Z:-0.68 [[ 0.99991434 0.00907569 -0.00943053 4.87119495] [-0.00912666 0.9999439 -0.00537627 -0.25450172] [ 0.00938121 0.00546188 0.99994108 -0.68052776] [ 0. 0. 0. 1. ]] SLAMing on 37.077719421 meters Centerline goodness [0,1] 0.9520900779834259 Centerline is valid? [False, True] Translation: X:4.88, Y:-0.26, Z:-0.68 [[ 9.99965930e-01 4.45539349e-03 -6.94892538e-03 4.87829745e+00] [-4.44806702e-03 9.99989535e-01 1.06942907e-03 -2.57889311e-01] [ 6.95361739e-03 -1.03848335e-03 9.99975284e-01 -6.79608669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.107719421 meters Centerline goodness [0,1] 0.9532746464522965 Centerline is valid? [True, True] Translation: X:4.91, Y:-0.27, Z:-0.68 [[ 9.99957935e-01 -1.92602843e-03 -8.96760861e-03 4.90883668e+00] [ 1.92389660e-03 9.99998119e-01 -2.46345761e-04 -2.68848956e-01] [ 8.96806621e-03 2.29082647e-04 9.99959760e-01 -6.81500697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.137719421 meters Centerline goodness [0,1] 0.9498759607954776 Centerline is valid? [True, False] Translation: X:4.91, Y:-0.27, Z:-0.68 [[ 9.99946950e-01 -4.17004155e-03 -9.41848556e-03 4.91193301e+00] [ 4.15211652e-03 9.99989533e-01 -1.92192833e-03 -2.70470310e-01] [ 9.42640150e-03 1.88271973e-03 9.99953798e-01 -6.84002928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.167719421 meters Centerline goodness [0,1] 0.9490250299912568 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.27, Z:-0.68 [[ 0.99991703 -0.00854467 -0.00964004 4.91265076] [ 0.00849466 0.99995031 -0.0052165 -0.2734658 ] [ 0.00968414 0.00513418 0.99993993 -0.68420493] [ 0. 0. 0. 1. ]] SLAMing on 37.197719421 meters Centerline goodness [0,1] 0.9503033274097678 Centerline is valid? [False, True] Translation: X:4.91, Y:-0.28, Z:-0.68 [[ 0.99987409 -0.01251584 -0.00975535 4.91311581] [ 0.01243757 0.99989031 -0.00804261 -0.27823695] [ 0.00985494 0.00792026 0.99992007 -0.68431116] [ 0. 0. 0. 1. ]] SLAMing on 37.227719420999996 meters Centerline goodness [0,1] 0.9469326846419591 Centerline is valid? [True, False] Translation: X:4.91, Y:-0.28, Z:-0.69 [[ 0.99986568 -0.0130254 -0.0099479 4.91440787] [ 0.01294975 0.99988702 -0.00763211 -0.28079518] [ 0.01004619 0.00750226 0.99992139 -0.68537744] [ 0. 0. 0. 1. ]] SLAMing on 37.257719421 meters Centerline goodness [0,1] 0.948709051944076 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.28, Z:-0.69 [[ 0.99985134 -0.01406768 -0.00996946 4.91499895] [ 0.01398996 0.99987153 -0.00782361 -0.28104318] [ 0.01007824 0.00768297 0.9999197 -0.68585457] [ 0. 0. 0. 1. ]] SLAMing on 37.287719421 meters Centerline goodness [0,1] 0.9517927393546546 Centerline is valid? [False, True] Translation: X:4.91, Y:-0.28, Z:-0.68 [[ 9.99925034e-01 -6.83682826e-03 -1.01579188e-02 4.91420215e+00] [ 6.82872878e-03 9.99976338e-01 -8.31826673e-04 -2.78825666e-01] [ 1.01633655e-02 7.62398642e-04 9.99948061e-01 -6.84292646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.317719421 meters Centerline goodness [0,1] 0.9515343052298909 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.27, Z:-0.68 [[ 9.99939102e-01 -7.64216562e-04 -1.10094233e-02 4.94329216e+00] [ 7.62450420e-04 9.99999696e-01 -1.64617218e-04 -2.70516957e-01] [ 1.10095458e-02 1.56213053e-04 9.99939381e-01 -6.83842506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.347719421 meters Centerline goodness [0,1] 0.9465106815869786 Centerline is valid? [True, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 0.99989112 0.0088909 -0.01177693 4.94729773] [-0.00880282 0.99993306 0.00750945 -0.26800967] [ 0.0118429 -0.00740496 0.99990245 -0.68700521] [ 0. 0. 0. 1. ]] SLAMing on 37.377719421 meters Centerline goodness [0,1] 0.9465106815869786 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 0.99989112 0.0088909 -0.01177693 4.94729773] [-0.00880282 0.99993306 0.00750945 -0.26800967] [ 0.0118429 -0.00740496 0.99990245 -0.68700521] [ 0. 0. 0. 1. ]] SLAMing on 37.407719420999996 meters Centerline goodness [0,1] 0.9409496214980921 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 0.99984323 0.01307808 -0.01193678 4.94862388] [-0.01294564 0.99985452 0.01110623 -0.26684348] [ 0.01208029 -0.01094996 0.99986707 -0.68807807] [ 0. 0. 0. 1. ]] SLAMing on 37.437719421 meters Centerline goodness [0,1] 0.9257495554783461 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.26, Z:-0.69 [[ 0.99977074 0.017856 -0.01181623 4.9482282 ] [-0.01767749 0.99973058 0.01504254 -0.26485199] [ 0.01208165 -0.01483021 0.99981703 -0.68768394] [ 0. 0. 0. 1. ]] SLAMing on 37.467719421 meters Centerline goodness [0,1] 0.8981468267721351 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.26, Z:-0.69 [[ 0.99976625 0.01803437 -0.01192541 4.94781667] [-0.01785342 0.99972645 0.01510906 -0.26458828] [ 0.01219463 -0.01489262 0.99981473 -0.68682733] [ 0. 0. 0. 1. ]] SLAMing on 37.497719421 meters Centerline goodness [0,1] 0.9281926241999391 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 0.99981821 0.01462538 -0.01223277 4.94777807] [-0.01448004 0.9998245 0.01188673 -0.2661413 ] [ 0.01240447 -0.01170743 0.99985452 -0.68606745] [ 0. 0. 0. 1. ]] SLAMing on 37.527719421 meters Centerline goodness [0,1] 0.9333550395799841 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 0.99986114 0.01117078 -0.01236583 4.94770777] [-0.01106589 0.99990248 0.00851865 -0.26767211] [ 0.01245979 -0.00838063 0.99988725 -0.68568484] [ 0. 0. 0. 1. ]] SLAMing on 37.557719421 meters Centerline goodness [0,1] 0.9412997903563941 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 9.99912097e-01 4.92428188e-03 -1.23105512e-02 4.94752256e+00] [-4.89256097e-03 9.99984637e-01 2.60551505e-03 -2.71785050e-01] [ 1.23231923e-02 -2.54505589e-03 9.99920828e-01 -6.85513842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.587719420999996 meters Centerline goodness [0,1] 0.9411036218937794 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-0.69 [[ 9.99914592e-01 3.02694941e-03 -1.27139948e-02 4.95015638e+00] [-3.01683956e-03 9.99995118e-01 8.14278631e-04 -2.73639865e-01] [ 1.27163975e-02 -7.75853003e-04 9.99918842e-01 -6.87522574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.617719421 meters Centerline goodness [0,1] 0.9378366247755835 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-0.69 [[ 9.99913029e-01 2.92870214e-03 -1.28591463e-02 4.95164538e+00] [-2.91085317e-03 9.99994774e-01 1.40653356e-03 -2.77224717e-01] [ 1.28631984e-02 -1.36898015e-03 9.99916329e-01 -6.88853125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.647719421 meters Centerline goodness [0,1] 0.9414824182100024 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-0.69 [[ 9.99909502e-01 2.89430554e-03 -1.31381250e-02 4.95300940e+00] [-2.86990769e-03 9.99994123e-01 1.87550100e-03 -2.79691513e-01] [ 1.31434760e-02 -1.83762606e-03 9.99911932e-01 -6.89727555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.677719421 meters Centerline goodness [0,1] 0.9414646093558657 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-0.69 [[ 9.99907568e-01 2.82331681e-03 -1.32998088e-02 4.95338769e+00] [-2.79358417e-03 9.99993559e-01 2.25361631e-03 -2.81718325e-01] [ 1.33060858e-02 -2.21625386e-03 9.99909014e-01 -6.89634133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.707719421 meters Centerline goodness [0,1] 0.9432326849515749 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-0.69 [[ 9.99905879e-01 -8.76654676e-04 -1.36917639e-02 4.95676951e+00] [ 8.68143518e-04 9.99999426e-01 -6.27557197e-04 -2.87002913e-01] [ 1.36923062e-02 6.15611715e-04 9.99906066e-01 -6.92447511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.737719421 meters Centerline goodness [0,1] 0.9446497478511199 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-0.69 [[ 9.99896685e-01 -4.37394798e-03 -1.36926366e-02 4.95684772e+00] [ 4.32322134e-03 9.99983691e-01 -3.73207582e-03 -2.89204676e-01] [ 1.37087372e-02 3.67249394e-03 9.99899287e-01 -6.92415736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.767719421 meters Centerline goodness [0,1] 0.948631321868322 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-0.69 [[ 9.99938258e-01 -7.57708583e-03 -8.12821125e-03 4.96356937e+00] [ 7.60547533e-03 9.99965066e-01 3.46750645e-03 -2.92325724e-01] [ 8.10165371e-03 -3.52911127e-03 9.99960954e-01 -6.93273997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.797719421 meters Centerline goodness [0,1] 0.9547947988622512 Centerline is valid? [False, True] Translation: X:4.96, Y:-0.29, Z:-0.69 [[ 9.99902914e-01 -1.15529989e-02 -7.79047988e-03 4.96102854e+00] [ 1.15615933e-02 9.99932602e-01 1.05906051e-03 -2.94681412e-01] [ 7.77771949e-03 -1.14902805e-03 9.99969093e-01 -6.90269679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.827719421 meters Centerline goodness [0,1] 0.9509005321326238 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.31, Z:-0.69 [[ 9.99770712e-01 -1.91071437e-02 -9.66643040e-03 4.99023025e+00] [ 1.91052090e-02 9.99817436e-01 -2.92447718e-04 -3.06267518e-01] [ 9.67025350e-03 1.07701490e-04 9.99953236e-01 -6.92944655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.857719421 meters Centerline goodness [0,1] 0.9481728526414863 Centerline is valid? [True, False] Translation: X:4.99, Y:-0.31, Z:-0.69 [[ 9.99702329e-01 -2.22693425e-02 -9.96640399e-03 4.99250145e+00] [ 2.22399448e-02 9.99748007e-01 -3.05085882e-03 -3.08241617e-01] [ 1.00318331e-02 2.82829839e-03 9.99945680e-01 -6.94646493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.887719421 meters Centerline goodness [0,1] 0.9470927615696223 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.31, Z:-0.70 [[ 0.99960005 -0.02637252 -0.0102093 4.99367254] [ 0.02630669 0.99963259 -0.00652985 -0.31032663] [ 0.01037776 0.00625866 0.99992656 -0.69509836] [ 0. 0. 0. 1. ]] SLAMing on 37.917719421 meters Centerline goodness [0,1] 0.947482073011734 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.31, Z:-0.70 [[ 0.99959475 -0.0264681 -0.01047708 4.99458538] [ 0.02640356 0.99963182 -0.00625156 -0.31144292] [ 0.01063869 0.00597239 0.99992557 -0.69536909] [ 0. 0. 0. 1. ]] SLAMing on 37.947719421 meters Centerline goodness [0,1] 0.9440463796517443 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.31, Z:-0.70 [[ 0.99956919 -0.02728336 -0.01081908 4.99664939] [ 0.0272122 0.99960742 -0.00667069 -0.31099251] [ 0.01099684 0.0063734 0.99991922 -0.69689525] [ 0. 0. 0. 1. ]] SLAMing on 37.977719420999996 meters Centerline goodness [0,1] 0.9418179590336349 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.31, Z:-0.70 [[ 0.99958068 -0.0267135 -0.01117372 4.99920538] [ 0.02665073 0.99962839 -0.00572902 -0.31118016] [ 0.01132261 0.00542883 0.99992116 -0.69896723] [ 0. 0. 0. 1. ]] SLAMing on 38.007719421 meters Centerline goodness [0,1] 0.9413111469980989 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.31, Z:-0.70 [[ 0.99955729 -0.02746887 -0.01143155 5.00023111] [ 0.02740502 0.99960813 -0.00570521 -0.31237582] [ 0.01158378 0.0053894 0.99991838 -0.69935506] [ 0. 0. 0. 1. ]] SLAMing on 38.037719421 meters Centerline goodness [0,1] 0.9457162076767841 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.31, Z:-0.70 [[ 9.99621198e-01 -2.72241986e-02 -4.03772622e-03 5.01042237e+00] [ 2.71965493e-02 9.99607306e-01 -6.75148088e-03 -3.12499822e-01] [ 4.21994428e-03 6.63911119e-03 9.99969057e-01 -6.96793572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.067719421 meters Centerline goodness [0,1] 0.9489995916700694 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.31, Z:-0.70 [[ 9.99707295e-01 -2.38277694e-02 -4.19073976e-03 5.00969578e+00] [ 2.38137828e-02 9.99710778e-01 -3.35633807e-03 -3.10744586e-01] [ 4.26950176e-03 3.25555829e-03 9.99985586e-01 -6.95594095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.097719421 meters Centerline goodness [0,1] 0.952249938860357 Centerline is valid? [False, True] Translation: X:5.01, Y:-0.30, Z:-0.69 [[ 9.99859168e-01 -1.62266467e-02 -4.28256010e-03 5.00788519e+00] [ 1.62387455e-02 9.99864207e-01 2.80565153e-03 -3.01023976e-01] [ 4.23645224e-03 -2.87479981e-03 9.99986894e-01 -6.93327614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.127719421 meters Centerline goodness [0,1] 0.9517722136411674 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.29, Z:-0.70 [[ 9.99921148e-01 -1.16065051e-02 -4.79439058e-03 5.03626719e+00] [ 1.16062951e-02 9.99932642e-01 -7.16144473e-05 -2.89548940e-01] [ 4.79489884e-03 1.59636883e-05 9.99988504e-01 -6.95142279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.157719420999996 meters Centerline goodness [0,1] 0.9497367939676022 Centerline is valid? [True, False] Translation: X:5.04, Y:-0.28, Z:-0.70 [[ 9.99973070e-01 -5.03836384e-03 -5.33619022e-03 5.03940754e+00] [ 5.06193818e-03 9.99977448e-01 4.41356939e-03 -2.82757337e-01] [ 5.31383272e-03 -4.44046200e-03 9.99976022e-01 -6.97878916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.187719421 meters Centerline goodness [0,1] 0.9504058259932058 Centerline is valid? [False, True] Translation: X:5.04, Y:-0.28, Z:-0.70 [[ 9.99983392e-01 -1.69793121e-03 -5.50750302e-03 5.04021961e+00] [ 1.73599983e-03 9.99974586e-01 6.91473839e-03 -2.78990183e-01] [ 5.49562230e-03 -6.92418457e-03 9.99960926e-01 -6.98323346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.217719421 meters Centerline goodness [0,1] 0.9557913170970107 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.26, Z:-0.70 [[ 9.99977926e-01 6.31495614e-03 -2.06608471e-03 5.06922623e+00] [-6.31505515e-03 9.99980059e-01 -4.14013090e-05 -2.60798531e-01] [ 2.06578206e-03 5.44478340e-05 9.99997865e-01 -6.95471547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.247719421 meters Centerline goodness [0,1] 0.9582842041065257 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.25, Z:-0.69 [[ 9.99952036e-01 9.66539168e-03 -1.58292293e-03 5.09863099e+00] [-9.66544664e-03 9.99953288e-01 -2.70738253e-05 -2.54267217e-01] [ 1.58258731e-03 4.23721838e-05 9.99998747e-01 -6.94546252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.277719421 meters Centerline goodness [0,1] 0.9469214437367304 Centerline is valid? [True, False] Translation: X:5.10, Y:-0.25, Z:-0.70 [[ 9.99866873e-01 1.62067439e-02 -1.89145341e-03 5.10156608e+00] [-1.61959454e-02 9.99853204e-01 5.59119936e-03 -2.48641356e-01] [ 1.98179088e-03 -5.55982114e-03 9.99982580e-01 -6.96942869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.307719421 meters Centerline goodness [0,1] 0.9353462355054711 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.24, Z:-0.70 [[ 9.99814105e-01 1.91624513e-02 -2.13429268e-03 5.10339360e+00] [-1.91454239e-02 9.99786815e-01 7.73152629e-03 -2.43329532e-01] [ 2.28199268e-03 -7.68922710e-03 9.99967834e-01 -6.98253509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.337719420999996 meters Centerline goodness [0,1] 0.9338139459107201 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.24, Z:-0.70 [[ 9.99816968e-01 1.89787616e-02 -2.41613369e-03 5.10445002e+00] [-1.89613354e-02 9.99795419e-01 7.04184924e-03 -2.41187234e-01] [ 2.54928498e-03 -6.99474724e-03 9.99972287e-01 -6.98744887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.367719421 meters Centerline goodness [0,1] 0.9194730626705216 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-0.70 [[ 9.99818272e-01 1.88682897e-02 -2.72241283e-03 5.10563060e+00] [-1.88501565e-02 9.99800934e-01 6.53935371e-03 -2.40106290e-01] [ 2.84525732e-03 -6.48684741e-03 9.99974912e-01 -6.99369834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.397719421 meters Centerline goodness [0,1] 0.922516773032237 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-0.70 [[ 9.99873157e-01 1.56756103e-02 -2.81886008e-03 5.10565875e+00] [-1.56688640e-02 9.99874356e-01 2.39963853e-03 -2.39031850e-01] [ 2.85612170e-03 -2.35516582e-03 9.99993148e-01 -6.99131718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.427719421 meters Centerline goodness [0,1] 0.921165800468766 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-0.70 [[ 9.99918567e-01 1.24074379e-02 -2.98566054e-03 5.10574180e+00] [-1.24116903e-02 9.99921978e-01 -1.40999411e-03 -2.38207518e-01] [ 2.96793318e-03 1.44693639e-03 9.99994549e-01 -6.98678444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.457719421 meters Centerline goodness [0,1] 0.935292317110499 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.24, Z:-0.70 [[ 9.99959477e-01 8.52137223e-03 -2.90356419e-03 5.10586874e+00] [-8.53625595e-03 9.99950289e-01 -5.15277387e-03 -2.38179107e-01] [ 2.85951115e-03 5.17735063e-03 9.99982509e-01 -6.98925753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.487719421 meters Centerline goodness [0,1] 0.9417426338922351 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.24, Z:-0.70 [[ 9.99971123e-01 9.45000670e-04 -7.54054907e-03 5.11754696e+00] [-9.84663707e-04 9.99985692e-01 -5.25798901e-03 -2.39327400e-01] [ 7.53547238e-03 5.26526208e-03 9.99957746e-01 -6.99497652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.517719421 meters Centerline goodness [0,1] 0.9417020234986945 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.24, Z:-0.70 [[ 9.99965789e-01 -3.00093954e-03 -7.70808787e-03 5.11809164e+00] [ 2.93537888e-03 9.99959543e-01 -8.50271390e-03 -2.41216203e-01] [ 7.73329215e-03 8.47979686e-03 9.99934142e-01 -6.99569146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.547719421 meters Centerline goodness [0,1] 0.9470454360725027 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.25, Z:-0.70 [[ 9.99912391e-01 -1.27998802e-02 -3.37243292e-03 5.12418210e+00] [ 1.27805565e-02 9.99902133e-01 -5.69047819e-03 -2.47739094e-01] [ 3.44494031e-03 5.64687808e-03 9.99978122e-01 -6.98357926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.577719421 meters Centerline goodness [0,1] 0.9488745064517442 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.25, Z:-0.70 [[ 9.99847586e-01 -1.71158407e-02 -3.44281538e-03 5.12473317e+00] [ 1.70834850e-02 9.99811578e-01 -9.21758511e-03 -2.49786577e-01] [ 3.59993340e-03 9.15736494e-03 9.99951590e-01 -6.98533769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.607719421 meters Centerline goodness [0,1] 0.9466080016371636 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 9.99659361e-01 -2.58722414e-02 -3.43357275e-03 5.12557202e+00] [ 2.58107179e-02 9.99524104e-01 -1.68929470e-02 -2.52031644e-01] [ 3.86899713e-03 1.67985696e-02 9.99851408e-01 -6.98915100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.637719421 meters Centerline goodness [0,1] 0.9449227575257984 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 9.99635914e-01 -2.67272472e-02 -3.70061988e-03 5.12679283e+00] [ 2.66612528e-02 9.99502304e-01 -1.68618556e-02 -2.53952424e-01] [ 4.14944908e-03 1.67570532e-02 9.99850981e-01 -6.99552668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.667719421 meters Centerline goodness [0,1] 0.9454415372035977 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 9.99551546e-01 -2.96686201e-02 -4.05958641e-03 5.13034171e+00] [ 2.95849182e-02 9.99375493e-01 -1.93224376e-02 -2.53951811e-01] [ 4.63032123e-03 1.91936698e-02 9.99805063e-01 -7.02554953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.697719421 meters Centerline goodness [0,1] 0.9442995680873605 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 9.99561620e-01 -2.92800117e-02 -4.38742014e-03 5.13279406e+00] [ 2.91927768e-02 9.99397397e-01 -1.87782818e-02 -2.53630572e-01] [ 4.93460458e-03 1.86419688e-02 9.99814046e-01 -7.04574875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.727719420999996 meters Centerline goodness [0,1] 0.941106896692361 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.71 [[ 9.99648134e-01 -2.60793461e-02 -4.84519606e-03 5.13445806e+00] [ 2.60019106e-02 9.99543098e-01 -1.54109227e-02 -2.52528966e-01] [ 5.24488907e-03 1.52795158e-02 9.99869505e-01 -7.05556076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.757719421 meters Centerline goodness [0,1] 0.9422040550708722 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 9.99729858e-01 -2.26728071e-02 -5.11422975e-03 5.13359232e+00] [ 2.26105647e-02 9.99673326e-01 -1.19165172e-02 -2.51330608e-01] [ 5.38273996e-03 1.17976624e-02 9.99915917e-01 -7.03679461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.787719421 meters Centerline goodness [0,1] 0.9450367984342827 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 0.99978374 -0.02011469 -0.00527889 5.13332553] [ 0.02006879 0.99976154 -0.0086086 -0.25152647] [ 0.00545079 0.0085008 0.99994901 -0.70286137] [ 0. 0. 0. 1. ]] SLAMing on 38.817719421 meters Centerline goodness [0,1] 0.9466808197926022 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 0.99976759 -0.02090492 -0.00526817 5.13262941] [ 0.02085397 0.99973694 -0.00954816 -0.24843372] [ 0.00546639 0.00943608 0.99994054 -0.7017256 ] [ 0. 0. 0. 1. ]] SLAMing on 38.847719421 meters Centerline goodness [0,1] 0.9465142390527712 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 0.99982997 -0.0176481 -0.00534645 5.13247297] [ 0.01761784 0.9998288 -0.00565512 -0.24947607] [ 0.00544534 0.00555997 0.99996972 -0.70125405] [ 0. 0. 0. 1. ]] SLAMing on 38.877719421 meters Centerline goodness [0,1] 0.9506595017098193 Centerline is valid? [False, True] Translation: X:5.13, Y:-0.25, Z:-0.70 [[ 9.99892149e-01 -1.35531891e-02 -5.65691896e-03 5.13304851e+00] [ 1.35401388e-02 9.99905593e-01 -2.33892160e-03 -2.47117940e-01] [ 5.68808475e-03 2.26207388e-03 9.99981264e-01 -7.01074504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.907719420999996 meters Centerline goodness [0,1] 0.951436723048706 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.24, Z:-0.70 [[ 9.99934158e-01 -1.00355569e-02 -5.56480699e-03 5.16172784e+00] [ 1.00357683e-02 9.99949640e-01 1.00624615e-05 -2.40124899e-01] [ 5.56442577e-03 -6.59089126e-05 9.99984516e-01 -7.00647217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.937719421 meters Centerline goodness [0,1] 0.9466470275356982 Centerline is valid? [True, False] Translation: X:5.17, Y:-0.23, Z:-0.70 [[ 9.99980455e-01 -1.31455607e-03 -6.11241592e-03 5.16521993e+00] [ 1.35929309e-03 9.99972280e-01 7.32065569e-03 -2.33180906e-01] [ 6.10262307e-03 -7.32882118e-03 9.99954522e-01 -7.03603944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.967719421 meters Centerline goodness [0,1] 0.9431614532420984 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-0.71 [[ 9.99973013e-01 2.88243675e-03 -6.75759057e-03 5.16857268e+00] [-2.81033794e-03 9.99939289e-01 1.06546344e-02 -2.29629954e-01] [ 6.78789162e-03 -1.06353558e-02 9.99920404e-01 -7.06041755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.997719421 meters Centerline goodness [0,1] 0.94189346454603 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.23, Z:-0.71 [[ 0.99993024 0.00941851 -0.00712856 5.1712859 ] [-0.00930175 0.99982487 0.01623913 -0.22614133] [ 0.00728026 -0.01617169 0.99984272 -0.70816112] [ 0. 0. 0. 1. ]] SLAMing on 39.027719421 meters Centerline goodness [0,1] 0.9389734498848747 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.22, Z:-0.71 [[ 0.99992589 0.00950203 -0.00761118 5.17277392] [-0.00938184 0.99983315 0.01567344 -0.22437872] [ 0.00775884 -0.01560088 0.9998482 -0.7088006 ] [ 0. 0. 0. 1. ]] SLAMing on 39.057719421 meters Centerline goodness [0,1] 0.9386830939947781 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-0.71 [[ 0.99989657 0.01188272 -0.00810213 5.17565638] [-0.01173986 0.99977869 0.01745687 -0.22253166] [ 0.00830777 -0.01735995 0.99981479 -0.7108808 ] [ 0. 0. 0. 1. ]] SLAMing on 39.087719420999996 meters Centerline goodness [0,1] 0.9381521184277692 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-0.71 [[ 0.99989331 0.01193453 -0.00842193 5.17692581] [-0.0117907 0.99978722 0.01692635 -0.2204639 ] [ 0.00862215 -0.01682525 0.99982127 -0.71163678] [ 0. 0. 0. 1. ]] SLAMing on 39.117719421 meters Centerline goodness [0,1] 0.936653427029229 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.22, Z:-0.71 [[ 0.99984264 0.01552507 -0.00858271 5.17782632] [-0.01535295 0.99968669 0.01976904 -0.2168088 ] [ 0.00888694 -0.01963415 0.99976773 -0.71204888] [ 0. 0. 0. 1. ]] SLAMing on 39.147719421 meters Centerline goodness [0,1] 0.9355108706746963 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.21, Z:-0.71 [[ 0.99983166 0.01603234 -0.0089223 5.17893939] [-0.01585796 0.99968828 0.0192838 -0.21368624] [ 0.00922869 -0.01913907 0.99977424 -0.71244623] [ 0. 0. 0. 1. ]] SLAMing on 39.177719421 meters Centerline goodness [0,1] 0.9397810961468039 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.71 [[ 9.99812079e-01 1.88051409e-02 -4.70896065e-03 5.18661514e+00] [-1.87567361e-02 9.99772852e-01 1.01207206e-02 -2.09574964e-01] [ 4.89821260e-03 -1.00304940e-02 9.99937696e-01 -7.12371891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.207719421 meters Centerline goodness [0,1] 0.9433908455725082 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.71 [[ 9.99809978e-01 1.88627619e-02 -4.91972921e-03 5.18633308e+00] [-1.88137334e-02 9.99774696e-01 9.82852733e-03 -2.09077889e-01] [ 5.10401395e-03 -9.73410122e-03 9.99939596e-01 -7.11300558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.237719421 meters Centerline goodness [0,1] 0.947725743644111 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.71 [[ 9.99866826e-01 1.55256166e-02 -5.02838193e-03 5.18531788e+00] [-1.54969404e-02 9.99863711e-01 5.69247688e-03 -2.07827395e-01] [ 5.11607583e-03 -5.61379425e-03 9.99971155e-01 -7.09482733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.267719421 meters Centerline goodness [0,1] 0.947725743644111 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.71 [[ 9.99866826e-01 1.55256166e-02 -5.02838193e-03 5.18531788e+00] [-1.54969404e-02 9.99863711e-01 5.69247688e-03 -2.07827395e-01] [ 5.11607583e-03 -5.61379425e-03 9.99971155e-01 -7.09482733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.297719421 meters Centerline goodness [0,1] 0.9487477092241906 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.21, Z:-0.71 [[ 9.99920034e-01 1.14441506e-02 -5.38108569e-03 5.18603553e+00] [-1.14372171e-02 9.99933725e-01 1.31750569e-03 -2.06678800e-01] [ 5.39580679e-03 -1.25585569e-03 9.99984654e-01 -7.09483961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.327719421 meters Centerline goodness [0,1] 0.9468286045047424 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.21, Z:-0.71 [[ 9.99949975e-01 1.77039421e-03 -9.84443749e-03 5.19546713e+00] [-1.77847068e-03 9.99998089e-01 -8.11716141e-04 -2.08690602e-01] [ 9.84298162e-03 8.29183578e-04 9.99951213e-01 -7.07731302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.357719421 meters Centerline goodness [0,1] 0.9421354389830854 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.21, Z:-0.71 [[ 0.99992078 -0.00648271 -0.01078961 5.19895625] [ 0.00640666 0.9999545 -0.00706746 -0.21341318] [ 0.01083493 0.00699777 0.99991681 -0.70993609] [ 0. 0. 0. 1. ]] SLAMing on 39.387719421 meters Centerline goodness [0,1] 0.9419437810031233 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.22, Z:-0.71 [[ 0.99988549 -0.01028664 -0.01109945 5.19973353] [ 0.01017476 0.99989734 -0.01008921 -0.21632678] [ 0.0112021 0.00997512 0.9998875 -0.70993266] [ 0. 0. 0. 1. ]] SLAMing on 39.417719421 meters Centerline goodness [0,1] 0.9464387813444417 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.22, Z:-0.71 [[ 0.99980057 -0.01678591 -0.01081912 5.19751264] [ 0.01661459 0.99973815 -0.0157349 -0.22060398] [ 0.01108041 0.01555201 0.99981766 -0.70717442] [ 0. 0. 0. 1. ]] SLAMing on 39.447719421 meters Centerline goodness [0,1] 0.947001594244369 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.22, Z:-0.71 [[ 0.99979968 -0.01660228 -0.01117869 5.19792632] [ 0.01643087 0.99974862 -0.01525531 -0.22194797] [ 0.01142916 0.01506858 0.99982114 -0.70665389] [ 0. 0. 0. 1. ]] SLAMing on 39.477719420999996 meters Centerline goodness [0,1] 0.9462506126449927 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.22, Z:-0.71 [[ 0.9998897 -0.0091785 -0.01167685 5.19898389] [ 0.00909487 0.99993275 -0.00719536 -0.22330755] [ 0.01174211 0.00708836 0.99990593 -0.70681661] [ 0. 0. 0. 1. ]] SLAMing on 39.507719421 meters Centerline goodness [0,1] 0.9455844818785094 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.22, Z:-0.71 [[ 9.99916069e-01 -4.70588454e-03 -1.20710446e-02 5.20033501e+00] [ 4.67002676e-03 9.99984604e-01 -2.99703083e-03 -2.22873170e-01] [ 1.20849625e-02 2.94040719e-03 9.99922651e-01 -7.07473054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.537719421 meters Centerline goodness [0,1] 0.9427050400799559 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.22, Z:-0.71 [[ 9.99905678e-01 3.95932040e-03 -1.31513579e-02 5.20592035e+00] [-3.90546853e-03 9.99983895e-01 4.11793802e-03 -2.19682934e-01] [ 1.31674503e-02 -4.06618740e-03 9.99905038e-01 -7.11770560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.567719421 meters Centerline goodness [0,1] 0.9423826331789525 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.22, Z:-0.71 [[ 0.99987994 0.00744723 -0.01358861 5.20841479] [-0.00735469 0.99994951 0.00684742 -0.21715138] [ 0.01363892 -0.00674666 0.99988422 -0.71354355] [ 0. 0. 0. 1. ]] SLAMing on 39.597719421 meters Centerline goodness [0,1] 0.9438160957086277 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.21, Z:-0.71 [[ 0.99979663 0.0147727 -0.01372813 5.2084059 ] [-0.01459303 0.99980774 0.01309651 -0.21277599] [ 0.01391896 -0.01289352 0.99981999 -0.71281672] [ 0. 0. 0. 1. ]] SLAMing on 39.627719421 meters Centerline goodness [0,1] 0.9446864200560293 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.21, Z:-0.71 [[ 0.99979146 0.01477542 -0.01409693 5.20878841] [-0.01460241 0.99981775 0.01229819 -0.21009725] [ 0.01427607 -0.01208978 0.999825 -0.71226698] [ 0. 0. 0. 1. ]] SLAMing on 39.657719420999996 meters Centerline goodness [0,1] 0.9450977990118012 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.21, Z:-0.71 [[ 0.99978306 0.01484781 -0.01460726 5.20995888] [-0.01467945 0.99982535 0.01156605 -0.20866124] [ 0.01477644 -0.01134912 0.99982641 -0.71232857] [ 0. 0. 0. 1. ]] SLAMing on 39.687719421 meters Centerline goodness [0,1] 0.9455462734124471 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.21, Z:-0.71 [[ 0.99981917 0.01176262 -0.01494203 5.21094514] [-0.0116513 0.99990388 0.00751525 -0.20737993] [ 0.01502899 -0.0073398 0.99986012 -0.71266626] [ 0. 0. 0. 1. ]] SLAMing on 39.717719421 meters Centerline goodness [0,1] 0.9477741297387687 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.21, Z:-0.71 [[ 0.99981228 0.01206878 -0.0151575 5.21159992] [-0.01195742 0.999901 0.00741628 -0.2071214 ] [ 0.0152455 -0.00723364 0.99985761 -0.71269943] [ 0. 0. 0. 1. ]] SLAMing on 39.747719421 meters Centerline goodness [0,1] 0.9466169701413499 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.20, Z:-0.71 [[ 0.99980165 0.01248499 -0.01551745 5.21292083] [-0.0123761 0.99989826 0.00709307 -0.20412935] [ 0.01560442 -0.00689962 0.99985444 -0.7132759 ] [ 0. 0. 0. 1. ]] SLAMing on 39.777719421 meters Centerline goodness [0,1] 0.9433135367601884 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.20, Z:-0.71 [[ 0.99968062 0.01936705 -0.01623509 5.21558166] [-0.01915112 0.99972744 0.01335213 -0.20045418] [ 0.01648926 -0.01303695 0.99977905 -0.71443951] [ 0. 0. 0. 1. ]] SLAMing on 39.807719421 meters Centerline goodness [0,1] 0.9395984132826238 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.20, Z:-0.72 [[ 0.99962035 0.02171959 -0.0169531 5.2187051 ] [-0.02147127 0.99966147 0.01469441 -0.20174353] [ 0.01726651 -0.01432483 0.9997483 -0.71638951] [ 0. 0. 0. 1. ]] SLAMing on 39.837719420999996 meters Centerline goodness [0,1] 0.9341417948665424 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.20, Z:-0.72 [[ 0.99960428 0.02226448 -0.01719221 5.22007311] [-0.022014 0.9996507 0.01462381 -0.20103525] [ 0.0175118 -0.01423956 0.99974525 -0.71737869] [ 0. 0. 0. 1. ]] SLAMing on 39.867719421 meters Centerline goodness [0,1] 0.9238430954625568 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.20, Z:-0.72 [[ 0.99951637 0.02559003 -0.0176686 5.22298271] [-0.02528126 0.99952749 0.01748309 -0.19999964] [ 0.01810765 -0.01702795 0.99969103 -0.71948896] [ 0. 0. 0. 1. ]] SLAMing on 39.897719421 meters Centerline goodness [0,1] 0.9215726383831772 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.20, Z:-0.72 [[ 0.99950501 0.02574141 -0.01808647 5.22416887] [-0.02542607 0.99952433 0.01745362 -0.19991554] [ 0.01852714 -0.01698511 0.99968408 -0.71982436] [ 0. 0. 0. 1. ]] SLAMing on 39.927719421 meters Centerline goodness [0,1] 0.9175618439629243 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.20, Z:-0.72 [[ 0.99957524 0.02261851 -0.0183778 5.22391733] [-0.02236411 0.99965281 0.01393228 -0.20030339] [ 0.01868654 -0.01351536 0.99973404 -0.71877037] [ 0. 0. 0. 1. ]] SLAMing on 39.957719421 meters Centerline goodness [0,1] 0.9332231270025919 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.20, Z:-0.72 [[ 0.99973584 0.01981442 -0.01164624 5.23544225] [-0.01967058 0.99973039 0.01233773 -0.20085198] [ 0.01188757 -0.01210538 0.99985606 -0.71660098] [ 0. 0. 0. 1. ]] SLAMing on 39.987719421 meters Centerline goodness [0,1] 0.9451162411953911 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.20, Z:-0.72 [[ 9.99891076e-01 1.45007023e-02 -2.75075139e-03 5.24355355e+00] [-1.44687559e-02 9.99831487e-01 1.12983126e-02 -2.01071560e-01] [ 2.91412132e-03 -1.12572820e-02 9.99932388e-01 -7.16321203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.017719421 meters Centerline goodness [0,1] 0.953426601784266 Centerline is valid? [False, True] Translation: X:5.24, Y:-0.20, Z:-0.72 [[ 9.99978812e-01 5.72436368e-03 -3.09947061e-03 5.24343595e+00] [-5.71286800e-03 9.99976817e-01 3.70515356e-03 -2.03764094e-01] [ 3.12060840e-03 -3.68736819e-03 9.99988332e-01 -7.15280138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.047719421 meters Centerline goodness [0,1] 0.9514044600269069 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.22, Z:-0.72 [[ 9.99976497e-01 -4.12622119e-03 -5.47544979e-03 5.27365172e+00] [ 4.12588311e-03 9.99991486e-01 -7.30383571e-05 -2.17552434e-01] [ 5.47570454e-03 5.04455747e-05 9.99985007e-01 -7.17419910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.077719421 meters Centerline goodness [0,1] 0.9482973210095693 Centerline is valid? [True, False] Translation: X:5.28, Y:-0.22, Z:-0.72 [[ 9.99972150e-01 -4.69244716e-03 -5.80353601e-03 5.27528820e+00] [ 4.69403600e-03 9.99988949e-01 2.60181063e-04 -2.19649861e-01] [ 5.80225099e-03 -2.87415824e-04 9.99983125e-01 -7.18693134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.107719421 meters Centerline goodness [0,1] 0.9420209941592125 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.22, Z:-0.72 [[ 9.99932223e-01 -9.59949460e-03 -6.58778955e-03 5.27992159e+00] [ 9.57324655e-03 9.99946157e-01 -4.00438393e-03 -2.20278374e-01] [ 6.62587491e-03 3.94104599e-03 9.99970283e-01 -7.22474344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.137719421 meters Centerline goodness [0,1] 0.9397045338767193 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.22, Z:-0.72 [[ 9.99925502e-01 -9.88171481e-03 -7.16540151e-03 5.28204955e+00] [ 9.85518630e-03 9.99944486e-01 -3.72821194e-03 -2.21366418e-01] [ 7.20184486e-03 3.65731783e-03 9.99967378e-01 -7.23706932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.167719421 meters Centerline goodness [0,1] 0.9400507593434033 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.22, Z:-0.72 [[ 9.99913686e-01 -1.08312210e-02 -7.43673735e-03 5.28302889e+00] [ 1.07981991e-02 9.99931723e-01 -4.46626740e-03 -2.19293522e-01] [ 7.48460473e-03 4.38557853e-03 9.99962373e-01 -7.24209370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.197719421 meters Centerline goodness [0,1] 0.9440245775729647 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.22, Z:-0.72 [[ 9.99940323e-01 -7.73845304e-03 -7.71146274e-03 5.28315990e+00] [ 7.73303661e-03 9.99969832e-01 -7.31957338e-04 -2.19654778e-01] [ 7.71689432e-03 6.72280633e-04 9.99969998e-01 -7.23640841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.227719420999996 meters Centerline goodness [0,1] 0.9407701924456376 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.22, Z:-0.72 [[ 9.99954294e-01 -5.03184071e-03 -8.12957482e-03 5.28285795e+00] [ 5.04567163e-03 9.99985856e-01 1.68169623e-03 -2.18894807e-01] [ 8.12099781e-03 -1.72263853e-03 9.99965540e-01 -7.22279506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.257719421 meters Centerline goodness [0,1] 0.9352583958265406 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.22, Z:-0.72 [[ 9.99908093e-01 2.97867373e-03 -1.32262607e-02 5.29380381e+00] [-2.94131334e-03 9.99991632e-01 2.84326716e-03 -2.15958524e-01] [ 1.32346192e-02 -2.80410326e-03 9.99908487e-01 -7.22190585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.287719421 meters Centerline goodness [0,1] 0.9424516024076786 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.21, Z:-0.72 [[ 0.99982898 0.01264329 -0.01349627 5.29387052] [-0.01250413 0.99986829 0.01034625 -0.21065191] [ 0.0136253 -0.01017572 0.99985539 -0.72102182] [ 0. 0. 0. 1. ]] SLAMing on 40.317719421 meters Centerline goodness [0,1] 0.9451699791862221 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.21, Z:-0.72 [[ 0.99976191 0.01701005 -0.01366704 5.29358872] [-0.01682118 0.99976303 0.01381768 -0.20849185] [ 0.01389884 -0.0135845 0.99981112 -0.71990421] [ 0. 0. 0. 1. ]] SLAMing on 40.347719421 meters Centerline goodness [0,1] 0.942806350763195 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.21, Z:-0.72 [[ 0.99958922 0.02523694 -0.01358254 5.29319401] [-0.02494812 0.99946754 0.02102905 -0.20571785] [ 0.01410601 -0.02068156 0.9996866 -0.71899508] [ 0. 0. 0. 1. ]] SLAMing on 40.377719421 meters Centerline goodness [0,1] 0.9401824802585819 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.20, Z:-0.72 [[ 0.99956602 0.02599971 -0.01384855 5.29407678] [-0.02570865 0.99945314 0.02079649 -0.20210914] [ 0.01438168 -0.02043144 0.99968781 -0.71931095] [ 0. 0. 0. 1. ]] SLAMing on 40.407719420999996 meters Centerline goodness [0,1] 0.9361576274297836 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 0.99949641 0.0283147 -0.01432485 5.2965317 ] [-0.02798329 0.99934765 0.02283005 -0.20004791] [ 0.01496193 -0.02241769 0.99963673 -0.7209045 ] [ 0. 0. 0. 1. ]] SLAMing on 40.437719421 meters Centerline goodness [0,1] 0.9282620244370888 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 0.99944795 0.02972616 -0.01483777 5.29934496] [-0.02937396 0.99929419 0.02341553 -0.1989135 ] [ 0.01552336 -0.02296676 0.9996157 -0.72290628] [ 0. 0. 0. 1. ]] SLAMing on 40.467719421 meters Centerline goodness [0,1] 0.9260694832615924 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 0.99943975 0.02981328 -0.01521035 5.30069054] [-0.02945207 0.99929125 0.02344312 -0.19942847] [ 0.01589848 -0.02298201 0.99960946 -0.72359684] [ 0. 0. 0. 1. ]] SLAMing on 40.497719421 meters Centerline goodness [0,1] 0.9338712650269307 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 0.99954099 0.02597989 -0.01558402 5.30087445] [-0.0256765 0.99948278 0.01936229 -0.19918192] [ 0.01607899 -0.01895326 0.99969107 -0.72307103] [ 0. 0. 0. 1. ]] SLAMing on 40.527719421 meters Centerline goodness [0,1] 0.9407846342460155 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 0.99969931 0.01854764 -0.01603949 5.30088527] [-0.01836629 0.99976656 0.0113803 -0.1985536 ] [ 0.01624682 -0.0110823 0.99980659 -0.72206644] [ 0. 0. 0. 1. ]] SLAMing on 40.557719421 meters Centerline goodness [0,1] 0.9440391277766456 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 0.99975397 0.01480972 -0.01651258 5.30154964] [-0.01468682 0.99986372 0.00753925 -0.19868456] [ 0.01662198 -0.00729488 0.99983523 -0.72181913] [ 0. 0. 0. 1. ]] SLAMing on 40.587719420999996 meters Centerline goodness [0,1] 0.9468178567780161 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 9.99799509e-01 1.08846575e-02 -1.68067198e-02 5.30196382e+00] [-1.08222641e-02 9.99934221e-01 3.79891069e-03 -1.99510073e-01] [ 1.68469642e-02 -3.61626228e-03 9.99851540e-01 -7.21692639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.617719421 meters Centerline goodness [0,1] 0.949093658676149 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.20, Z:-0.72 [[ 9.99840229e-01 6.17427388e-03 -1.67747974e-02 5.30208412e+00] [-6.16261867e-03 9.99980732e-01 7.46408551e-04 -2.03039935e-01] [ 1.67790827e-02 -6.42912617e-04 9.99859015e-01 -7.22045128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.647719421 meters Centerline goodness [0,1] 0.9492531831537708 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.21, Z:-0.72 [[ 9.99856545e-01 1.68444721e-03 -1.68538236e-02 5.30169519e+00] [-1.71972294e-03 9.99996361e-01 -2.07876578e-03 -2.07126499e-01] [ 1.68502607e-02 2.10745148e-03 9.99855803e-01 -7.21390141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.677719421 meters Centerline goodness [0,1] 0.9495897550746177 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.21, Z:-0.72 [[ 9.99901745e-01 -5.27791025e-03 -1.29863103e-02 5.30935797e+00] [ 5.31822741e-03 9.99981139e-01 3.07201659e-03 -2.13647704e-01] [ 1.29698515e-02 -3.14077890e-03 9.99910955e-01 -7.21487924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.707719421 meters Centerline goodness [0,1] 0.9478189971463514 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.22, Z:-0.72 [[ 9.99893726e-01 -6.31443684e-03 -1.31401719e-02 5.30920865e+00] [ 6.34888003e-03 9.99976514e-01 2.58115118e-03 -2.16713733e-01] [ 1.31235648e-02 -2.66430225e-03 9.99910333e-01 -7.20920817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.737719421 meters Centerline goodness [0,1] 0.9468806140780663 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.22, Z:-0.72 [[ 9.99887765e-01 -6.76630426e-03 -1.33668867e-02 5.30977200e+00] [ 6.80673683e-03 9.99972389e-01 2.98165493e-03 -2.20185547e-01] [ 1.33463428e-02 -3.07230517e-03 9.99906214e-01 -7.20981120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.767719421 meters Centerline goodness [0,1] 0.9443739511276656 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.22, Z:-0.72 [[ 9.99857115e-01 -9.81120788e-03 -1.37655322e-02 5.31083145e+00] [ 9.82334135e-03 9.99951418e-01 8.14098544e-04 -2.24513470e-01] [ 1.37568762e-02 -9.49205743e-04 9.99904919e-01 -7.21343876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.797719421 meters Centerline goodness [0,1] 0.9456495047884096 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.22, Z:-0.72 [[ 9.99875731e-01 -7.39662963e-03 -1.39216821e-02 5.30958204e+00] [ 7.45136215e-03 9.99964696e-01 3.88370310e-03 -2.24156285e-01] [ 1.38924643e-02 -3.98695597e-03 9.99895546e-01 -7.19381675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.827719421 meters Centerline goodness [0,1] 0.9479202861522739 Centerline is valid? [False, False] Translation: X:5.31, Y:-0.22, Z:-0.72 [[ 9.99878739e-01 -6.59705976e-03 -1.41062092e-02 5.30897596e+00] [ 6.65692552e-03 9.99969017e-01 4.20119470e-03 -2.22844493e-01] [ 1.40780566e-02 -4.29458924e-03 9.99891677e-01 -7.18037992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.857719421 meters Centerline goodness [0,1] 0.9515622450644478 Centerline is valid? [False, True] Translation: X:5.31, Y:-0.22, Z:-0.72 [[ 9.99878838e-01 -5.49918867e-03 -1.45625905e-02 5.30940349e+00] [ 5.56660273e-03 9.99973959e-01 4.59278197e-03 -2.22077995e-01] [ 1.45369547e-02 -4.67328965e-03 9.99883412e-01 -7.17276806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.887719421 meters Centerline goodness [0,1] 0.9502265213664749 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.21, Z:-0.72 [[ 9.99881708e-01 4.62191501e-03 -1.46699473e-02 5.33673854e+00] [-4.62339349e-03 9.99989310e-01 -6.68698497e-05 -2.11506833e-01] [ 1.46694814e-02 1.34686878e-04 9.99892388e-01 -7.20284189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.917719421 meters Centerline goodness [0,1] 0.9510177468978586 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.20, Z:-0.72 [[ 9.99754748e-01 1.64137897e-02 -1.48671271e-02 5.36650935e+00] [-1.64166076e-02 9.99865236e-01 -6.75120623e-05 -1.97556892e-01] [ 1.48640154e-02 3.11563297e-04 9.99889476e-01 -7.21590294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.947719421 meters Centerline goodness [0,1] 0.9488918394443877 Centerline is valid? [True, False] Translation: X:5.37, Y:-0.19, Z:-0.72 [[ 9.99678210e-01 2.04735823e-02 -1.49769303e-02 5.36704649e+00] [-2.04269369e-02 9.99786031e-01 3.26087046e-03 -1.94777159e-01] [ 1.50404874e-02 -2.95388833e-03 9.99882522e-01 -7.21660348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.977719420999996 meters Centerline goodness [0,1] 0.9364894421618528 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.19, Z:-0.72 [[ 0.99948705 0.02822051 -0.01514038 5.36821267] [-0.02806879 0.99955455 0.01014159 -0.19092868] [ 0.01541984 -0.00971142 0.99983394 -0.72206531] [ 0. 0. 0. 1. ]] SLAMing on 41.007719421 meters Centerline goodness [0,1] 0.9263344977630692 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.19, Z:-0.72 [[ 0.99947494 0.02843854 -0.01552727 5.36948138] [-0.02828827 0.99955164 0.00981288 -0.18992191] [ 0.01579937 -0.00936849 0.99983129 -0.72257486] [ 0. 0. 0. 1. ]] SLAMing on 41.037719421 meters Centerline goodness [0,1] 0.9074458557238235 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.19, Z:-0.72 [[ 0.99950883 0.02682917 -0.01619569 5.37252489] [-0.02670822 0.99961408 0.00763896 -0.19247377] [ 0.01639438 -0.00720265 0.99983966 -0.72470279] [ 0. 0. 0. 1. ]] SLAMing on 41.067719421 meters Centerline goodness [0,1] 0.8988497277825536 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.19, Z:-0.73 [[ 9.99585455e-01 2.36439851e-02 -1.64280533e-02 5.37323593e+00] [-2.35818749e-02 9.99714049e-01 3.96425025e-03 -1.92166345e-01] [ 1.65170864e-02 -3.57520259e-03 9.99857192e-01 -7.25109196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.097719421 meters Centerline goodness [0,1] 0.9307158882316948 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.19, Z:-0.73 [[ 0.99969032 0.02138614 -0.01272368 5.38245921] [-0.02122482 0.99969429 0.01268183 -0.19343337] [ 0.012991 -0.01240785 0.99983863 -0.72609957] [ 0. 0. 0. 1. ]] SLAMing on 41.127719421 meters Centerline goodness [0,1] 0.9202919231866922 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.19, Z:-0.73 [[ 0.99975881 0.01772249 -0.0129707 5.38263438] [-0.01761199 0.99980805 0.00858408 -0.19163991] [ 0.01312034 -0.00835357 0.99987903 -0.72574358] [ 0. 0. 0. 1. ]] SLAMing on 41.157719420999996 meters Centerline goodness [0,1] 0.9202919231866922 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.19, Z:-0.73 [[ 0.99975881 0.01772249 -0.0129707 5.38263438] [-0.01761199 0.99980805 0.00858408 -0.19163991] [ 0.01312034 -0.00835357 0.99987903 -0.72574358] [ 0. 0. 0. 1. ]] SLAMing on 41.187719421 meters Centerline goodness [0,1] 0.9339372424205329 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.19, Z:-0.73 [[ 9.99818853e-01 1.34962571e-02 -1.34205649e-02 5.38391031e+00] [-1.34346235e-02 9.99898836e-01 4.67207291e-03 -1.92960182e-01] [ 1.34822627e-02 -4.49092634e-03 9.99899025e-01 -7.26354709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.217719421 meters Centerline goodness [0,1] 0.9354673757414604 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.19, Z:-0.73 [[ 9.99862615e-01 9.43575177e-03 -1.36278232e-02 5.38466151e+00] [-9.42649833e-03 9.99955293e-01 7.43087081e-04 -1.94245198e-01] [ 1.36342255e-02 -6.14522340e-04 9.99906861e-01 -7.26848768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.247719421 meters Centerline goodness [0,1] 0.9436364007262193 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.20, Z:-0.73 [[ 9.99935895e-01 1.13291217e-03 -1.12659877e-02 5.39413534e+00] [-1.09376579e-03 9.99993346e-01 3.48029469e-03 -1.99534073e-01] [ 1.12698556e-02 -3.46774924e-03 9.99930480e-01 -7.28251887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.277719421 meters Centerline goodness [0,1] 0.9452071561167663 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.20, Z:-0.73 [[ 9.99931627e-01 -2.52681576e-03 -1.14173530e-02 5.39476701e+00] [ 2.52969639e-03 9.99996772e-01 2.37868420e-04 -2.01422560e-01] [ 1.14167151e-02 -2.66734593e-04 9.99934792e-01 -7.28581758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.307719421 meters Centerline goodness [0,1] 0.9400626423690205 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.21, Z:-0.73 [[ 9.99890508e-01 -7.83318058e-03 -1.25543789e-02 5.39964948e+00] [ 7.79700617e-03 9.99965317e-01 -2.92777812e-03 -2.05382423e-01] [ 1.25768773e-02 2.82957099e-03 9.99916904e-01 -7.32247062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.337719420999996 meters Centerline goodness [0,1] 0.9388634746365762 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.21, Z:-0.73 [[ 9.99837630e-01 -1.22650012e-02 -1.32016417e-02 5.40237076e+00] [ 1.21933794e-02 9.99910575e-01 -5.49211171e-03 -2.07988405e-01] [ 1.32678219e-02 5.33024733e-03 9.99897771e-01 -7.34118066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.367719421 meters Centerline goodness [0,1] 0.938721681524495 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.21, Z:-0.73 [[ 9.99830138e-01 -1.25226062e-02 -1.35232847e-02 5.40236697e+00] [ 1.24591394e-02 9.99911018e-01 -4.76724934e-03 -2.10734719e-01] [ 1.35817798e-02 4.59795108e-03 9.99897192e-01 -7.33252430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.397719421 meters Centerline goodness [0,1] 0.9401609633224796 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.22, Z:-0.73 [[ 0.99979292 -0.01506274 -0.01368288 5.40023347] [ 0.01497474 0.99986667 -0.00651082 -0.21590866] [ 0.01377913 0.00630457 0.99988519 -0.72998822] [ 0. 0. 0. 1. ]] SLAMing on 41.427719421 meters Centerline goodness [0,1] 0.9399513063404055 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.22, Z:-0.73 [[ 0.9997951 -0.01463183 -0.01398782 5.40068671] [ 0.01455185 0.99987728 -0.00580269 -0.21795002] [ 0.01407101 0.00559795 0.99988533 -0.72971338] [ 0. 0. 0. 1. ]] SLAMing on 41.457719421 meters Centerline goodness [0,1] 0.9394970383882273 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.22, Z:-0.73 [[ 9.99843967e-01 -1.07300317e-02 -1.40324169e-02 5.40130217e+00] [ 1.07100108e-02 9.99941519e-01 -1.50113281e-03 -2.19364893e-01] [ 1.40477035e-02 1.35061125e-03 9.99900414e-01 -7.30420589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.487719421 meters Centerline goodness [0,1] 0.9395456217055531 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.22, Z:-0.73 [[ 9.99860419e-01 -8.33739959e-03 -1.44786304e-02 5.40350310e+00] [ 8.35064846e-03 9.99964767e-01 8.54847330e-04 -2.18565647e-01] [ 1.44709931e-02 -9.75633962e-04 9.99894814e-01 -7.31852208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.517719421 meters Centerline goodness [0,1] 0.9445566778900112 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.21, Z:-0.73 [[ 9.99942718e-01 -2.34926828e-03 -1.04422653e-02 5.40689176e+00] [ 2.29989842e-03 9.99986134e-01 -4.73738365e-03 -2.13765002e-01] [ 1.04532499e-02 4.71309613e-03 9.99934256e-01 -7.28385949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.547719421 meters Centerline goodness [0,1] 0.9476137173094535 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.21, Z:-0.73 [[ 9.99942829e-01 1.12013751e-03 -1.06340825e-02 5.40628400e+00] [-1.13415193e-03 9.99998496e-01 -1.31193836e-03 -2.12470503e-01] [ 1.06325970e-02 1.32392402e-03 9.99942596e-01 -7.27006694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.577719421 meters Centerline goodness [0,1] 0.9480575099418782 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.21, Z:-0.73 [[ 9.99933537e-01 4.47017914e-03 -1.06273217e-02 5.40516008e+00] [-4.45914612e-03 9.99989494e-01 1.06164364e-03 -2.07865939e-01] [ 1.06319558e-02 -1.01418430e-03 9.99942965e-01 -7.25461585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.607719421 meters Centerline goodness [0,1] 0.9441821659680111 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.21, Z:-0.73 [[ 9.99923010e-01 5.37865601e-03 -1.11822823e-02 5.40835830e+00] [-5.36805292e-03 9.99985114e-01 9.78003244e-04 -2.06318697e-01] [ 1.11873761e-02 -9.17900865e-04 9.99936998e-01 -7.27947205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.637719421 meters Centerline goodness [0,1] 0.9425486754561411 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.21, Z:-0.73 [[ 9.99920089e-01 5.60591791e-03 -1.13308713e-02 5.40948491e+00] [-5.59788789e-03 9.99984058e-01 7.40276299e-04 -2.05997751e-01] [ 1.13348406e-02 -6.76788195e-04 9.99935530e-01 -7.28926913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.667719421 meters Centerline goodness [0,1] 0.9412761613067891 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.20, Z:-0.73 [[ 9.99890673e-01 9.34527443e-03 -1.14589482e-02 5.41052277e+00] [-9.30656947e-03 9.99950823e-01 3.42639143e-03 -2.01826995e-01] [ 1.14904052e-02 -3.31937334e-03 9.99928474e-01 -7.29723057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.697719421 meters Centerline goodness [0,1] 0.939127074520013 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.20, Z:-0.73 [[ 0.99985038 0.01274088 -0.0117 5.41092871] [-0.0126665 0.99989924 0.00640922 -0.19879901] [ 0.01178048 -0.00626006 0.99991101 -0.72940953] [ 0. 0. 0. 1. ]] SLAMing on 41.727719420999996 meters Centerline goodness [0,1] 0.9456142142346574 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-0.73 [[ 0.9998413 0.01321408 -0.01194798 5.41098796] [-0.0131455 0.99989677 0.00580057 -0.19480872] [ 0.0120234 -0.00564259 0.9999118 -0.72876409] [ 0. 0. 0. 1. ]] SLAMing on 41.757719421 meters Centerline goodness [0,1] 0.9347786109805685 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-0.73 [[ 0.99977338 0.0175332 -0.01207358 5.41119724] [-0.01742118 0.99980478 0.009322 -0.1934989 ] [ 0.01223467 -0.00910955 0.99988366 -0.72846002] [ 0. 0. 0. 1. ]] SLAMing on 41.787719421 meters Centerline goodness [0,1] 0.9305118673148413 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-0.73 [[ 0.99975906 0.01842913 -0.01192427 5.41116641] [-0.01831526 0.99978627 0.00958992 -0.1939369 ] [ 0.01209845 -0.00936921 0.99988292 -0.72858882] [ 0. 0. 0. 1. ]] SLAMing on 41.817719421 meters Centerline goodness [0,1] 0.9260688472375352 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-0.73 [[ 0.99975521 0.0185318 -0.01208695 5.41199655] [-0.0184159 0.99978403 0.00963089 -0.19424827] [ 0.01226282 -0.00940594 0.99988057 -0.72915358] [ 0. 0. 0. 1. ]] SLAMing on 41.847719421 meters Centerline goodness [0,1] 0.8698084524171481 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-0.73 [[ 0.99975202 0.01856269 -0.01230134 5.41339652] [-0.01844517 0.99978379 0.00959946 -0.19375973] [ 0.01247687 -0.00937018 0.99987826 -0.73031831] [ 0. 0. 0. 1. ]] SLAMing on 41.877719421 meters Centerline goodness [0,1] 0.9270277454047312 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-0.73 [[ 0.99980901 0.01501771 -0.01250623 5.41396309] [-0.01494745 0.99987208 0.00569266 -0.19210685] [ 0.01259012 -0.00550464 0.99990559 -0.73057087] [ 0. 0. 0. 1. ]] SLAMing on 41.907719420999996 meters Centerline goodness [0,1] 0.9375458771715195 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.19, Z:-0.73 [[ 9.99860311e-01 9.86096021e-03 -1.34951694e-02 5.41612226e+00] [-9.83670659e-03 9.99949884e-01 1.86240739e-03 -1.94995594e-01] [ 1.35128582e-02 -1.72939921e-03 9.99907202e-01 -7.31146829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.937719421 meters Centerline goodness [0,1] 0.9420520999468368 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-0.73 [[ 9.99892452e-01 5.67485451e-03 -1.35233512e-02 5.41596128e+00] [-5.69839687e-03 9.99982314e-01 -1.70297111e-03 -1.97296671e-01] [ 1.35134479e-02 1.77984938e-03 9.99907105e-01 -7.30869179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.967719421 meters Centerline goodness [0,1] 0.9452527189993266 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-0.73 [[ 9.99951018e-01 -3.89592351e-03 -9.09850629e-03 5.42250604e+00] [ 3.90740257e-03 9.99991592e-01 1.24420700e-03 -2.02989111e-01] [ 9.09358246e-03 -1.27969759e-03 9.99957834e-01 -7.31090499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.997719421 meters Centerline goodness [0,1] 0.9460151108944674 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-0.73 [[ 0.99987328 -0.01289905 -0.00932897 5.42374118] [ 0.01283382 0.99989301 -0.00701897 -0.20261024] [ 0.00941851 0.00689835 0.99993185 -0.73182561] [ 0. 0. 0. 1. ]] SLAMing on 42.027719421 meters Centerline goodness [0,1] 0.9430781476416924 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.20, Z:-0.73 [[ 0.99985516 -0.01403634 -0.00962504 5.42528014] [ 0.01396742 0.99987659 -0.00719076 -0.2036035 ] [ 0.00972478 0.00705528 0.99992782 -0.73296841] [ 0. 0. 0. 1. ]] SLAMing on 42.057719421 meters Centerline goodness [0,1] 0.9457255285746325 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.20, Z:-0.73 [[ 0.99976528 -0.01935416 -0.00973613 5.42573592] [ 0.01924203 0.99974892 -0.01148189 -0.20486036] [ 0.00995591 0.01129185 0.99988668 -0.73302394] [ 0. 0. 0. 1. ]] SLAMing on 42.087719420999996 meters Centerline goodness [0,1] 0.9478638074971354 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-0.73 [[ 0.99975245 -0.01986516 -0.0100207 5.42593341] [ 0.01975294 0.99974243 -0.01117575 -0.20749246] [ 0.01024013 0.01097504 0.99988734 -0.73247879] [ 0. 0. 0. 1. ]] SLAMing on 42.117719421 meters Centerline goodness [0,1] 0.9483216269193074 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-0.73 [[ 0.99974011 -0.02038085 -0.01021486 5.4261419 ] [ 0.02027102 0.99973681 -0.01074219 -0.210361 ] [ 0.01043111 0.01053233 0.99989012 -0.7321211 ] [ 0. 0. 0. 1. ]] SLAMing on 42.147719421 meters Centerline goodness [0,1] 0.9490166476252653 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-0.73 [[ 0.99979819 -0.01712253 -0.01050666 5.42651351] [ 0.01705164 0.99983148 -0.00680061 -0.21099935] [ 0.01062134 0.00662008 0.99992168 -0.73195989] [ 0. 0. 0. 1. ]] SLAMing on 42.177719421 meters Centerline goodness [0,1] 0.9525435511572748 Centerline is valid? [False, True] Translation: X:5.42, Y:-0.21, Z:-0.73 [[ 9.99878549e-01 -1.17516917e-02 -1.02364067e-02 5.42449164e+00] [ 1.17412640e-02 9.99930488e-01 -1.07819484e-03 -2.06935109e-01] [ 1.02483658e-02 9.57875538e-04 9.99947025e-01 -7.30206176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.207719421 meters Centerline goodness [0,1] 0.9588789995722927 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.20, Z:-0.73 [[ 9.99907221e-01 -9.78978423e-03 -9.47148881e-03 5.45319970e+00] [ 9.79082658e-03 9.99952067e-01 6.36892315e-05 -1.99579859e-01] [ 9.47041131e-03 -1.56417027e-04 9.99955142e-01 -7.25757704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.237719421 meters Centerline goodness [0,1] 0.9503030797803947 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.19, Z:-0.73 [[ 9.99962481e-01 -3.58532357e-03 -7.88555933e-03 5.48149733e+00] [ 3.58587364e-03 9.99993569e-01 5.56193378e-05 -1.94113552e-01] [ 7.88530920e-03 -8.38938703e-05 9.99968907e-01 -7.31118150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.267719420999995 meters Centerline goodness [0,1] 0.9525608988033563 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.19, Z:-0.73 [[ 9.99968230e-01 2.87356830e-04 -7.96592786e-03 5.51044316e+00] [-2.86965523e-04 9.99999958e-01 5.02654924e-05 -1.88658257e-01] [ 7.96594196e-03 -4.79779489e-05 9.99968270e-01 -7.29754801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.297719421 meters Centerline goodness [0,1] 0.9497594977987934 Centerline is valid? [True, False] Translation: X:5.51, Y:-0.18, Z:-0.73 [[ 9.99955808e-01 5.16847098e-03 -7.85300821e-03 5.51112937e+00] [-5.14515318e-03 9.99982304e-01 2.98658987e-03 -1.84392022e-01] [ 7.86830534e-03 -2.94605296e-03 9.99964705e-01 -7.30690283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.327719421 meters Centerline goodness [0,1] 0.9486866218692731 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.18, Z:-0.73 [[ 0.99992783 0.00895695 -0.00800712 5.5118551 ] [-0.00890949 0.99994265 0.00594323 -0.18075472] [ 0.0080599 -0.00587146 0.99995028 -0.73108307] [ 0. 0. 0. 1. ]] SLAMing on 42.357719421 meters Centerline goodness [0,1] 0.9453668660725186 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.17, Z:-0.73 [[ 0.9997857 0.01897416 -0.00827812 5.51383374] [-0.01884578 0.99970502 0.01532038 -0.17458817] [ 0.00856637 -0.01516109 0.99984837 -0.73245553] [ 0. 0. 0. 1. ]] SLAMing on 42.387719421 meters Centerline goodness [0,1] 0.9416947078617314 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.17, Z:-0.73 [[ 0.99970185 0.02285527 -0.00859353 5.51504697] [-0.02269019 0.99956501 0.01884022 -0.17298496] [ 0.00902039 -0.01863962 0.99978558 -0.73294769] [ 0. 0. 0. 1. ]] SLAMing on 42.417719421 meters Centerline goodness [0,1] 0.944861031868938 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.17, Z:-0.73 [[ 0.99958215 0.02749758 -0.00891123 5.5164102 ] [-0.02728824 0.99936712 0.02281911 -0.17271225] [ 0.00953306 -0.02256641 0.99969989 -0.7335462 ] [ 0. 0. 0. 1. ]] SLAMing on 42.447719421 meters Centerline goodness [0,1] 0.9283061982290775 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.17, Z:-0.73 [[ 0.99956757 0.02788205 -0.00934149 5.51752106] [-0.02766749 0.99936707 0.02236017 -0.17124466] [ 0.00995902 -0.02209205 0.99970634 -0.73381863] [ 0. 0. 0. 1. ]] SLAMing on 42.477719420999996 meters Centerline goodness [0,1] 0.9353126792885829 Centerline is valid? [False, False] Translation: X:5.52, Y:-0.17, Z:-0.74 [[ 0.99944053 0.03198284 -0.00978417 5.52015663] [-0.03172595 0.99917455 0.02537079 -0.16861844] [ 0.01058752 -0.02504619 0.99963023 -0.73571036] [ 0. 0. 0. 1. ]] SLAMing on 42.507719421 meters Centerline goodness [0,1] 0.9030948446457352 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.17, Z:-0.74 [[ 0.99919098 0.03815108 -0.01272336 5.52763526] [-0.03777749 0.99888217 0.02841262 -0.16817134] [ 0.01379311 -0.02790898 0.9995153 -0.73690991] [ 0. 0. 0. 1. ]] SLAMing on 42.537719421 meters Centerline goodness [0,1] 0.8681506849315068 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.17, Z:-0.74 [[ 0.99916287 0.03880252 -0.01295879 5.52779174] [-0.03841863 0.99885054 0.02866374 -0.16810177] [ 0.01405612 -0.02814189 0.99950511 -0.73640889] [ 0. 0. 0. 1. ]] SLAMing on 42.567719421 meters Centerline goodness [0,1] 0.8538636224145338 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.17, Z:-0.73 [[ 0.99901759 0.04243252 -0.01278063 5.52566696] [-0.04200147 0.99859556 0.03229221 -0.16826369] [ 0.01413292 -0.03172369 0.99939675 -0.73378762] [ 0. 0. 0. 1. ]] SLAMing on 42.597719421 meters Centerline goodness [0,1] 0.8469168626648942 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.17, Z:-0.73 [[ 0.99901312 0.04242596 -0.01314653 5.52621189] [-0.04198579 0.99860173 0.03212141 -0.16777867] [ 0.01449093 -0.03153775 0.99939751 -0.73350542] [ 0. 0. 0. 1. ]] SLAMing on 42.627719421 meters Centerline goodness [0,1] 0.8668997097183041 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.17, Z:-0.74 [[ 0.99913301 0.03935571 -0.01357774 5.52801128] [-0.03894013 0.99880236 0.02962293 -0.17187829] [ 0.01472731 -0.02906853 0.99946892 -0.73504556] [ 0. 0. 0. 1. ]] SLAMing on 42.657719420999996 meters Centerline goodness [0,1] 0.8672878058769325 Centerline is valid? [False, False] Translation: X:5.53, Y:-0.17, Z:-0.74 [[ 0.99938371 0.03225554 -0.01384841 5.52817016] [-0.03194203 0.9992411 0.02229215 -0.17323453] [ 0.01455695 -0.02183607 0.99965558 -0.73510798] [ 0. 0. 0. 1. ]] SLAMing on 42.687719421 meters Centerline goodness [0,1] 0.9261271936096753 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.18, Z:-0.74 [[ 0.99974778 0.02094834 -0.0080965 5.53880797] [-0.02078114 0.99957974 0.02021101 -0.17997026] [ 0.00851649 -0.02003765 0.99976295 -0.73772602] [ 0. 0. 0. 1. ]] SLAMing on 42.717719421 meters Centerline goodness [0,1] 0.944354591053332 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.18, Z:-0.74 [[ 0.99987856 0.01299468 -0.00860258 5.53945057] [-0.01288889 0.99984201 0.01224088 -0.18009502] [ 0.00876029 -0.01212851 0.99988807 -0.73760022] [ 0. 0. 0. 1. ]] SLAMing on 42.747719421 meters Centerline goodness [0,1] 0.9372126759700059 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.18, Z:-0.74 [[ 9.99949553e-01 3.57194492e-03 -9.38792709e-03 5.54225644e+00] [-3.53231279e-03 9.99984794e-01 4.23480180e-03 -1.83286426e-01] [ 9.40291082e-03 -4.20142708e-03 9.99946965e-01 -7.39373289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.777719421 meters Centerline goodness [0,1] 0.9375038231755806 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.19, Z:-0.74 [[ 9.99952210e-01 -7.39290107e-05 -9.77614918e-03 5.54314255e+00] [ 8.55382174e-05 9.99999292e-01 1.18709023e-03 -1.86071917e-01] [ 9.77605450e-03 -1.18786973e-03 9.99951508e-01 -7.39492044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.807719421 meters Centerline goodness [0,1] 0.944040519565395 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.19, Z:-0.74 [[ 9.99932043e-01 -6.53238674e-03 -9.65595589e-03 5.54105922e+00] [ 6.49516854e-03 9.99971376e-01 -3.88077644e-03 -1.92594072e-01] [ 9.68103023e-03 3.81779565e-03 9.99945850e-01 -7.36913669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.837719420999996 meters Centerline goodness [0,1] 0.944657892585629 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.20, Z:-0.74 [[ 9.99931386e-01 -6.40992948e-03 -9.80486726e-03 5.54110985e+00] [ 6.38350298e-03 9.99975915e-01 -2.72416874e-03 -1.95931023e-01] [ 9.82209283e-03 2.66139242e-03 9.99948220e-01 -7.36553310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.867719421 meters Centerline goodness [0,1] 0.9419767418178856 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.20, Z:-0.74 [[ 9.99913956e-01 -7.76197557e-03 -1.05751277e-02 5.54442537e+00] [ 7.73042087e-03 9.99965555e-01 -3.02147669e-03 -1.97648575e-01] [ 1.05982160e-02 2.93946652e-03 9.99939517e-01 -7.38819971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.897719421 meters Centerline goodness [0,1] 0.9407589240053186 Centerline is valid? [False, False] Translation: X:5.54, Y:-0.20, Z:-0.74 [[ 9.99909393e-01 -8.04548297e-03 -1.07924170e-02 5.54494578e+00] [ 8.02305624e-03 9.99965568e-01 -2.11969712e-03 -2.00750906e-01] [ 1.08090993e-02 2.03291689e-03 9.99939513e-01 -7.38921122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.927719421 meters Centerline goodness [0,1] 0.941729899985683 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99912483e-01 -7.42880764e-03 -1.09470936e-02 5.54507131e+00] [ 7.41561551e-03 9.99971729e-01 -1.24517926e-03 -2.02663575e-01] [ 1.09560343e-02 1.16389085e-03 9.99939303e-01 -7.38658610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.957719421 meters Centerline goodness [0,1] 0.9378347009834864 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99916824e-01 -6.17058153e-03 -1.13255897e-02 5.54617429e+00] [ 6.16652159e-03 9.99980909e-01 -3.93360637e-04 -2.04123980e-01] [ 1.13278007e-02 3.23488426e-04 9.99935786e-01 -7.39046083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.987719421 meters Centerline goodness [0,1] 0.9388917132689375 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99921934e-01 -4.51666668e-03 -1.16501499e-02 5.54768570e+00] [ 4.52761671e-03 9.99989333e-01 9.13701089e-04 -2.04399679e-01] [ 1.16458987e-02 -9.66377173e-04 9.99931717e-01 -7.39967408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.017719420999995 meters Centerline goodness [0,1] 0.9399168738030235 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99924958e-01 3.40678891e-03 -1.17673835e-02 5.54796860e+00] [-3.31229649e-03 9.99962191e-01 8.04020531e-03 -2.01339355e-01] [ 1.17943298e-02 -8.00062490e-03 9.99898437e-01 -7.40037131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.047719421 meters Centerline goodness [0,1] 0.9399168738030235 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99924958e-01 3.40678891e-03 -1.17673835e-02 5.54796860e+00] [-3.31229649e-03 9.99962191e-01 8.04020531e-03 -2.01339355e-01] [ 1.17943298e-02 -8.00062490e-03 9.99898437e-01 -7.40037131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.077719421 meters Centerline goodness [0,1] 0.9437411808012434 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99989987 0.0075133 -0.01199143 5.54821215] [-0.00737542 0.99990665 0.01150165 -0.19901092] [ 0.01207673 -0.01141206 0.99986195 -0.73973952] [ 0. 0. 0. 1. ]] SLAMing on 43.107719421 meters Centerline goodness [0,1] 0.9455666986662309 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99985607 0.0120502 -0.01194279 5.54757333] [-0.01186794 0.9998138 0.01521555 -0.19732808] [ 0.01212392 -0.01507162 0.99981291 -0.73878671] [ 0. 0. 0. 1. ]] SLAMing on 43.137719421 meters Centerline goodness [0,1] 0.9422362783105489 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99988477 0.0090959 -0.01215387 5.54767435] [-0.00896026 0.99989748 0.01116878 -0.19613335] [ 0.01225421 -0.01105859 0.99986376 -0.7383693 ] [ 0. 0. 0. 1. ]] SLAMing on 43.167719421 meters Centerline goodness [0,1] 0.946609651802077 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99907469e-01 5.58790178e-03 -1.24027700e-02 5.54816296e+00] [-5.49399483e-03 9.99956083e-01 7.59265109e-03 -1.98057168e-01] [ 1.24446523e-02 -7.52380778e-03 9.99894256e-01 -7.38424274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.197719421 meters Centerline goodness [0,1] 0.9484865767710922 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99919769e-01 1.99270922e-03 -1.25093987e-02 5.54836235e+00] [-1.94869323e-03 9.99991871e-01 3.52983686e-03 -1.97186686e-01] [ 1.25163309e-02 -3.50517668e-03 9.99915524e-01 -7.38365593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.227719420999996 meters Centerline goodness [0,1] 0.9481365065110013 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 9.99915123e-01 2.46869389e-03 -1.27926391e-02 5.54905697e+00] [-2.42424758e-03 9.99990976e-01 3.48870885e-03 -1.95570712e-01] [ 1.28011362e-02 -3.45740021e-03 9.99912085e-01 -7.38482597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.257719421 meters Centerline goodness [0,1] 0.9422683784446807 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.19, Z:-0.74 [[ 9.99909477e-01 3.17029561e-03 -1.30762142e-02 5.55046663e+00] [-3.12461550e-03 9.99988950e-01 3.51232602e-03 -1.94155607e-01] [ 1.30872048e-02 -3.47114993e-03 9.99908334e-01 -7.39542451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.287719421 meters Centerline goodness [0,1] 0.9240276559727519 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99987085 0.00864158 -0.01355013 5.5544025 ] [-0.00852829 0.99992838 0.00839697 -0.19576412] [ 0.01362172 -0.00828032 0.99987293 -0.74307113] [ 0. 0. 0. 1. ]] SLAMing on 43.317719421 meters Centerline goodness [0,1] 0.8971631205673759 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99980904 0.01414839 -0.01348008 5.55399893] [-0.01396356 0.99980853 0.01370832 -0.19824708] [ 0.01367145 -0.01351747 0.99981517 -0.74253738] [ 0. 0. 0. 1. ]] SLAMing on 43.347719421 meters Centerline goodness [0,1] 0.8755275990656887 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99979656 0.01477446 -0.01373151 5.5543813 ] [-0.01458325 0.99979673 0.01392186 -0.19790278] [ 0.01393441 -0.01371877 0.9998088 -0.7423723 ] [ 0. 0. 0. 1. ]] SLAMing on 43.377719421 meters Centerline goodness [0,1] 0.8417208624828181 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.20, Z:-0.74 [[ 0.99977878 0.01570341 -0.01399238 5.55486894] [-0.01549759 0.99977186 0.01469875 -0.19919063] [ 0.01422001 -0.01447865 0.99979406 -0.74228853] [ 0. 0. 0. 1. ]] SLAMing on 43.407719420999996 meters Centerline goodness [0,1] 0.8243946408817142 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.20, Z:-0.74 [[ 0.99981918 0.0126655 -0.01418432 5.55517995] [-0.01250763 0.99985946 0.01116354 -0.19955327] [ 0.01432372 -0.01098411 0.99983708 -0.74231569] [ 0. 0. 0. 1. ]] SLAMing on 43.437719421 meters Centerline goodness [0,1] 0.8333948112627567 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.20, Z:-0.74 [[ 0.99985501 0.00921922 -0.01431635 5.55519352] [-0.00911177 0.99992997 0.00755228 -0.20008353] [ 0.01438497 -0.00742074 0.99986899 -0.74208698] [ 0. 0. 0. 1. ]] SLAMing on 43.467719421 meters Centerline goodness [0,1] 0.8650603886947459 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.20, Z:-0.74 [[ 9.99878185e-01 4.95252975e-03 -1.48016098e-02 5.55539467e+00] [-4.88385698e-03 9.99977159e-01 4.67209878e-03 -2.03864126e-01] [ 1.48244104e-02 -4.59924070e-03 9.99879535e-01 -7.41158363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.497719421 meters Centerline goodness [0,1] 0.9104886526272746 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.21, Z:-0.74 [[ 9.99887337e-01 9.63975216e-04 -1.49794226e-02 5.55539563e+00] [-9.42705828e-04 9.99998538e-01 1.42690325e-03 -2.06542720e-01] [ 1.49807761e-02 -1.41262131e-03 9.99886784e-01 -7.40720708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.527719421 meters Centerline goodness [0,1] 0.9421318968331701 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.21, Z:-0.74 [[ 9.99862558e-01 -6.85503467e-03 -1.50954919e-02 5.55546655e+00] [ 6.78348331e-03 9.99965539e-01 -4.78602896e-03 -2.12033043e-01] [ 1.51277801e-02 4.68297114e-03 9.99874602e-01 -7.40369075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.557719421 meters Centerline goodness [0,1] 0.9488294246116792 Centerline is valid? [False, False] Translation: X:5.55, Y:-0.22, Z:-0.74 [[ 0.99978244 -0.01450228 -0.01499212 5.55464404] [ 0.01433512 0.99983454 -0.01119813 -0.21626999] [ 0.01515204 0.01098078 0.9998249 -0.73933622] [ 0. 0. 0. 1. ]] SLAMing on 43.587719420999996 meters Centerline goodness [0,1] 0.9518293429049232 Centerline is valid? [False, True] Translation: X:5.55, Y:-0.22, Z:-0.74 [[ 0.99977104 -0.0150841 -0.01517678 5.55480223] [ 0.01492657 0.99983409 -0.01044018 -0.21977709] [ 0.01533175 0.01021125 0.99983032 -0.73900198] [ 0. 0. 0. 1. ]] SLAMing on 43.617719421 meters Centerline goodness [0,1] 0.9461657629744384 Centerline is valid? [True, False] Translation: X:5.56, Y:-0.22, Z:-0.74 [[ 0.99963324 -0.02214017 -0.01559472 5.55724491] [ 0.02188571 0.99962754 -0.01630344 -0.22379689] [ 0.01594987 0.01595616 0.99974547 -0.74063418] [ 0. 0. 0. 1. ]] SLAMing on 43.647719421 meters Centerline goodness [0,1] 0.9467769945857595 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.23, Z:-0.74 [[ 0.9996283 -0.02204252 -0.01604312 5.559004 ] [ 0.02180003 0.99964777 -0.01513604 -0.22779522] [ 0.01637111 0.01478068 0.99975673 -0.74170164] [ 0. 0. 0. 1. ]] SLAMing on 43.677719421 meters Centerline goodness [0,1] 0.9463898990724472 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.23, Z:-0.74 [[ 0.99965073 -0.02069222 -0.0164392 5.55957496] [ 0.02047719 0.99970394 -0.01314252 -0.23210949] [ 0.01670628 0.0128013 0.99977849 -0.74148015] [ 0. 0. 0. 1. ]] SLAMing on 43.707719421 meters Centerline goodness [0,1] 0.9472457843638222 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.23, Z:-0.74 [[ 0.99973149 -0.01606187 -0.01670199 5.55968268] [ 0.01592581 0.99983915 -0.00824826 -0.23348205] [ 0.01683179 0.00798005 0.99982649 -0.74114871] [ 0. 0. 0. 1. ]] SLAMing on 43.737719421 meters Centerline goodness [0,1] 0.9438310227783911 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.24, Z:-0.74 [[ 9.99824872e-01 -7.58630133e-03 -1.71076876e-02 5.56018779e+00] [ 7.59315298e-03 9.99971115e-01 3.35580445e-04 -2.35356096e-01] [ 1.71046476e-02 -4.65422964e-04 9.99853596e-01 -7.40968860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.767719420999995 meters Centerline goodness [0,1] 0.9402924036397097 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.24, Z:-0.74 [[ 9.99833186e-01 -5.50371306e-03 -1.74157704e-02 5.56140589e+00] [ 5.53947898e-03 9.99982645e-01 2.00607656e-03 -2.36742808e-01] [ 1.74044273e-02 -2.10221621e-03 9.99846321e-01 -7.41699919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.797719421 meters Centerline goodness [0,1] 0.9152816109577839 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.24, Z:-0.74 [[ 9.99842804e-01 3.62923121e-04 -1.77266972e-02 5.56171389e+00] [-2.21930836e-04 9.99968334e-01 7.95498887e-03 -2.40858687e-01] [ 1.77290229e-02 -7.94980427e-03 9.99811223e-01 -7.41345114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.827719421 meters Centerline goodness [0,1] 0.9030990297621484 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.24, Z:-0.74 [[ 9.99842413e-01 1.55137641e-03 -1.76845230e-02 5.56073591e+00] [-1.39834317e-03 9.99961501e-01 8.66259597e-03 -2.41010487e-01] [ 1.76972811e-02 -8.63650182e-03 9.99806090e-01 -7.40198640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.857719421 meters Centerline goodness [0,1] 0.9111133810010215 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.24, Z:-0.74 [[ 9.99825629e-01 3.53709877e-03 -1.83357609e-02 5.56187840e+00] [-3.34949537e-03 9.99941835e-01 1.02521905e-02 -2.41820571e-01] [ 1.83709574e-02 -1.01889873e-02 9.99779322e-01 -7.40184247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.887719421 meters Centerline goodness [0,1] 0.8283088761998322 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.25, Z:-0.74 [[ 9.99818333e-01 5.08036594e-03 -1.83709217e-02 5.56196228e+00] [-4.85936360e-03 9.99915532e-01 1.20547029e-02 -2.45430996e-01] [ 1.84306123e-02 -1.19632420e-02 9.99758568e-01 -7.40164288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.917719421 meters Centerline goodness [0,1] 0.8657541511974216 Centerline is valid? [False, False] Translation: X:5.56, Y:-0.25, Z:-0.74 [[ 9.99810937e-01 3.79834139e-03 -1.90699534e-02 5.56375515e+00] [-3.59459755e-03 9.99936218e-01 1.07069575e-02 -2.47876622e-01] [ 1.91094057e-02 -1.06363844e-02 9.99760820e-01 -7.40725619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.947719421 meters Centerline goodness [0,1] 0.869325716617362 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.74 [[ 9.99812787e-01 -1.35668564e-03 -1.93015812e-02 5.56524039e+00] [ 1.48218103e-03 9.99977848e-01 6.48899993e-03 -2.55264298e-01] [ 1.92923501e-02 -6.51639354e-03 9.99792649e-01 -7.41893884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.977719420999996 meters Centerline goodness [0,1] 0.9206845785793154 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.26, Z:-0.74 [[ 9.99784956e-01 -6.93410231e-03 -1.95438129e-02 5.56726086e+00] [ 6.98218733e-03 9.99972760e-01 2.39320852e-03 -2.62286604e-01] [ 1.95266858e-02 -2.52915244e-03 9.99806137e-01 -7.43625108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.007719421 meters Centerline goodness [0,1] 0.9306069086674974 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.74 [[ 9.99776529e-01 -7.29175435e-03 -1.98424333e-02 5.56852262e+00] [ 7.35272897e-03 9.99968463e-01 3.00172165e-03 -2.66016960e-01] [ 1.98199197e-02 -3.14694688e-03 9.99798613e-01 -7.44250131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.037719421 meters Centerline goodness [0,1] 0.9365680037637818 Centerline is valid? [False, False] Translation: X:5.57, Y:-0.27, Z:-0.74 [[ 9.99751322e-01 -1.01443413e-02 -1.98591858e-02 5.56749569e+00] [ 1.01802535e-02 9.99946721e-01 1.70807779e-03 -2.72587297e-01] [ 1.98408004e-02 -1.90982457e-03 9.99801328e-01 -7.42657618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.067719421 meters Centerline goodness [0,1] 0.9408102223940423 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.28, Z:-0.74 [[ 0.99981388 -0.01200388 -0.01510317 5.57634173] [ 0.01214827 0.99988103 0.00950473 -0.27690596] [ 0.01498728 -0.00968644 0.99984076 -0.74475058] [ 0. 0. 0. 1. ]] SLAMing on 44.097719421 meters Centerline goodness [0,1] 0.9402082017642146 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.28, Z:-0.75 [[ 0.99978513 -0.0142877 -0.01501822 5.57671497] [ 0.0144066 0.99986549 0.00783923 -0.28158176] [ 0.01490419 -0.00805391 0.99985649 -0.74519634] [ 0. 0. 0. 1. ]] SLAMing on 44.127719421 meters Centerline goodness [0,1] 0.9398068931801515 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.29, Z:-0.75 [[ 0.99974956 -0.01625175 -0.01538478 5.57931562] [ 0.01635567 0.9998441 0.00665286 -0.28608365] [ 0.01527426 -0.00690283 0.99985951 -0.74728322] [ 0. 0. 0. 1. ]] SLAMing on 44.157719420999996 meters Centerline goodness [0,1] 0.9374248874584972 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.29, Z:-0.75 [[ 0.99973148 -0.01687986 -0.01587547 5.58170482] [ 0.0169888 0.99983288 0.00675279 -0.28914755] [ 0.01575883 -0.00702068 0.99985117 -0.7488505 ] [ 0. 0. 0. 1. ]] SLAMing on 44.187719421 meters Centerline goodness [0,1] 0.947519550342131 Centerline is valid? [False, False] Translation: X:5.58, Y:-0.30, Z:-0.75 [[ 9.99653669e-01 -2.09668058e-02 -1.59039579e-02 5.58195656e+00] [ 2.10454540e-02 9.99767026e-01 4.79404252e-03 -2.95497878e-01] [ 1.57997369e-02 -5.12708820e-03 9.99862031e-01 -7.48550277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.217719421 meters Centerline goodness [0,1] 0.9501349914096375 Centerline is valid? [False, True] Translation: X:5.58, Y:-0.30, Z:-0.75 [[ 9.99571531e-01 -2.45476067e-02 -1.59426634e-02 5.58117913e+00] [ 2.45797191e-02 9.99696214e-01 1.82140139e-03 -2.97430428e-01] [ 1.58931092e-02 -2.21248716e-03 9.99871249e-01 -7.47263201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.247719421 meters Centerline goodness [0,1] 0.9492654420628921 Centerline is valid? [True, False] Translation: X:5.58, Y:-0.30, Z:-0.75 [[ 9.99474819e-01 -2.81359640e-02 -1.60764990e-02 5.58038607e+00] [ 2.81372160e-02 9.99604059e-01 -1.48354111e-04 -3.02738185e-01] [ 1.60743077e-02 -3.04071725e-04 9.99870754e-01 -7.45319555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.277719421 meters Centerline goodness [0,1] 0.9507098193372304 Centerline is valid? [False, True] Translation: X:5.58, Y:-0.31, Z:-0.74 [[ 9.99485940e-01 -2.74369567e-02 -1.65851917e-02 5.58108638e+00] [ 2.74622982e-02 9.99621992e-01 1.30210420e-03 -3.06798050e-01] [ 1.65431966e-02 -1.75690232e-03 9.99861608e-01 -7.44827235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.307719421 meters Centerline goodness [0,1] 0.9513268925033631 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.30, Z:-0.74 [[ 9.99615167e-01 -2.27407071e-02 -1.58864036e-02 5.60846163e+00] [ 2.27328087e-02 9.99741347e-01 -6.77612212e-04 -3.04756442e-01] [ 1.58977039e-02 3.16208872e-04 9.99873574e-01 -7.44852197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.337719420999996 meters Centerline goodness [0,1] 0.9521171106704014 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.30, Z:-0.74 [[ 9.99672829e-01 -1.98043573e-02 -1.61871175e-02 5.63714502e+00] [ 1.97956715e-02 9.99803804e-01 -6.96654211e-04 -3.01606169e-01] [ 1.61977385e-02 3.75991425e-04 9.99868737e-01 -7.43762860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.367719421 meters Centerline goodness [0,1] 0.9495710996556572 Centerline is valid? [True, False] Translation: X:5.64, Y:-0.30, Z:-0.74 [[ 9.99757616e-01 -1.44244763e-02 -1.66325851e-02 5.63737324e+00] [ 1.45032848e-02 9.99884114e-01 4.62734326e-03 -3.03204262e-01] [ 1.65639106e-02 -4.86744879e-03 9.99850961e-01 -7.43186007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.397719421 meters Centerline goodness [0,1] 0.9484428854037077 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.30, Z:-0.74 [[ 0.99977278 -0.01305462 -0.01685121 5.63745981] [ 0.01315393 0.99989668 0.00579621 -0.30493421] [ 0.0167738 -0.00601656 0.99984121 -0.74283038] [ 0. 0. 0. 1. ]] SLAMing on 44.427719421 meters Centerline goodness [0,1] 0.9122459805761854 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.31, Z:-0.74 [[ 0.99982396 -0.00793075 -0.01700429 5.63825153] [ 0.00812245 0.99990391 0.01123397 -0.30935018] [ 0.01691356 -0.01137011 0.9997923 -0.74335661] [ 0. 0. 0. 1. ]] SLAMing on 44.457719421 meters Centerline goodness [0,1] 0.9023648096716222 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.31, Z:-0.74 [[ 0.99982231 -0.00768909 -0.01721113 5.63912263] [ 0.00788543 0.99990428 0.01136904 -0.30970273] [ 0.01712206 -0.01150273 0.99978724 -0.74394991] [ 0. 0. 0. 1. ]] SLAMing on 44.487719421 meters Centerline goodness [0,1] 0.869215373932933 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.31, Z:-0.74 [[ 0.9998221 -0.00725125 -0.0174121 5.64000724] [ 0.00746761 0.99989532 0.01239279 -0.31319903] [ 0.01732042 -0.01252061 0.99977159 -0.74441876] [ 0. 0. 0. 1. ]] SLAMing on 44.517719420999995 meters Centerline goodness [0,1] 0.8575176958750306 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.32, Z:-0.74 [[ 0.99979567 -0.00996373 -0.01758788 5.64008406] [ 0.01013266 0.99990313 0.00954238 -0.31503952] [ 0.0174911 -0.00971864 0.99979978 -0.74411866] [ 0. 0. 0. 1. ]] SLAMing on 44.547719421 meters Centerline goodness [0,1] 0.8621470540231762 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.32, Z:-0.74 [[ 0.99977123 -0.01252367 -0.01733921 5.63963726] [ 0.01265218 0.99989315 0.00732181 -0.31824477] [ 0.01724566 -0.00753952 0.99982286 -0.74407517] [ 0. 0. 0. 1. ]] SLAMing on 44.577719421 meters Centerline goodness [0,1] 0.9198031680188699 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.32, Z:-0.74 [[ 0.99975902 -0.01286294 -0.01778913 5.64105174] [ 0.01299547 0.9998885 0.00735512 -0.31880905] [ 0.01769254 -0.00758452 0.99981471 -0.74468751] [ 0. 0. 0. 1. ]] SLAMing on 44.607719421 meters Centerline goodness [0,1] 0.9182859584511771 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.32, Z:-0.75 [[ 0.99975453 -0.01308376 -0.01788014 5.64178487] [ 0.01322176 0.99988354 0.00762164 -0.32063602] [ 0.01777834 -0.00785617 0.99981109 -0.74521006] [ 0. 0. 0. 1. ]] SLAMing on 44.637719421 meters Centerline goodness [0,1] 0.9123174978109919 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.32, Z:-0.75 [[ 9.99718410e-01 -1.47445891e-02 -1.85929634e-02 5.64320361e+00] [ 1.48506692e-02 9.99874151e-01 5.58028110e-03 -3.22334631e-01] [ 1.85083445e-02 -5.85482769e-03 9.99811563e-01 -7.45343226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.667719421 meters Centerline goodness [0,1] 0.9071363127354168 Centerline is valid? [False, False] Translation: X:5.64, Y:-0.33, Z:-0.75 [[ 9.99706856e-01 -1.51242534e-02 -1.89065639e-02 5.64477283e+00] [ 1.52296611e-02 9.99869203e-01 5.44369058e-03 -3.25256316e-01] [ 1.88217593e-02 -5.73003536e-03 9.99806435e-01 -7.46306797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.697719421 meters Centerline goodness [0,1] 0.8995978196517159 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.33, Z:-0.75 [[ 0.99970956 -0.01499045 -0.01886993 5.64553827] [ 0.01510222 0.99986916 0.00579464 -0.32572938] [ 0.0187806 -0.00607794 0.99980515 -0.7473269 ] [ 0. 0. 0. 1. ]] SLAMing on 44.727719420999996 meters Centerline goodness [0,1] 0.9110562705227305 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.33, Z:-0.75 [[ 0.99969973 -0.01517998 -0.01923595 5.64662944] [ 0.01529673 0.99986537 0.00593693 -0.32678398] [ 0.01914324 -0.0062294 0.99979734 -0.74773852] [ 0. 0. 0. 1. ]] SLAMing on 44.757719421 meters Centerline goodness [0,1] 0.8572214748685337 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.33, Z:-0.75 [[ 0.99967646 -0.0159688 -0.01979821 5.64923355] [ 0.01609216 0.99985198 0.0060871 -0.33017321] [ 0.01969808 -0.00640373 0.99978547 -0.74927484] [ 0. 0. 0. 1. ]] SLAMing on 44.787719421 meters Centerline goodness [0,1] 0.9201697820586074 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.33, Z:-0.75 [[ 0.99967168 -0.01581715 -0.02015807 5.65037977] [ 0.01595481 0.99985036 0.00668664 -0.33232065] [ 0.02004929 -0.00700607 0.99977445 -0.74971543] [ 0. 0. 0. 1. ]] SLAMing on 44.817719421 meters Centerline goodness [0,1] 0.9141754471943151 Centerline is valid? [False, False] Translation: X:5.65, Y:-0.34, Z:-0.75 [[ 9.99637823e-01 -1.80850556e-02 -1.99287333e-02 5.64926141e+00] [ 1.81790141e-02 9.99824424e-01 4.54368224e-03 -3.35085754e-01] [ 1.98430616e-02 -4.90432135e-03 9.99791078e-01 -7.48787624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.847719421 meters Centerline goodness [0,1] 0.9193156530083093 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.34, Z:-0.75 [[ 9.99772750e-01 -1.68105926e-02 -1.31092096e-02 5.65567280e+00] [ 1.67550284e-02 9.99850219e-01 -4.33694239e-03 -3.35004505e-01] [ 1.31801526e-02 4.11631165e-03 9.99904665e-01 -7.49968993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.877719421 meters Centerline goodness [0,1] 0.9076860346585117 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.34, Z:-0.75 [[ 9.99876958e-01 -1.56780265e-02 -5.17732376e-04 5.65712784e+00] [ 1.56774546e-02 9.99876506e-01 -1.09078665e-03 -3.37921353e-01] [ 5.34769821e-04 1.08253571e-03 9.99999271e-01 -7.50855868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.907719420999996 meters Centerline goodness [0,1] 0.928520488212401 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.34, Z:-0.75 [[ 9.99880472e-01 -1.54376635e-02 -8.48657578e-04 5.65729355e+00] [ 1.54371385e-02 9.99880647e-01 -6.21763582e-04 -3.38530786e-01] [ 8.58154865e-04 6.08588419e-04 9.99999447e-01 -7.50264354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.937719421 meters Centerline goodness [0,1] 0.9360536179921773 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.34, Z:-0.75 [[ 9.99856642e-01 -1.69007264e-02 -1.02958386e-03 5.65779936e+00] [ 1.69003214e-02 9.99857099e-01 -4.00745162e-04 -3.41230545e-01] [ 1.03620962e-03 3.83287414e-04 9.99999390e-01 -7.49923315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.967719421 meters Centerline goodness [0,1] 0.9360536179921773 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.34, Z:-0.75 [[ 9.99856642e-01 -1.69007264e-02 -1.02958386e-03 5.65779936e+00] [ 1.69003214e-02 9.99857099e-01 -4.00745162e-04 -3.41230545e-01] [ 1.03620962e-03 3.83287414e-04 9.99999390e-01 -7.49923315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.997719421 meters Centerline goodness [0,1] 0.9488851750703134 Centerline is valid? [False, False] Translation: X:5.66, Y:-0.34, Z:-0.75 [[ 9.99835147e-01 -1.80997251e-02 -1.44150408e-03 5.65892894e+00] [ 1.80992910e-02 9.99836145e-01 -3.13682408e-04 -3.43997125e-01] [ 1.44694545e-03 2.87540495e-04 9.99998912e-01 -7.49981394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.027719421 meters Centerline goodness [0,1] 0.9588649002289826 Centerline is valid? [False, True] Translation: X:5.66, Y:-0.35, Z:-0.75 [[ 9.99662058e-01 -2.59450358e-02 -1.62002650e-03 5.66112032e+00] [ 2.59320364e-02 9.99634918e-01 -7.58681539e-03 -3.46050136e-01] [ 1.81627526e-03 7.54224090e-03 9.99969907e-01 -7.51773221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.057719421 meters Centerline goodness [0,1] 0.9583749312361198 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.35, Z:-0.75 [[ 9.99603573e-01 -2.81113941e-02 -1.56438204e-03 5.69034304e+00] [ 2.81113023e-02 9.99604796e-01 -8.06499516e-05 -3.48925701e-01] [ 1.56603098e-03 3.66411632e-05 9.99998773e-01 -7.51474076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.087719420999996 meters Centerline goodness [0,1] 0.9582847916283442 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.34, Z:-0.75 [[ 9.99705481e-01 -2.41843537e-02 -2.01692457e-03 5.71753831e+00] [ 2.41842061e-02 9.99707515e-01 -9.75502618e-05 -3.40225870e-01] [ 2.01869384e-03 4.87438119e-05 9.99997961e-01 -7.52006554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.117719421 meters Centerline goodness [0,1] 0.9546161401211327 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.33, Z:-0.75 [[ 9.99796192e-01 -1.98003281e-02 -3.93976588e-03 5.74674137e+00] [ 1.97997456e-02 9.99803948e-01 -1.86809234e-04 -3.31753573e-01] [ 3.94269237e-03 1.08764799e-04 9.99992222e-01 -7.54812364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.147719421 meters Centerline goodness [0,1] 0.9411812743716952 Centerline is valid? [True, False] Translation: X:5.75, Y:-0.33, Z:-0.76 [[ 9.99919411e-01 -1.17784388e-02 -4.73703586e-03 5.74963409e+00] [ 1.18103523e-02 9.99907361e-01 6.76643440e-03 -3.29473254e-01] [ 4.65689900e-03 -6.82183516e-03 9.99965887e-01 -7.57051509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.177719421 meters Centerline goodness [0,1] 0.9304921773142112 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-0.76 [[ 9.99935976e-01 -9.90068621e-03 -5.47899598e-03 5.75140788e+00] [ 9.94365102e-03 9.99919584e-01 7.87085157e-03 -3.29358873e-01] [ 5.40062855e-03 -7.92482887e-03 9.99954014e-01 -7.57791725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.207719421 meters Centerline goodness [0,1] 0.8967446592065107 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-0.76 [[ 0.99996448 -0.00592396 -0.00599581 5.75346079] [ 0.0059929 0.99991539 0.01154582 -0.32988541] [ 0.0059269 -0.01158134 0.99991537 -0.75910598] [ 0. 0. 0. 1. ]] SLAMing on 45.237719421 meters Centerline goodness [0,1] 0.8771375578338055 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-0.76 [[ 0.99996315 -0.00588243 -0.00625203 5.7546733 ] [ 0.0059529 0.99991828 0.01131375 -0.32940791] [ 0.00618497 -0.01135055 0.99991645 -0.76009043] [ 0. 0. 0. 1. ]] SLAMing on 45.267719420999995 meters Centerline goodness [0,1] 0.7590204612943905 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.33, Z:-0.76 [[ 9.99963234e-01 -5.53627182e-03 -6.54834375e-03 5.75567570e+00] [ 5.61412118e-03 9.99913070e-01 1.19303789e-02 -3.31315829e-01] [ 6.48172468e-03 -1.19667035e-02 9.99907388e-01 -7.60597163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.297719421 meters Centerline goodness [0,1] 0.8540335259407477 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.33, Z:-0.76 [[ 0.99994996 -0.00779431 -0.00627134 5.75427574] [ 0.00785418 0.99992327 0.0095793 -0.33279298] [ 0.00619619 -0.00962808 0.99993445 -0.75957807] [ 0. 0. 0. 1. ]] SLAMing on 45.327719421 meters Centerline goodness [0,1] 0.8837356533104603 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.34, Z:-0.76 [[ 0.9999234 -0.01077307 -0.00609364 5.75381868] [ 0.01082021 0.99991137 0.00775722 -0.3377189 ] [ 0.00600953 -0.00782256 0.99995135 -0.75912569] [ 0. 0. 0. 1. ]] SLAMing on 45.357719421 meters Centerline goodness [0,1] 0.9053402502288679 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.34, Z:-0.76 [[ 0.99989994 -0.01256058 -0.0065063 5.75552499] [ 0.01260312 0.9998992 0.00653892 -0.3396483 ] [ 0.00642351 -0.00662027 0.99995745 -0.75996663] [ 0. 0. 0. 1. ]] SLAMing on 45.387719421 meters Centerline goodness [0,1] 0.9319148936170213 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.34, Z:-0.76 [[ 9.99851768e-01 -1.60305471e-02 -6.28203283e-03 5.75367260e+00] [ 1.60570439e-02 9.99862297e-01 4.19038248e-03 -3.42626870e-01] [ 6.21399364e-03 -4.29063221e-03 9.99971488e-01 -7.57685534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.417719421 meters Centerline goodness [0,1] 0.9402100891657506 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.35, Z:-0.76 [[ 9.99838659e-01 -1.67426333e-02 -6.50687137e-03 5.75272287e+00] [ 1.67720114e-02 9.99849272e-01 4.48689940e-03 -3.45462940e-01] [ 6.43076810e-03 -4.59530880e-03 9.99968764e-01 -7.55640055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.447719421 meters Centerline goodness [0,1] 0.9408446097870079 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.35, Z:-0.75 [[ 9.99837759e-01 -1.67604016e-02 -6.59880011e-03 5.75224864e+00] [ 1.67939230e-02 9.99846180e-01 5.05772162e-03 -3.47154237e-01] [ 6.51301564e-03 -5.16772079e-03 9.99965437e-01 -7.54631518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.477719420999996 meters Centerline goodness [0,1] 0.9484780388151175 Centerline is valid? [False, False] Translation: X:5.75, Y:-0.35, Z:-0.75 [[ 9.99831642e-01 -1.69812281e-02 -6.95164916e-03 5.75287370e+00] [ 1.70171716e-02 9.99841963e-01 5.14440559e-03 -3.47938419e-01] [ 6.86319221e-03 -5.26183690e-03 9.99962604e-01 -7.54499663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.507719421 meters Centerline goodness [0,1] 0.9485734125768437 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.35, Z:-0.76 [[ 9.99801668e-01 -1.84676079e-02 -7.45470411e-03 5.75580584e+00] [ 1.84946086e-02 9.99822589e-01 3.56941255e-03 -3.45726959e-01] [ 7.38746305e-03 -3.70657645e-03 9.99965843e-01 -7.56986231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.537719421 meters Centerline goodness [0,1] 0.9475466693869223 Centerline is valid? [False, False] Translation: X:5.76, Y:-0.34, Z:-0.76 [[ 9.99776767e-01 -1.95042992e-02 -8.12399683e-03 5.75862785e+00] [ 1.95258820e-02 9.99806008e-01 2.58587515e-03 -3.44582488e-01] [ 8.07198515e-03 -2.74392610e-03 9.99963656e-01 -7.58869394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.567719421 meters Centerline goodness [0,1] 0.9504849412965799 Centerline is valid? [False, True] Translation: X:5.76, Y:-0.34, Z:-0.76 [[ 9.99717428e-01 -2.20781141e-02 -8.81030938e-03 5.76162292e+00] [ 2.20851737e-02 9.99755844e-01 7.04793695e-04 -3.43117237e-01] [ 8.79259777e-03 -8.99171753e-04 9.99960940e-01 -7.60626387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.597719421 meters Centerline goodness [0,1] 0.9485981308411215 Centerline is valid? [True, False] Translation: X:5.76, Y:-0.34, Z:-0.76 [[ 9.99688233e-01 -2.32556048e-02 -9.08916994e-03 5.76167652e+00] [ 2.32566774e-02 9.99729527e-01 1.23133409e-05 -3.42416743e-01] [ 9.08642521e-03 -2.23693395e-04 9.99958693e-01 -7.59713230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.627719421 meters Centerline goodness [0,1] 0.9511293550626966 Centerline is valid? [False, True] Translation: X:5.76, Y:-0.34, Z:-0.76 [[ 9.99684996e-01 -2.32891806e-02 -9.35534474e-03 5.76158996e+00] [ 2.32913369e-02 9.99728713e-01 1.21591474e-04 -3.42363653e-01] [ 9.34997499e-03 -3.39451659e-04 9.99956230e-01 -7.58897245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.657719420999996 meters Centerline goodness [0,1] 0.9523274806043283 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.34, Z:-0.76 [[ 9.99696696e-01 -2.31597307e-02 -8.37510460e-03 5.79042114e+00] [ 2.31578353e-02 9.99731769e-01 -3.23226543e-04 -3.39237795e-01] [ 8.38034398e-03 1.29179214e-04 9.99964876e-01 -7.58223531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.687719421 meters Centerline goodness [0,1] 0.94962899543379 Centerline is valid? [True, False] Translation: X:5.79, Y:-0.34, Z:-0.76 [[ 9.99759146e-01 -1.99972630e-02 -9.04214057e-03 5.79216030e+00] [ 2.00277358e-02 9.99794004e-01 3.29217697e-03 -3.40036389e-01] [ 8.97444340e-03 -3.47247764e-03 9.99953700e-01 -7.58809800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.717719421 meters Centerline goodness [0,1] 0.9506351569031258 Centerline is valid? [False, True] Translation: X:5.79, Y:-0.34, Z:-0.76 [[ 9.99769554e-01 -1.94085196e-02 -9.17328445e-03 5.79225091e+00] [ 1.94403161e-02 9.99805273e-01 3.38983690e-03 -3.38864077e-01] [ 9.10570644e-03 -3.56738727e-03 9.99952179e-01 -7.58735835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.747719421 meters Centerline goodness [0,1] 0.9539386528075002 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.33, Z:-0.76 [[ 9.99907744e-01 -1.27765395e-02 -4.61130357e-03 5.81959366e+00] [ 1.27758648e-02 9.99918370e-01 -1.75744243e-04 -3.28741676e-01] [ 4.61317256e-03 1.16814639e-04 9.99989352e-01 -7.56035617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.777719421 meters Centerline goodness [0,1] 0.9457920741749862 Centerline is valid? [True, False] Translation: X:5.82, Y:-0.33, Z:-0.76 [[ 9.99952776e-01 -8.23422550e-03 -5.16176841e-03 5.82102657e+00] [ 8.25608728e-03 9.99956978e-01 4.22842453e-03 -3.29656772e-01] [ 5.12672854e-03 -4.27084086e-03 9.99977738e-01 -7.56629438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.807719421 meters Centerline goodness [0,1] 0.93933203962823 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.33, Z:-0.76 [[ 9.99960052e-01 -7.27977410e-03 -5.18637437e-03 5.82120978e+00] [ 7.30374684e-03 9.99962662e-01 4.61840560e-03 -3.29030403e-01] [ 5.15255977e-03 -4.65610107e-03 9.99975886e-01 -7.56980503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.837719420999996 meters Centerline goodness [0,1] 0.9216930137684854 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.33, Z:-0.76 [[ 9.99980988e-01 -2.80865469e-03 -5.48951526e-03 5.82230881e+00] [ 2.85453365e-03 9.99960916e-01 8.36767172e-03 -3.27653665e-01] [ 5.46579881e-03 -8.38318264e-03 9.99949922e-01 -7.57866410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.867719421 meters Centerline goodness [0,1] 0.916664969138946 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.32, Z:-0.76 [[ 9.99980839e-01 -2.47379425e-03 -5.67464018e-03 5.82313901e+00] [ 2.51698546e-03 9.99967824e-01 7.61679596e-03 -3.24775239e-01] [ 5.65561521e-03 -7.63093301e-03 9.99954890e-01 -7.58721379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.897719421 meters Centerline goodness [0,1] 0.8692944791518284 Centerline is valid? [False, False] Translation: X:5.82, Y:-0.32, Z:-0.76 [[ 9.99980724e-01 1.32011535e-03 -6.06704267e-03 5.82452755e+00] [-1.25882815e-03 9.99948258e-01 1.00944013e-02 -3.20524064e-01] [ 6.08005453e-03 -1.00865693e-02 9.99930645e-01 -7.59795386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.927719421 meters Centerline goodness [0,1] 0.8331189119647123 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.32, Z:-0.76 [[ 9.99979101e-01 1.38609282e-03 -6.31470507e-03 5.82534664e+00] [-1.32809497e-03 9.99956985e-01 9.17952358e-03 -3.17578121e-01] [ 6.32715711e-03 -9.17094521e-03 9.99937928e-01 -7.60432542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.957719421 meters Centerline goodness [0,1] 0.8076444299328612 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.76 [[ 9.99977030e-01 1.20637224e-03 -6.66960396e-03 5.82668390e+00] [-1.15285719e-03 9.99967161e-01 8.02175168e-03 -3.14615363e-01] [ 6.67906215e-03 -8.01387832e-03 9.99945582e-01 -7.61429060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.987719421 meters Centerline goodness [0,1] 0.8554342492639843 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.76 [[ 9.99976101e-01 1.17876783e-03 -6.81227471e-03 5.82744000e+00] [-1.13494520e-03 9.99978663e-01 6.43318170e-03 -3.10151316e-01] [ 6.81971259e-03 -6.42529640e-03 9.99956103e-01 -7.62411190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.017719420999995 meters Centerline goodness [0,1] 0.8158061547898988 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.76 [[ 9.99975217e-01 1.19434663e-03 -6.93821341e-03 5.82811870e+00] [-1.15605853e-03 9.99984097e-01 5.51982942e-03 -3.08294288e-01] [ 6.94469567e-03 -5.51167164e-03 9.99960696e-01 -7.63135916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.047719421 meters Centerline goodness [0,1] 0.8161603763935767 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.76 [[ 9.99972146e-01 7.28427570e-04 -7.42803119e-03 5.83019198e+00] [-6.93223773e-04 9.99988522e-01 4.74079108e-03 -3.07344571e-01] [ 7.43139925e-03 -4.73550975e-03 9.99961174e-01 -7.64592123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.077719421 meters Centerline goodness [0,1] 0.8061612731661416 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.77 [[ 9.99969211e-01 8.60898032e-05 -7.84662715e-03 5.83307113e+00] [-5.39704162e-05 9.99991620e-01 4.09352027e-03 -3.07259135e-01] [ 7.84691381e-03 -4.09297074e-03 9.99960836e-01 -7.67238132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.107719421 meters Centerline goodness [0,1] 0.8085450157483536 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.77 [[ 9.99967680e-01 -3.56724503e-04 -8.03185774e-03 5.83346159e+00] [ 3.89507063e-04 9.99991599e-01 4.08037212e-03 -3.07974826e-01] [ 8.03033470e-03 -4.08336871e-03 9.99959419e-01 -7.67177510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.137719421 meters Centerline goodness [0,1] 0.8692853201446935 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.31, Z:-0.77 [[ 9.99957154e-01 -4.58924774e-03 -8.03925044e-03 5.83250284e+00] [ 4.60436581e-03 9.99987664e-01 1.86303417e-03 -3.12394129e-01] [ 8.03060135e-03 -1.89997000e-03 9.99965949e-01 -7.65086726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.167719421 meters Centerline goodness [0,1] 0.9228212552506015 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.32, Z:-0.76 [[ 0.99985016 -0.01532379 -0.00805172 5.83077223] [ 0.01526271 0.99985468 -0.00759338 -0.31844608] [ 0.00816691 0.00746935 0.99993875 -0.76235468] [ 0. 0. 0. 1. ]] SLAMing on 46.197719421 meters Centerline goodness [0,1] 0.936950325732899 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.32, Z:-0.76 [[ 0.99978463 -0.0189693 -0.0084177 5.83063872] [ 0.01888148 0.99976771 -0.01039336 -0.32182761] [ 0.0086129 0.01023218 0.99991056 -0.76095652] [ 0. 0. 0. 1. ]] SLAMing on 46.227719420999996 meters Centerline goodness [0,1] 0.9439569654946718 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.33, Z:-0.76 [[ 0.99967691 -0.02385063 -0.00878713 5.83154989] [ 0.02373334 0.99963094 -0.01321815 -0.32651629] [ 0.00909914 0.01300533 0.99987403 -0.7603549 ] [ 0. 0. 0. 1. ]] SLAMing on 46.257719421 meters Centerline goodness [0,1] 0.9443071581742061 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.33, Z:-0.76 [[ 0.99966915 -0.02398174 -0.00929897 5.83273837] [ 0.02386445 0.99963674 -0.01252504 -0.32849399] [ 0.00959596 0.01229898 0.99987832 -0.76044976] [ 0. 0. 0. 1. ]] SLAMing on 46.287719421 meters Centerline goodness [0,1] 0.9445884441904606 Centerline is valid? [False, False] Translation: X:5.83, Y:-0.33, Z:-0.76 [[ 0.999669 -0.02385512 -0.00963422 5.8334426 ] [ 0.02373889 0.99964612 -0.01200375 -0.3292833 ] [ 0.00991716 0.01177107 0.99988154 -0.76046464] [ 0. 0. 0. 1. ]] SLAMing on 46.317719421 meters Centerline goodness [0,1] 0.9504412485700278 Centerline is valid? [False, True] Translation: X:5.83, Y:-0.33, Z:-0.76 [[ 0.99975531 -0.01987142 -0.009718 5.83165276] [ 0.01980535 0.9997804 -0.0068488 -0.33175977] [ 0.00985196 0.00665466 0.99992932 -0.75760846] [ 0. 0. 0. 1. ]] SLAMing on 46.347719421 meters Centerline goodness [0,1] 0.948227936066713 Centerline is valid? [True, False] Translation: X:5.83, Y:-0.33, Z:-0.76 [[ 9.99807621e-01 -1.67380247e-02 -1.02254528e-02 5.83228118e+00] [ 1.67099778e-02 9.99856396e-01 -2.82215963e-03 -3.34250124e-01] [ 1.02712218e-02 2.65074961e-03 9.99943736e-01 -7.56953256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.377719421 meters Centerline goodness [0,1] 0.9433171051016651 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.34, Z:-0.76 [[ 9.99803325e-01 -1.63845122e-02 -1.11740157e-02 5.83710983e+00] [ 1.63609021e-02 9.99863729e-01 -2.20109481e-03 -3.35480559e-01] [ 1.12085568e-02 2.01784493e-03 9.99935146e-01 -7.60625967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.407719420999996 meters Centerline goodness [0,1] 0.943309916680281 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99788584e-01 -1.67715298e-02 -1.18955400e-02 5.84214428e+00] [ 1.67474494e-02 9.99857502e-01 -2.12106008e-03 -3.34431621e-01] [ 1.19294183e-02 1.92139170e-03 9.99926996e-01 -7.64935549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.437719421 meters Centerline goodness [0,1] 0.9401765149507756 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99777197e-01 -1.71135807e-02 -1.23564741e-02 5.84313144e+00] [ 1.70867972e-02 9.99851433e-01 -2.26990255e-03 -3.34075889e-01] [ 1.23934845e-02 2.05826424e-03 9.99921079e-01 -7.64989493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.467719421 meters Centerline goodness [0,1] 0.9441662749586152 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99752247e-01 -1.84055815e-02 -1.25171896e-02 5.84249929e+00] [ 1.83699749e-02 9.99826895e-01 -2.95367420e-03 -3.33449079e-01] [ 1.25693869e-02 2.72300196e-03 9.99917294e-01 -7.63375865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.497719421 meters Centerline goodness [0,1] 0.9462389741914408 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99736741e-01 -1.89672619e-02 -1.29109465e-02 5.84276456e+00] [ 1.89262091e-02 9.99815455e-01 -3.29449485e-03 -3.32595826e-01] [ 1.29710514e-02 3.04927227e-03 9.99911223e-01 -7.62609211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.527719421 meters Centerline goodness [0,1] 0.9468954248366013 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99709206e-01 -2.02743205e-02 -1.30558298e-02 5.84214331e+00] [ 2.02231220e-02 9.99787322e-01 -4.04167174e-03 -3.31571428e-01] [ 1.31349952e-02 3.77646681e-03 9.99906601e-01 -7.61073337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.557719421 meters Centerline goodness [0,1] 0.9489977318702875 Centerline is valid? [False, False] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99696068e-01 -2.06698506e-02 -1.34361206e-02 5.84272503e+00] [ 2.06146799e-02 9.99778539e-01 -4.23177546e-03 -3.31347897e-01] [ 1.35206151e-02 3.95350796e-03 9.99900776e-01 -7.60755659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.587719420999996 meters Centerline goodness [0,1] 0.9504671753233506 Centerline is valid? [False, True] Translation: X:5.84, Y:-0.33, Z:-0.76 [[ 9.99685371e-01 -2.11004109e-02 -1.35621706e-02 5.84248927e+00] [ 2.10314135e-02 9.99765239e-01 -5.21014844e-03 -3.28296375e-01] [ 1.36689231e-02 4.92327756e-03 9.99894455e-01 -7.60223276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.617719421 meters Centerline goodness [0,1] 0.9537909376401974 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.33, Z:-0.76 [[ 9.99710514e-01 -2.09739134e-02 -1.17891005e-02 5.87147249e+00] [ 2.09720172e-02 9.99780023e-01 -2.84458153e-04 -3.26352317e-01] [ 1.17924734e-02 3.71345875e-05 9.99930466e-01 -7.56993106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.647719421 meters Centerline goodness [0,1] 0.9555768681385953 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.32, Z:-0.76 [[ 9.99795316e-01 -1.73305864e-02 -1.04392194e-02 5.89922075e+00] [ 1.73288554e-02 9.99849811e-01 -2.56254055e-04 -3.17821250e-01] [ 1.04420926e-02 7.53018810e-05 9.99945477e-01 -7.55321419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.677719421 meters Centerline goodness [0,1] 0.9564419055391207 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.31, Z:-0.76 [[ 9.99829985e-01 -1.45010538e-02 -1.13894540e-02 5.92822097e+00] [ 1.44987811e-02 9.99894847e-01 -2.82086845e-04 -3.11374270e-01] [ 1.13923469e-02 1.16905685e-04 9.99935098e-01 -7.56632075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.707719421 meters Centerline goodness [0,1] 0.9538665308201733 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.30, Z:-0.76 [[ 9.99874417e-01 -7.22867915e-03 -1.41030758e-02 5.95592899e+00] [ 7.22449545e-03 9.99973843e-01 -3.47576295e-04 -2.95864144e-01] [ 1.41052194e-02 2.45645038e-04 9.99900486e-01 -7.61337458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.737719421 meters Centerline goodness [0,1] 0.9530643910007758 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.29, Z:-0.76 [[ 9.99857729e-01 -3.60546259e-03 -1.64779487e-02 5.98568463e+00] [ 3.59926214e-03 9.99993440e-01 -4.05928473e-04 -2.89387361e-01] [ 1.64793041e-02 3.46562265e-04 9.99864147e-01 -7.62909522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.767719420999995 meters Centerline goodness [0,1] 0.9444750198740293 Centerline is valid? [True, False] Translation: X:5.99, Y:-0.29, Z:-0.76 [[ 9.99848391e-01 -5.43391133e-04 -1.74040166e-02 5.98889635e+00] [ 5.69134405e-04 9.99998751e-01 1.47423812e-03 -2.85180516e-01] [ 1.74031938e-02 -1.48391984e-03 9.99847452e-01 -7.64883884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.797719421 meters Centerline goodness [0,1] 0.9420210166177908 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.77 [[ 9.99839500e-01 -6.77932592e-04 -1.79029445e-02 5.99023298e+00] [ 6.93880831e-04 9.99999368e-01 8.84619785e-04 -2.83595090e-01] [ 1.79023335e-02 -8.96900313e-04 9.99839338e-01 -7.65351862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.827719421 meters Centerline goodness [0,1] 0.9432838256895708 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.77 [[ 9.99834328e-01 -8.20620119e-04 -1.81836166e-02 5.99138586e+00] [ 8.31353661e-04 9.99999485e-01 5.82735113e-04 -2.83083229e-01] [ 1.81831290e-02 -5.97755586e-04 9.99834495e-01 -7.66130322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.857719421 meters Centerline goodness [0,1] 0.9432838256895708 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.77 [[ 9.99834328e-01 -8.20620119e-04 -1.81836166e-02 5.99138586e+00] [ 8.31353661e-04 9.99999485e-01 5.82735113e-04 -2.83083229e-01] [ 1.81831290e-02 -5.97755586e-04 9.99834495e-01 -7.66130322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.887719421 meters Centerline goodness [0,1] 0.9433420259147584 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.77 [[ 9.99826201e-01 -1.72461980e-03 -1.85632369e-02 5.99318312e+00] [ 1.72070198e-03 9.99998494e-01 -2.27022697e-04 -2.81468733e-01] [ 1.85636005e-02 1.95041442e-04 9.99827662e-01 -7.67325458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.917719421 meters Centerline goodness [0,1] 0.9438753691070155 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.77 [[ 9.99825145e-01 -1.84669143e-03 -1.86082892e-02 5.99307388e+00] [ 1.83325906e-03 9.99998047e-01 -7.38880940e-04 -2.79174701e-01] [ 1.86096173e-02 7.04637929e-04 9.99826578e-01 -7.67037891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.947719421 meters Centerline goodness [0,1] 0.9448154729081143 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.77 [[ 9.99822411e-01 -1.49558242e-03 -1.87858935e-02 5.99257441e+00] [ 1.47940956e-03 9.99998523e-01 -8.74772333e-04 -2.77205455e-01] [ 1.87871740e-02 8.46824953e-04 9.99823147e-01 -7.65999304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.977719420999996 meters Centerline goodness [0,1] 0.9410648327653409 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-0.77 [[ 9.99815535e-01 -8.83372375e-04 -1.91863358e-02 5.99337642e+00] [ 8.57292981e-04 9.99998698e-01 -1.36745153e-03 -2.74882159e-01] [ 1.91875188e-02 1.35075097e-03 9.99814990e-01 -7.66155587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.007719421 meters Centerline goodness [0,1] 0.9426922998511753 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-0.77 [[ 9.99805306e-01 -8.83035535e-04 -1.97121802e-02 5.99460722e+00] [ 8.51810462e-04 9.99998369e-01 -1.59238983e-03 -2.74600857e-01] [ 1.97135542e-02 1.57528876e-03 9.99804428e-01 -7.66348760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.037719421 meters Centerline goodness [0,1] 0.9444172380019589 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.28, Z:-0.76 [[ 9.99807955e-01 -5.57490880e-04 -1.95893564e-02 5.99313114e+00] [ 5.32309559e-04 9.99999025e-01 -1.29065009e-03 -2.75509213e-01] [ 1.95900568e-02 1.27997462e-03 9.99807277e-01 -7.64626779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.067719421 meters Centerline goodness [0,1] 0.9483414346437796 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-0.76 [[ 9.99803386e-01 -1.20459131e-03 -1.97923636e-02 5.99366595e+00] [ 1.16988336e-03 9.99997758e-01 -1.76508831e-03 -2.74408615e-01] [ 1.97944455e-02 1.74158651e-03 9.99802554e-01 -7.64656281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.097719421 meters Centerline goodness [0,1] 0.9498767293547138 Centerline is valid? [False, False] Translation: X:5.99, Y:-0.27, Z:-0.76 [[ 9.99798888e-01 -1.71573338e-03 -1.99809860e-02 5.99364661e+00] [ 1.67059755e-03 9.99996016e-01 -2.27541186e-03 -2.72385284e-01] [ 1.99848103e-02 2.24157406e-03 9.99797771e-01 -7.64126120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.127719421 meters Centerline goodness [0,1] 0.9538068993672177 Centerline is valid? [False, True] Translation: X:5.99, Y:-0.27, Z:-0.76 [[ 9.99801981e-01 -2.77733061e-03 -1.97049385e-02 5.99069104e+00] [ 2.71898952e-03 9.99991843e-01 -2.98690856e-03 -2.70341293e-01] [ 1.97130734e-02 2.93273957e-03 9.99801377e-01 -7.60960303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.157719420999996 meters Centerline goodness [0,1] 0.9601319433132431 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.28, Z:-0.76 [[ 9.99807717e-01 -4.89432781e-03 -1.89888102e-02 6.01976077e+00] [ 4.88661153e-03 9.99987958e-01 -4.52737951e-04 -2.75566847e-01] [ 1.89907974e-02 3.59859959e-04 9.99819594e-01 -7.58241892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.187719421 meters Centerline goodness [0,1] 0.9572592140093668 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.29, Z:-0.76 [[ 9.99715411e-01 -1.03821714e-02 -2.14780774e-02 6.04757313e+00] [ 1.03735180e-02 9.99946061e-01 -5.14271903e-04 -2.85525763e-01] [ 2.14822582e-02 2.91322323e-04 9.99769187e-01 -7.59539020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.217719421 meters Centerline goodness [0,1] 0.9528680590932247 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.29, Z:-0.76 [[ 9.99547683e-01 -1.85011769e-02 -2.37094077e-02 6.07583134e+00] [ 1.84928598e-02 9.99828830e-01 -5.70021887e-04 -2.93174655e-01] [ 2.37158954e-02 1.31309303e-04 9.99718730e-01 -7.64387829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.247719421 meters Centerline goodness [0,1] 0.9512244939643375 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.30, Z:-0.77 [[ 9.99419015e-01 -2.31372094e-02 -2.50260140e-02 6.10429377e+00] [ 2.31292076e-02 9.99732298e-01 -6.09192503e-04 -2.95096171e-01] [ 2.50334095e-02 3.00066997e-05 9.99686615e-01 -7.66901094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.277719421 meters Centerline goodness [0,1] 0.949653485527925 Centerline is valid? [True, False] Translation: X:6.11, Y:-0.29, Z:-0.77 [[ 9.99390319e-01 -2.38597131e-02 -2.54892821e-02 6.10631462e+00] [ 2.38466176e-02 9.99715295e-01 -8.17648168e-04 -2.94638079e-01] [ 2.55015340e-02 2.09316500e-04 9.99674761e-01 -7.68098130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.307719421 meters Centerline goodness [0,1] 0.9455480920394455 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.30, Z:-0.77 [[ 9.99351043e-01 -2.50427735e-02 -2.58911501e-02 6.10757913e+00] [ 2.50304949e-02 9.99686369e-01 -7.98270772e-04 -2.96825135e-01] [ 2.59030207e-02 1.49684430e-04 9.99664449e-01 -7.68319268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.337719420999996 meters Centerline goodness [0,1] 0.9412125298841415 Centerline is valid? [False, False] Translation: X:6.11, Y:-0.30, Z:-0.77 [[ 9.99338439e-01 -2.50771741e-02 -2.63404743e-02 6.10788964e+00] [ 2.50754061e-02 9.99685484e-01 -3.97476184e-04 -2.98619988e-01] [ 2.63421574e-02 -2.63284861e-04 9.99652950e-01 -7.67485315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.367719421 meters Centerline goodness [0,1] 0.9516007109730933 Centerline is valid? [False, True] Translation: X:6.12, Y:-0.30, Z:-0.77 [[ 0.99949334 -0.02511214 -0.01955599 6.11687023] [ 0.02495176 0.99965335 -0.00840209 -0.29798025] [ 0.01976021 0.00790987 0.99977346 -0.76797877] [ 0. 0. 0. 1. ]] SLAMing on 47.397719421 meters Centerline goodness [0,1] 0.9541720180213239 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.30, Z:-0.76 [[ 9.99544710e-01 -2.46754014e-02 -1.73637004e-02 6.14582581e+00] [ 2.46743799e-02 9.99695504e-01 -2.73096733e-04 -2.98497358e-01] [ 1.73651519e-02 -1.55466144e-04 9.99849202e-01 -7.64521387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.427719421 meters Centerline goodness [0,1] 0.956775272193451 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.28, Z:-0.77 [[ 9.99658879e-01 -2.14093345e-02 -1.49588366e-02 6.17387812e+00] [ 2.14081403e-02 9.99770791e-01 -2.39972864e-04 -2.84230837e-01] [ 1.49605455e-02 -8.03498673e-05 9.99888082e-01 -7.68208825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.457719421 meters Centerline goodness [0,1] 0.9573321356388951 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.26, Z:-0.77 [[ 9.99787308e-01 -1.22765327e-02 -1.65718464e-02 6.20225235e+00] [ 1.22737380e-02 9.99924638e-01 -2.70341226e-04 -2.59550757e-01] [ 1.65739163e-02 6.68852267e-05 9.99862641e-01 -7.68991621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.487719421 meters Centerline goodness [0,1] 0.9574922241873514 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.25, Z:-0.77 [[ 9.99831681e-01 -7.57311972e-03 -1.67109816e-02 6.23079606e+00] [ 7.56954091e-03 9.99971312e-01 -2.77401317e-04 -2.51464325e-01] [ 1.67126030e-02 1.50860166e-04 9.99860323e-01 -7.69494380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.517719420999995 meters Centerline goodness [0,1] 0.9531055837356638 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.24, Z:-0.77 [[ 9.99802855e-01 2.77580021e-03 -1.96607673e-02 6.26068116e+00] [-2.78271193e-03 9.99996076e-01 -3.24199667e-04 -2.36981815e-01] [ 1.96597902e-02 3.78846005e-04 9.99806656e-01 -7.71052474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.547719421 meters Centerline goodness [0,1] 0.9509058672481607 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.23, Z:-0.77 [[ 9.99751534e-01 7.70540159e-03 -2.09164140e-02 6.28901829e+00] [-7.71433595e-03 9.99970184e-01 -3.46491344e-04 -2.25779135e-01] [ 2.09131205e-02 5.07761498e-04 9.99781168e-01 -7.73367765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.577719421 meters Centerline goodness [0,1] 0.9436837815810921 Centerline is valid? [True, False] Translation: X:6.29, Y:-0.22, Z:-0.77 [[ 9.99709461e-01 1.12723694e-02 -2.13055643e-02 6.29060414e+00] [-1.12356599e-02 9.99935182e-01 1.84192255e-03 -2.20170847e-01] [ 2.13249461e-02 -1.60200533e-03 9.99771314e-01 -7.74264625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.607719421 meters Centerline goodness [0,1] 0.9185649784460743 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.21, Z:-0.77 [[ 0.99957866 0.01931818 -0.02166346 6.29179016] [-0.01915161 0.99978561 0.00787042 -0.21291783] [ 0.02181086 -0.00745221 0.99973434 -0.7746929 ] [ 0. 0. 0. 1. ]] SLAMing on 47.637719421 meters Centerline goodness [0,1] 0.8519767085504137 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.21, Z:-0.77 [[ 0.99948564 0.02362891 -0.02168249 6.29123277] [-0.02339358 0.99966533 0.01104377 -0.20932269] [ 0.02193619 -0.01053086 0.99970391 -0.77369173] [ 0. 0. 0. 1. ]] SLAMing on 47.667719421 meters Centerline goodness [0,1] 0.8304970754274767 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.21, Z:-0.77 [[ 0.9994807 0.02350668 -0.02204011 6.29181293] [-0.02327717 0.99967272 0.01061246 -0.20844492] [ 0.02228236 -0.01009392 0.99970076 -0.77354177] [ 0. 0. 0. 1. ]] SLAMing on 47.697719421 meters Centerline goodness [0,1] 0.8412982834802794 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.21, Z:-0.77 [[ 9.99588723e-01 1.73787876e-02 -2.28114566e-02 6.29395801e+00] [-1.72866354e-02 9.99841624e-01 4.23074218e-03 -2.10353342e-01] [ 2.28813689e-02 -3.83466884e-03 9.99730833e-01 -7.74697000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.727719420999996 meters Centerline goodness [0,1] 0.8766502744505886 Centerline is valid? [False, False] Translation: X:6.29, Y:-0.21, Z:-0.78 [[ 9.99643727e-01 1.35069778e-02 -2.30212941e-02 6.29471316e+00] [-1.35028979e-02 9.99908776e-01 3.32669028e-04 -2.10659982e-01] [ 2.30236873e-02 -2.16963247e-05 9.99734920e-01 -7.75263538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.757719421 meters Centerline goodness [0,1] 0.9051556916794283 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.21, Z:-0.78 [[ 9.99662808e-01 1.17429712e-02 -2.31597170e-02 6.29578601e+00] [-1.17580712e-02 9.99930738e-01 -5.15922275e-04 -2.11873799e-01] [ 2.31520545e-02 7.88061911e-04 9.99731645e-01 -7.75997650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.787719421 meters Centerline goodness [0,1] 0.9197411135384552 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.21, Z:-0.78 [[ 9.99662358e-01 1.11293724e-02 -2.34799348e-02 6.29668214e+00] [-1.11421739e-02 9.99937838e-01 -4.14452259e-04 -2.13634593e-01] [ 2.34738627e-02 6.75929840e-04 9.99724222e-01 -7.76195923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.817719421 meters Centerline goodness [0,1] 0.9343381737230153 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.22, Z:-0.78 [[ 9.99697035e-01 4.89404967e-03 -2.41223300e-02 6.29959665e+00] [-5.02405864e-03 9.99973164e-01 -5.33191429e-03 -2.19292758e-01] [ 2.40955880e-02 5.45149091e-03 9.99694795e-01 -7.78210943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.847719421 meters Centerline goodness [0,1] 0.9357659769646316 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.22, Z:-0.78 [[ 9.99700482e-01 1.12943556e-03 -2.44472962e-02 6.30051383e+00] [-1.33712546e-03 9.99963144e-01 -8.48073450e-03 -2.21243741e-01] [ 2.44368167e-02 8.51088347e-03 9.99665147e-01 -7.78495619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.877719421 meters Centerline goodness [0,1] 0.9473748573292027 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.22, Z:-0.78 [[ 9.99826693e-01 -5.10543805e-03 -1.79030064e-02 6.29960666e+00] [ 5.13102382e-03 9.99985879e-01 1.38348955e-03 -2.24664434e-01] [ 1.78956903e-02 -1.47511053e-03 9.99838771e-01 -7.79778415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.907719420999996 meters Centerline goodness [0,1] 0.9442683300951018 Centerline is valid? [False, False] Translation: X:6.30, Y:-0.23, Z:-0.78 [[ 9.99819361e-01 -5.73644765e-03 -1.81201147e-02 6.29965937e+00] [ 5.76706910e-03 9.99982029e-01 1.63811239e-03 -2.26443794e-01] [ 1.81103921e-02 -1.74231643e-03 9.99834475e-01 -7.79122470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.937719421 meters Centerline goodness [0,1] 0.9532797912674793 Centerline is valid? [False, True] Translation: X:6.31, Y:-0.23, Z:-0.78 [[ 9.99855232e-01 -1.18045979e-02 -1.22542632e-02 6.30610160e+00] [ 1.18675119e-02 9.99916704e-01 5.07408943e-03 -2.31570490e-01] [ 1.21933449e-02 -5.21878248e-03 9.99912039e-01 -7.79719661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.967719421 meters Centerline goodness [0,1] 0.9466960083134666 Centerline is valid? [True, False] Translation: X:6.31, Y:-0.23, Z:-0.78 [[ 9.99850151e-01 -1.18724526e-02 -1.25984223e-02 6.30644172e+00] [ 1.19411565e-02 9.99914163e-01 5.39223874e-03 -2.33524502e-01] [ 1.25333218e-02 -5.54187045e-03 9.99906097e-01 -7.79134601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.997719421 meters Centerline goodness [0,1] 0.9522055081726952 Centerline is valid? [False, True] Translation: X:6.31, Y:-0.23, Z:-0.78 [[ 9.99842795e-01 -1.16864802e-02 -1.33345699e-02 6.30782528e+00] [ 1.17539047e-02 9.99918473e-01 4.98924397e-03 -2.31640860e-01] [ 1.32751761e-02 -5.14519291e-03 9.99898643e-01 -7.79170290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.027719421 meters Centerline goodness [0,1] 0.9451444909629327 Centerline is valid? [True, False] Translation: X:6.31, Y:-0.23, Z:-0.78 [[ 0.99987426 -0.00803049 -0.01367354 6.30981149] [ 0.00813873 0.99993584 0.00787909 -0.22855264] [ 0.01360939 -0.00798938 0.99987547 -0.78097492] [ 0. 0. 0. 1. ]] SLAMing on 48.057719421 meters Centerline goodness [0,1] 0.9454130217573051 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.23, Z:-0.78 [[ 9.99887471e-01 -4.77396289e-03 -1.42215932e-02 6.31217301e+00] [ 4.92800921e-03 9.99929356e-01 1.08165820e-02 -2.26655038e-01] [ 1.41689506e-02 -1.08854490e-02 9.99840361e-01 -7.82503931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.087719420999996 meters Centerline goodness [0,1] 0.9372221995677528 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.22, Z:-0.78 [[ 9.99891435e-01 1.29313324e-05 -1.47349305e-02 6.31262370e+00] [ 1.98329860e-04 9.99897216e-01 1.43358893e-02 -2.22925736e-01] [ 1.47336013e-02 -1.43372553e-02 9.99788660e-01 -7.81948336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.117719421 meters Centerline goodness [0,1] 0.9384809816951364 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.22, Z:-0.78 [[ 9.99884671e-01 2.86231848e-04 -1.51842728e-02 6.31327988e+00] [-7.46646033e-05 9.99902941e-01 1.39320517e-02 -2.21448176e-01] [ 1.51867869e-02 -1.39293112e-02 9.99787645e-01 -7.81670495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.147719421 meters Centerline goodness [0,1] 0.9368145894173627 Centerline is valid? [False, False] Translation: X:6.31, Y:-0.22, Z:-0.78 [[ 9.99884612e-01 1.02615122e-03 -1.51561750e-02 6.31275741e+00] [-8.06571670e-04 9.99894735e-01 1.44868086e-02 -2.23397109e-01] [ 1.51694452e-02 -1.44729125e-02 9.99780187e-01 -7.80993507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.177719421 meters Centerline goodness [0,1] 0.9370603706648725 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.22, Z:-0.78 [[ 9.99945638e-01 1.56156739e-03 -1.03093784e-02 6.31940798e+00] [-1.52670755e-03 9.99993094e-01 3.38837529e-03 -2.21289517e-01] [ 1.03145984e-02 -3.37245169e-03 9.99941116e-01 -7.81862111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.207719421 meters Centerline goodness [0,1] 0.9406943793194839 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.22, Z:-0.78 [[ 9.99943615e-01 1.28096065e-03 -1.05416429e-02 6.31950371e+00] [-1.25035269e-03 9.99994985e-01 2.90960704e-03 -2.19890714e-01] [ 1.05453171e-02 -2.89626221e-03 9.99940202e-01 -7.81344432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.237719421 meters Centerline goodness [0,1] 0.9379587343010928 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.22, Z:-0.78 [[ 9.99941012e-01 1.61419379e-03 -1.07408855e-02 6.31888462e+00] [-1.58439989e-03 9.99994876e-01 2.78180875e-03 -2.18241197e-01] [ 1.07453208e-02 -2.76462680e-03 9.99938446e-01 -7.79969813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.267719420999995 meters Centerline goodness [0,1] 0.9304186690559583 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.22, Z:-0.78 [[ 9.99941796e-01 -4.32356557e-04 -1.07804273e-02 6.31796157e+00] [ 4.42221688e-04 9.99999486e-01 9.12729536e-04 -2.22235374e-01] [ 1.07800271e-02 -9.17443751e-04 9.99941473e-01 -7.78589024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.297719421 meters Centerline goodness [0,1] 0.9322168248612833 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.23, Z:-0.78 [[ 9.99938633e-01 -6.49801819e-04 -1.10592981e-02 6.31861626e+00] [ 6.65441942e-04 9.99998784e-01 1.41058469e-03 -2.25548239e-01] [ 1.10583681e-02 -1.41785745e-03 9.99937849e-01 -7.78489505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.327719421 meters Centerline goodness [0,1] 0.9462551658150282 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.23, Z:-0.78 [[ 9.99930081e-01 -4.06629622e-03 -1.11040139e-02 6.31764178e+00] [ 4.05802630e-03 9.99991472e-01 -7.67198082e-04 -2.29495574e-01] [ 1.11070388e-02 7.22084059e-04 9.99938054e-01 -7.76843260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.357719421 meters Centerline goodness [0,1] 0.9435037414069313 Centerline is valid? [False, False] Translation: X:6.32, Y:-0.23, Z:-0.78 [[ 9.99922922e-01 -4.47614116e-03 -1.15807488e-02 6.31880403e+00] [ 4.47318518e-03 9.99989956e-01 -2.81139799e-04 -2.31790133e-01] [ 1.15818909e-02 2.29315295e-04 9.99932901e-01 -7.76916489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.387719421 meters Centerline goodness [0,1] 0.950497461928934 Centerline is valid? [False, True] Translation: X:6.32, Y:-0.23, Z:-0.78 [[ 9.99895227e-01 -8.06506512e-03 -1.20203947e-02 6.32230780e+00] [ 8.03278077e-03 9.99964006e-01 -2.73166338e-03 -2.34217483e-01] [ 1.20419930e-02 2.63481998e-03 9.99924021e-01 -7.79866812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.417719421 meters Centerline goodness [0,1] 0.9496668833279168 Centerline is valid? [True, False] Translation: X:6.33, Y:-0.24, Z:-0.78 [[ 9.99880432e-01 -8.80931169e-03 -1.27089364e-02 6.32514227e+00] [ 8.77371046e-03 9.99957437e-01 -2.85431618e-03 -2.35256318e-01] [ 1.27335400e-02 2.74247037e-03 9.99915164e-01 -7.81491823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.447719421 meters Centerline goodness [0,1] 0.9474604885788093 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.24, Z:-0.78 [[ 0.99982641 -0.01309677 -0.0132522 6.32699252] [ 0.01300616 0.99989161 -0.00690017 -0.23572148] [ 0.01334113 0.00672661 0.99988838 -0.78227541] [ 0. 0. 0. 1. ]] SLAMing on 48.477719420999996 meters Centerline goodness [0,1] 0.9479153905835273 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.24, Z:-0.78 [[ 0.99981727 -0.01338565 -0.01364712 6.32763451] [ 0.01329644 0.99988977 -0.0066063 -0.23744585] [ 0.01373405 0.00642364 0.99988505 -0.7818915 ] [ 0. 0. 0. 1. ]] SLAMing on 48.507719421 meters Centerline goodness [0,1] 0.9440395255303077 Centerline is valid? [False, False] Translation: X:6.33, Y:-0.24, Z:-0.78 [[ 0.99974621 -0.01726436 -0.01447289 6.33177173] [ 0.0171199 0.99980297 -0.01004596 -0.237078 ] [ 0.01464347 0.00979564 0.9998448 -0.78470602] [ 0. 0. 0. 1. ]] SLAMing on 48.537719421 meters Centerline goodness [0,1] 0.9376317243354955 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.24, Z:-0.79 [[ 0.99964779 -0.02154702 -0.01549262 6.33698446] [ 0.02133611 0.99967914 -0.01365233 -0.23578174] [ 0.01578182 0.01331697 0.99978677 -0.78829244] [ 0. 0. 0. 1. ]] SLAMing on 48.567719421 meters Centerline goodness [0,1] 0.9374463387710046 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.24, Z:-0.79 [[ 0.99961339 -0.02261101 -0.0161809 6.33925723] [ 0.02238417 0.9996505 -0.01406543 -0.23586819] [ 0.01649328 0.0136978 0.99977014 -0.78928775] [ 0. 0. 0. 1. ]] SLAMing on 48.597719421 meters Centerline goodness [0,1] 0.9410107772697583 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.23, Z:-0.79 [[ 0.99945157 -0.02863786 -0.01662641 6.3397611 ] [ 0.0283177 0.99941489 -0.01918286 -0.23411863] [ 0.01716604 0.01870151 0.99967774 -0.78815328] [ 0. 0. 0. 1. ]] SLAMing on 48.627719421 meters Centerline goodness [0,1] 0.9440506587682566 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.23, Z:-0.79 [[ 0.9994124 -0.02971127 -0.01709085 6.33966306] [ 0.02937864 0.99938018 -0.01939481 -0.23466326] [ 0.0176565 0.0188813 0.99966582 -0.78658843] [ 0. 0. 0. 1. ]] SLAMing on 48.657719420999996 meters Centerline goodness [0,1] 0.9402148433518824 Centerline is valid? [False, False] Translation: X:6.34, Y:-0.24, Z:-0.78 [[ 0.99921602 -0.03645817 -0.01543219 6.34472802] [ 0.03622191 0.99922631 -0.01532199 -0.23502721] [ 0.01597886 0.01475099 0.99976351 -0.78240121] [ 0. 0. 0. 1. ]] SLAMing on 48.687719421 meters Centerline goodness [0,1] 0.9292621593441417 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.24, Z:-0.78 [[ 0.99916707 -0.03762484 -0.01579704 6.34592227] [ 0.03737289 0.99917405 -0.01595251 -0.23504759] [ 0.01638421 0.01534884 0.99974795 -0.78272185] [ 0. 0. 0. 1. ]] SLAMing on 48.717719421 meters Centerline goodness [0,1] 0.8979354285364209 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.23, Z:-0.78 [[ 0.99909211 -0.03943124 -0.01612881 6.34774645] [ 0.03913797 0.99906966 -0.0181117 -0.22965906] [ 0.01682797 0.01746401 0.99970587 -0.78398708] [ 0. 0. 0. 1. ]] SLAMing on 48.747719421 meters Centerline goodness [0,1] 0.9053403013105785 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.23, Z:-0.78 [[ 0.99920112 -0.03627261 -0.01677554 6.34922621] [ 0.03602304 0.99923917 -0.01494737 -0.22769922] [ 0.01730495 0.01433112 0.99974755 -0.78444048] [ 0. 0. 0. 1. ]] SLAMing on 48.777719421 meters Centerline goodness [0,1] 0.9472415202288517 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.22, Z:-0.78 [[ 0.99941459 -0.0293319 -0.01761001 6.35020393] [ 0.02918549 0.99953775 -0.00851442 -0.22446582] [ 0.01785161 0.00799548 0.99980868 -0.78408484] [ 0. 0. 0. 1. ]] SLAMing on 48.807719421 meters Centerline goodness [0,1] 0.9472415202288517 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.22, Z:-0.78 [[ 0.99941459 -0.0293319 -0.01761001 6.35020393] [ 0.02918549 0.99953775 -0.00851442 -0.22446582] [ 0.01785161 0.00799548 0.99980868 -0.78408484] [ 0. 0. 0. 1. ]] SLAMing on 48.837719420999996 meters Centerline goodness [0,1] 0.9481337560077717 Centerline is valid? [False, False] Translation: X:6.35, Y:-0.22, Z:-0.78 [[ 9.99515431e-01 -2.53376880e-02 -1.80805235e-02 6.35085884e+00] [ 2.52478461e-02 9.99667801e-01 -5.18011005e-03 -2.22010620e-01] [ 1.82057692e-02 4.72110565e-03 9.99823115e-01 -7.83947928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.867719421 meters Centerline goodness [0,1] 0.9436473321648392 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.21, Z:-0.78 [[ 9.99773342e-01 -1.33242406e-02 -1.66051250e-02 6.35914777e+00] [ 1.32234198e-02 9.99893551e-01 -6.16674661e-03 -2.13291095e-01] [ 1.66855246e-02 5.94577233e-03 9.99843108e-01 -7.84274440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.897719421 meters Centerline goodness [0,1] 0.9434189324249903 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.21, Z:-0.78 [[ 9.99828962e-01 -6.94334867e-03 -1.71416425e-02 6.36071678e+00] [ 6.94013394e-03 9.99975886e-01 -2.47020118e-04 -2.09475536e-01] [ 1.71429443e-02 1.28012573e-04 9.99853041e-01 -7.84896723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.927719421 meters Centerline goodness [0,1] 0.9385294478276862 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.20, Z:-0.78 [[ 9.99835584e-01 2.92260049e-03 -1.78959007e-02 6.36173453e+00] [-2.78561693e-03 9.99966670e-01 7.67461484e-03 -2.00363689e-01] [ 1.79177341e-02 -7.62350188e-03 9.99810401e-01 -7.84502519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.957719421 meters Centerline goodness [0,1] 0.9463770783483649 Centerline is valid? [False, False] Translation: X:6.36, Y:-0.20, Z:-0.78 [[ 9.99813543e-01 6.36950673e-03 -1.82293143e-02 6.36192670e+00] [-6.18622197e-03 9.99929927e-01 1.00931875e-02 -1.96487004e-01] [ 1.82923255e-02 -9.97853497e-03 9.99782886e-01 -7.83905922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.987719421 meters Centerline goodness [0,1] 0.9423751631853786 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.19, Z:-0.79 [[ 9.99823524e-01 1.11001999e-02 -1.51560426e-02 6.37041210e+00] [-1.10959547e-02 9.99938372e-01 3.64166584e-04 -1.88393604e-01] [ 1.51591509e-02 -1.95931555e-04 9.99885074e-01 -7.85338696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.017719420999995 meters Centerline goodness [0,1] 0.9425587467362925 Centerline is valid? [False, False] Translation: X:6.37, Y:-0.18, Z:-0.79 [[ 9.99822604e-01 1.07609298e-02 -1.54583972e-02 6.37179054e+00] [-1.07787030e-02 9.99941339e-01 -1.06688547e-03 -1.84431459e-01] [ 1.54460097e-02 1.23331768e-03 9.99879943e-01 -7.86292183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.047719421 meters Centerline goodness [0,1] 0.9423944406063315 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.18, Z:-0.79 [[ 9.99746216e-01 1.57913756e-02 -1.60665897e-02 6.37534548e+00] [-1.57415657e-02 9.99870903e-01 3.22198110e-03 -1.77654547e-01] [ 1.61153951e-02 -2.96825014e-03 9.99865733e-01 -7.88841091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.077719421 meters Centerline goodness [0,1] 0.9382907201792808 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.17, Z:-0.79 [[ 9.99697641e-01 1.81827636e-02 -1.65533536e-02 6.37779512e+00] [-1.80975506e-02 9.99822268e-01 5.28311805e-03 -1.74128176e-01] [ 1.66464732e-02 -4.98194550e-03 9.99849026e-01 -7.90447080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.107719421 meters Centerline goodness [0,1] 0.9312645366629942 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.17, Z:-0.79 [[ 9.99640312e-01 2.04647852e-02 -1.73331699e-02 6.38136299e+00] [-2.03515082e-02 9.99770526e-01 6.68666092e-03 -1.69595181e-01] [ 1.74660334e-02 -6.33149966e-03 9.99827410e-01 -7.92893649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.137719421 meters Centerline goodness [0,1] 0.9290115899444988 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.17, Z:-0.79 [[ 9.99687919e-01 1.75159135e-02 -1.78117199e-02 6.38237869e+00] [-1.74719846e-02 9.99843923e-01 2.61893550e-03 -1.67104961e-01] [ 1.78548130e-02 -2.30691208e-03 9.99837929e-01 -7.93102678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.167719421 meters Centerline goodness [0,1] 0.9420544337137841 Centerline is valid? [False, False] Translation: X:6.38, Y:-0.17, Z:-0.79 [[ 9.99719987e-01 1.54012128e-02 -1.79652400e-02 6.38015161e+00] [-1.54108203e-02 9.99881168e-01 -3.96452511e-04 -1.66631372e-01] [ 1.79569993e-02 6.73200584e-04 9.99838533e-01 -7.89992086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.197719421 meters Centerline goodness [0,1] 0.9429147488900655 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.17, Z:-0.79 [[ 9.99769083e-01 1.87335430e-02 -1.05278495e-02 6.38897393e+00] [-1.87790620e-02 9.99814661e-01 -4.24157908e-03 -1.65703225e-01] [ 1.04464384e-02 4.43830277e-03 9.99935585e-01 -7.90799370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.227719420999996 meters Centerline goodness [0,1] 0.9387634254910769 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.16, Z:-0.79 [[ 9.99752198e-01 1.95287822e-02 -1.06849611e-02 6.38896823e+00] [-1.95731943e-02 9.99800151e-01 -4.06783366e-03 -1.63506659e-01] [ 1.06033859e-02 4.27596446e-03 9.99934640e-01 -7.90238393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.257719421 meters Centerline goodness [0,1] 0.9261097832526404 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.16, Z:-0.79 [[ 9.99731261e-01 2.04808988e-02 -1.08599912e-02 6.38922904e+00] [-2.05232871e-02 9.99782130e-01 -3.80617977e-03 -1.61189273e-01] [ 1.07796712e-02 4.02803961e-03 9.99933785e-01 -7.90030127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.287719421 meters Centerline goodness [0,1] 0.8931333441875611 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.16, Z:-0.79 [[ 9.99627821e-01 2.48468165e-02 -1.12630196e-02 6.39079854e+00] [-2.48404704e-02 9.99691181e-01 7.03015405e-04 -1.62132683e-01] [ 1.12770091e-02 -4.22975053e-04 9.99936323e-01 -7.90752784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.317719421 meters Centerline goodness [0,1] 0.8767496111975117 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.17, Z:-0.79 [[ 9.99673249e-01 2.27775236e-02 -1.16008199e-02 6.39106923e+00] [-2.27969813e-02 9.99738917e-01 -1.54778313e-03 -1.65688083e-01] [ 1.15625364e-02 1.81174106e-03 9.99931510e-01 -7.90464252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.347719421 meters Centerline goodness [0,1] 0.8504386233973376 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.17, Z:-0.79 [[ 9.99737578e-01 1.95988039e-02 -1.18600762e-02 6.39156634e+00] [-1.96574019e-02 9.99795038e-01 -4.84453193e-03 -1.67037347e-01] [ 1.17626983e-02 5.07639891e-03 9.99917931e-01 -7.90560488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.377719421 meters Centerline goodness [0,1] 0.8884256988719961 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.17, Z:-0.79 [[ 9.99782985e-01 1.69621064e-02 -1.20942091e-02 6.39077405e+00] [-1.70379811e-02 9.99835630e-01 -6.19844728e-03 -1.73525129e-01] [ 1.19870824e-02 6.40316303e-03 9.99907650e-01 -7.88980584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.407719420999996 meters Centerline goodness [0,1] 0.9080157419302216 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-0.79 [[ 9.99782741e-01 1.66843436e-02 -1.24941041e-02 6.39125097e+00] [-1.67534914e-02 9.99844795e-01 -5.45036267e-03 -1.76452717e-01] [ 1.24012293e-02 5.65849840e-03 9.99907091e-01 -7.88468572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.437719421 meters Centerline goodness [0,1] 0.9298263492581118 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-0.79 [[ 9.99790300e-01 1.59666207e-02 -1.28227400e-02 6.39179771e+00] [-1.60225825e-02 9.99862498e-01 -4.27344277e-03 -1.79636469e-01] [ 1.27527444e-02 4.47800003e-03 9.99908653e-01 -7.87961019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.467719421 meters Centerline goodness [0,1] 0.9372091605535348 Centerline is valid? [False, False] Translation: X:6.39, Y:-0.18, Z:-0.79 [[ 9.99798034e-01 1.47586184e-02 -1.36408799e-02 6.39492676e+00] [-1.48248015e-02 9.99878760e-01 -4.76349991e-03 -1.80563817e-01] [ 1.35689234e-02 4.96476118e-03 9.99895612e-01 -7.89703639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.497719421 meters Centerline goodness [0,1] 0.9320884580923678 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.19, Z:-0.79 [[ 0.99982967 0.01096026 -0.01484938 6.39995393] [-0.011075 0.99990928 -0.0076669 -0.18506222] [ 0.014764 0.00783005 0.99986035 -0.79315569] [ 0. 0. 0. 1. ]] SLAMing on 49.527719421 meters Centerline goodness [0,1] 0.9285248573757131 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.19, Z:-0.79 [[ 0.9998393 0.0086989 -0.0156752 6.40273675] [-0.00885258 0.99991317 -0.00976097 -0.18800771] [ 0.01558893 0.00989817 0.99982949 -0.79453187] [ 0. 0. 0. 1. ]] SLAMing on 49.557719421 meters Centerline goodness [0,1] 0.932608075622377 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.19, Z:-0.79 [[ 9.99856949e-01 5.53327310e-03 -1.59832545e-02 6.40344171e+00] [-5.72612019e-03 9.99911059e-01 -1.20451120e-02 -1.92834695e-01] [ 1.59151841e-02 1.21349110e-02 9.99799705e-01 -7.94587436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.587719420999996 meters Centerline goodness [0,1] 0.9365173357291624 Centerline is valid? [False, False] Translation: X:6.40, Y:-0.20, Z:-0.79 [[ 9.99861942e-01 4.75912695e-03 -1.59200595e-02 6.40310702e+00] [-4.94235403e-03 9.99921777e-01 -1.14897195e-02 -1.95596179e-01] [ 1.58641331e-02 1.15668159e-02 9.99807250e-01 -7.93979960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.617719421 meters Centerline goodness [0,1] 0.9445327140878351 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.20, Z:-0.79 [[ 9.99906200e-01 2.52869084e-03 -1.34609064e-02 6.41027316e+00] [-2.56720653e-03 9.99992658e-01 -2.84478996e-03 -1.98700639e-01] [ 1.34536140e-02 2.87908005e-03 9.99905351e-01 -7.92882629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.647719421 meters Centerline goodness [0,1] 0.9428659097882786 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.20, Z:-0.79 [[ 9.99911266e-01 -1.97520320e-03 -1.31741762e-02 6.40894903e+00] [ 1.89959366e-03 9.99981669e-01 -5.74926964e-03 -2.01813343e-01] [ 1.31852907e-02 5.72373390e-03 9.99896688e-01 -7.91396602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.677719421 meters Centerline goodness [0,1] 0.9506023849945796 Centerline is valid? [False, True] Translation: X:6.41, Y:-0.20, Z:-0.79 [[ 9.99906747e-01 -2.63416197e-03 -1.33999404e-02 6.40904400e+00] [ 2.56538460e-03 9.99983462e-01 -5.14726418e-03 -2.04548799e-01] [ 1.34132775e-02 5.11240818e-03 9.99896968e-01 -7.90599652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.707719421 meters Centerline goodness [0,1] 0.9487153364982986 Centerline is valid? [True, False] Translation: X:6.41, Y:-0.21, Z:-0.79 [[ 0.99984658 -0.01074509 -0.01383309 6.40997571] [ 0.01057345 0.99986694 -0.01242222 -0.20719271] [ 0.01396473 0.01227405 0.99982715 -0.79037509] [ 0. 0. 0. 1. ]] SLAMing on 49.737719421 meters Centerline goodness [0,1] 0.9425470273799322 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.21, Z:-0.79 [[ 0.99979208 -0.01448538 -0.01435195 6.41191123] [ 0.01425981 0.99977511 -0.01569699 -0.20951552] [ 0.0145761 0.01548907 0.99977379 -0.79126057] [ 0. 0. 0. 1. ]] SLAMing on 49.767719420999995 meters Centerline goodness [0,1] 0.9468408696539757 Centerline is valid? [False, False] Translation: X:6.41, Y:-0.21, Z:-0.79 [[ 0.99969972 -0.01961622 -0.01468553 6.41347531] [ 0.01932141 0.99961417 -0.0199546 -0.21059647] [ 0.0150713 0.01966486 0.99969303 -0.79200325] [ 0. 0. 0. 1. ]] SLAMing on 49.797719421 meters Centerline goodness [0,1] 0.9517941801536701 Centerline is valid? [False, True] Translation: X:6.41, Y:-0.21, Z:-0.79 [[ 0.99968207 -0.02028466 -0.01497657 6.41332183] [ 0.01997559 0.99959016 -0.02050591 -0.20886909] [ 0.01538639 0.02020022 0.99967755 -0.79095884] [ 0. 0. 0. 1. ]] SLAMing on 49.827719421 meters Centerline goodness [0,1] 0.9551989233059401 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.21, Z:-0.78 [[ 9.99619534e-01 -2.43092627e-02 -1.30325293e-02 6.44124490e+00] [ 2.43106500e-02 9.99704451e-01 -5.19785762e-05 -2.11365226e-01] [ 1.30299411e-02 -2.64870458e-04 9.99915072e-01 -7.84098073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.857719421 meters Centerline goodness [0,1] 0.9542934029193509 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.21, Z:-0.78 [[ 9.99629283e-01 -2.43033213e-02 -1.22737765e-02 6.46949238e+00] [ 2.43045714e-02 9.99704599e-01 -4.73219849e-05 -2.07454608e-01] [ 1.22713008e-02 -2.51004434e-04 9.99924673e-01 -7.83759089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.887719421 meters Centerline goodness [0,1] 0.9548813849985709 Centerline is valid? [True, True] Translation: X:6.50, Y:-0.20, Z:-0.78 [[ 9.99657505e-01 -2.29485778e-02 -1.25791857e-02 6.49807342e+00] [ 2.29497039e-02 9.99736619e-01 -5.48432933e-05 -2.02653281e-01] [ 1.25771312e-02 -2.33864078e-04 9.99920877e-01 -7.84633057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.917719421 meters Centerline goodness [0,1] 0.9522799143119454 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.19, Z:-0.79 [[ 9.99720005e-01 -1.84582630e-02 -1.48055534e-02 6.52543956e+00] [ 1.84593567e-02 9.99829610e-01 -6.27941718e-05 -1.89747872e-01] [ 1.48041898e-02 -2.10524402e-04 9.99890390e-01 -7.89184519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.947719421 meters Centerline goodness [0,1] 0.9508945875920599 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.18, Z:-0.79 [[ 9.99770449e-01 -1.49594373e-02 -1.53383403e-02 6.55388937e+00] [ 1.49600950e-02 9.99888089e-01 -7.18635634e-05 -1.79215516e-01] [ 1.53376988e-02 -1.57615961e-04 9.99882358e-01 -7.90228422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.977719420999996 meters Centerline goodness [0,1] 0.9535646610566637 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.16, Z:-0.79 [[ 9.99872132e-01 -6.17279527e-03 -1.47518021e-02 6.58316759e+00] [ 6.17243682e-03 9.99980948e-01 -6.98284667e-05 -1.56733287e-01] [ 1.47519521e-02 -2.12350290e-05 9.99891184e-01 -7.86826065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.007719421 meters Centerline goodness [0,1] 0.9526139792839083 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.15, Z:-0.79 [[ 9.99883717e-01 -2.05129370e-03 -1.51110526e-02 6.61220874e+00] [ 2.05035244e-03 9.99997895e-01 -7.77817796e-05 -1.48846034e-01] [ 1.51111803e-02 4.67897514e-05 9.99885819e-01 -7.87382787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.037719421 meters Centerline goodness [0,1] 0.9485127493211931 Centerline is valid? [True, False] Translation: X:6.62, Y:-0.14, Z:-0.79 [[ 9.99876662e-01 1.64953223e-03 -1.56185916e-02 6.61501721e+00] [-1.62320050e-03 9.99997240e-01 1.69844934e-03 -1.43860753e-01] [ 1.56213501e-02 -1.67288776e-03 9.99876580e-01 -7.90032574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.067719421 meters Centerline goodness [0,1] 0.9453156905987095 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.14, Z:-0.79 [[ 9.99860159e-01 4.54596792e-03 -1.60933594e-02 6.61800804e+00] [-4.48366473e-03 9.99982322e-01 3.90532712e-03 -1.40390976e-01] [ 1.61108284e-02 -3.83262377e-03 9.99862867e-01 -7.92347954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.097719421 meters Centerline goodness [0,1] 0.9442526505015014 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-0.79 [[ 0.99980205 0.01119629 -0.01644716 6.6191909 ] [-0.01103906 0.9998928 0.00961956 -0.13472957] [ 0.0165531 -0.0094361 0.99981846 -0.79279058] [ 0. 0. 0. 1. ]] SLAMing on 50.127719421 meters Centerline goodness [0,1] 0.9449361667414448 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-0.79 [[ 0.99979657 0.01125602 -0.01673665 6.6193552 ] [-0.01110493 0.99989699 0.00909313 -0.13300778] [ 0.01683728 -0.00890543 0.99981858 -0.792212 ] [ 0. 0. 0. 1. ]] SLAMing on 50.157719420999996 meters Centerline goodness [0,1] 0.9472719123100118 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-0.79 [[ 0.99977579 0.01298012 -0.01672971 6.61735277] [-0.01281364 0.9998677 0.01001977 -0.13156365] [ 0.01685756 -0.00980315 0.99980984 -0.78964439] [ 0. 0. 0. 1. ]] SLAMing on 50.187719421 meters Centerline goodness [0,1] 0.9447757536149007 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.13, Z:-0.79 [[ 0.99976988 0.01312394 -0.01696881 6.61778255] [-0.01296406 0.99987085 0.00949796 -0.12897428] [ 0.01709127 -0.00927579 0.99981091 -0.78948119] [ 0. 0. 0. 1. ]] SLAMing on 50.217719421 meters Centerline goodness [0,1] 0.9367773828492054 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.12, Z:-0.79 [[ 0.99972628 0.01538203 -0.01762816 6.62111582] [-0.01519003 0.9998244 0.01097417 -0.12401245] [ 0.01779386 -0.01070339 0.99978438 -0.7918579 ] [ 0. 0. 0. 1. ]] SLAMing on 50.247719421 meters Centerline goodness [0,1] 0.9348034515819751 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.12, Z:-0.79 [[ 9.99773712e-01 1.10105201e-02 -1.82014628e-02 6.62287997e+00] [-1.09071527e-02 9.99923876e-01 5.76862331e-03 -1.20991777e-01] [ 1.82635928e-02 -5.56879180e-03 9.99817698e-01 -7.92875584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.277719421 meters Centerline goodness [0,1] 0.944087469147135 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.12, Z:-0.79 [[ 9.99807567e-01 6.74069743e-03 -1.84225753e-02 6.62311940e+00] [-6.71442545e-03 9.99976352e-01 1.48755805e-03 -1.20887997e-01] [ 1.84321668e-02 -1.36357479e-03 9.99829183e-01 -7.92553915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.307719421 meters Centerline goodness [0,1] 0.9446649972515727 Centerline is valid? [False, False] Translation: X:6.62, Y:-0.12, Z:-0.79 [[ 9.99828415e-01 -2.32597216e-03 -1.83774566e-02 6.62215752e+00] [ 2.20386042e-03 9.99975379e-01 -6.66210941e-03 -1.21977920e-01] [ 1.83925000e-02 6.62046494e-03 9.99808924e-01 -7.91268077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.337719420999996 meters Centerline goodness [0,1] 0.945726356841079 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-0.79 [[ 9.99853266e-01 -6.87910299e-03 -1.56883286e-02 6.63073615e+00] [ 6.88248032e-03 9.99976302e-01 1.61295763e-04 -1.23572526e-01] [ 1.56868472e-02 -2.69246708e-04 9.99876918e-01 -7.91493169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.367719421 meters Centerline goodness [0,1] 0.9461471014049468 Centerline is valid? [False, False] Translation: X:6.63, Y:-0.12, Z:-0.79 [[ 9.99840684e-01 -8.25270080e-03 -1.58272038e-02 6.63082702e+00] [ 8.24852779e-03 9.99965926e-01 -3.28923291e-04 -1.24018455e-01] [ 1.58293790e-02 1.98319758e-04 9.99874688e-01 -7.91031263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.397719421 meters Centerline goodness [0,1] 0.9516674131682886 Centerline is valid? [False, True] Translation: X:6.63, Y:-0.12, Z:-0.79 [[ 9.99791916e-01 -1.28680680e-02 -1.58283694e-02 6.62904208e+00] [ 1.28033850e-02 9.99909292e-01 -4.18109468e-03 -1.24179956e-01] [ 1.58807362e-02 3.97756795e-03 9.99865982e-01 -7.88469461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.427719421 meters Centerline goodness [0,1] 0.9397253565671612 Centerline is valid? [True, False] Translation: X:6.63, Y:-0.13, Z:-0.79 [[ 9.99782581e-01 -1.31955346e-02 -1.61452456e-02 6.62895493e+00] [ 1.31342713e-02 9.99906157e-01 -3.89468100e-03 -1.26156476e-01] [ 1.61951229e-02 3.68177818e-03 9.99862072e-01 -7.87410895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.457719421 meters Centerline goodness [0,1] 0.9513711151736746 Centerline is valid? [False, True] Translation: X:6.64, Y:-0.13, Z:-0.79 [[ 9.99791059e-01 -1.71198202e-02 -1.11691215e-02 6.63783271e+00] [ 1.71517204e-02 9.99849071e-01 2.76659543e-03 -1.29325552e-01] [ 1.11200721e-02 -2.95758702e-03 9.99933796e-01 -7.88837342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.487719421 meters Centerline goodness [0,1] 0.9489125142022399 Centerline is valid? [True, False] Translation: X:6.64, Y:-0.13, Z:-0.79 [[ 9.99697489e-01 -2.18393329e-02 -1.13125272e-02 6.63705960e+00] [ 2.18218974e-02 9.99760492e-01 -1.66241672e-03 -1.28202448e-01] [ 1.13461239e-02 1.41505302e-03 9.99934629e-01 -7.87192189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.517719420999995 meters Centerline goodness [0,1] 0.9439666565009658 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.13, Z:-0.79 [[ 9.99684526e-01 -2.22475880e-02 -1.16573149e-02 6.63761587e+00] [ 2.22320937e-02 9.99751775e-01 -1.45706747e-03 -1.29854933e-01] [ 1.16868375e-02 1.19744129e-03 9.99930990e-01 -7.86883098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.547719421 meters Centerline goodness [0,1] 0.9247794805089224 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.13, Z:-0.79 [[ 9.99565053e-01 -2.68340730e-02 -1.22326296e-02 6.64000545e+00] [ 2.67669929e-02 9.99625931e-01 -5.61486018e-03 -1.30448086e-01] [ 1.23787234e-02 5.28498730e-03 9.99909414e-01 -7.88136803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.577719421 meters Centerline goodness [0,1] 0.911301133363123 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.13, Z:-0.79 [[ 9.99547907e-01 -2.72588009e-02 -1.26861527e-02 6.64149640e+00] [ 2.71865801e-02 9.99613370e-01 -5.83097354e-03 -1.29846551e-01] [ 1.28401932e-02 5.48344429e-03 9.99902526e-01 -7.88754771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.607719421 meters Centerline goodness [0,1] 0.8942016311090322 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.13, Z:-0.79 [[ 9.99598856e-01 -2.51650644e-02 -1.29940649e-02 6.64167372e+00] [ 2.51233435e-02 9.99678699e-01 -3.36410819e-03 -1.27073554e-01] [ 1.30745479e-02 3.03630435e-03 9.99909914e-01 -7.88179533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.637719421 meters Centerline goodness [0,1] 0.904403997724872 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.12, Z:-0.79 [[ 9.99667202e-01 -2.20015165e-02 -1.34691324e-02 6.64116953e+00] [ 2.19829306e-02 9.99757181e-01 -1.52640722e-03 -1.20861633e-01] [ 1.34994451e-02 1.22980824e-03 9.99908122e-01 -7.86521953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.667719421 meters Centerline goodness [0,1] 0.9276200917691964 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.12, Z:-0.79 [[ 9.99735864e-01 -1.81827030e-02 -1.40566945e-02 6.64178129e+00] [ 1.82007210e-02 9.99833686e-01 1.15493390e-03 -1.16565191e-01] [ 1.40333568e-02 -1.41047081e-03 9.99900533e-01 -7.85948846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.697719420999995 meters Centerline goodness [0,1] 0.9276200917691964 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.12, Z:-0.79 [[ 9.99735864e-01 -1.81827030e-02 -1.40566945e-02 6.64178129e+00] [ 1.82007210e-02 9.99833686e-01 1.15493390e-03 -1.16565191e-01] [ 1.40333568e-02 -1.41047081e-03 9.99900533e-01 -7.85948846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.727719420999996 meters Centerline goodness [0,1] 0.9395952638121828 Centerline is valid? [False, False] Translation: X:6.64, Y:-0.11, Z:-0.78 [[ 0.99982935 -0.01159871 -0.01437836 6.64087525] [ 0.01169757 0.99990839 0.00681041 -0.1124186 ] [ 0.01429805 -0.00697744 0.99987343 -0.78424633] [ 0. 0. 0. 1. ]] SLAMing on 50.757719421 meters Centerline goodness [0,1] 0.951088504577823 Centerline is valid? [False, True] Translation: X:6.65, Y:-0.09, Z:-0.78 [[ 9.99842228e-01 8.23053906e-03 -1.57409218e-02 6.64663695e+00] [-8.19759865e-03 9.99964075e-01 2.15604108e-03 -9.44806252e-02] [ 1.57581017e-02 -2.02666316e-03 9.99873779e-01 -7.80088941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.787719421 meters Centerline goodness [0,1] 0.9485444979381233 Centerline is valid? [True, False] Translation: X:6.65, Y:-0.09, Z:-0.78 [[ 0.99976093 0.01472759 -0.01616111 6.64949979] [-0.01460722 0.99986487 0.00754132 -0.08908548] [ 0.01626999 -0.00730345 0.99984096 -0.7821202 ] [ 0. 0. 0. 1. ]] SLAMing on 50.817719421 meters Centerline goodness [0,1] 0.945267355741841 Centerline is valid? [False, False] Translation: X:6.65, Y:-0.08, Z:-0.78 [[ 0.99964328 0.02092966 -0.01659106 6.65284051] [-0.02071911 0.99970387 0.0127625 -0.08411576] [ 0.01685326 -0.0124142 0.9997809 -0.78466775] [ 0. 0. 0. 1. ]] SLAMing on 50.847719421 meters Centerline goodness [0,1] 0.9328020544594815 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.08, Z:-0.79 [[ 0.9993634 0.02649532 -0.02389112 6.66517825] [-0.02627297 0.99960897 0.00957325 -0.07503839] [ 0.02413542 -0.00893947 0.99966873 -0.78713912] [ 0. 0. 0. 1. ]] SLAMing on 50.877719421 meters Centerline goodness [0,1] 0.9277052048996867 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.07, Z:-0.79 [[ 0.99936534 0.02573629 -0.02462864 6.6682486 ] [-0.02554406 0.99964098 0.00808811 -0.072822 ] [ 0.02482796 -0.00745387 0.99966395 -0.7889625 ] [ 0. 0. 0. 1. ]] SLAMing on 50.907719420999996 meters Centerline goodness [0,1] 0.9256016614407298 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.07, Z:-0.79 [[ 9.99396664e-01 2.38261273e-02 -2.52710228e-02 6.67066917e+00] [-2.36895056e-02 9.99703160e-01 5.69196763e-03 -6.89037004e-02] [ 2.53991389e-02 -5.08987542e-03 9.99664432e-01 -7.90217960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.937719421 meters Centerline goodness [0,1] 0.9355450817163494 Centerline is valid? [False, False] Translation: X:6.67, Y:-0.07, Z:-0.79 [[ 9.99412173e-01 2.28374437e-02 -2.55687340e-02 6.67077661e+00] [-2.27279720e-02 9.99731269e-01 4.56396154e-03 -6.62914008e-02] [ 2.56660921e-02 -3.98015325e-03 9.99662648e-01 -7.89548125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.967719421 meters Centerline goodness [0,1] 0.9315682281059063 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.06, Z:-0.79 [[ 9.99601920e-01 2.00845968e-02 -1.98144239e-02 6.68355678e+00] [-2.00214980e-02 9.99793844e-01 3.37776285e-03 -6.25484449e-02] [ 1.98781800e-02 -2.97970378e-03 9.99797969e-01 -7.87596129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.997719421 meters Centerline goodness [0,1] 0.9325078408211478 Centerline is valid? [False, False] Translation: X:6.68, Y:-0.06, Z:-0.79 [[ 9.99656542e-01 1.66634780e-02 -2.02268541e-02 6.68449199e+00] [-1.66848973e-02 9.99860401e-01 -8.90649162e-04 -5.99878008e-02] [ 2.02091892e-02 1.22782625e-03 9.99795020e-01 -7.87644875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.027719421 meters Centerline goodness [0,1] 0.9302628102197199 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.06, Z:-0.79 [[ 9.99683035e-01 1.42708457e-02 -2.07406151e-02 6.68730273e+00] [-1.43500460e-02 9.99890280e-01 -3.67480067e-03 -5.87554978e-02] [ 2.06858969e-02 3.97126467e-03 9.99778137e-01 -7.89649996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.057719421 meters Centerline goodness [0,1] 0.9284219083426482 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.06, Z:-0.79 [[ 9.99691012e-01 1.31540078e-02 -2.10915409e-02 6.69017233e+00] [-1.32571655e-02 9.99900797e-01 -4.75860108e-03 -5.79106397e-02] [ 2.10268539e-02 5.03674477e-03 9.99766224e-01 -7.92066093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.087719420999996 meters Centerline goodness [0,1] 0.9247257005343231 Centerline is valid? [False, False] Translation: X:6.69, Y:-0.06, Z:-0.79 [[ 0.99971471 0.01023574 -0.02158056 6.69238187] [-0.01039234 0.99992039 -0.00715659 -0.05634302] [ 0.02150558 0.00737882 0.9997415 -0.79352402] [ 0. 0. 0. 1. ]] SLAMing on 51.117719421 meters Centerline goodness [0,1] 0.9226645467702155 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.06, Z:-0.79 [[ 9.99785111e-01 6.87829546e-03 -1.95555693e-02 6.69902806e+00] [-6.85812342e-03 9.99975880e-01 1.09840132e-03 -5.66080585e-02] [ 1.95626527e-02 -9.64050783e-04 9.99808168e-01 -7.91721469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.147719421 meters Centerline goodness [0,1] 0.9328330893118595 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.05, Z:-0.79 [[ 9.99904008e-01 5.20761972e-04 -1.38456902e-02 6.70472792e+00] [-4.40235098e-04 9.99982976e-01 5.81843642e-03 -5.42116176e-02] [ 1.38484845e-02 -5.81178254e-03 9.99887215e-01 -7.91017707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.177719421 meters Centerline goodness [0,1] 0.9368496079828939 Centerline is valid? [False, False] Translation: X:6.70, Y:-0.05, Z:-0.79 [[ 9.99891845e-01 -4.01586270e-03 -1.41481607e-02 6.70468656e+00] [ 4.02740225e-03 9.99991580e-01 7.87224837e-04 -5.16564057e-02] [ 1.41448801e-02 -8.44120029e-04 9.99899600e-01 -7.90100530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.207719421 meters Centerline goodness [0,1] 0.9285568774445894 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.05, Z:-0.79 [[ 9.99887527e-01 -4.45096195e-03 -1.43220709e-02 6.70571822e+00] [ 4.45596333e-03 9.99990022e-01 3.17315389e-04 -5.10426888e-02] [ 1.43205156e-02 -3.81098322e-04 9.99897384e-01 -7.90842168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.237719421 meters Centerline goodness [0,1] 0.9157138788298003 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.05, Z:-0.79 [[ 9.99854654e-01 -8.55839383e-03 -1.47453261e-02 6.70736431e+00] [ 8.49687010e-03 9.99954954e-01 -4.23003154e-03 -4.94731522e-02] [ 1.47808642e-02 4.10412760e-03 9.99882334e-01 -7.91702461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.267719420999995 meters Centerline goodness [0,1] 0.9112345099320173 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.05, Z:-0.79 [[ 9.99848938e-01 -8.81903528e-03 -1.49775406e-02 6.70791057e+00] [ 8.75508027e-03 9.99952298e-01 -4.33027610e-03 -4.99857230e-02] [ 1.50150150e-02 4.19849239e-03 9.99878454e-01 -7.91748992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.297719421 meters Centerline goodness [0,1] 0.8946927773580282 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.05, Z:-0.79 [[ 9.99864799e-01 -6.56763517e-03 -1.50748237e-02 6.70840478e+00] [ 6.54006071e-03 9.99976851e-01 -1.87774338e-03 -4.65320418e-02] [ 1.50868071e-02 1.77889924e-03 9.99884605e-01 -7.92108228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.327719421 meters Centerline goodness [0,1] 0.9174502381243131 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.04, Z:-0.79 [[ 9.99868972e-01 -4.27686215e-03 -1.56123910e-02 6.70946137e+00] [ 4.28488842e-03 9.99990704e-01 4.80681796e-04 -4.34596145e-02] [ 1.56101901e-02 -5.47516167e-04 9.99878004e-01 -7.92052876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.357719421 meters Centerline goodness [0,1] 0.8972179289026275 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.04, Z:-0.79 [[ 9.99875223e-01 -1.68207627e-03 -1.57069453e-02 6.70864314e+00] [ 1.71735844e-03 9.99996032e-01 2.23306019e-03 -3.86093738e-02] [ 1.57031268e-02 -2.25975601e-03 9.99874145e-01 -7.90614754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.387719421 meters Centerline goodness [0,1] 0.9269661778763042 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.04, Z:-0.79 [[ 9.99874918e-01 -1.30904312e-03 -1.57618071e-02 6.70849168e+00] [ 1.33663468e-03 9.99997593e-01 1.74012557e-03 -3.70282451e-02] [ 1.57594913e-02 -1.76097569e-03 9.99874261e-01 -7.90039855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.417719421 meters Centerline goodness [0,1] 0.9402423650929201 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.03, Z:-0.79 [[ 9.99873620e-01 2.74696916e-03 -1.56587954e-02 6.70806053e+00] [-2.68469699e-03 9.99988410e-01 3.99645213e-03 -3.31854341e-02] [ 1.56695921e-02 -3.95390793e-03 9.99869407e-01 -7.89323885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.447719420999995 meters Centerline goodness [0,1] 0.9394339584306873 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.03, Z:-0.79 [[ 9.99870104e-01 3.31004773e-03 -1.57739926e-02 6.70804351e+00] [-3.26454027e-03 9.99990438e-01 2.90984431e-03 -2.87056693e-02] [ 1.57834735e-02 -2.85797150e-03 9.99871349e-01 -7.88579375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.477719420999996 meters Centerline goodness [0,1] 0.9485949976634089 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.02, Z:-0.79 [[ 0.99982488 0.01025827 -0.01565197 6.70567167] [-0.01013255 0.99991593 0.00809067 -0.02255892] [ 0.01573365 -0.00793066 0.99984477 -0.78535067] [ 0. 0. 0. 1. ]] SLAMing on 51.507719421 meters Centerline goodness [0,1] 0.9475982532751092 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.02, Z:-0.79 [[ 0.99981504 0.01050625 -0.0161092 6.70679593] [-0.01039219 0.99992046 0.00714739 -0.01870529] [ 0.01618301 -0.00697866 0.99984469 -0.78534135] [ 0. 0. 0. 1. ]] SLAMing on 51.537719421 meters Centerline goodness [0,1] 0.9458814409856799 Centerline is valid? [False, False] Translation: X:6.71, Y:-0.01, Z:-0.79 [[ 0.99976522 0.01399518 -0.01654228 6.71031901] [-0.0138373 0.99985798 0.00961994 -0.01446262] [ 0.01667456 -0.00938878 0.99981689 -0.78831151] [ 0. 0. 0. 1. ]] SLAMing on 51.567719421 meters Centerline goodness [0,1] 0.9500336920343863 Centerline is valid? [False, True] Translation: X:6.71, Y:-0.01, Z:-0.79 [[ 0.99968999 0.01871964 -0.01641642 6.71069967] [-0.0185165 0.99975116 0.01243993 -0.00913496] [ 0.0166452 -0.0121321 0.99978785 -0.78846881] [ 0. 0. 0. 1. ]] SLAMing on 51.597719421 meters Centerline goodness [0,1] 0.9467241449428606 Centerline is valid? [True, False] Translation: X:6.71, Y:-0.01, Z:-0.79 [[ 9.99594280e-01 2.29187279e-02 -1.69117652e-02 6.71291164e+00] [-2.26527095e-02 9.99619210e-01 1.57571920e-02 -6.08245526e-03] [ 1.72664601e-02 -1.53677017e-02 9.99732816e-01 -7.89630282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.627719421 meters Centerline goodness [0,1] 0.948459521468371 Centerline is valid? [False, False] Translation: X:6.71, Y:0.00, Z:-0.79 [[ 9.99211936e-01 3.40445352e-02 -2.04077469e-02 6.71294711e+00] [-3.37931834e-02 9.99350205e-01 1.25374488e-02 6.03256013e-04] [ 2.08213177e-02 -1.18379257e-02 9.99713127e-01 -7.94025570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.657719420999996 meters Centerline goodness [0,1] 0.9349493960169768 Centerline is valid? [False, False] Translation: X:6.72, Y:0.00, Z:-0.80 [[ 9.99078110e-01 3.75266724e-02 -2.08489559e-02 6.71601447e+00] [-3.72126824e-02 9.99191007e-01 1.52495504e-02 1.38381676e-03] [ 2.14043541e-02 -1.44596464e-02 9.99666330e-01 -7.96164293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.687719421 meters Centerline goodness [0,1] 0.9350373606631007 Centerline is valid? [False, False] Translation: X:6.72, Y:0.00, Z:-0.80 [[ 9.98866966e-01 4.26952542e-02 -2.10214230e-02 6.71727540e+00] [-4.22796396e-02 9.98908930e-01 1.98338329e-02 8.19007290e-06] [ 2.18452977e-02 -1.89225823e-02 9.99582272e-01 -7.96719997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.717719421 meters Centerline goodness [0,1] 0.9327832603087507 Centerline is valid? [False, False] Translation: X:6.72, Y:0.00, Z:-0.80 [[ 9.98843901e-01 4.30988041e-02 -2.12921146e-02 6.71762597e+00] [-4.26758887e-02 9.98890104e-01 1.99330946e-02 1.66973459e-04] [ 2.21275751e-02 -1.90013901e-02 9.99574568e-01 -7.96346978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.747719421 meters Centerline goodness [0,1] 0.9375319496983948 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.00, Z:-0.79 [[ 9.98949346e-01 4.03835576e-02 -2.16650184e-02 6.71629016e+00] [-4.00108520e-02 9.99048265e-01 1.73694145e-02 -1.86639943e-03] [ 2.23458377e-02 -1.64843294e-02 9.99614391e-01 -7.94018548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.777719421 meters Centerline goodness [0,1] 0.9464625196753818 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.01, Z:-0.80 [[ 0.9993343 0.03272636 -0.01612283 6.72725066] [-0.03241902 0.99929435 0.01896888 -0.00868787] [ 0.01673223 -0.01843357 0.99969007 -0.79608125] [ 0. 0. 0. 1. ]] SLAMing on 51.807719421 meters Centerline goodness [0,1] 0.9464443033047184 Centerline is valid? [False, False] Translation: X:6.73, Y:-0.01, Z:-0.80 [[ 0.99952166 0.02606735 -0.01664182 6.72779093] [-0.02586881 0.99959289 0.01203584 -0.00923713] [ 0.01694879 -0.01159958 0.99978907 -0.79576523] [ 0. 0. 0. 1. ]] SLAMing on 51.837719420999996 meters Centerline goodness [0,1] 0.9475747182753552 Centerline is valid? [False, False] Translation: X:6.74, Y:-0.01, Z:-0.80 [[ 0.99970526 0.0213174 -0.01161713 6.73941519] [-0.021124 0.9996403 0.01652407 -0.01281995] [ 0.0119652 -0.0162738 0.99979598 -0.79897992] [ 0. 0. 0. 1. ]] SLAMing on 51.867719421 meters Centerline goodness [0,1] 0.9542596120362974 Centerline is valid? [False, True] Translation: X:6.74, Y:-0.02, Z:-0.80 [[ 0.99982873 0.01437932 -0.01165104 6.73881555] [-0.01426356 0.99984868 0.00995792 -0.01716139] [ 0.01179247 -0.00979003 0.99988254 -0.79829432] [ 0. 0. 0. 1. ]] SLAMing on 51.897719421 meters Centerline goodness [0,1] 0.951484845392387 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.02, Z:-0.80 [[ 9.99822145e-01 1.43306678e-02 -1.22601253e-02 6.76705855e+00] [-1.43321057e-02 9.99897290e-01 -2.94274389e-05 -1.59051601e-02] [ 1.22584444e-02 2.05135618e-04 9.99924841e-01 -8.00118205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.927719421 meters Centerline goodness [0,1] 0.9515786464077115 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.02, Z:-0.80 [[ 9.99827000e-01 1.25837777e-02 -1.36973932e-02 6.79572259e+00] [-1.25854159e-02 9.99920800e-01 -3.34040868e-05 -2.14621370e-02] [ 1.36958880e-02 2.05785697e-04 9.99906186e-01 -8.00888724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.957719421 meters Centerline goodness [0,1] 0.9445866000695994 Centerline is valid? [True, False] Translation: X:6.80, Y:-0.02, Z:-0.80 [[ 9.99858159e-01 9.26533990e-03 -1.40646856e-02 6.79623768e+00] [-9.30622845e-03 9.99952650e-01 -2.84451805e-03 -2.37052696e-02] [ 1.40376642e-02 2.97500376e-03 9.99897041e-01 -8.00696472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.987719421 meters Centerline goodness [0,1] 0.9395737020823958 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.03, Z:-0.80 [[ 9.99867771e-01 7.00937335e-03 -1.46734271e-02 6.79873221e+00] [-7.08155854e-03 9.99963051e-01 -4.87328497e-03 -2.58113296e-02] [ 1.46387262e-02 4.97655132e-03 9.99880464e-01 -8.02277044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.017719420999995 meters Centerline goodness [0,1] 0.9412340044013368 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.03, Z:-0.80 [[ 9.99872444e-01 4.48293678e-03 -1.53296494e-02 6.80113204e+00] [-4.59070314e-03 9.99964948e-01 -7.00198143e-03 -2.86767507e-02] [ 1.52977227e-02 7.07146215e-03 9.99857977e-01 -8.03615942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.047719421 meters Centerline goodness [0,1] 0.9377584907198011 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.03, Z:-0.80 [[ 9.99879614e-01 5.06617890e-04 -1.55080690e-02 6.80105422e+00] [-6.50320536e-04 9.99956889e-01 -9.26267467e-03 -3.43826392e-02] [ 1.55027078e-02 9.27164479e-03 9.99836838e-01 -8.03168869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.077719421 meters Centerline goodness [0,1] 0.9417905274532591 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.04, Z:-0.80 [[ 9.99869056e-01 -3.11388476e-03 -1.58799875e-02 6.80132675e+00] [ 2.93032644e-03 9.99928780e-01 -1.15692949e-02 -3.85252817e-02] [ 1.59148820e-02 1.15212464e-02 9.99806970e-01 -8.02659706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.107719421 meters Centerline goodness [0,1] 0.9430150445194965 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.04, Z:-0.80 [[ 9.99863366e-01 -2.54725298e-03 -1.63328249e-02 6.80198209e+00] [ 2.37184649e-03 9.99939405e-01 -1.07498987e-02 -3.99468755e-02] [ 1.63592179e-02 1.07096909e-02 9.99808821e-01 -8.02340756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.137719421 meters Centerline goodness [0,1] 0.9417812410754355 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.04, Z:-0.80 [[ 9.99857999e-01 2.40888504e-03 -1.66787224e-02 6.80214741e+00] [-2.50167284e-03 9.99981499e-01 -5.54461719e-03 -4.23874339e-02] [ 1.66650575e-02 5.58555455e-03 9.99845527e-01 -8.01592541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.167719421 meters Centerline goodness [0,1] 0.940186458312083 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.04, Z:-0.80 [[ 9.99849187e-01 3.83737727e-03 -1.69374581e-02 6.80336981e+00] [-3.91432854e-03 9.99982158e-01 -4.51244863e-03 -4.30820636e-02] [ 1.69198399e-02 4.57806687e-03 9.99846368e-01 -8.02288449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.197719420999995 meters Centerline goodness [0,1] 0.946326584921496 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.05, Z:-0.80 [[ 9.99810626e-01 9.66980942e-03 -1.68880914e-02 6.80385017e+00] [-9.65334823e-03 9.99952848e-01 1.05597077e-03 -4.72628920e-02] [ 1.68975061e-02 -8.92744171e-04 9.99856828e-01 -8.02790897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.227719420999996 meters Centerline goodness [0,1] 0.9479221783548374 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.05, Z:-0.80 [[ 9.99789554e-01 1.58502402e-02 -1.30237139e-02 6.81286911e+00] [-1.58940034e-02 9.99868356e-01 -3.26365505e-03 -4.68945929e-02] [ 1.29702697e-02 3.46996718e-03 9.99909862e-01 -8.04064967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.257719421 meters Centerline goodness [0,1] 0.9443117074067267 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.05, Z:-0.80 [[ 9.99777438e-01 1.64696272e-02 -1.31843082e-02 6.81297429e+00] [-1.65135460e-02 9.99858427e-01 -3.22922717e-03 -4.51274302e-02] [ 1.31292575e-02 3.44622814e-03 9.99907869e-01 -8.03619582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.287719421 meters Centerline goodness [0,1] 0.9391245846160119 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.05, Z:-0.80 [[ 9.99740640e-01 1.82910935e-02 -1.35678985e-02 6.81293231e+00] [-1.83138429e-02 9.99831079e-01 -1.55435570e-03 -4.66430343e-02] [ 1.35371757e-02 1.80243292e-03 9.99906744e-01 -8.02476446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.317719421 meters Centerline goodness [0,1] 0.9341025798400131 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.05, Z:-0.80 [[ 9.99783990e-01 1.55090541e-02 -1.38362801e-02 6.81323391e+00] [-1.55713972e-02 9.99869036e-01 -4.40947055e-03 -4.91783593e-02] [ 1.37660813e-02 4.62396827e-03 9.99894551e-01 -8.02275486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.347719421 meters Centerline goodness [0,1] 0.9464428293581738 Centerline is valid? [False, False] Translation: X:6.81, Y:-0.06, Z:-0.80 [[ 9.99814125e-01 1.30848525e-02 -1.41598571e-02 6.81444586e+00] [-1.31647613e-02 9.99897855e-01 -5.56491480e-03 -5.72018203e-02] [ 1.40855946e-02 5.75029156e-03 9.99884258e-01 -8.03188090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.377719421 meters Centerline goodness [0,1] 0.9480928520298599 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.06, Z:-0.80 [[ 9.99805773e-01 1.32304285e-02 -1.46072318e-02 6.81546574e+00] [-1.33035501e-02 9.99899399e-01 -4.92007521e-03 -5.89806239e-02] [ 1.45406676e-02 5.11344764e-03 9.99881204e-01 -8.03345139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.407719420999996 meters Centerline goodness [0,1] 0.936778919523858 Centerline is valid? [False, False] Translation: X:6.82, Y:-0.06, Z:-0.81 [[ 9.99861972e-01 1.42035920e-02 -8.61948457e-03 6.82485893e+00] [-1.41519874e-02 9.99881741e-01 6.01872971e-03 -6.14633009e-02] [ 8.70395282e-03 -5.89591612e-03 9.99944738e-01 -8.05698834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.437719421 meters Centerline goodness [0,1] 0.9330606401472543 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.06, Z:-0.81 [[ 9.99854508e-01 1.45400031e-02 -8.91917440e-03 6.82509361e+00] [-1.44829765e-02 9.99874471e-01 6.42532555e-03 -6.25603520e-02] [ 9.01147904e-03 -6.29521452e-03 9.99939580e-01 -8.05192484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.467719421 meters Centerline goodness [0,1] 0.938997419830446 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.07, Z:-0.81 [[ 9.99874879e-01 1.28401479e-02 -9.23883283e-03 6.82609427e+00] [-1.27986225e-02 9.99907788e-01 4.53983265e-03 -6.68794054e-02] [ 9.29627303e-03 -4.42102029e-03 9.99947016e-01 -8.05625717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.497719421 meters Centerline goodness [0,1] 0.9190008810933754 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.07, Z:-0.81 [[ 9.99856911e-01 1.39765865e-02 -9.52955574e-03 6.82749120e+00] [-1.39214097e-02 9.99886084e-01 5.83202750e-03 -6.98482080e-02] [ 9.60998201e-03 -5.69852816e-03 9.99937586e-01 -8.06578617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.527719421 meters Centerline goodness [0,1] 0.9229193131991968 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.07, Z:-0.81 [[ 9.99846044e-01 1.43673200e-02 -1.00731312e-02 6.82962456e+00] [-1.43074769e-02 9.99879713e-01 5.98797410e-03 -6.93545535e-02] [ 1.01579506e-02 -5.84293112e-03 9.99931336e-01 -8.07889123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.557719421 meters Centerline goodness [0,1] 0.8983923225197884 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.07, Z:-0.81 [[ 9.99838326e-01 1.42426232e-02 -1.09758771e-02 6.83393959e+00] [-1.41782447e-02 9.99881952e-01 5.92111677e-03 -7.20098301e-02] [ 1.10589136e-02 -5.76454081e-03 9.99922232e-01 -8.11082140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.587719420999996 meters Centerline goodness [0,1] 0.8983923225197884 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.07, Z:-0.81 [[ 9.99838326e-01 1.42426232e-02 -1.09758771e-02 6.83393959e+00] [-1.41782447e-02 9.99881952e-01 5.92111677e-03 -7.20098301e-02] [ 1.10589136e-02 -5.76454081e-03 9.99922232e-01 -8.11082140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.617719421 meters Centerline goodness [0,1] 0.8908372083495504 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.07, Z:-0.81 [[ 9.99875027e-01 1.09383172e-02 -1.14141693e-02 6.83531340e+00] [-1.09083637e-02 9.99936902e-01 2.68320682e-03 -7.41667784e-02] [ 1.14427989e-02 -2.55836158e-03 9.99931256e-01 -8.11776059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.647719421 meters Centerline goodness [0,1] 0.9252964184055864 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.08, Z:-0.81 [[ 9.99922693e-01 4.44571236e-03 -1.16122121e-02 6.83562781e+00] [-4.47443624e-03 9.99986991e-01 -2.44878499e-03 -8.07352920e-02] [ 1.16011745e-02 2.50055379e-03 9.99929578e-01 -8.11747151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.677719421 meters Centerline goodness [0,1] 0.9382203025526601 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.08, Z:-0.81 [[ 9.99926926e-01 3.54404366e-03 -1.15577884e-02 6.83532706e+00] [-3.56609152e-03 9.99991860e-01 -1.88756841e-03 -8.43278062e-02] [ 1.15510047e-02 1.92864661e-03 9.99931425e-01 -8.11280569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.707719421 meters Centerline goodness [0,1] 0.9447716026663395 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.09, Z:-0.81 [[ 9.99924669e-01 -3.72080286e-03 -1.16966568e-02 6.83385354e+00] [ 3.63532806e-03 9.99966597e-01 -7.32041399e-03 -8.98277953e-02] [ 1.17235040e-02 7.27734136e-03 9.99904795e-01 -8.08872115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.737719421 meters Centerline goodness [0,1] 0.943574178566336 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.10, Z:-0.81 [[ 9.99885973e-01 -1.30200351e-02 -7.64980441e-03 6.84130756e+00] [ 1.29928696e-02 9.99909144e-01 -3.59016567e-03 -9.96543330e-02] [ 7.69585347e-03 3.49036339e-03 9.99964295e-01 -8.09308730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.767719420999995 meters Centerline goodness [0,1] 0.9438795264198235 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.10, Z:-0.81 [[ 9.99826437e-01 -1.69696437e-02 -7.68945803e-03 6.84096479e+00] [ 1.69202216e-02 9.99836055e-01 -6.44735997e-03 -1.03402914e-01] [ 7.79760679e-03 6.31613361e-03 9.99949651e-01 -8.08440524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.797719421 meters Centerline goodness [0,1] 0.9462374376991585 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.11, Z:-0.81 [[ 0.99975087 -0.02090908 -0.0078102 6.84060918] [ 0.02083537 0.9997387 -0.00940338 -0.10652615] [ 0.00800478 0.00923831 0.99992529 -0.80735184] [ 0. 0. 0. 1. ]] SLAMing on 52.827719421 meters Centerline goodness [0,1] 0.945184009119036 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.11, Z:-0.81 [[ 0.99953402 -0.02940156 -0.00820294 6.84184791] [ 0.0292674 0.9994432 -0.01602186 -0.11178036] [ 0.00866944 0.01577431 0.99983799 -0.80740249] [ 0. 0. 0. 1. ]] SLAMing on 52.857719421 meters Centerline goodness [0,1] 0.9391016471165243 Centerline is valid? [False, False] Translation: X:6.84, Y:-0.11, Z:-0.81 [[ 0.99941489 -0.03310233 -0.00860926 6.84360517] [ 0.03293388 0.99927649 -0.01902249 -0.1143693 ] [ 0.00923272 0.01872783 0.99978199 -0.80822503] [ 0. 0. 0. 1. ]] SLAMing on 52.887719421 meters Centerline goodness [0,1] 0.9408067370476597 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.12, Z:-0.81 [[ 9.99333025e-01 -3.61711316e-02 -5.01545398e-03 6.85318306e+00] [ 3.61193369e-02 9.99296855e-01 -1.00592726e-02 -1.19437596e-01] [ 5.37578266e-03 9.87140842e-03 9.99936826e-01 -8.10101814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.917719421 meters Centerline goodness [0,1] 0.9425228891149542 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.12, Z:-0.81 [[ 9.99460594e-01 -3.23954333e-02 -5.39043556e-03 6.85363010e+00] [ 3.23672304e-02 9.99462310e-01 -5.23951555e-03 -1.21525381e-01] [ 5.55727356e-03 5.06221586e-03 9.99971745e-01 -8.09875922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.947719420999995 meters Centerline goodness [0,1] 0.941738475014769 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.12, Z:-0.81 [[ 9.99578006e-01 -2.84781631e-02 -5.72743970e-03 6.85390020e+00] [ 2.84753228e-02 9.99594329e-01 -5.76861229e-04 -1.23979961e-01] [ 5.74154419e-03 4.13527103e-04 9.99983432e-01 -8.09502396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.977719420999996 meters Centerline goodness [0,1] 0.9449341004610927 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.13, Z:-0.81 [[ 9.99698532e-01 -2.37953038e-02 -6.05208783e-03 6.85344393e+00] [ 2.38199892e-02 9.99708101e-01 4.03997819e-03 -1.25362184e-01] [ 5.95418873e-03 -4.18292093e-03 9.99973525e-01 -8.08248763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.007719421 meters Centerline goodness [0,1] 0.9480712771162942 Centerline is valid? [False, False] Translation: X:6.85, Y:-0.13, Z:-0.81 [[ 9.99720907e-01 -2.27521860e-02 -6.35977269e-03 6.85355432e+00] [ 2.27820273e-02 9.99729596e-01 4.65981182e-03 -1.25024660e-01] [ 6.25203207e-03 -4.80339981e-03 9.99968919e-01 -8.07592910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.037719421 meters Centerline goodness [0,1] 0.9534552845528456 Centerline is valid? [False, True] Translation: X:6.85, Y:-0.12, Z:-0.81 [[ 9.99748870e-01 -2.14008897e-02 -6.64828277e-03 6.85297217e+00] [ 2.14348028e-02 9.99757381e-01 5.07234505e-03 -1.23196738e-01] [ 6.53811707e-03 -5.21357586e-03 9.99965035e-01 -8.06063460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.067719421 meters Centerline goodness [0,1] 0.9559129265011618 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.12, Z:-0.81 [[ 9.99802544e-01 -1.89937332e-02 -5.84050748e-03 6.88168074e+00] [ 1.89935414e-02 9.99819603e-01 -8.83017720e-05 -1.16085659e-01] [ 5.84113105e-03 -2.26475844e-05 9.99982940e-01 -8.05378823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.097719421 meters Centerline goodness [0,1] 0.9550036582391676 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.11, Z:-0.81 [[ 9.99883600e-01 -1.48407485e-02 -3.54107245e-03 6.90980951e+00] [ 1.48406408e-02 9.99889870e-01 -5.66999691e-05 -1.06394564e-01] [ 3.54152394e-03 4.14158494e-06 9.99993729e-01 -8.07369761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.127719421 meters Centerline goodness [0,1] 0.9542828077314344 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.10, Z:-0.81 [[ 9.99883983e-01 -1.44928525e-02 -4.68810331e-03 6.93887219e+00] [ 1.44926622e-02 9.99894973e-01 -7.45630997e-05 -1.04578221e-01] [ 4.68869156e-03 6.61135146e-06 9.99989008e-01 -8.08592566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.157719420999996 meters Centerline goodness [0,1] 0.9506037098120661 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.11, Z:-0.81 [[ 9.99838055e-01 -1.65313503e-02 -7.11184198e-03 6.96795737e+00] [ 1.65310100e-02 9.99863348e-01 -1.06645078e-04 -1.05787731e-01] [ 7.11263312e-03 -1.09381236e-05 9.99974705e-01 -8.12315795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.187719421 meters Centerline goodness [0,1] 0.9530515476505423 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.10, Z:-0.81 [[ 9.99789633e-01 -1.88426233e-02 -8.10219243e-03 6.99679343e+00] [ 1.88422028e-02 9.99822462e-01 -1.28240476e-04 -1.02964922e-01] [ 8.10317036e-03 -2.44496545e-05 9.99967168e-01 -8.12238341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.217719421 meters Centerline goodness [0,1] 0.9498781478472786 Centerline is valid? [True, False] Translation: X:7.00, Y:-0.10, Z:-0.81 [[ 9.99816183e-01 -1.69847606e-02 -8.89488185e-03 6.99982345e+00] [ 1.70024361e-02 9.99853614e-01 1.91531654e-03 -1.01491915e-01] [ 8.86104856e-03 -2.06619913e-03 9.99958605e-01 -8.14065240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.247719421 meters Centerline goodness [0,1] 0.948697550129531 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.10, Z:-0.82 [[ 9.99870485e-01 -1.32257262e-02 -9.17022113e-03 7.00133004e+00] [ 1.32695053e-02 9.99900770e-01 4.72975211e-03 -9.71648620e-02] [ 9.10675676e-03 -4.85082383e-03 9.99946767e-01 -8.15369564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.277719421 meters Centerline goodness [0,1] 0.9439347397115365 Centerline is valid? [False, False] Translation: X:7.00, Y:-0.09, Z:-0.82 [[ 0.99989999 -0.01008896 -0.00991066 7.004164 ] [ 0.01016134 0.99992187 0.00728018 -0.09486611] [ 0.00983644 -0.00738015 0.99992439 -0.81704659] [ 0. 0. 0. 1. ]] SLAMing on 53.307719421 meters Centerline goodness [0,1] 0.9385888058028892 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99925774e-01 -5.93761419e-03 -1.06391174e-02 7.00721422e+00] [ 6.04619137e-03 9.99929673e-01 1.02025359e-02 -9.32641406e-02] [ 1.05777905e-02 -1.02661048e-02 9.99891353e-01 -8.19107360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.337719420999996 meters Centerline goodness [0,1] 0.939733507192046 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99923319e-01 -5.76256457e-03 -1.09612080e-02 7.00854717e+00] [ 5.86923149e-03 9.99935494e-01 9.72416344e-03 -9.19234802e-02] [ 1.09044648e-02 -9.78775165e-03 9.99892641e-01 -8.19902364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.367719421 meters Centerline goodness [0,1] 0.9413994822771652 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99928633e-01 -4.74666321e-03 -1.09634466e-02 7.00866654e+00] [ 4.85321004e-03 9.99941057e-01 9.71229759e-03 -8.90510979e-02] [ 1.09166994e-02 -9.76481237e-03 9.99892731e-01 -8.19977729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.397719421 meters Centerline goodness [0,1] 0.9419374554344504 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99923732e-01 -5.02232129e-03 -1.12829995e-02 7.00879517e+00] [ 5.12538321e-03 9.99945240e-01 9.12399524e-03 -8.68357119e-02] [ 1.12365580e-02 -9.18112907e-03 9.99894718e-01 -8.19272137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.427719421 meters Centerline goodness [0,1] 0.941661240436269 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.08, Z:-0.82 [[ 9.99915851e-01 -5.53709779e-03 -1.17316609e-02 7.00879617e+00] [ 5.63676718e-03 9.99948159e-01 8.47979738e-03 -8.48981955e-02] [ 1.16840992e-02 -8.54521246e-03 9.99895225e-01 -8.18001872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.457719421 meters Centerline goodness [0,1] 0.9400277234181343 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99890062e-01 -8.43516361e-03 -1.21947821e-02 7.00992735e+00] [ 8.49958039e-03 9.99950148e-01 5.24018060e-03 -8.54354843e-02] [ 1.21499724e-02 -5.34325504e-03 9.99911910e-01 -8.18161291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.487719421 meters Centerline goodness [0,1] 0.9383510217333956 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99846023e-01 -1.20990584e-02 -1.27099985e-02 7.01319596e+00] [ 1.21292319e-02 9.99923794e-01 2.29959792e-03 -9.07455809e-02] [ 1.26812070e-02 -2.45340636e-03 9.99916580e-01 -8.20559846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.517719420999995 meters Centerline goodness [0,1] 0.9381623644759057 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99840130e-01 -1.24815857e-02 -1.28032848e-02 7.01409600e+00] [ 1.25169992e-02 9.99918042e-01 2.68957296e-03 -9.23989789e-02] [ 1.27686653e-02 -2.84940168e-03 9.99914417e-01 -8.21289919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.547719421 meters Centerline goodness [0,1] 0.9423534919697926 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99821809e-01 -1.39741749e-02 -1.26914332e-02 7.01333930e+00] [ 1.40044195e-02 9.99899294e-01 2.29733212e-03 -9.11188857e-02] [ 1.26580518e-02 -2.47465891e-03 9.99916821e-01 -8.20297008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.577719421 meters Centerline goodness [0,1] 0.9423554813215465 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99809567e-01 -1.44497651e-02 -1.31162004e-02 7.01350290e+00] [ 1.44804483e-02 9.99892627e-01 2.24738232e-03 -9.10977917e-02] [ 1.30823179e-02 -2.43688280e-03 9.99911453e-01 -8.19326124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.607719421 meters Centerline goodness [0,1] 0.9426161195243419 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.09, Z:-0.82 [[ 9.99729198e-01 -1.88348874e-02 -1.36666789e-02 7.01477741e+00] [ 1.88135303e-02 9.99821582e-01 -1.68961284e-03 -9.22049063e-02] [ 1.36960642e-02 1.43203682e-03 9.99905179e-01 -8.19246922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.637719421 meters Centerline goodness [0,1] 0.9427407030056036 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-0.82 [[ 9.99706061e-01 -1.96690152e-02 -1.41746570e-02 7.01640566e+00] [ 1.96463930e-02 9.99805488e-01 -1.73345762e-03 -9.39848074e-02] [ 1.42059952e-02 1.45446721e-03 9.99898032e-01 -8.19924661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.667719421 meters Centerline goodness [0,1] 0.9453689422842764 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-0.82 [[ 9.99585104e-01 -2.48870031e-02 -1.45002298e-02 7.01763916e+00] [ 2.47935068e-02 9.99670857e-01 -6.59242268e-03 -9.28467389e-02] [ 1.46595227e-02 6.23017597e-03 9.99873134e-01 -8.20295640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.697719420999995 meters Centerline goodness [0,1] 0.943173957273652 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-0.82 [[ 9.99559566e-01 -2.57162371e-02 -1.48104174e-02 7.01824020e+00] [ 2.56111945e-02 9.99645769e-01 -7.23903674e-03 -9.15843754e-02] [ 1.49913319e-02 6.85653595e-03 9.99864115e-01 -8.20147076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.727719420999996 meters Centerline goodness [0,1] 0.9467415730337079 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-0.82 [[ 0.99951364 -0.02718892 -0.01527233 7.01855164] [ 0.02705782 0.99959578 -0.00872661 -0.08755907] [ 0.01550343 0.00830913 0.99984529 -0.81928723] [ 0. 0. 0. 1. ]] SLAMing on 53.757719421 meters Centerline goodness [0,1] 0.9463585891574134 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-0.82 [[ 0.99949368 -0.02757515 -0.01587409 7.02004271] [ 0.02743329 0.99958234 -0.00908634 -0.0864138 ] [ 0.01611801 0.00864626 0.99983271 -0.81961099] [ 0. 0. 0. 1. ]] SLAMing on 53.787719421 meters Centerline goodness [0,1] 0.9494050044828429 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.09, Z:-0.82 [[ 0.99946325 -0.02849416 -0.01616468 7.02095071] [ 0.02833769 0.99955009 -0.00982784 -0.08523437] [ 0.01643744 0.00936449 0.99982104 -0.81988628] [ 0. 0. 0. 1. ]] SLAMing on 53.817719421 meters Centerline goodness [0,1] 0.947989341578016 Centerline is valid? [False, False] Translation: X:7.02, Y:-0.08, Z:-0.82 [[ 9.99529214e-01 -2.57112334e-02 -1.67416213e-02 7.02220587e+00] [ 2.56006593e-02 9.99649217e-01 -6.78592716e-03 -8.30953759e-02] [ 1.69102232e-02 6.35413590e-03 9.99836821e-01 -8.20175076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.847719421 meters Centerline goodness [0,1] 0.9513371059674355 Centerline is valid? [False, True] Translation: X:7.02, Y:-0.08, Z:-0.82 [[ 9.99596980e-01 -2.26561927e-02 -1.71048371e-02 7.02269375e+00] [ 2.26041057e-02 9.99739269e-01 -3.23240534e-03 -8.28665397e-02] [ 1.71736113e-02 2.84446307e-03 9.99848477e-01 -8.19954536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.877719421 meters Centerline goodness [0,1] 0.9498040336408916 Centerline is valid? [True, False] Translation: X:7.02, Y:-0.08, Z:-0.82 [[ 9.99641678e-01 -2.00295338e-02 -1.77576364e-02 7.02386864e+00] [ 2.00262978e-02 9.99799389e-01 -3.60054142e-04 -8.14791616e-02] [ 1.77612858e-02 4.30541132e-06 9.99842256e-01 -8.19864916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.907719420999996 meters Centerline goodness [0,1] 0.9482959065043137 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-0.82 [[ 9.99633113e-01 -1.98928823e-02 -1.83823792e-02 7.02579806e+00] [ 1.98888696e-02 9.99802116e-01 -4.01097386e-04 -8.10451286e-02] [ 1.83867206e-02 3.53454853e-05 9.99830949e-01 -8.20646198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.937719421 meters Centerline goodness [0,1] 0.9417120924440089 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.08, Z:-0.82 [[ 9.99694522e-01 -1.61950631e-02 -1.86703474e-02 7.02810124e+00] [ 1.62515625e-02 9.99863791e-01 2.87840333e-03 -8.02472675e-02] [ 1.86211884e-02 -3.18094636e-03 9.99821551e-01 -8.22766163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.967719421 meters Centerline goodness [0,1] 0.9474230792726384 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.07, Z:-0.82 [[ 9.99855476e-01 -6.49276801e-03 -1.57121104e-02 7.03483274e+00] [ 6.49748752e-03 9.99978860e-01 2.49344311e-04 -7.44150055e-02] [ 1.57101593e-02 -3.51397516e-04 9.99876526e-01 -8.21910276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.997719421 meters Centerline goodness [0,1] 0.9463510124181806 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.07, Z:-0.82 [[ 9.99869464e-01 -2.23308622e-03 -1.60021320e-02 7.03517041e+00] [ 2.28951047e-03 9.99991224e-01 3.50859390e-03 -7.13038165e-02] [ 1.59941566e-02 -3.54477295e-03 9.99865802e-01 -8.21499923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.027719421 meters Centerline goodness [0,1] 0.9468251549324394 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.07, Z:-0.82 [[ 9.99916903e-01 3.51022415e-03 -1.24042121e-02 7.04345363e+00] [-3.53757602e-03 9.99991358e-01 -2.18379424e-03 -6.72907637e-02] [ 1.23964393e-02 2.22749362e-03 9.99920680e-01 -8.22085466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.057719421 meters Centerline goodness [0,1] 0.9382481513257344 Centerline is valid? [False, False] Translation: X:7.04, Y:-0.06, Z:-0.82 [[ 9.99879587e-01 8.86838870e-03 -1.27343343e-02 7.04442426e+00] [-8.85270993e-03 9.99959986e-01 1.28706346e-03 -6.33954589e-02] [ 1.27452389e-02 -1.17417511e-03 9.99918087e-01 -8.22191117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.087719420999996 meters Centerline goodness [0,1] 0.946634261906707 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.06, Z:-0.82 [[ 9.99868992e-01 9.10149895e-03 -1.33851320e-02 7.04653033e+00] [-9.09154921e-03 9.99958348e-01 8.04004759e-04 -6.20566668e-02] [ 1.33918922e-02 -6.82207841e-04 9.99910092e-01 -8.23169869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.117719421 meters Centerline goodness [0,1] 0.9363721919882155 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.06, Z:-0.83 [[ 9.99841217e-01 1.09314351e-02 -1.40728336e-02 7.05020938e+00] [-1.09094574e-02 9.99939149e-01 1.63753470e-03 -6.09502295e-02] [ 1.40898778e-02 -1.48374771e-03 9.99899632e-01 -8.25938175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.147719421 meters Centerline goodness [0,1] 0.9268855404467312 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.06, Z:-0.83 [[ 9.99834026e-01 1.09430675e-02 -1.45660598e-02 7.05217090e+00] [-1.09271295e-02 9.99939609e-01 1.17332891e-03 -5.93446347e-02] [ 1.45780200e-02 -1.01396895e-03 9.99893221e-01 -8.27072861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.177719421 meters Centerline goodness [0,1] 0.9233286965060142 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.06, Z:-0.83 [[ 9.99786084e-01 1.41840967e-02 -1.50531445e-02 7.05339694e+00] [-1.41275461e-02 9.99892764e-01 3.85644447e-03 -5.51760996e-02] [ 1.51062304e-02 -3.64295553e-03 9.99879258e-01 -8.27233113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.207719421 meters Centerline goodness [0,1] 0.9268437423262667 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.06, Z:-0.83 [[ 9.99782528e-01 1.39886309e-02 -1.54665849e-02 7.05292471e+00] [-1.39330853e-02 9.99896109e-01 3.69328024e-03 -5.50899622e-02] [ 1.55166420e-02 -3.47697981e-03 9.99873564e-01 -8.25380611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.237719421 meters Centerline goodness [0,1] 0.9315093721862978 Centerline is valid? [False, False] Translation: X:7.05, Y:-0.06, Z:-0.82 [[ 9.99821236e-01 1.03175220e-02 -1.58443928e-02 7.05302557e+00] [-1.03174125e-02 9.99946770e-01 8.86567312e-05 -5.61483021e-02] [ 1.58444641e-02 7.48322535e-05 9.99874466e-01 -8.24548381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.267719420999995 meters Centerline goodness [0,1] 0.9442393587730211 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.06, Z:-0.82 [[ 9.99918568e-01 1.67101587e-03 -1.26517202e-02 7.06115316e+00] [-1.63024192e-03 9.99993447e-01 3.23242625e-03 -6.08834770e-02] [ 1.26570387e-02 -3.21153766e-03 9.99914739e-01 -8.24588562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.297719421 meters Centerline goodness [0,1] 0.9429020857592286 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.06, Z:-0.82 [[ 9.99911652e-01 -2.45484034e-03 -1.30637758e-02 7.06230697e+00] [ 2.45214136e-03 9.99996969e-01 -2.22613779e-04 -6.24835794e-02] [ 1.30642827e-02 1.90559886e-04 9.99914640e-01 -8.24949863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.327719421 meters Centerline goodness [0,1] 0.9482151220803552 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.07, Z:-0.83 [[ 9.99884143e-01 -6.64709326e-03 -1.36937110e-02 7.06393864e+00] [ 6.60031374e-03 9.99972237e-01 -3.45849819e-03 -6.50478276e-02] [ 1.37163198e-02 3.36771471e-03 9.99900256e-01 -8.25326038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.357719421 meters Centerline goodness [0,1] 0.9508738299651284 Centerline is valid? [False, True] Translation: X:7.06, Y:-0.07, Z:-0.82 [[ 0.99978648 -0.01512969 -0.01407432 7.06445377] [ 0.01499099 0.99983853 -0.00990892 -0.07010021] [ 0.01422197 0.00969582 0.99985185 -0.82450047] [ 0. 0. 0. 1. ]] SLAMing on 54.387719421 meters Centerline goodness [0,1] 0.9484416141081379 Centerline is valid? [True, False] Translation: X:7.07, Y:-0.07, Z:-0.83 [[ 0.99969481 -0.01969523 -0.01491269 7.0669058 ] [ 0.01950901 0.99973115 -0.01253137 -0.07425708] [ 0.01515549 0.01223661 0.99981027 -0.8252367 ] [ 0. 0. 0. 1. ]] SLAMing on 54.417719421 meters Centerline goodness [0,1] 0.9459575424473367 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.08, Z:-0.83 [[ 0.99962463 -0.02248508 -0.01565318 7.07049726] [ 0.02225481 0.99964377 -0.01473276 -0.07573694] [ 0.01597887 0.01437887 0.99976894 -0.82760297] [ 0. 0. 0. 1. ]] SLAMing on 54.447719420999995 meters Centerline goodness [0,1] 0.9454593755108713 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.08, Z:-0.83 [[ 0.99946818 -0.02807475 -0.01658813 7.07451646] [ 0.02776062 0.99943642 -0.01887301 -0.07898458] [ 0.01710864 0.01840247 0.99968427 -0.82980038] [ 0. 0. 0. 1. ]] SLAMing on 54.477719420999996 meters Centerline goodness [0,1] 0.9454593755108713 Centerline is valid? [False, False] Translation: X:7.07, Y:-0.08, Z:-0.83 [[ 0.99946818 -0.02807475 -0.01658813 7.07451646] [ 0.02776062 0.99943642 -0.01887301 -0.07898458] [ 0.01710864 0.01840247 0.99968427 -0.82980038] [ 0. 0. 0. 1. ]] SLAMing on 54.507719421 meters Centerline goodness [0,1] 0.9462076275505005 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.08, Z:-0.83 [[ 0.99943481 -0.03076329 -0.01355279 7.08402626] [ 0.03062822 0.99948018 -0.0100637 -0.08221772] [ 0.01385534 0.00964291 0.99985751 -0.83093072] [ 0. 0. 0. 1. ]] SLAMing on 54.537719421 meters Centerline goodness [0,1] 0.9509929989998571 Centerline is valid? [False, True] Translation: X:7.08, Y:-0.08, Z:-0.83 [[ 0.9993673 -0.03250876 -0.01442841 7.08478239] [ 0.03236395 0.99942452 -0.01015877 -0.08369847] [ 0.01475036 0.00968538 0.9998443 -0.82935749] [ 0. 0. 0. 1. ]] SLAMing on 54.567719421 meters Centerline goodness [0,1] 0.9495121003211751 Centerline is valid? [True, False] Translation: X:7.09, Y:-0.08, Z:-0.83 [[ 0.99934202 -0.03294831 -0.01516383 7.08626673] [ 0.03279291 0.99940822 -0.01038478 -0.08333217] [ 0.01549702 0.00988068 0.99983109 -0.8292903 ] [ 0. 0. 0. 1. ]] SLAMing on 54.597719421 meters Centerline goodness [0,1] 0.9496927254537659 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.08, Z:-0.83 [[ 0.99930188 -0.03377469 -0.01596944 7.08909522] [ 0.03360031 0.9993741 -0.01106457 -0.08227528] [ 0.01633314 0.01052026 0.99981126 -0.83070031] [ 0. 0. 0. 1. ]] SLAMing on 54.627719421 meters Centerline goodness [0,1] 0.9467650304491765 Centerline is valid? [False, False] Translation: X:7.09, Y:-0.08, Z:-0.83 [[ 0.99927884 -0.03407869 -0.01674659 7.09143028] [ 0.03388862 0.99935938 -0.01150591 -0.08087124] [ 0.01712797 0.01093009 0.99979356 -0.83163601] [ 0. 0. 0. 1. ]] SLAMing on 54.657719420999996 meters Centerline goodness [0,1] 0.9443366356858339 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-0.83 [[ 0.99927538 -0.03366328 -0.01776208 7.09505503] [ 0.03346911 0.99937791 -0.01111848 -0.07852212] [ 0.01812531 0.01051595 0.99978042 -0.83357334] [ 0. 0. 0. 1. ]] SLAMing on 54.687719421 meters Centerline goodness [0,1] 0.9476544622425629 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-0.83 [[ 0.99932096 -0.03182405 -0.01857008 7.09623732] [ 0.03167087 0.99946233 -0.00848547 -0.07710903] [ 0.01883014 0.00789157 0.99979155 -0.83308853] [ 0. 0. 0. 1. ]] SLAMing on 54.717719421 meters Centerline goodness [0,1] 0.9498180777564286 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.08, Z:-0.83 [[ 9.99388221e-01 -2.91950083e-02 -1.92570879e-02 7.09724100e+00] [ 2.90972970e-02 9.99562347e-01 -5.33492864e-03 -7.57609788e-02] [ 1.94044133e-02 4.77133563e-03 9.99800332e-01 -8.32735118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.747719421 meters Centerline goodness [0,1] 0.9486671432948627 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-0.83 [[ 9.99396014e-01 -2.82752653e-02 -2.02018777e-02 7.09904811e+00] [ 2.81993342e-02 9.99594181e-01 -4.03371054e-03 -7.19005790e-02] [ 2.03077336e-02 3.46159473e-03 9.99787784e-01 -8.32731794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.777719421 meters Centerline goodness [0,1] 0.9411034201954397 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-0.83 [[ 9.99361882e-01 -2.89001375e-02 -2.09907121e-02 7.10106875e+00] [ 2.88097667e-02 9.99574351e-01 -4.59505746e-03 -7.15581860e-02] [ 2.11145752e-02 3.98738775e-03 9.99769111e-01 -8.33151546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.807719421 meters Centerline goodness [0,1] 0.9453475107960564 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-0.83 [[ 9.99311886e-01 -2.99581599e-02 -2.18692310e-02 7.10305953e+00] [ 2.98409302e-02 9.99538593e-01 -5.66736274e-03 -7.02488283e-02] [ 2.20289241e-02 5.01086475e-03 9.99744776e-01 -8.33339735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.837719420999996 meters Centerline goodness [0,1] 0.9452007336458121 Centerline is valid? [False, False] Translation: X:7.10, Y:-0.07, Z:-0.83 [[ 9.99380987e-01 -2.70916679e-02 -2.24429193e-02 7.10395940e+00] [ 2.70427571e-02 9.99631201e-01 -2.48003457e-03 -6.90583751e-02] [ 2.25018306e-02 1.87158098e-03 9.99745050e-01 -8.33115871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.867719421 meters Centerline goodness [0,1] 0.9490757668088564 Centerline is valid? [False, False] Translation: X:7.12, Y:-0.06, Z:-0.83 [[ 9.99482998e-01 -2.56417302e-02 -1.93968419e-02 7.11913398e+00] [ 2.55339141e-02 9.99657213e-01 -5.78586695e-03 -5.85566077e-02] [ 1.95385525e-02 5.28759835e-03 9.99795122e-01 -8.33047765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.897719421 meters Centerline goodness [0,1] 0.9535115762894785 Centerline is valid? [False, True] Translation: X:7.12, Y:-0.06, Z:-0.83 [[ 9.99553249e-01 -2.21610363e-02 -2.00547185e-02 7.12001996e+00] [ 2.21183821e-02 9.99752606e-01 -2.34623834e-03 -5.71458694e-02] [ 2.01017521e-02 1.90161223e-03 9.99796131e-01 -8.32620333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.927719421 meters Centerline goodness [0,1] 0.954838183745007 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.05, Z:-0.83 [[ 9.99640217e-01 -1.94107420e-02 -1.85110675e-02 7.14835759e+00] [ 1.94150742e-02 9.99811508e-01 5.43331389e-05 -5.22847034e-02] [ 1.85065237e-02 -4.13707340e-04 9.99828654e-01 -8.32883592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.957719421 meters Centerline goodness [0,1] 0.9546816708458198 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.05, Z:-0.83 [[ 9.99669212e-01 -1.86261063e-02 -1.77351015e-02 7.17621161e+00] [ 1.86299225e-02 9.99826447e-01 4.99764584e-05 -4.89414153e-02] [ 1.77310927e-02 -3.80363494e-04 9.99842719e-01 -8.32566491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.987719421 meters Centerline goodness [0,1] 0.9567205618161032 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.04, Z:-0.83 [[ 9.99699065e-01 -1.85416795e-02 -1.60619438e-02 7.20508386e+00] [ 1.85446874e-02 9.99828032e-01 3.83336467e-05 -4.10838256e-02] [ 1.60584709e-02 -3.36185839e-04 9.99870998e-01 -8.31121179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.017719420999995 meters Centerline goodness [0,1] 0.9587470883903396 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.03, Z:-0.83 [[ 9.99721211e-01 -1.77222703e-02 -1.56019364e-02 7.23382880e+00] [ 1.77249335e-02 9.99842900e-01 3.24263337e-05 -3.45672524e-02] [ 1.55989107e-02 -3.08960580e-04 9.99878282e-01 -8.30653120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.047719421 meters Centerline goodness [0,1] 0.9543709150326798 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.03, Z:-0.83 [[ 9.99718081e-01 -1.55815475e-02 -1.79157305e-02 7.26188003e+00] [ 1.55847018e-02 9.99878550e-01 3.64480994e-05 -2.61921619e-02] [ 1.79129867e-02 -3.15649140e-04 9.99839500e-01 -8.34778767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.077719421 meters Centerline goodness [0,1] 0.9529697911131096 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.03, Z:-0.84 [[ 9.99687866e-01 -1.70609323e-02 -1.82509213e-02 7.29082365e+00] [ 1.70643281e-02 9.99854393e-01 3.03310222e-05 -2.72081638e-02] [ 1.82477463e-02 -3.41761263e-04 9.99833438e-01 -8.36603547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.107719421 meters Centerline goodness [0,1] 0.9520315565729235 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.03, Z:-0.84 [[ 9.99536937e-01 -2.48410969e-02 -1.75736029e-02 7.32001157e+00] [ 2.48454714e-02 9.99691303e-01 3.06039712e-05 -3.21970844e-02] [ 1.75674178e-02 -4.67214249e-04 9.99845572e-01 -8.35968024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.137719421 meters Centerline goodness [0,1] 0.9489737625984412 Centerline is valid? [True, False] Translation: X:7.32, Y:-0.03, Z:-0.84 [[ 9.99482440e-01 -2.64718551e-02 -1.82782230e-02 7.32170369e+00] [ 2.64503919e-02 9.99649126e-01 -1.41504912e-03 -2.84453296e-02] [ 1.83092686e-02 9.30850585e-04 9.99831938e-01 -8.36169050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.167719421 meters Centerline goodness [0,1] 0.8981865495649345 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.02, Z:-0.83 [[ 9.99146231e-01 -3.44524434e-02 -2.27999740e-02 7.32965617e+00] [ 3.43953169e-02 9.99404119e-01 -2.89309919e-03 -2.01843604e-02] [ 2.28860622e-02 2.10641682e-03 9.99735861e-01 -8.32465419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.197719420999995 meters Centerline goodness [0,1] 0.8911484228543484 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.02, Z:-0.83 [[ 9.99100508e-01 -3.54960413e-02 -2.31992623e-02 7.33012163e+00] [ 3.54258151e-02 9.99366418e-01 -3.43122107e-03 -2.03429920e-02] [ 2.33063585e-02 2.60628194e-03 9.99724973e-01 -8.31920225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.227719420999996 meters Centerline goodness [0,1] 0.8596838751837935 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.02, Z:-0.83 [[ 0.9989254 -0.04005299 -0.02331974 7.33011576] [ 0.03986963 0.99917062 -0.00827561 -0.01953284] [ 0.02363187 0.00733696 0.99969381 -0.83097473] [ 0. 0. 0. 1. ]] SLAMing on 55.257719421 meters Centerline goodness [0,1] 0.8411245372065584 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.02, Z:-0.83 [[ 0.99889274 -0.04055176 -0.02385048 7.33185587] [ 0.04035412 0.99914747 -0.00871062 -0.0189565 ] [ 0.02418338 0.00773851 0.99967759 -0.83169026] [ 0. 0. 0. 1. ]] SLAMing on 55.287719421 meters Centerline goodness [0,1] 0.8378086765334583 Centerline is valid? [False, False] Translation: X:7.33, Y:-0.01, Z:-0.83 [[ 9.98923683e-01 -3.93672481e-02 -2.45294814e-02 7.33354017e+00] [ 3.92002488e-02 9.99205056e-01 -7.25235181e-03 -1.46265521e-02] [ 2.47954870e-02 6.28298421e-03 9.99672800e-01 -8.32274287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.317719421 meters Centerline goodness [0,1] 0.8252665114569293 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.01, Z:-0.83 [[ 9.99081457e-01 -3.44161894e-02 -2.55297478e-02 7.33649969e+00] [ 3.43706766e-02 9.99406689e-01 -2.21953933e-03 -8.65805068e-03] [ 2.55909888e-02 1.34002589e-03 9.99671599e-01 -8.34028240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.347719421 meters Centerline goodness [0,1] 0.8148382230014883 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.01, Z:-0.84 [[ 9.99152449e-01 -3.15973845e-02 -2.63815905e-02 7.34053547e+00] [ 3.16234637e-02 9.99499690e-01 5.71810471e-04 -6.42122426e-03] [ 2.63503238e-02 -1.40560310e-03 9.99651782e-01 -8.36977120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.377719421 meters Centerline goodness [0,1] 0.8099969459431946 Centerline is valid? [False, False] Translation: X:7.34, Y:-0.00, Z:-0.84 [[ 9.99150802e-01 -3.10733844e-02 -2.70577118e-02 7.34406527e+00] [ 3.11050515e-02 9.99515839e-01 7.50146395e-04 -4.41153590e-03] [ 2.70213019e-02 -1.59114089e-03 9.99633592e-01 -8.39537845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.407719420999996 meters Centerline goodness [0,1] 0.8499918207099624 Centerline is valid? [False, False] Translation: X:7.35, Y:-0.00, Z:-0.84 [[ 9.99110248e-01 -3.19132570e-02 -2.75727334e-02 7.34686183e+00] [ 3.19069119e-02 9.99490620e-01 -6.70171266e-04 -2.89756978e-03] [ 2.75800758e-02 -2.10185796e-04 9.99619575e-01 -8.41572858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.437719421 meters Centerline goodness [0,1] 0.8278966970900012 Centerline is valid? [False, False] Translation: X:7.35, Y:0.00, Z:-0.84 [[ 9.99177062e-01 -2.91200207e-02 -2.82351332e-02 7.34770939e+00] [ 2.91436165e-02 9.99575144e-01 4.24443383e-04 4.06110033e-03] [ 2.82107775e-02 -1.24696799e-03 9.99601219e-01 -8.41100936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.467719421 meters Centerline goodness [0,1] 0.8663608562691132 Centerline is valid? [False, False] Translation: X:7.35, Y:0.01, Z:-0.84 [[ 9.99245318e-01 -2.59784686e-02 -2.88775544e-02 7.34815904e+00] [ 2.60608408e-02 9.99657283e-01 2.47970739e-03 9.84198689e-03] [ 2.88032386e-02 -3.23040935e-03 9.99579881e-01 -8.40158358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.497719421 meters Centerline goodness [0,1] 0.9090779680318868 Centerline is valid? [False, False] Translation: X:7.35, Y:0.02, Z:-0.84 [[ 0.99943756 -0.01647676 -0.02920752 7.34761657] [ 0.0167843 0.99980592 0.01031561 0.01900497] [ 0.02903189 -0.01080004 0.99952014 -0.83904435] [ 0. 0. 0. 1. ]] SLAMing on 55.527719421 meters Centerline goodness [0,1] 0.9475684511646915 Centerline is valid? [False, False] Translation: X:7.35, Y:0.02, Z:-0.84 [[ 0.99947074 -0.01325821 -0.02970612 7.34949795] [ 0.01363265 0.99982971 0.01243772 0.02310832] [ 0.02953616 -0.01283611 0.99948129 -0.84007861] [ 0. 0. 0. 1. ]] SLAMing on 55.557719421 meters Centerline goodness [0,1] 0.9483790574632811 Centerline is valid? [False, False] Translation: X:7.36, Y:0.03, Z:-0.84 [[ 9.99314665e-01 -7.29174578e-03 -3.62909142e-02 7.36294845e+00] [ 7.58695883e-03 9.99939189e-01 8.00356979e-03 3.07286690e-02] [ 3.62303473e-02 -8.27342234e-03 9.99309218e-01 -8.40101706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.587719420999996 meters Centerline goodness [0,1] 0.9497796098277692 Centerline is valid? [False, False] Translation: X:7.37, Y:0.03, Z:-0.84 [[ 9.99426116e-01 -4.10963624e-03 -3.36236405e-02 7.37108913e+00] [ 4.14523389e-03 9.99990919e-01 9.89068301e-04 3.44056229e-02] [ 3.36192704e-02 -1.12787854e-03 9.99434076e-01 -8.39745266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.617719421 meters Centerline goodness [0,1] 0.9525038614746768 Centerline is valid? [False, True] Translation: X:7.38, Y:0.04, Z:-0.84 [[ 9.99623980e-01 -7.26709390e-04 -2.74111499e-02 7.38002680e+00] [ 6.19467024e-04 9.99992122e-01 -3.92065177e-03 3.91716212e-02] [ 2.74137832e-02 3.90219723e-03 9.99616555e-01 -8.41713003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.647719421 meters Centerline goodness [0,1] 0.9557267779612304 Centerline is valid? [True, True] Translation: X:7.41, Y:0.05, Z:-0.84 [[ 9.99660877e-01 5.39640405e-03 -2.54756790e-02 7.41020360e+00] [-5.38555624e-03 9.99985376e-01 4.94403526e-04 5.31554083e-02] [ 2.54779744e-02 -3.57035160e-04 9.99675320e-01 -8.37341177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.677719421 meters Centerline goodness [0,1] 0.9565970453387672 Centerline is valid? [True, True] Translation: X:7.44, Y:0.06, Z:-0.84 [[ 9.99649741e-01 1.18408721e-02 -2.36683229e-02 7.43907672e+00] [-1.18333667e-02 9.99929879e-01 4.57147455e-04 6.38919921e-02] [ 2.36720762e-02 -1.76911392e-04 9.99719761e-01 -8.35662873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.707719421 meters Centerline goodness [0,1] 0.9558721476099115 Centerline is valid? [True, True] Translation: X:7.47, Y:0.07, Z:-0.84 [[ 9.99624111e-01 1.50285912e-02 -2.29298637e-02 7.46677124e+00] [-1.50224408e-02 9.99887060e-01 4.40467192e-04 6.82773118e-02] [ 2.29338936e-02 -9.58391043e-05 9.99736979e-01 -8.35998958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.737719421 meters Centerline goodness [0,1] 0.9507395208968353 Centerline is valid? [True, True] Translation: X:7.50, Y:0.08, Z:-0.84 [[ 9.99455254e-01 2.18307968e-02 -2.47510080e-02 7.49593867e+00] [-2.18257625e-02 9.99761678e-01 4.73558252e-04 7.76884332e-02] [ 2.47554474e-02 6.69093396e-05 9.99693535e-01 -8.39186140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.767719420999995 meters Centerline goodness [0,1] 0.9481020408163265 Centerline is valid? [True, False] Translation: X:7.50, Y:0.08, Z:-0.84 [[ 9.99430808e-01 2.22049292e-02 -2.53968576e-02 7.49806686e+00] [-2.22091204e-02 9.99753340e-01 1.17060092e-04 7.98910805e-02] [ 2.53931925e-02 4.47048404e-04 9.99677441e-01 -8.39962372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.797719421 meters Centerline goodness [0,1] 0.9466528261179297 Centerline is valid? [False, False] Translation: X:7.50, Y:0.08, Z:-0.84 [[ 9.99376289e-01 2.37129201e-02 -2.61673670e-02 7.50049730e+00] [-2.36989300e-02 9.99718784e-01 8.44676231e-04 8.15982276e-02] [ 2.61800380e-02 -2.24010799e-04 9.99657219e-01 -8.40610142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.827719421 meters Centerline goodness [0,1] 0.9474693095150699 Centerline is valid? [False, False] Translation: X:7.50, Y:0.08, Z:-0.84 [[ 9.99366865e-01 2.37460147e-02 -2.64952146e-02 7.49941976e+00] [-2.37352406e-02 9.99718019e-01 7.21102954e-04 7.99755199e-02] [ 2.65048668e-02 -9.17761051e-05 9.99648680e-01 -8.38404672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.857719421 meters Centerline goodness [0,1] 0.9504405286343612 Centerline is valid? [False, True] Translation: X:7.50, Y:0.08, Z:-0.84 [[ 9.99633078e-01 2.27641714e-02 -1.46799955e-02 7.50455571e+00] [-2.27688634e-02 9.99740744e-01 -1.52546519e-04 7.91711279e-02] [ 1.46727171e-02 4.86737360e-04 9.99892231e-01 -8.41802823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.887719421 meters Centerline goodness [0,1] 0.950687327151456 Centerline is valid? [True, True] Translation: X:7.53, Y:0.08, Z:-0.84 [[ 9.99619190e-01 2.37631037e-02 -1.40281990e-02 7.53137210e+00] [-2.37636943e-02 9.99717596e-01 1.24609663e-04 7.82633265e-02] [ 1.40271985e-02 2.08799623e-04 9.99901592e-01 -8.41541814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.917719421 meters Centerline goodness [0,1] 0.9485853299533895 Centerline is valid? [True, False] Translation: X:7.53, Y:0.08, Z:-0.84 [[ 9.99671895e-01 2.11633652e-02 -1.44296015e-02 7.53215505e+00] [-2.12015555e-02 9.99772099e-01 -2.49883229e-03 7.65487931e-02] [ 1.43734293e-02 2.80394241e-03 9.99892765e-01 -8.41534904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.947719420999995 meters Centerline goodness [0,1] 0.9501980642790052 Centerline is valid? [False, True] Translation: X:7.53, Y:0.07, Z:-0.84 [[ 9.99668210e-01 2.09153181e-02 -1.50339424e-02 7.53322386e+00] [-2.09474008e-02 9.99778619e-01 -1.97970683e-03 7.39899910e-02] [ 1.49892080e-02 2.29397200e-03 9.99885024e-01 -8.41369115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.977719420999996 meters Centerline goodness [0,1] 0.953056901959187 Centerline is valid? [True, True] Translation: X:7.56, Y:0.06, Z:-0.84 [[ 9.99770906e-01 1.66324180e-02 -1.34721413e-02 7.56151526e+00] [-1.66326289e-02 9.99861664e-01 9.63997328e-05 6.26191975e-02] [ 1.34718810e-02 1.27699479e-04 9.99909242e-01 -8.40424609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.007719421 meters Centerline goodness [0,1] 0.9560980592441266 Centerline is valid? [True, True] Translation: X:7.59, Y:0.05, Z:-0.84 [[ 9.99818018e-01 1.31440027e-02 -1.38263058e-02 7.58980685e+00] [-1.31439066e-02 9.99913610e-01 9.78218417e-05 5.40539590e-02] [ 1.38263971e-02 8.39276322e-05 9.99904407e-01 -8.40201047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.037719421 meters Centerline goodness [0,1] 0.9533621674555247 Centerline is valid? [True, True] Translation: X:7.62, Y:0.03, Z:-0.85 [[ 9.99871992e-01 3.75805778e-03 -1.55523982e-02 7.61755024e+00] [-3.75682592e-03 9.99992937e-01 1.08422329e-04 3.29502946e-02] [ 1.55526958e-02 -4.99807974e-05 9.99879048e-01 -8.46829252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.067719421 meters Centerline goodness [0,1] 0.9545445276016069 Centerline is valid? [True, True] Translation: X:7.65, Y:0.02, Z:-0.85 [[ 9.99874217e-01 -1.40934407e-03 -1.57976226e-02 7.64573321e+00] [ 1.41123853e-03 9.99998998e-01 1.08773489e-04 2.15020529e-02] [ 1.57974535e-02 -1.31054021e-04 9.99875204e-01 -8.48199179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.097719421 meters Centerline goodness [0,1] 0.95213112087197 Centerline is valid? [True, True] Translation: X:7.67, Y:0.01, Z:-0.85 [[ 9.99790482e-01 -1.04019030e-02 -1.76293359e-02 7.67428232e+00] [ 1.04056423e-02 9.99945853e-01 1.20389426e-04 6.83092997e-03] [ 1.76271291e-02 -3.03808766e-04 9.99844584e-01 -8.50175063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.127719421 meters Centerline goodness [0,1] 0.9501017915309447 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.00, Z:-0.85 [[ 9.99647260e-01 -1.89517906e-02 -1.86060616e-02 7.70424141e+00] [ 1.89574368e-02 9.99820284e-01 1.27113892e-04 -3.18093811e-03] [ 1.86003088e-02 -4.79792291e-04 9.99826884e-01 -8.48189345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.157719420999996 meters Centerline goodness [0,1] 0.9336366232812436 Centerline is valid? [True, False] Translation: X:7.71, Y:-0.00, Z:-0.85 [[ 9.99563638e-01 -2.26529016e-02 -1.89573350e-02 7.70588451e+00] [ 2.25968994e-02 9.99739653e-01 -3.16315555e-03 -4.92072563e-03] [ 1.90240542e-02 2.73339827e-03 9.99815290e-01 -8.49030670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.187719421 meters Centerline goodness [0,1] 0.8836930455635492 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-0.85 [[ 9.99437980e-01 -2.75680740e-02 -1.90715660e-02 7.70745951e+00] [ 2.74396124e-02 9.99599198e-01 -6.96501766e-03 -8.53658647e-03] [ 1.92559342e-02 6.43778680e-03 9.99793861e-01 -8.50308858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.217719421 meters Centerline goodness [0,1] 0.8574621104384219 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-0.85 [[ 9.99422481e-01 -2.78443903e-02 -1.94780445e-02 7.70892924e+00] [ 2.77222890e-02 9.99594459e-01 -6.51088977e-03 -1.08281921e-02] [ 1.96514371e-02 5.96715363e-03 9.99789085e-01 -8.51061500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.247719421 meters Centerline goodness [0,1] 0.8236506058504345 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-0.85 [[ 9.99403071e-01 -2.82312809e-02 -1.99122126e-02 7.71016714e+00] [ 2.81100139e-02 9.99584704e-01 -6.34396171e-03 -1.22179049e-02] [ 2.00830413e-02 5.78044224e-03 9.99781605e-01 -8.51503384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.277719421 meters Centerline goodness [0,1] 0.8237781091072487 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-0.85 [[ 9.99490638e-01 -2.46865027e-02 -2.02247683e-02 7.71038363e+00] [ 2.46387866e-02 9.99693025e-01 -2.60512259e-03 -1.16739084e-02] [ 2.02828712e-02 2.10548189e-03 9.99792064e-01 -8.51170486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.307719421 meters Centerline goodness [0,1] 0.9145629487987957 Centerline is valid? [False, False] Translation: X:7.71, Y:-0.01, Z:-0.85 [[ 9.99633629e-01 -1.75235037e-02 -2.06284863e-02 7.71005890e+00] [ 1.75966495e-02 9.99839489e-01 3.36969249e-03 -5.66308949e-03] [ 2.05661264e-02 -3.73145017e-03 9.99781531e-01 -8.49978072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.337719420999996 meters Centerline goodness [0,1] 0.9540506380723285 Centerline is valid? [False, True] Translation: X:7.71, Y:-0.00, Z:-0.85 [[ 9.99739570e-01 -9.58656721e-03 -2.07096805e-02 7.70840359e+00] [ 9.79749251e-03 9.99900919e-01 1.01075237e-02 -3.85268308e-03] [ 2.06107321e-02 -1.03077943e-02 9.99734438e-01 -8.47788647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.367719421 meters Centerline goodness [0,1] 0.9583621496277612 Centerline is valid? [True, True] Translation: X:7.74, Y:0.01, Z:-0.85 [[ 9.99810995e-01 -3.86965394e-03 -1.90525551e-02 7.73856041e+00] [ 3.87577779e-03 9.99992449e-01 2.84504077e-04 5.52744741e-03] [ 1.90513103e-02 -3.58293775e-04 9.99818443e-01 -8.45133478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.397719421 meters Centerline goodness [0,1] 0.9583621496277612 Centerline is valid? [True, True] Translation: X:7.77, Y:0.01, Z:-0.85 [[ 9.99809719e-01 -4.18593977e-03 -1.90526676e-02 7.76602685e+00] [ 4.19197602e-03 9.99991175e-01 2.76892384e-04 5.39044927e-03] [ 1.90513404e-02 -3.56708022e-04 9.99818443e-01 -8.45280359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.427719421 meters Centerline goodness [0,1] 0.9579626152967105 Centerline is valid? [True, True] Translation: X:7.79, Y:0.02, Z:-0.85 [[ 9.99773599e-01 6.65964207e-03 -2.02088991e-02 7.79497700e+00] [-6.65507020e-03 9.99977812e-01 2.93475509e-04 2.16532502e-02] [ 2.02104052e-02 -1.58917424e-04 9.99795736e-01 -8.46867188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.457719421 meters Centerline goodness [0,1] 0.95440834793951 Centerline is valid? [True, True] Translation: X:7.82, Y:0.03, Z:-0.85 [[ 9.99708352e-01 1.18704132e-02 -2.10310281e-02 7.82292565e+00] [-1.18666596e-02 9.99929543e-01 3.03272414e-04 3.10856169e-02] [ 2.10331463e-02 -5.36159132e-05 9.99778777e-01 -8.49650455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.487719421 meters Centerline goodness [0,1] 0.9512602985561628 Centerline is valid? [True, True] Translation: X:7.85, Y:0.04, Z:-0.85 [[ 9.99610453e-01 1.54893020e-02 -2.32169043e-02 7.85192411e+00] [-1.54857421e-02 9.99880033e-01 3.33121809e-04 3.87022091e-02] [ 2.32192789e-02 2.65389517e-05 9.99730396e-01 -8.51738201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.517719420999995 meters Centerline goodness [0,1] 0.9537186700767264 Centerline is valid? [True, True] Translation: X:7.88, Y:0.05, Z:-0.85 [[ 9.99494792e-01 2.12448432e-02 -2.36393365e-02 7.88034143e+00] [-2.12428599e-02 9.99774289e-01 3.35045715e-04 4.67380695e-02] [ 2.36411189e-02 1.67290666e-04 9.99720496e-01 -8.48882336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.547719421 meters Centerline goodness [0,1] 0.9459459459459459 Centerline is valid? [True, False] Translation: X:7.88, Y:0.05, Z:-0.85 [[ 9.99467351e-01 2.20295813e-02 -2.40771911e-02 7.88209287e+00] [-2.20259301e-02 9.99757313e-01 4.16867642e-04 4.78641424e-02] [ 2.40805313e-02 1.13676930e-04 9.99710015e-01 -8.49839430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.577719421 meters Centerline goodness [0,1] 0.9504504504504504 Centerline is valid? [False, True] Translation: X:7.88, Y:0.05, Z:-0.85 [[ 9.99463797e-01 2.19432744e-02 -2.43025113e-02 7.88305953e+00] [-2.19459411e-02 9.99759147e-01 1.57006099e-04 4.82343630e-02] [ 2.43001032e-02 3.76419570e-04 9.99704638e-01 -8.50396481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.607719421 meters Centerline goodness [0,1] 0.9505887171086311 Centerline is valid? [True, True] Translation: X:7.91, Y:0.05, Z:-0.85 [[ 9.99386031e-01 2.47140397e-02 -2.48350124e-02 7.91165549e+00] [-2.47152245e-02 9.99694499e-01 2.59286496e-04 5.20068442e-02] [ 2.48338333e-02 3.54675604e-04 9.99691530e-01 -8.50453623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.637719421 meters Centerline goodness [0,1] 0.9483205188342545 Centerline is valid? [True, False] Translation: X:7.91, Y:0.05, Z:-0.85 [[ 9.99352425e-01 2.54294358e-02 -2.54573045e-02 7.91272380e+00] [-2.54229862e-02 9.99676617e-01 5.77021689e-04 5.31309350e-02] [ 2.54637454e-02 7.05526763e-05 9.99675744e-01 -8.50014706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.667719421 meters Centerline goodness [0,1] 0.9424206575834218 Centerline is valid? [False, False] Translation: X:7.91, Y:0.05, Z:-0.85 [[ 9.99303063e-01 2.68213423e-02 -2.59615941e-02 7.91349661e+00] [-2.68007552e-02 9.99640144e-01 1.14067438e-03 5.32474966e-02] [ 2.59828460e-02 -4.44089076e-04 9.99662290e-01 -8.49511406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.697719420999995 meters Centerline goodness [0,1] 0.9399199477209607 Centerline is valid? [False, False] Translation: X:7.91, Y:0.05, Z:-0.85 [[ 9.99276611e-01 2.74279826e-02 -2.63431357e-02 7.91466653e+00] [-2.73961908e-02 9.99623426e-01 1.56705958e-03 5.20526865e-02] [ 2.63761969e-02 -8.44224411e-04 9.99651731e-01 -8.49894327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.727719420999996 meters Centerline goodness [0,1] 0.9043740942583635 Centerline is valid? [False, False] Translation: X:7.92, Y:0.05, Z:-0.85 [[ 9.99217756e-01 2.93465607e-02 -2.65076487e-02 7.91518501e+00] [-2.92835183e-02 9.99567326e-01 2.76342055e-03 5.04058851e-02] [ 2.65772764e-02 -1.98502167e-03 9.99644791e-01 -8.49903147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.757719421 meters Centerline goodness [0,1] 0.9133898374149383 Centerline is valid? [False, False] Translation: X:7.92, Y:0.05, Z:-0.85 [[ 9.99193358e-01 2.99447980e-02 -2.67570867e-02 7.91595973e+00] [-2.98737869e-02 9.99549026e-01 3.04981632e-03 5.06932711e-02] [ 2.68363461e-02 -2.24802070e-03 9.99637313e-01 -8.50053451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.787719421 meters Centerline goodness [0,1] 0.8758067789730059 Centerline is valid? [False, False] Translation: X:7.92, Y:0.05, Z:-0.85 [[ 9.99130461e-01 3.15759426e-02 -2.72264908e-02 7.91666438e+00] [-3.14758517e-02 9.99496115e-01 4.09710117e-03 5.08859442e-02] [ 2.73421416e-02 -3.23656159e-03 9.99620894e-01 -8.49501931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.817719421 meters Centerline goodness [0,1] 0.861275208800163 Centerline is valid? [False, False] Translation: X:7.92, Y:0.05, Z:-0.85 [[ 9.99208535e-01 2.86360420e-02 -2.76094130e-02 7.91712606e+00] [-2.86304597e-02 9.99589886e-01 5.97560529e-04 5.10391697e-02] [ 2.76152018e-02 1.93382606e-04 9.99618609e-01 -8.49138228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.847719421 meters Centerline goodness [0,1] 0.8675610104181533 Centerline is valid? [False, False] Translation: X:7.92, Y:0.05, Z:-0.85 [[ 9.99268859e-01 2.60961022e-02 -2.79417294e-02 7.91714732e+00] [-2.61403178e-02 9.99657541e-01 -1.21825678e-03 4.58900688e-02] [ 2.79003687e-02 1.94777175e-03 9.99608811e-01 -8.48497044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.877719421 meters Centerline goodness [0,1] 0.8683427733181207 Centerline is valid? [False, False] Translation: X:7.93, Y:0.04, Z:-0.85 [[ 9.99489851e-01 2.30588673e-02 -2.20981276e-02 7.92630780e+00] [-2.29410434e-02 9.99721299e-01 5.57064169e-03 4.33276483e-02] [ 2.22204215e-02 -5.06084572e-03 9.99740287e-01 -8.50923941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.907719420999996 meters Centerline goodness [0,1] 0.9279652414017135 Centerline is valid? [False, False] Translation: X:7.94, Y:0.04, Z:-0.85 [[ 0.99971422 0.01722401 -0.01657736 7.93730989] [-0.01707608 0.99981347 0.00902378 0.03744195] [ 0.01672969 -0.00873813 0.99982187 -0.85369963] [ 0. 0. 0. 1. ]] SLAMing on 56.937719421 meters Centerline goodness [0,1] 0.9329243519947997 Centerline is valid? [False, False] Translation: X:7.94, Y:0.03, Z:-0.85 [[ 9.99795323e-01 1.07140914e-02 -1.71616016e-02 7.93944912e+00] [-1.06703294e-02 9.99939587e-01 2.63953618e-03 3.46016132e-02] [ 1.71888451e-02 -2.45587598e-03 9.99849245e-01 -8.54970957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.967719421 meters Centerline goodness [0,1] 0.9357783144365764 Centerline is valid? [False, False] Translation: X:7.94, Y:0.02, Z:-0.86 [[ 9.99828604e-01 4.68363566e-03 -1.79116330e-02 7.94312004e+00] [-4.70979621e-03 9.99987903e-01 -1.41862886e-03 2.45541608e-02] [ 1.79047720e-02 1.50274585e-03 9.99838567e-01 -8.57982178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.997719421 meters Centerline goodness [0,1] 0.9384137874703913 Centerline is valid? [False, False] Translation: X:7.95, Y:0.02, Z:-0.86 [[ 9.99889471e-01 -1.72424544e-03 -1.47672778e-02 7.95219213e+00] [ 1.80115177e-03 9.99984878e-01 5.19617296e-03 1.66216635e-02] [ 1.47580950e-02 -5.22219674e-03 9.99877456e-01 -8.59674580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.027719421 meters Centerline goodness [0,1] 0.9395006139991813 Centerline is valid? [False, False] Translation: X:7.95, Y:0.01, Z:-0.86 [[ 9.99886592e-01 -3.48634228e-03 -1.46508622e-02 7.95091313e+00] [ 3.54473797e-03 9.99985870e-01 3.96174347e-03 1.38258112e-02] [ 1.46368432e-02 -4.01322764e-03 9.99884822e-01 -8.58256535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.057719421 meters Centerline goodness [0,1] 0.9460277221245451 Centerline is valid? [False, False] Translation: X:7.95, Y:0.01, Z:-0.86 [[ 9.99882138e-01 -5.11328711e-03 -1.44763558e-02 7.94954176e+00] [ 5.16576257e-03 9.99980214e-01 3.58983868e-03 5.70470387e-03] [ 1.44577135e-02 -3.66419699e-03 9.99888768e-01 -8.56613137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.087719420999996 meters Centerline goodness [0,1] 0.9452035239415939 Centerline is valid? [False, False] Translation: X:7.95, Y:0.00, Z:-0.86 [[ 9.99865475e-01 -7.06953763e-03 -1.48004774e-02 7.95019875e+00] [ 7.09902880e-03 9.99972918e-01 1.94099344e-03 1.28631378e-03] [ 1.47863546e-02 -2.04580134e-03 9.99888583e-01 -8.56430638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.117719421 meters Centerline goodness [0,1] 0.9451270282894336 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.01, Z:-0.86 [[ 9.99849358e-01 -8.56249878e-03 -1.50978495e-02 7.95140874e+00] [ 8.58713593e-03 9.99961901e-01 1.56775905e-03 -6.99509731e-03] [ 1.50838503e-02 -1.69717017e-03 9.99884792e-01 -8.56906029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.147719421 meters Centerline goodness [0,1] 0.9461722243776929 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.01, Z:-0.86 [[ 9.99827963e-01 -1.06862966e-02 -1.51607152e-02 7.95121868e+00] [ 1.06972173e-02 9.99942579e-01 6.39415040e-04 -1.29073531e-02] [ 1.51530117e-02 -8.01482501e-04 9.99884865e-01 -8.56412407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.177719421 meters Centerline goodness [0,1] 0.9406808908016809 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.02, Z:-0.86 [[ 9.99791928e-01 -1.31504730e-02 -1.55937843e-02 7.95306792e+00] [ 1.31316613e-02 9.99912920e-01 -1.30814210e-03 -1.54905069e-02] [ 1.56096290e-02 1.10309762e-03 9.99877554e-01 -8.57368995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.207719421 meters Centerline goodness [0,1] 0.9419514287465022 Centerline is valid? [False, False] Translation: X:7.95, Y:-0.02, Z:-0.86 [[ 9.99739264e-01 -1.62610250e-02 -1.60306920e-02 7.95452877e+00] [ 1.62032668e-02 9.99861775e-01 -3.72630950e-03 -1.88213618e-02] [ 1.60890698e-02 3.46558834e-03 9.99864557e-01 -8.57832839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.237719421 meters Centerline goodness [0,1] 0.9371904181892001 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.03, Z:-0.86 [[ 9.99675513e-01 -2.26656142e-02 -1.16249117e-02 7.96522480e+00] [ 2.26853779e-02 9.99741419e-01 1.57106261e-03 -2.85982040e-02] [ 1.15862966e-02 -1.83426833e-03 9.99931194e-01 -8.60563090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.267719420999995 meters Centerline goodness [0,1] 0.9426237834982425 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.03, Z:-0.86 [[ 9.99652837e-01 -2.36151186e-02 -1.16846427e-02 7.96504451e+00] [ 2.36387521e-02 9.99718782e-01 1.88862962e-03 -3.20174277e-02] [ 1.16367566e-02 -2.16418433e-03 9.99929949e-01 -8.59943352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.297719421 meters Centerline goodness [0,1] 0.9455783700018351 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.03, Z:-0.86 [[ 9.99533093e-01 -2.82950154e-02 -1.15320541e-02 7.96424897e+00] [ 2.82761994e-02 9.99598543e-01 -1.79145608e-03 -3.38887539e-02] [ 1.15781137e-02 1.46453698e-03 9.99931899e-01 -8.58856142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.327719421 meters Centerline goodness [0,1] 0.9474253084531457 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.04, Z:-0.86 [[ 9.99519200e-01 -2.86892982e-02 -1.17597865e-02 7.96443921e+00] [ 2.86754831e-02 9.99587873e-01 -1.34174721e-03 -3.62506409e-02] [ 1.17934338e-02 1.00388454e-03 9.99929951e-01 -8.58384811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.357719421 meters Centerline goodness [0,1] 0.9476359938993391 Centerline is valid? [False, False] Translation: X:7.96, Y:-0.04, Z:-0.86 [[ 9.99410828e-01 -3.22614749e-02 -1.17129972e-02 7.96383087e+00] [ 3.22105640e-02 9.99470932e-01 -4.50951950e-03 -3.84962191e-02] [ 1.18522840e-02 4.12958037e-03 9.99921232e-01 -8.57307842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.387719421 meters Centerline goodness [0,1] 0.9516845500091276 Centerline is valid? [False, True] Translation: X:7.96, Y:-0.04, Z:-0.86 [[ 9.99393871e-01 -3.27425724e-02 -1.18242847e-02 7.96424989e+00] [ 3.26998678e-02 9.99458041e-01 -3.78710573e-03 -4.21713850e-02] [ 1.19418760e-02 3.39815772e-03 9.99922919e-01 -8.57396551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.417719421 meters Centerline goodness [0,1] 0.9487958563592243 Centerline is valid? [True, False] Translation: X:7.97, Y:-0.04, Z:-0.86 [[ 9.99390130e-01 -3.27493660e-02 -1.21180120e-02 7.96539875e+00] [ 3.27092755e-02 9.99458808e-01 -3.49192718e-03 -4.23857281e-02] [ 1.22258123e-02 3.09342616e-03 9.99920477e-01 -8.58035992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.447719420999995 meters Centerline goodness [0,1] 0.9416739693085248 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.04, Z:-0.86 [[ 9.99401348e-01 -3.21794352e-02 -1.27055195e-02 7.96849419e+00] [ 3.21518878e-02 9.99480193e-01 -2.36653650e-03 -4.22253632e-02] [ 1.27750689e-02 1.95661333e-03 9.99916481e-01 -8.60435060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.477719420999996 meters Centerline goodness [0,1] 0.9379736005866537 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.04, Z:-0.86 [[ 9.99393026e-01 -3.22753947e-02 -1.31102723e-02 7.96991630e+00] [ 3.22503638e-02 9.99477581e-01 -2.11625827e-03 -4.31319258e-02] [ 1.31717263e-02 1.69216271e-03 9.99911817e-01 -8.61145411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.507719421 meters Centerline goodness [0,1] 0.9397683712584618 Centerline is valid? [False, False] Translation: X:7.97, Y:-0.05, Z:-0.86 [[ 9.99321945e-01 -3.44715974e-02 -1.29367286e-02 7.96766728e+00] [ 3.44200459e-02 9.99398685e-01 -4.18667987e-03 -4.50194474e-02] [ 1.30732711e-02 3.73855828e-03 9.99907552e-01 -8.58457486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.537719421 meters Centerline goodness [0,1] 0.9505318285157519 Centerline is valid? [False, True] Translation: X:7.98, Y:-0.04, Z:-0.86 [[ 9.99439707e-01 -3.30567881e-02 -5.24593543e-03 7.97572380e+00] [ 3.29994389e-02 9.99398455e-01 -1.06660471e-02 -4.37567508e-02] [ 5.59536502e-03 1.04869581e-02 9.99929355e-01 -8.59992964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.567719421 meters Centerline goodness [0,1] 0.9572715625063554 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.04, Z:-0.86 [[ 9.99598727e-01 -2.81765638e-02 -2.90975487e-03 8.00577646e+00] [ 2.81765766e-02 9.99602961e-01 -3.66179693e-05 -3.65198261e-02] [ 2.90963135e-03 -4.53836554e-05 9.99995766e-01 -8.56714020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.597719421 meters Centerline goodness [0,1] 0.9554081819476372 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.03, Z:-0.86 [[ 9.99740565e-01 -2.23730831e-02 -4.27177388e-03 8.03545154e+00] [ 2.23730615e-02 9.99749690e-01 -5.28526872e-05 -2.70709555e-02] [ 4.27188709e-03 -4.27336845e-05 9.99990875e-01 -8.59960568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.627719420999995 meters Centerline goodness [0,1] 0.9486311841327435 Centerline is valid? [True, False] Translation: X:8.04, Y:-0.02, Z:-0.86 [[ 9.99931701e-01 -7.63737306e-03 -8.84664823e-03 8.03918314e+00] [ 7.61490166e-03 9.99967701e-01 -2.57100826e-03 -2.14795740e-02] [ 8.86599824e-03 2.50346631e-03 9.99957562e-01 -8.62134266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.657719420999996 meters Centerline goodness [0,1] 0.947294319294809 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.02, Z:-0.86 [[ 9.99954256e-01 -3.22870704e-03 -9.00342328e-03 8.04008262e+00] [ 3.23754791e-03 9.99994291e-01 9.67543440e-04 -1.93111596e-02] [ 9.00024796e-03 -9.96648194e-04 9.99959000e-01 -8.62775159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.687719421 meters Centerline goodness [0,1] 0.9318669637564136 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.01, Z:-0.86 [[ 9.99945039e-01 4.67356649e-03 -9.38489601e-03 8.04208436e+00] [-4.60498316e-03 9.99962633e-01 7.31620125e-03 -1.46338949e-02] [ 9.41873807e-03 -7.27258186e-03 9.99929196e-01 -8.64360636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.717719421 meters Centerline goodness [0,1] 0.9389884605941566 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.01, Z:-0.87 [[ 9.99940476e-01 5.23232066e-03 -9.57428797e-03 8.04317729e+00] [-5.16803375e-03 9.99964019e-01 6.72700367e-03 -1.13891040e-02] [ 9.60914132e-03 -6.67712301e-03 9.99931538e-01 -8.65223851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.747719421 meters Centerline goodness [0,1] 0.9275755781910224 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.01, Z:-0.86 [[ 9.99936314e-01 5.74967526e-03 -9.71128065e-03 8.04329872e+00] [-5.69178546e-03 9.99965932e-01 5.97824390e-03 -8.54614990e-03] [ 9.74532277e-03 -5.92258865e-03 9.99934974e-01 -8.64888069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.777719421 meters Centerline goodness [0,1] 0.9234454658995516 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.01, Z:-0.86 [[ 9.99949110e-01 2.95004166e-03 -9.64748505e-03 8.04284089e+00] [-2.92804441e-03 9.99993083e-01 2.29343294e-03 -7.26002659e-03] [ 9.65418404e-03 -2.26506797e-03 9.99950832e-01 -8.64313300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.807719421 meters Centerline goodness [0,1] 0.9223366571797129 Centerline is valid? [False, False] Translation: X:8.04, Y:-0.01, Z:-0.86 [[ 9.99945308e-01 3.38076249e-03 -9.89705579e-03 8.04353746e+00] [-3.35380239e-03 9.99990624e-01 2.73938391e-03 -8.60611202e-03] [ 9.90622420e-03 -2.70604132e-03 9.99947271e-01 -8.64530736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.837719420999996 meters Centerline goodness [0,1] 0.8944709227401968 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.01, Z:-0.87 [[ 9.99939450e-01 3.88689166e-03 -1.02951054e-02 8.04523693e+00] [-3.84943520e-03 9.99985909e-01 3.65559887e-03 -1.08126311e-02] [ 1.03091693e-02 -3.61574718e-03 9.99940322e-01 -8.65665250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.867719421 meters Centerline goodness [0,1] 0.9057152214853026 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.01, Z:-0.87 [[ 9.99945868e-01 1.00750361e-03 -1.03559194e-02 8.04567546e+00] [-1.00078829e-03 9.99999286e-01 6.53613623e-04 -1.13539129e-02] [ 1.03565705e-02 -6.43214159e-04 9.99946162e-01 -8.65972275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.897719421 meters Centerline goodness [0,1] 0.9097496571346693 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.01, Z:-0.87 [[ 9.99944375e-01 6.97518796e-04 -1.05242945e-02 8.04614901e+00] [-6.85974236e-04 9.99999159e-01 1.10051378e-03 -1.37805879e-02] [ 1.05250533e-02 -1.09323317e-03 9.99944012e-01 -8.66068061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.927719421 meters Centerline goodness [0,1] 0.9273159339533741 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.02, Z:-0.86 [[ 9.99939324e-01 -2.75068866e-03 -1.06668414e-02 8.04548667e+00] [ 2.74418933e-03 9.99996040e-01 -6.23891032e-04 -2.00280597e-02] [ 1.06685153e-02 5.94581344e-04 9.99942913e-01 -8.64658319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.957719421 meters Centerline goodness [0,1] 0.9255524125773787 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.02, Z:-0.86 [[ 9.99923275e-01 -6.03766412e-03 -1.08162466e-02 8.04572524e+00] [ 6.00348590e-03 9.99976892e-01 -3.18958279e-03 -2.37406592e-02] [ 1.08352543e-02 3.12440288e-03 9.99936416e-01 -8.64461971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.987719421 meters Centerline goodness [0,1] 0.9309395644727184 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.03, Z:-0.87 [[ 9.99898413e-01 -1.27455057e-02 -6.38090988e-03 8.05540816e+00] [ 1.27582353e-02 9.99916693e-01 1.95823280e-03 -3.25732936e-02] [ 6.35541964e-03 -2.03944302e-03 9.99977724e-01 -8.67009941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.017719420999995 meters Centerline goodness [0,1] 0.9353305869396745 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.04, Z:-0.87 [[ 9.99844314e-01 -1.64283741e-02 -6.43864298e-03 8.05596277e+00] [ 1.64221144e-02 9.99864624e-01 -1.02387451e-03 -3.51395710e-02] [ 6.45459194e-03 9.17978980e-04 9.99978748e-01 -8.67286275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.047719421 meters Centerline goodness [0,1] 0.9363202739614334 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.04, Z:-0.87 [[ 9.99678613e-01 -2.45232119e-02 -6.42514672e-03 8.05608208e+00] [ 2.44782012e-02 9.99675907e-01 -6.99281213e-03 -4.16250879e-02] [ 6.59455058e-03 6.83328870e-03 9.99954908e-01 -8.66797097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.077719421 meters Centerline goodness [0,1] 0.9337878508691112 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.05, Z:-0.87 [[ 9.99437200e-01 -3.29550037e-02 -6.26509257e-03 8.05597306e+00] [ 3.28710160e-02 9.99374184e-01 -1.30666378e-02 -4.90430559e-02] [ 6.69178287e-03 1.28533439e-02 9.99895000e-01 -8.66165097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.107719421 meters Centerline goodness [0,1] 0.9316448968745529 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.05, Z:-0.87 [[ 9.99411424e-01 -3.36798095e-02 -6.51739420e-03 8.05663241e+00] [ 3.35971340e-02 9.99358477e-01 -1.24042885e-02 -5.24086298e-02] [ 6.93098721e-03 1.21780219e-02 9.99901824e-01 -8.66136171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.137719421 meters Centerline goodness [0,1] 0.9414379511439175 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.87 [[ 9.99399871e-01 -3.39723745e-02 -6.76577411e-03 8.05727979e+00] [ 3.38925635e-02 9.99358383e-01 -1.15808838e-02 -5.55251030e-02] [ 7.15486320e-03 1.13446244e-02 9.99910050e-01 -8.66155543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.167719421 meters Centerline goodness [0,1] 0.9308824127138967 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.87 [[ 9.99511477e-01 -3.04404914e-02 -7.08408581e-03 8.05786282e+00] [ 3.03888078e-02 9.99511551e-01 -7.29248860e-03 -5.76533726e-02] [ 7.30261253e-03 7.07364913e-03 9.99948316e-01 -8.66264007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.197719420999995 meters Centerline goodness [0,1] 0.9297430568290646 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.87 [[ 9.99631604e-01 -2.61094344e-02 -7.41307936e-03 8.05792580e+00] [ 2.60864715e-02 9.99654640e-01 -3.17761244e-03 -5.67261615e-02] [ 7.49348484e-03 2.98306074e-03 9.99967474e-01 -8.65779873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.227719420999996 meters Centerline goodness [0,1] 0.929473190430544 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.87 [[ 9.99720730e-01 -2.23211653e-02 -7.76058204e-03 8.05846855e+00] [ 2.23263757e-02 9.99750564e-01 5.85387991e-04 -5.60450491e-02] [ 7.74557973e-03 -7.58490180e-04 9.99969715e-01 -8.65775298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.257719421 meters Centerline goodness [0,1] 0.9334722733030935 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.86 [[ 9.99758494e-01 -2.05498454e-02 -7.78827206e-03 8.05570944e+00] [ 2.05646286e-02 9.99786864e-01 1.82281872e-03 -5.53876700e-02] [ 7.74915346e-03 -1.98254142e-03 9.99968010e-01 -8.62316642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.287719421 meters Centerline goodness [0,1] 0.9334722733030935 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.86 [[ 9.99758494e-01 -2.05498454e-02 -7.78827206e-03 8.05570944e+00] [ 2.05646286e-02 9.99786864e-01 1.82281872e-03 -5.53876700e-02] [ 7.74915346e-03 -1.98254142e-03 9.99968010e-01 -8.62316642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.317719421 meters Centerline goodness [0,1] 0.9392529087568892 Centerline is valid? [False, False] Translation: X:8.05, Y:-0.06, Z:-0.86 [[ 9.99762534e-01 -2.03745434e-02 -7.73003977e-03 8.05441578e+00] [ 2.03946777e-02 9.99788793e-01 2.53486265e-03 -5.78532573e-02] [ 7.67676047e-03 -2.69191237e-03 9.99966910e-01 -8.60555165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.347719421 meters Centerline goodness [0,1] 0.938442390483769 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.86 [[ 9.99766823e-01 -2.00971797e-02 -7.89954717e-03 8.05503777e+00] [ 2.01201988e-02 9.99793519e-01 2.84537880e-03 -5.78364944e-02] [ 7.84073198e-03 -3.00365578e-03 9.99964750e-01 -8.60900656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.377719420999995 meters Centerline goodness [0,1] 0.9353200342675315 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.06, Z:-0.86 [[ 9.99810275e-01 -1.76283625e-02 -8.28579052e-03 8.05726283e+00] [ 1.76741182e-02 9.99828773e-01 5.48177519e-03 -5.60427020e-02] [ 8.18773705e-03 -5.62717920e-03 9.99950647e-01 -8.62831525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.407719420999996 meters Centerline goodness [0,1] 0.9340311785830885 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.05, Z:-0.86 [[ 9.99808362e-01 -1.75893509e-02 -8.59379638e-03 8.05833702e+00] [ 1.76358418e-02 9.99830086e-01 5.36431265e-03 -5.48084041e-02] [ 8.49798140e-03 -5.51484348e-03 9.99948684e-01 -8.63422888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.437719421 meters Centerline goodness [0,1] 0.931907881352484 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.05, Z:-0.86 [[ 9.99832710e-01 -1.58731339e-02 -9.08819091e-03 8.06049747e+00] [ 1.59359369e-02 9.99849343e-01 6.88018737e-03 -5.19695894e-02] [ 8.97761158e-03 -7.02386522e-03 9.99935032e-01 -8.64902463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.467719421 meters Centerline goodness [0,1] 0.9306300609868032 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.05, Z:-0.86 [[ 9.99839609e-01 -1.53880935e-02 -9.16316715e-03 8.06041015e+00] [ 1.54490242e-02 9.99858766e-01 6.61628169e-03 -4.99105614e-02] [ 9.06006104e-03 -6.75678249e-03 9.99936129e-01 -8.64542736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.497719421 meters Centerline goodness [0,1] 0.9342329891878709 Centerline is valid? [False, False] Translation: X:8.06, Y:-0.05, Z:-0.86 [[ 9.99972088e-01 -6.53839416e-03 -3.61560228e-03 8.06051525e+00] [ 6.53634109e-03 9.99978470e-01 -5.79362279e-04 -4.70095460e-02] [ 3.61931254e-03 5.55713298e-04 9.99993296e-01 -8.63834726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.527719421 meters Centerline goodness [0,1] 0.9526568077511474 Centerline is valid? [False, True] Translation: X:8.06, Y:-0.05, Z:-0.86 [[ 9.99990182e-01 -2.40733680e-03 -3.72035984e-03 8.06009856e+00] [ 2.41845650e-03 9.99992614e-01 2.98727531e-03 -4.57401613e-02] [ 3.71314098e-03 -2.99624351e-03 9.99988617e-01 -8.63025099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.557719421 meters Centerline goodness [0,1] 0.9514776073931146 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.03, Z:-0.87 [[ 9.99971424e-01 6.98106994e-03 -2.90102305e-03 8.08833653e+00] [-6.98123345e-03 9.99975630e-01 -4.62397081e-05 -2.82522295e-02] [ 2.90062955e-03 6.64911059e-05 9.99995791e-01 -8.65415293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.587719420999996 meters Centerline goodness [0,1] 0.9496347245680796 Centerline is valid? [True, False] Translation: X:8.09, Y:-0.02, Z:-0.87 [[ 9.99967517e-01 7.47411542e-03 -3.01715075e-03 8.08920716e+00] [-7.47542582e-03 9.99971969e-01 -4.23274816e-04 -2.47346919e-02] [ 3.01390257e-03 4.45815553e-04 9.99995359e-01 -8.66175774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.617719421 meters Centerline goodness [0,1] 0.9418516932737986 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.02, Z:-0.87 [[ 9.99928230e-01 1.15720896e-02 -3.10197627e-03 8.09027941e+00] [-1.15621029e-02 9.99927978e-01 3.21828393e-03 -2.30241484e-02] [ 3.13899513e-03 -3.18218758e-03 9.99990010e-01 -8.67202518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.647719421 meters Centerline goodness [0,1] 0.9422530315113592 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.02, Z:-0.87 [[ 9.99926038e-01 1.17404595e-02 -3.17483417e-03 8.09049493e+00] [-1.17306653e-02 9.99926431e-01 3.08614865e-03 -2.29158980e-02] [ 3.21083341e-03 -3.04867748e-03 9.99990198e-01 -8.67283762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.677719421 meters Centerline goodness [0,1] 0.9291782971007111 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.03, Z:-0.87 [[ 9.99921174e-01 1.21138561e-02 -3.30143877e-03 8.09115527e+00] [-1.21019048e-02 9.99920230e-01 3.61626480e-03 -2.51666503e-02] [ 3.34498232e-03 -3.57602605e-03 9.99988011e-01 -8.67753086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.707719421 meters Centerline goodness [0,1] 0.9120618430201645 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.03, Z:-0.87 [[ 9.99949963e-01 9.38971884e-03 -3.45026046e-03 8.09156962e+00] [-9.38905733e-03 9.99955900e-01 2.07875934e-04 -2.51537413e-02] [ 3.45206020e-03 -1.75470840e-04 9.99994026e-01 -8.67951397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.737719421 meters Centerline goodness [0,1] 0.9221406214839515 Centerline is valid? [False, False] Translation: X:8.09, Y:-0.03, Z:-0.87 [[ 9.99949861e-01 9.34028389e-03 -3.61045624e-03 8.09291507e+00] [-9.34006096e-03 9.99956378e-01 7.86005525e-05 -2.51517491e-02] [ 3.61103289e-03 -4.48747301e-05 9.99993479e-01 -8.69239109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.767719420999995 meters Centerline goodness [0,1] 0.888184061843474 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.02, Z:-0.87 [[ 9.99939515e-01 1.01694507e-02 -4.18920481e-03 8.09736224e+00] [-1.01671792e-02 9.99948154e-01 5.63175634e-04 -2.41607194e-02] [ 4.19471480e-03 -5.20549174e-04 9.99991067e-01 -8.73270587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.797719421 meters Centerline goodness [0,1] 0.88562941718734 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.02, Z:-0.87 [[ 9.99939422e-01 1.00959097e-02 -4.38458137e-03 8.09814412e+00] [-1.00932772e-02 9.99948868e-01 6.22107687e-04 -2.49921688e-02] [ 4.39063792e-03 -5.77815206e-04 9.99990194e-01 -8.73835739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.827719421 meters Centerline goodness [0,1] 0.9087031416618817 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.03, Z:-0.87 [[ 9.99969778e-01 6.35996147e-03 -4.47150760e-03 8.09760444e+00] [-6.36877834e-03 9.99977798e-01 -1.96032362e-03 -3.10690706e-02] [ 4.45894074e-03 1.98874241e-03 9.99988081e-01 -8.72848450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.857719421 meters Centerline goodness [0,1] 0.9421612771182972 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.03, Z:-0.87 [[ 9.99985105e-01 2.83754083e-03 -4.66248559e-03 8.09751808e+00] [-2.85973228e-03 9.99984583e-01 -4.75982115e-03 -3.44570886e-02] [ 4.64890752e-03 4.77308371e-03 9.99977802e-01 -8.72255910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.887719421 meters Centerline goodness [0,1] 0.946792630308979 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.04, Z:-0.87 [[ 9.99986646e-01 -2.02965619e-03 -4.75263718e-03 8.09730546e+00] [ 1.99438947e-03 9.99970531e-01 -7.41347277e-03 -4.01142317e-02] [ 4.76754393e-03 7.40389516e-03 9.99961226e-01 -8.71400589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.917719421 meters Centerline goodness [0,1] 0.9469749581273745 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.04, Z:-0.87 [[ 9.99984025e-01 -2.72771768e-03 -4.95058816e-03 8.09780238e+00] [ 2.69459777e-03 9.99974028e-01 -6.68448137e-03 -4.32650879e-02] [ 4.96869296e-03 6.67103474e-03 9.99965404e-01 -8.71405857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.947719420999995 meters Centerline goodness [0,1] 0.9418471597874949 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99958584e-01 -7.54829087e-03 -5.08455109e-03 8.09847597e+00] [ 7.49850837e-03 9.99924451e-01 -9.73985447e-03 -4.83070026e-02] [ 5.15768622e-03 9.70132454e-03 9.99939639e-01 -8.71708637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.977719420999996 meters Centerline goodness [0,1] 0.9482476587739745 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99954283e-01 -8.01416592e-03 -5.21583762e-03 8.09898682e+00] [ 7.96584875e-03 9.99925772e-01 -9.21931809e-03 -5.12213662e-02] [ 5.28933561e-03 9.17734804e-03 9.99943898e-01 -8.71920125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.007719421 meters Centerline goodness [0,1] 0.9480447840477261 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99940345e-01 -9.49557465e-03 -5.39820745e-03 8.09973999e+00] [ 9.44194172e-03 9.99906658e-01 -9.87547286e-03 -5.09402353e-02] [ 5.49147686e-03 9.82391418e-03 9.99936665e-01 -8.72288843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.037719421 meters Centerline goodness [0,1] 0.9418157259219844 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99932079e-01 -1.01849746e-02 -5.66605980e-03 8.10025350e+00] [ 1.01258593e-02 9.99895002e-01 -1.03658646e-02 -4.99603539e-02] [ 5.77104094e-03 1.03077868e-02 9.99930220e-01 -8.72201398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.067719421 meters Centerline goodness [0,1] 0.94527769831215 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99859807e-01 -1.55621508e-02 -6.17942250e-03 8.10108676e+00] [ 1.54656226e-02 9.99762215e-01 -1.53729537e-02 -4.92443671e-02] [ 6.41718935e-03 1.52752299e-02 9.99862734e-01 -8.71751521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.097719421 meters Centerline goodness [0,1] 0.9434810139510182 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99839569e-01 -1.66864753e-02 -6.51134621e-03 8.10199697e+00] [ 1.65817994e-02 9.99737482e-01 -1.58117170e-02 -5.03497659e-02] [ 6.77347869e-03 1.57012105e-02 9.99853785e-01 -8.72016260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.127719420999995 meters Centerline goodness [0,1] 0.945236492688001 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.05, Z:-0.87 [[ 9.99721934e-01 -2.28140503e-02 -5.96438002e-03 8.09986261e+00] [ 2.26781568e-02 9.99502111e-01 -2.19370074e-02 -4.65537008e-02] [ 6.46188241e-03 2.17956463e-02 9.99741564e-01 -8.70158073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.157719420999996 meters Centerline goodness [0,1] 0.9274621986105436 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.04, Z:-0.87 [[ 9.99471059e-01 -3.25172951e-02 -4.76285342e-04 8.09633349e+00] [ 3.25067970e-02 9.99363552e-01 -1.46900896e-02 -4.26236328e-02] [ 9.53664191e-04 1.46668369e-02 9.99891981e-01 -8.67811914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.187719421 meters Centerline goodness [0,1] 0.8930046199762869 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.04, Z:-0.87 [[ 9.99415959e-01 -3.41636096e-02 -7.67746907e-04 8.09718601e+00] [ 3.41475306e-02 9.99295501e-01 -1.55707282e-02 -4.24946083e-02] [ 1.29915831e-03 1.55354176e-02 9.99878474e-01 -8.68052365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.217719421 meters Centerline goodness [0,1] 0.8822300079906571 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.04, Z:-0.87 [[ 9.99189639e-01 -4.02470859e-02 -4.88201815e-04 8.09776219e+00] [ 4.02276965e-02 9.98965496e-01 -2.12054524e-02 -4.10997208e-02] [ 1.34115443e-03 2.11686290e-02 9.99775020e-01 -8.68883713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.247719421 meters Centerline goodness [0,1] 0.8559697681544276 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.04, Z:-0.87 [[ 9.99164936e-01 -4.08560009e-02 -4.66306894e-04 8.09790919e+00] [ 4.08361064e-02 9.98927487e-01 -2.18240207e-02 -3.98311553e-02] [ 1.35744898e-03 2.17867541e-02 9.99761719e-01 -8.69003812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.277719421 meters Centerline goodness [0,1] 0.8543437397842433 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.03, Z:-0.87 [[ 9.99332054e-01 -3.65391447e-02 -5.80650102e-04 8.09808859e+00] [ 3.65228160e-02 9.99171130e-01 -1.79759889e-02 -3.22535766e-02] [ 1.23699608e-03 1.79427750e-02 9.99838250e-01 -8.69316548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.307719421 meters Centerline goodness [0,1] 0.895631018338683 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.03, Z:-0.87 [[ 9.99555954e-01 -2.97833095e-02 -9.21217170e-04 8.09835192e+00] [ 2.97710126e-02 9.99492844e-01 -1.13022485e-02 -2.90855227e-02] [ 1.25736833e-03 1.12698042e-02 9.99935703e-01 -8.69318996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.337719420999996 meters Centerline goodness [0,1] 0.9226320629406355 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.02, Z:-0.87 [[ 9.99806733e-01 -1.95726357e-02 -1.84598458e-03 8.10010872e+00] [ 1.95675630e-02 9.99804818e-01 -2.72714042e-03 -2.09389220e-02] [ 1.89900160e-03 2.69049194e-03 9.99994578e-01 -8.69896831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.367719421 meters Centerline goodness [0,1] 0.9212358839265657 Centerline is valid? [False, False] Translation: X:8.10, Y:-0.02, Z:-0.87 [[ 9.99886100e-01 -1.48844811e-02 -2.49790262e-03 8.10281480e+00] [ 1.48879028e-02 9.99888248e-01 1.35689215e-03 -1.91175503e-02] [ 2.47742684e-03 -1.39392613e-03 9.99995960e-01 -8.71942349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.397719421 meters Centerline goodness [0,1] 0.9395484489404662 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.01, Z:-0.88 [[ 9.99962604e-01 -8.20277206e-03 -2.73939904e-03 8.10558590e+00] [ 8.22099015e-03 9.99943716e-01 6.70670813e-03 -1.43832293e-02] [ 2.68423126e-03 -6.72897790e-03 9.99973758e-01 -8.75008752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.427719421 meters Centerline goodness [0,1] 0.9471235280912634 Centerline is valid? [False, False] Translation: X:8.11, Y:-0.01, Z:-0.87 [[ 9.99984744e-01 -4.79397120e-03 -2.74394319e-03 8.10504992e+00] [ 4.81990726e-03 9.99943021e-01 9.52486519e-03 -1.14474588e-02] [ 2.69812491e-03 -9.53794543e-03 9.99950873e-01 -8.74386391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.457719421 meters Centerline goodness [0,1] 0.9564099424513285 Centerline is valid? [False, True] Translation: X:8.10, Y:-0.01, Z:-0.87 [[ 9.99994050e-01 2.23263584e-03 -2.62960973e-03 8.10274158e+00] [-2.19267027e-03 9.99883519e-01 1.51043535e-02 -5.64168782e-03] [ 2.66302595e-03 -1.50984978e-02 9.99882465e-01 -8.71575332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.487719421 meters Centerline goodness [0,1] 0.9570839120843206 Centerline is valid? [True, True] Translation: X:8.13, Y:0.01, Z:-0.87 [[ 9.99972533e-01 7.07284439e-03 -2.21541298e-03 8.13287000e+00] [-7.07276549e-03 9.99974987e-01 4.34475694e-05 7.19566505e-03] [ 2.21566486e-03 -2.77772795e-05 9.99997545e-01 -8.71484801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.517719420999995 meters Centerline goodness [0,1] 0.9555523825065274 Centerline is valid? [True, True] Translation: X:8.16, Y:0.03, Z:-0.87 [[ 9.99831952e-01 1.80655911e-02 -3.11483537e-03 8.16215534e+00] [-1.80654894e-02 9.99836804e-01 6.07971593e-05 2.50875219e-02] [ 3.11542537e-03 -4.51591715e-06 9.99995147e-01 -8.74332395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.547719421 meters Centerline goodness [0,1] 0.9548219826882247 Centerline is valid? [True, True] Translation: X:8.19, Y:0.03, Z:-0.88 [[ 9.99718401e-01 2.34749715e-02 -3.47057992e-03 8.19082953e+00] [-2.34748801e-02 9.99724425e-01 6.70866581e-05 3.27432288e-02] [ 3.47119838e-03 1.44036810e-05 9.99993975e-01 -8.76389146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.577719421 meters Centerline goodness [0,1] 0.9572044901547836 Centerline is valid? [True, True] Translation: X:8.22, Y:0.05, Z:-0.88 [[ 9.99460677e-01 3.26642159e-02 -3.37710522e-03 8.21999871e+00] [-3.26641829e-02 9.99466381e-01 6.49272613e-05 4.67395619e-02] [ 3.37742393e-03 4.54181381e-05 9.99994295e-01 -8.78300426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.607719421 meters Centerline goodness [0,1] 0.9559497503887389 Centerline is valid? [True, True] Translation: X:8.25, Y:0.06, Z:-0.88 [[ 9.99230114e-01 3.89724266e-02 -4.50884418e-03 8.24824360e+00] [-3.89724302e-02 9.99240282e-01 8.71009729e-05 5.93598190e-02] [ 4.50881327e-03 8.86866999e-05 9.99989831e-01 -8.81525591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.637719421 meters Centerline goodness [0,1] 0.9515905100249091 Centerline is valid? [True, True] Translation: X:8.28, Y:0.06, Z:-0.88 [[ 9.99177166e-01 4.00970438e-02 -6.10059780e-03 8.27545161e+00] [-4.00970780e-02 9.99195782e-01 1.16757672e-04 6.26546843e-02] [ 6.10037323e-03 1.27954546e-04 9.99981384e-01 -8.84888411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.667719421 meters Centerline goodness [0,1] 0.9463650124780101 Centerline is valid? [True, False] Translation: X:8.28, Y:0.06, Z:-0.89 [[ 9.99254130e-01 3.80223209e-02 -6.74433019e-03 8.27786377e+00] [-3.80398753e-02 9.99273110e-01 -2.49389441e-03 6.21198235e-02] [ 6.64460415e-03 2.74858777e-03 9.99974147e-01 -8.86525403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.697719420999995 meters Centerline goodness [0,1] 0.9449881254606503 Centerline is valid? [False, False] Translation: X:8.28, Y:0.06, Z:-0.89 [[ 9.99374842e-01 3.46188096e-02 -7.17373522e-03 8.27870562e+00] [-3.46637979e-02 9.99379520e-01 -6.24475943e-03 6.24117547e-02] [ 6.95309792e-03 6.48952438e-03 9.99954769e-01 -8.86858447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.727719420999996 meters Centerline goodness [0,1] 0.9482589303981341 Centerline is valid? [False, False] Translation: X:8.28, Y:0.06, Z:-0.89 [[ 9.99402403e-01 3.37770330e-02 -7.34502480e-03 8.27848573e+00] [-3.38213390e-02 9.99409921e-01 -5.99392353e-03 5.98793941e-02] [ 7.13823371e-03 6.23876015e-03 9.99955061e-01 -8.86280420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.757719421 meters Centerline goodness [0,1] 0.949837426637492 Centerline is valid? [False, False] Translation: X:8.28, Y:0.06, Z:-0.89 [[ 9.99410333e-01 3.34862527e-02 -7.59326888e-03 8.27868380e+00] [-3.35300306e-02 9.99421381e-01 -5.71324197e-03 5.86587247e-02] [ 7.39756020e-03 5.96447560e-03 9.99954850e-01 -8.86025786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.787719421 meters Centerline goodness [0,1] 0.9484025461020488 Centerline is valid? [False, False] Translation: X:8.28, Y:0.06, Z:-0.89 [[ 9.99418855e-01 3.31772202e-02 -7.82456032e-03 8.27910532e+00] [-3.32174461e-02 9.99435297e-01 -5.06827775e-03 5.57860768e-02] [ 7.65199040e-03 5.32524426e-03 9.99956543e-01 -8.86129038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.817719421 meters Centerline goodness [0,1] 0.944920365561939 Centerline is valid? [False, False] Translation: X:8.28, Y:0.05, Z:-0.89 [[ 9.99475921e-01 3.11992187e-02 -8.63093107e-03 8.28180442e+00] [-3.12602377e-02 9.99486573e-01 -7.02759142e-03 5.47226227e-02] [ 8.40724436e-03 7.29371336e-03 9.99938058e-01 -8.87727103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.847719421 meters Centerline goodness [0,1] 0.9449261728496053 Centerline is valid? [False, False] Translation: X:8.28, Y:0.05, Z:-0.89 [[ 0.99954619 0.02872273 -0.00907828 8.28205222] [-0.02880554 0.99954337 -0.0091267 0.0500714 ] [ 0.008812 0.00938406 0.99991714 -0.88734457] [ 0. 0. 0. 1. ]] SLAMing on 59.877719420999995 meters Centerline goodness [0,1] 0.9478395628147877 Centerline is valid? [False, False] Translation: X:8.28, Y:0.05, Z:-0.89 [[ 0.99961512 0.02617203 -0.00919953 8.28120302] [-0.02627137 0.99959597 -0.01084929 0.04502145] [ 0.00891187 0.0110868 0.99989883 -0.88630934] [ 0. 0. 0. 1. ]] SLAMing on 59.907719420999996 meters Centerline goodness [0,1] 0.9488563193720488 Centerline is valid? [False, False] Translation: X:8.28, Y:0.04, Z:-0.89 [[ 0.99962201 0.02580825 -0.00947502 8.28122456] [-0.02590814 0.99960839 -0.01057536 0.04423317] [ 0.00919838 0.01081685 0.99989919 -0.88575747] [ 0. 0. 0. 1. ]] SLAMing on 59.937719421 meters Centerline goodness [0,1] 0.95504339166311 Centerline is valid? [False, True] Translation: X:8.28, Y:0.04, Z:-0.89 [[ 0.99963643 0.02508093 -0.00989709 8.28157479] [-0.02518629 0.99962584 -0.0106694 0.04405597] [ 0.00962579 0.01091479 0.9998941 -0.88520727] [ 0. 0. 0. 1. ]] SLAMing on 59.967719421 meters Centerline goodness [0,1] 0.9533092216841375 Centerline is valid? [True, True] Translation: X:8.31, Y:0.03, Z:-0.89 [[ 9.99790936e-01 1.71856209e-02 -1.10787393e-02 8.30986945e+00] [-1.71843549e-02 9.99852316e-01 2.09467333e-04 2.82636213e-02] [ 1.10807030e-02 -1.90425533e-05 9.99938607e-01 -8.87320264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.997719421 meters Centerline goodness [0,1] 0.9509379214516327 Centerline is valid? [True, True] Translation: X:8.34, Y:0.01, Z:-0.89 [[ 9.99888877e-01 7.29966919e-03 -1.29980275e-02 8.33865883e+00] [-7.29709074e-03 9.99973346e-01 2.45787839e-04 9.94885906e-03] [ 1.29994753e-02 -1.50912740e-04 9.99915492e-01 -8.88634921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.027719421 meters Centerline goodness [0,1] 0.9500704815215837 Centerline is valid? [True, True] Translation: X:8.37, Y:0.00, Z:-0.89 [[ 9.99918782e-01 2.85277320e-03 -1.24214006e-02 8.36632937e+00] [-2.85010512e-03 9.99995911e-01 2.32493198e-04 3.58136669e-03] [ 1.24220131e-02 -1.97072018e-04 9.99922824e-01 -8.89289789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.057719421 meters Centerline goodness [0,1] 0.9418161046167656 Centerline is valid? [True, False] Translation: X:8.36, Y:0.00, Z:-0.89 [[ 9.99924146e-01 5.82611803e-04 -1.23029208e-02 8.36430918e+00] [-6.01222755e-04 9.99998681e-01 -1.50908200e-03 4.78048645e-03] [ 1.23020253e-02 1.51636432e-03 9.99923177e-01 -8.86994022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.087719420999996 meters Centerline goodness [0,1] 0.942149435380123 Centerline is valid? [False, False] Translation: X:8.36, Y:0.01, Z:-0.89 [[ 9.99922083e-01 4.81221195e-04 -1.24738120e-02 8.36437665e+00] [-5.04284605e-04 9.99998169e-01 -1.84586704e-03 6.06798085e-03] [ 1.24729009e-02 1.85201357e-03 9.99920495e-01 -8.86650837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.117719421 meters Centerline goodness [0,1] 0.9580228261091488 Centerline is valid? [False, True] Translation: X:8.36, Y:0.01, Z:-0.89 [[ 9.99922294e-01 1.60223920e-03 -1.23627640e-02 8.36497072e+00] [-1.62466643e-03 9.99997053e-01 -1.80426581e-03 8.59677480e-03] [ 1.23598367e-02 1.82421097e-03 9.99921950e-01 -8.87494118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.147719421 meters Centerline goodness [0,1] 0.959114035266954 Centerline is valid? [True, True] Translation: X:8.39, Y:0.01, Z:-0.89 [[ 9.99913330e-01 5.01976925e-03 -1.21710509e-02 8.39363648e+00] [-5.01742250e-03 9.99987388e-01 2.23341919e-04 1.18330120e-02] [ 1.21720185e-02 -1.62255257e-04 9.99925905e-01 -8.87877692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.177719421 meters Centerline goodness [0,1] 0.9586672376175037 Centerline is valid? [True, True] Translation: X:8.42, Y:0.02, Z:-0.89 [[ 9.99849388e-01 1.13555395e-02 -1.31245147e-02 8.42202759e+00] [-1.13534016e-02 9.99935520e-01 2.37392104e-04 2.00273318e-02] [ 1.31263641e-02 -8.83484637e-05 9.99913842e-01 -8.91050650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.207719421 meters Centerline goodness [0,1] 0.9586672376175037 Centerline is valid? [True, True] Translation: X:8.45, Y:0.02, Z:-0.89 [[ 9.99850381e-01 1.12678913e-02 -1.31244487e-02 8.45036265e+00] [-1.12656993e-02 9.99936511e-01 2.40937131e-04 1.96087972e-02] [ 1.31263303e-02 -9.30449896e-05 9.99913842e-01 -8.91657183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.237719421 meters Centerline goodness [0,1] 0.957427333563859 Centerline is valid? [True, True] Translation: X:8.48, Y:0.02, Z:-0.89 [[ 9.99818056e-01 1.44000202e-02 -1.25097469e-02 8.47861149e+00] [-1.43983012e-02 9.99896313e-01 2.27467771e-04 2.33220148e-02] [ 1.25117253e-02 -4.73072812e-05 9.99921724e-01 -8.93015831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.267719420999995 meters Centerline goodness [0,1] 0.9498054553973395 Centerline is valid? [True, False] Translation: X:8.48, Y:0.02, Z:-0.89 [[ 9.99774889e-01 1.70871501e-02 -1.25777925e-02 8.47616139e+00] [-1.70555499e-02 9.99851123e-01 2.61537831e-03 2.47810374e-02] [ 1.26206093e-02 -2.40026839e-03 9.99917476e-01 -8.89698661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.297719421 meters Centerline goodness [0,1] 0.9602013368112162 Centerline is valid? [False, True] Translation: X:8.48, Y:0.03, Z:-0.89 [[ 9.99760617e-01 1.76717456e-02 -1.29003018e-02 8.47621583e+00] [-1.76423916e-02 9.99841515e-01 2.38572167e-03 2.65669513e-02] [ 1.29404171e-02 -2.15755840e-03 9.99913942e-01 -8.88874546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.327719421 meters Centerline goodness [0,1] 0.9595007953016028 Centerline is valid? [True, True] Translation: X:8.50, Y:0.03, Z:-0.89 [[ 9.99736852e-01 1.86504234e-02 -1.33562416e-02 8.50409057e+00] [-1.86494158e-02 9.99826065e-01 1.99995057e-04 2.84990156e-02] [ 1.33576485e-02 4.91436750e-05 9.99910781e-01 -8.89816393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.357719421 meters Centerline goodness [0,1] 0.95892333984375 Centerline is valid? [True, True] Translation: X:8.53, Y:0.03, Z:-0.89 [[ 9.99702942e-01 1.96805709e-02 -1.43771787e-02 8.53271609e+00] [-1.96795196e-02 9.99806316e-01 2.14613793e-04 3.03064344e-02] [ 1.43786178e-02 6.83859291e-05 9.99896620e-01 -8.90657220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.387719421 meters Centerline goodness [0,1] 0.9580832231152712 Centerline is valid? [True, True] Translation: X:8.56, Y:0.03, Z:-0.89 [[ 9.99662347e-01 2.07131631e-02 -1.56893883e-02 8.56124422e+00] [-2.07120567e-02 9.99785455e-01 2.33022838e-04 3.01969987e-02] [ 1.56908488e-02 9.20153419e-05 9.99876887e-01 -8.92722443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.417719421 meters Centerline goodness [0,1] 0.9551986990547819 Centerline is valid? [True, True] Translation: X:8.59, Y:0.03, Z:-0.90 [[ 9.99584575e-01 2.31118331e-02 -1.72197820e-02 8.58992151e+00] [-2.31108783e-02 9.99732876e-01 2.54468709e-04 3.10469217e-02] [ 1.72210634e-02 1.43601290e-04 9.99851696e-01 -8.95935197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.447719420999995 meters Centerline goodness [0,1] 0.9572081682413898 Centerline is valid? [True, True] Translation: X:8.62, Y:0.03, Z:-0.90 [[ 9.99529397e-01 2.58946612e-02 -1.64453893e-02 8.61816222e+00] [-2.58942163e-02 9.99664660e-01 2.40026565e-04 3.40335878e-02] [ 1.64460899e-02 1.85926859e-04 9.99864737e-01 -8.96130257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.477719420999996 meters Centerline goodness [0,1] 0.9582422521399825 Centerline is valid? [True, True] Translation: X:8.65, Y:0.04, Z:-0.89 [[ 9.99350403e-01 3.23826143e-02 -1.58157844e-02 8.64709308e+00] [-3.23830242e-02 9.99475506e-01 2.30249314e-04 4.41100251e-02] [ 1.58149451e-02 2.82063183e-04 9.99874896e-01 -8.94588924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.507719421 meters Centerline goodness [0,1] 0.9554617909048289 Centerline is valid? [True, True] Translation: X:8.67, Y:0.05, Z:-0.89 [[ 9.99214443e-01 3.67628409e-02 -1.47983013e-02 8.67469209e+00] [-3.67637107e-02 9.99323964e-01 2.13345833e-04 4.94127035e-02] [ 1.47961403e-02 3.30862232e-04 9.99890476e-01 -8.94167602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.537719421 meters Centerline goodness [0,1] 0.9450290017299278 Centerline is valid? [True, False] Translation: X:8.68, Y:0.05, Z:-0.89 [[ 9.99016321e-01 4.17558650e-02 -1.49277760e-02 8.67586518e+00] [-4.16929419e-02 9.99120329e-01 4.50195162e-03 4.96442525e-02] [ 1.51026274e-02 -3.87514025e-03 9.99878440e-01 -8.94798146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.567719421 meters Centerline goodness [0,1] 0.9340809460699357 Centerline is valid? [False, False] Translation: X:8.68, Y:0.05, Z:-0.90 [[ 9.98985264e-01 4.23599833e-02 -1.52994936e-02 8.67690941e+00] [-4.22899112e-02 9.99093488e-01 4.87502345e-03 4.85772150e-02] [ 1.54921303e-02 -4.22306236e-03 9.99871072e-01 -8.95228023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.597719421 meters Centerline goodness [0,1] 0.8791325695581015 Centerline is valid? [False, False] Translation: X:8.68, Y:0.05, Z:-0.90 [[ 9.98933209e-01 4.35374179e-02 -1.53927332e-02 8.67713227e+00] [-4.34503881e-02 9.99037903e-01 5.94404196e-03 4.58068629e-02] [ 1.56367121e-02 -5.26888068e-03 9.99863857e-01 -8.95237813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.627719420999995 meters Centerline goodness [0,1] 0.8927601902312575 Centerline is valid? [False, False] Translation: X:8.68, Y:0.05, Z:-0.90 [[ 9.99043869e-01 4.08233922e-02 -1.56460362e-02 8.67736705e+00] [-4.07894117e-02 9.99164676e-01 2.48495663e-03 4.64348211e-02] [ 1.57344111e-02 -1.84438807e-03 9.99874505e-01 -8.95143891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.657719420999996 meters Centerline goodness [0,1] 0.8835928094839723 Centerline is valid? [False, False] Translation: X:8.68, Y:0.04, Z:-0.90 [[ 9.99010249e-01 4.15823995e-02 -1.57932520e-02 8.67790729e+00] [-4.15241886e-02 9.99129507e-01 3.99615765e-03 4.28213841e-02] [ 1.59456739e-02 -3.33640047e-03 9.99867293e-01 -8.95481553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.687719421 meters Centerline goodness [0,1] 0.8801786665573905 Centerline is valid? [False, False] Translation: X:8.68, Y:0.04, Z:-0.90 [[ 9.99121967e-01 3.87670472e-02 -1.58874621e-02 8.67857154e+00] [-3.87439233e-02 9.99247621e-01 1.76081115e-03 3.96660868e-02] [ 1.59437702e-02 -1.14372249e-03 9.99872236e-01 -8.96399881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.717719421 meters Centerline goodness [0,1] 0.8922595841455491 Centerline is valid? [False, False] Translation: X:8.68, Y:0.04, Z:-0.90 [[ 9.99126247e-01 3.85254710e-02 -1.62027913e-02 8.67914974e+00] [-3.84871699e-02 9.99255529e-01 2.66918563e-03 3.57170544e-02] [ 1.62935604e-02 -2.04325384e-03 9.99865163e-01 -8.96527268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.747719421 meters Centerline goodness [0,1] 0.937838888547869 Centerline is valid? [False, False] Translation: X:8.68, Y:0.03, Z:-0.90 [[ 9.99363437e-01 3.17205708e-02 -1.63256287e-02 8.67790883e+00] [-3.17645967e-02 9.99492389e-01 -2.44447161e-03 2.74973455e-02] [ 1.62398016e-02 2.96149257e-03 9.99863740e-01 -8.95487572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.777719421 meters Centerline goodness [0,1] 0.951827684251437 Centerline is valid? [False, True] Translation: X:8.68, Y:0.02, Z:-0.90 [[ 9.99465238e-01 2.80862935e-02 -1.67450974e-02 8.67865089e+00] [-2.81745107e-02 9.99590234e-01 -5.05577156e-03 2.31630014e-02] [ 1.65962379e-02 5.52485285e-03 9.99847009e-01 -8.95831511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.807719421 meters Centerline goodness [0,1] 0.9499888004235476 Centerline is valid? [True, False] Translation: X:8.68, Y:0.02, Z:-0.90 [[ 0.99962694 0.02099066 -0.01747494 8.68056703] [-0.02117181 0.99972335 -0.01024632 0.01591447] [ 0.01725502 0.01061248 0.9997948 -0.89700289] [ 0. 0. 0. 1. ]] SLAMing on 60.837719420999996 meters Centerline goodness [0,1] 0.950812999857547 Centerline is valid? [False, True] Translation: X:8.68, Y:0.01, Z:-0.90 [[ 0.99968734 0.0175319 -0.01782872 8.68154016] [-0.01776505 0.99975762 -0.01300425 0.01303739] [ 0.01759641 0.01331691 0.99975648 -0.89755716] [ 0. 0. 0. 1. ]] SLAMing on 60.867719421 meters Centerline goodness [0,1] 0.9430998394602613 Centerline is valid? [True, False] Translation: X:8.68, Y:0.01, Z:-0.90 [[ 9.99740188e-01 1.35892343e-02 -1.82999689e-02 8.68337716e+00] [-1.38669475e-02 9.99789295e-01 -1.51351988e-02 6.78977152e-03] [ 1.80904373e-02 1.53850312e-02 9.99717979e-01 -8.98935426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.897719421 meters Centerline goodness [0,1] 0.9425935730867918 Centerline is valid? [False, False] Translation: X:8.68, Y:0.00, Z:-0.90 [[ 9.99740408e-01 1.28706447e-02 -1.88006003e-02 8.68472576e+00] [-1.31499950e-02 9.99803832e-01 -1.48113099e-02 3.89441145e-03] [ 1.86062811e-02 1.50546928e-02 9.99713540e-01 -8.99512992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.927719421 meters Centerline goodness [0,1] 0.9447936650475529 Centerline is valid? [False, False] Translation: X:8.69, Y:-0.00, Z:-0.89 [[ 9.99796115e-01 8.21647695e-03 -1.84450013e-02 8.68696025e+00] [-8.37754054e-03 9.99927305e-01 -8.67187981e-03 -1.59768867e-03] [ 1.83724081e-02 8.82463549e-03 9.99792269e-01 -8.93182453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.957719421 meters Centerline goodness [0,1] 0.9504438769305606 Centerline is valid? [False, True] Translation: X:8.69, Y:-0.01, Z:-0.89 [[ 9.99892510e-01 3.48269678e-03 -1.42421467e-02 8.69312504e+00] [-3.51317368e-03 9.99991591e-01 -2.11545021e-03 -5.07776864e-03] [ 1.42346595e-02 2.16525796e-03 9.99896338e-01 -8.92223124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.987719421 meters Centerline goodness [0,1] 0.9507824949944838 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99862500e-01 -7.92394590e-03 -1.45668200e-02 8.72276869e+00] [ 7.92622084e-03 9.99968582e-01 9.84455524e-05 -2.09885550e-02] [ 1.45655823e-02 -2.13891849e-04 9.99893893e-01 -8.90575049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.017719420999995 meters Centerline goodness [0,1] 0.9460201280878316 Centerline is valid? [True, False] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99815853e-01 -1.22574879e-02 -1.47653024e-02 8.72367488e+00] [ 1.22026493e-02 9.99918330e-01 -3.79840997e-03 -2.18984167e-02] [ 1.48106554e-02 3.61753470e-03 9.99883772e-01 -8.91133823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.047719421 meters Centerline goodness [0,1] 0.9390587370913098 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99736030e-01 -1.76890890e-02 -1.46617435e-02 8.72370016e+00] [ 1.75709588e-02 9.99812426e-01 -8.14708040e-03 -2.31931009e-02] [ 1.48031078e-02 7.88730892e-03 9.99859319e-01 -8.91174808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.077719421 meters Centerline goodness [0,1] 0.9380413736879649 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99725784e-01 -1.82542488e-02 -1.46676556e-02 8.72325978e+00] [ 1.81323286e-02 9.99800287e-01 -8.40262160e-03 -2.29099566e-02] [ 1.48181098e-02 8.13435871e-03 9.99857118e-01 -8.90550400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.107719421 meters Centerline goodness [0,1] 0.9329476460126337 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99750950e-01 -1.71328227e-02 -1.43005106e-02 8.72071865e+00] [ 1.70331489e-02 9.99829979e-01 -7.06289585e-03 -2.00999297e-02] [ 1.44190865e-02 6.81755411e-03 9.99872797e-01 -8.88342409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.137719421 meters Centerline goodness [0,1] 0.9279864387394563 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99744840e-01 -1.75147588e-02 -1.42649361e-02 8.72010108e+00] [ 1.74065390e-02 9.99819033e-01 -7.67557693e-03 -1.86168793e-02] [ 1.43967904e-02 7.42531526e-03 9.99868790e-01 -8.87614823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.167719421 meters Centerline goodness [0,1] 0.9226248576541403 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.02, Z:-0.89 [[ 9.99737468e-01 -1.78287396e-02 -1.43920749e-02 8.72082940e+00] [ 1.77145498e-02 9.99810894e-01 -8.02309311e-03 -1.78015444e-02] [ 1.45323949e-02 7.76603766e-03 9.99864240e-01 -8.88201677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.197719420999995 meters Centerline goodness [0,1] 0.9115118516395792 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.01, Z:-0.89 [[ 0.99970104 -0.0196537 -0.01454487 8.72312351] [ 0.01950532 0.99975697 -0.01027389 -0.0132057 ] [ 0.01474326 0.00998712 0.99984143 -0.89055461] [ 0. 0. 0. 1. ]] SLAMing on 61.227719420999996 meters Centerline goodness [0,1] 0.8779474648747709 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.01, Z:-0.89 [[ 0.99968067 -0.02049218 -0.01478634 8.72456169] [ 0.02032414 0.99972814 -0.0114272 -0.01024685] [ 0.01501649 0.01112303 0.99982538 -0.89172157] [ 0. 0. 0. 1. ]] SLAMing on 61.257719421 meters Centerline goodness [0,1] 0.8536709999182406 Centerline is valid? [False, False] Translation: X:8.73, Y:-0.01, Z:-0.89 [[ 9.99728988e-01 -1.78725559e-02 -1.49171522e-02 8.72503603e+00] [ 1.77458132e-02 9.99805664e-01 -8.58600555e-03 -8.26595080e-03] [ 1.50677071e-02 8.31896165e-03 9.99851869e-01 -8.92109944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.287719421 meters Centerline goodness [0,1] 0.8668733175626071 Centerline is valid? [False, False] Translation: X:8.72, Y:-0.00, Z:-0.89 [[ 9.99759004e-01 -1.59875464e-02 -1.50443739e-02 8.72475958e+00] [ 1.58708461e-02 9.99843276e-01 -7.84475503e-03 -2.92236353e-04] [ 1.51674345e-02 7.60409753e-03 9.99856053e-01 -8.91530782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.317719421 meters Centerline goodness [0,1] 0.8861012116892374 Centerline is valid? [False, False] Translation: X:8.72, Y:0.01, Z:-0.89 [[ 9.99795907e-01 -1.34288746e-02 -1.50933355e-02 8.72390556e+00] [ 1.33320615e-02 9.99890018e-01 -6.49671660e-03 5.75924928e-03] [ 1.51789191e-02 6.29416539e-03 9.99864983e-01 -8.90396160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.347719421 meters Centerline goodness [0,1] 0.8906913866357667 Centerline is valid? [False, False] Translation: X:8.72, Y:0.01, Z:-0.89 [[ 9.99833306e-01 -1.02418345e-02 -1.51150460e-02 8.72390191e+00] [ 1.01869231e-02 9.99941246e-01 -3.70543207e-03 8.57399045e-03] [ 1.51521083e-02 3.55083859e-03 9.99878895e-01 -8.90390335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.377719420999995 meters Centerline goodness [0,1] 0.9290771484375 Centerline is valid? [False, False] Translation: X:8.72, Y:0.02, Z:-0.89 [[ 9.99887649e-01 -1.55083982e-03 -1.49092181e-02 8.72353967e+00] [ 1.60150138e-03 9.99992983e-01 3.38666435e-03 1.92189762e-02] [ 1.49038613e-02 -3.41016099e-03 9.99883116e-01 -8.90425652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.407719420999996 meters Centerline goodness [0,1] 0.9419491266952685 Centerline is valid? [False, False] Translation: X:8.72, Y:0.03, Z:-0.89 [[ 9.99874402e-01 5.17691279e-03 -1.49793273e-02 8.72387795e+00] [-5.04314942e-03 9.99947196e-01 8.95390097e-03 2.54092208e-02] [ 1.50248899e-02 -8.87723339e-03 9.99847712e-01 -8.90598482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.437719421 meters Centerline goodness [0,1] 0.9546980207083139 Centerline is valid? [False, True] Translation: X:8.72, Y:0.04, Z:-0.89 [[ 9.99746714e-01 1.68139172e-02 -1.49599631e-02 8.72406469e+00] [-1.67412550e-02 9.99847507e-01 4.96916741e-03 4.28104583e-02] [ 1.50412329e-02 -4.71746024e-03 9.99875746e-01 -8.91746788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.467719421 meters Centerline goodness [0,1] 0.958502024291498 Centerline is valid? [True, True] Translation: X:8.75, Y:0.06, Z:-0.89 [[ 9.99609309e-01 2.37032890e-02 -1.48115736e-02 8.75365911e+00] [-2.36981914e-02 9.99719023e-01 5.19605819e-04 5.73195184e-02] [ 1.48197282e-02 -1.68395309e-04 9.99890168e-01 -8.91400012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.497719421 meters Centerline goodness [0,1] 0.9599100103366505 Centerline is valid? [True, True] Translation: X:8.78, Y:0.08, Z:-0.89 [[ 9.99248504e-01 3.53616507e-02 -1.58739166e-02 8.78364009e+00] [-3.53572850e-02 9.99374581e-01 5.55670858e-04 7.88978805e-02] [ 1.58836382e-02 6.00531988e-06 9.99873847e-01 -8.94252641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.527719421 meters Centerline goodness [0,1] 0.9624217969880378 Centerline is valid? [True, True] Translation: X:8.81, Y:0.09, Z:-0.89 [[ 9.99080170e-01 3.98010568e-02 -1.59590129e-02 8.81241654e+00] [-3.97972325e-02 9.99207621e-01 5.57267531e-04 8.69786328e-02] [ 1.59685471e-02 7.83696070e-05 9.99872492e-01 -8.93677776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.557719421 meters Centerline goodness [0,1] 0.9656882673388081 Centerline is valid? [True, True] Translation: X:8.84, Y:0.10, Z:-0.89 [[ 9.98841274e-01 4.58889891e-02 -1.45020582e-02 8.84125585e+00] [-4.58865133e-02 9.98946532e-01 5.03591768e-04 9.66149560e-02] [ 1.45098901e-02 1.62440643e-04 9.99894713e-01 -8.93414981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.587719420999996 meters Centerline goodness [0,1] 0.9562375269824461 Centerline is valid? [True, True] Translation: X:8.87, Y:0.10, Z:-0.90 [[ 9.98755388e-01 4.68253622e-02 -1.71773492e-02 8.86994612e+00] [-4.68220289e-02 9.98903069e-01 5.96393682e-04 1.01142061e-01] [ 1.71864332e-02 2.08626939e-04 9.99852281e-01 -8.99930670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.617719421 meters Centerline goodness [0,1] 0.9591154590848874 Centerline is valid? [True, True] Translation: X:8.90, Y:0.10, Z:-0.90 [[ 9.98707512e-01 4.69435247e-02 -1.94836327e-02 8.89891740e+00] [-4.69392876e-02 9.98897516e-01 6.74981710e-04 1.00569388e-01] [ 1.94938384e-02 2.40438537e-04 9.99809948e-01 -8.98415105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.647719421 meters Centerline goodness [0,1] 0.9566979652524594 Centerline is valid? [True, True] Translation: X:8.93, Y:0.10, Z:-0.90 [[ 9.98679172e-01 4.75248875e-02 -1.95268071e-02 8.92805738e+00] [-4.75207746e-02 9.98870022e-01 6.74844508e-04 1.01054369e-01] [ 1.95368142e-02 2.53975845e-04 9.99809106e-01 -9.00146302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.677719421 meters Centerline goodness [0,1] 0.9566198901769372 Centerline is valid? [True, True] Translation: X:8.96, Y:0.10, Z:-0.90 [[ 9.98536836e-01 5.09874610e-02 -1.80129200e-02 8.95607303e+00] [-5.09845678e-02 9.98699249e-01 6.20106178e-04 1.03267338e-01] [ 1.80211074e-02 2.99182083e-04 9.99837562e-01 -9.01005978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.707719421 meters Centerline goodness [0,1] 0.9589415872108454 Centerline is valid? [True, True] Translation: X:8.98, Y:0.10, Z:-0.90 [[ 9.98490633e-01 5.18788582e-02 -1.80288811e-02 8.98450744e+00] [-5.18761261e-02 9.98653335e-01 6.19492166e-04 1.01028308e-01] [ 1.80367408e-02 3.16711384e-04 9.99837275e-01 -8.99624681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.737719421 meters Centerline goodness [0,1] 0.9581560139276333 Centerline is valid? [True, True] Translation: X:9.01, Y:0.10, Z:-0.90 [[ 9.98554092e-01 5.14421162e-02 -1.56023726e-02 9.01220151e+00] [-5.14400526e-02 9.98675941e-01 5.33816358e-04 9.66702464e-02] [ 1.56091748e-02 2.69542357e-04 9.99878133e-01 -9.00844660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.767719420999995 meters Centerline goodness [0,1] 0.96063615867406 Centerline is valid? [True, True] Translation: X:9.04, Y:0.09, Z:-0.90 [[ 9.98702420e-01 4.85443181e-02 -1.53924092e-02 9.04013877e+00] [-4.85419883e-02 9.98821005e-01 5.25153565e-04 8.87676046e-02] [ 1.53997549e-02 2.22706013e-04 9.99881392e-01 -9.01402480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.797719421 meters Centerline goodness [0,1] 0.9576388605892661 Centerline is valid? [True, True] Translation: X:9.07, Y:0.08, Z:-0.90 [[ 9.98788286e-01 4.59520007e-02 -1.76174330e-02 9.06888230e+00] [-4.59485598e-02 9.98943627e-01 6.00255810e-04 8.27672486e-02] [ 1.76264054e-02 2.09967202e-04 9.99844621e-01 -9.02443073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.827719421 meters Centerline goodness [0,1] 0.9501753241458044 Centerline is valid? [True, True] Translation: X:9.10, Y:0.07, Z:-0.91 [[ 9.99173367e-01 3.49926491e-02 -2.06904899e-02 9.09559135e+00] [-3.49856164e-02 9.99387569e-01 7.01887859e-04 6.79887825e-02] [ 2.07023793e-02 2.25618877e-05 9.99785683e-01 -9.07054624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.857719421 meters Centerline goodness [0,1] 0.9463181734712616 Centerline is valid? [True, False] Translation: X:9.10, Y:0.07, Z:-0.91 [[ 9.99313260e-01 3.04190163e-02 -2.11587493e-02 9.09657768e+00] [-3.04901299e-02 9.99530425e-01 -3.04643607e-03 6.62303624e-02] [ 2.10561441e-02 3.68947697e-03 9.99771487e-01 -9.07624566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.887719421 meters Centerline goodness [0,1] 0.940875137760725 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.91 [[ 9.99669322e-01 1.59479911e-02 -2.01719679e-02 9.09850996e+00] [-1.59470972e-02 9.99872816e-01 2.05181604e-04 6.07591134e-02] [ 2.01726746e-02 1.16570579e-04 9.99796504e-01 -9.08172250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.917719421 meters Centerline goodness [0,1] 0.9410984616640143 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.91 [[ 9.99726361e-01 1.13410776e-02 -2.04592830e-02 9.09887714e+00] [-1.14158625e-02 9.99928563e-01 -3.54221917e-03 5.85249656e-02] [ 2.04176489e-02 3.77481025e-03 9.99784412e-01 -9.08157771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.947719420999995 meters Centerline goodness [0,1] 0.9369563888945471 Centerline is valid? [False, False] Translation: X:9.10, Y:0.05, Z:-0.90 [[ 9.99850616e-01 2.33250345e-03 -1.71261468e-02 9.10216573e+00] [-2.33526142e-03 9.99997263e-01 -1.41041731e-04 5.37523682e-02] [ 1.71257709e-02 1.81014691e-04 9.99853327e-01 -9.04824550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.977719420999996 meters Centerline goodness [0,1] 0.9255353864980624 Centerline is valid? [False, False] Translation: X:9.10, Y:0.05, Z:-0.90 [[ 9.99852202e-01 1.89742629e-03 -1.70872303e-02 9.10166207e+00] [-1.90287108e-03 9.99998144e-01 -3.02393933e-04 5.30711932e-02] [ 1.70866248e-02 3.34864036e-04 9.99853957e-01 -9.04271764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.007719421 meters Centerline goodness [0,1] 0.9300988686168586 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.90 [[ 9.99851436e-01 2.30171717e-03 -1.70823633e-02 9.10210533e+00] [-2.31667687e-03 9.99996950e-01 -8.56002654e-04 5.59343484e-02] [ 1.70803409e-02 8.95449799e-04 9.99853719e-01 -9.04676911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.037719421 meters Centerline goodness [0,1] 0.9458346918813172 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.90 [[ 9.99850404e-01 2.77718776e-03 -1.70721044e-02 9.10216323e+00] [-2.79936002e-03 9.99995269e-01 -1.27498206e-03 5.86397646e-02] [ 1.70684828e-02 1.32258230e-03 9.99853448e-01 -9.04655010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.067719421 meters Centerline goodness [0,1] 0.94420373873599 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.90 [[ 9.99829550e-01 6.88172804e-03 -1.71322135e-02 9.10181209e+00] [-6.84646907e-03 9.99974324e-01 2.11585355e-03 6.08727207e-02] [ 1.71463343e-02 -1.99819774e-03 9.99850994e-01 -9.03983002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.097719421 meters Centerline goodness [0,1] 0.9446132512184677 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.90 [[ 9.99827297e-01 6.95784557e-03 -1.72326667e-02 9.10195873e+00] [-6.93257825e-03 9.99974806e-01 1.52555000e-03 6.30951030e-02] [ 1.72428471e-02 -1.40581973e-03 9.99850343e-01 -9.03865568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.127719420999995 meters Centerline goodness [0,1] 0.9446132512184677 Centerline is valid? [False, False] Translation: X:9.10, Y:0.06, Z:-0.90 [[ 9.99827297e-01 6.95784557e-03 -1.72326667e-02 9.10195873e+00] [-6.93257825e-03 9.99974806e-01 1.52555000e-03 6.30951030e-02] [ 1.72428471e-02 -1.40581973e-03 9.99850343e-01 -9.03865568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.157719420999996 meters Centerline goodness [0,1] 0.9550552615988069 Centerline is valid? [False, True] Translation: X:9.10, Y:0.07, Z:-0.90 [[ 9.99798423e-01 1.03304247e-02 -1.72161463e-02 9.10164742e+00] [-1.02625684e-02 9.99939237e-01 4.02512941e-03 6.72571932e-02] [ 1.72566815e-02 -3.84763615e-03 9.99843689e-01 -9.03360914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.187719421 meters Centerline goodness [0,1] 0.9576165950776622 Centerline is valid? [True, True] Translation: X:9.13, Y:0.08, Z:-0.90 [[ 9.99752960e-01 1.46617365e-02 -1.67048583e-02 9.13073519e+00] [-1.46552894e-02 9.99892476e-01 5.08299714e-04 7.52044772e-02] [ 1.67105147e-02 -2.63359611e-04 9.99860335e-01 -9.03171701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.217719421 meters Centerline goodness [0,1] 0.9569326450144303 Centerline is valid? [True, True] Translation: X:9.16, Y:0.08, Z:-0.90 [[ 9.99712593e-01 1.75050992e-02 -1.63799598e-02 9.15957536e+00] [-1.74993049e-02 9.99846752e-01 4.97015480e-04 7.93275936e-02] [ 1.63861499e-02 -2.10234724e-04 9.99865716e-01 -9.03907881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.247719421 meters Centerline goodness [0,1] 0.9569999593380231 Centerline is valid? [True, True] Translation: X:9.19, Y:0.09, Z:-0.90 [[ 9.99590845e-01 2.44827153e-02 -1.47898421e-02 9.18844923e+00] [-2.44787753e-02 9.99700250e-01 4.47399329e-04 9.29727513e-02] [ 1.47963624e-02 -8.51790514e-05 9.99890524e-01 -9.04736686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.277719421 meters Centerline goodness [0,1] 0.9651420552764841 Centerline is valid? [True, True] Translation: X:9.22, Y:0.10, Z:-0.90 [[ 9.99508912e-01 2.87237538e-02 -1.25251915e-02 9.21758376e+00] [-2.87212787e-02 9.99587388e-01 3.77476272e-04 1.00647557e-01] [ 1.25308660e-02 -1.75513819e-05 9.99921485e-01 -9.00268171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.307719421 meters Centerline goodness [0,1] 0.9632379942062099 Centerline is valid? [True, True] Translation: X:9.25, Y:0.11, Z:-0.91 [[ 9.99274367e-01 3.62559791e-02 -1.16723639e-02 9.24553321e+00] [-3.62543640e-02 9.99342533e-01 3.49999959e-04 1.11576356e-01] [ 1.16773793e-02 7.34281414e-05 9.99931814e-01 -9.05287385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.337719420999996 meters Centerline goodness [0,1] 0.9636315693393643 Centerline is valid? [True, True] Translation: X:9.27, Y:0.12, Z:-0.91 [[ 9.99156525e-01 3.93184927e-02 -1.18446200e-02 9.27304404e+00] [-3.93170484e-02 9.99226723e-01 3.54864771e-04 1.17807546e-01] [ 1.18494136e-02 1.11130047e-04 9.99929787e-01 -9.06928650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.367719421 meters Centerline goodness [0,1] 0.9625478069818537 Centerline is valid? [True, True] Translation: X:9.30, Y:0.12, Z:-0.91 [[ 9.99097163e-01 4.06890246e-02 -1.22172856e-02 9.30205278e+00] [-4.06876023e-02 9.99171850e-01 3.65053282e-04 1.20121594e-01] [ 1.22220215e-02 1.32368360e-04 9.99925300e-01 -9.07844853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.397719421 meters Centerline goodness [0,1] 0.9669661086157615 Centerline is valid? [True, True] Translation: X:9.33, Y:0.12, Z:-0.90 [[ 9.99016102e-01 4.23421285e-02 -1.31898818e-02 9.33081133e+00] [-4.23406305e-02 9.99103156e-01 3.92926472e-04 1.19879724e-01] [ 1.31946899e-02 1.65928039e-04 9.99912933e-01 -9.04289862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.427719421 meters Centerline goodness [0,1] 0.9631369345450832 Centerline is valid? [True, True] Translation: X:9.36, Y:0.12, Z:-0.91 [[ 9.98765840e-01 4.72181972e-02 -1.54025363e-02 9.35911517e+00] [-4.72167500e-02 9.98884562e-01 4.57794587e-04 1.23100791e-01] [ 1.54069720e-02 2.70028112e-04 9.99881269e-01 -9.07453195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.457719421 meters Centerline goodness [0,1] 0.9593616588737548 Centerline is valid? [True, True] Translation: X:9.39, Y:0.13, Z:-0.91 [[ 9.98481260e-01 5.35105567e-02 -1.31070140e-02 9.38724844e+00] [-5.35100979e-02 9.98567234e-01 3.85951504e-04 1.25487697e-01] [ 1.31088872e-02 3.15992258e-04 9.99914025e-01 -9.07603742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.487719421 meters Centerline goodness [0,1] 0.9571045031119066 Centerline is valid? [True, True] Translation: X:9.42, Y:0.12, Z:-0.91 [[ 9.98302659e-01 5.65156890e-02 -1.40633636e-02 9.41679085e+00] [-5.65154346e-02 9.98401639e-01 4.15822906e-04 1.23518584e-01] [ 1.40643858e-02 3.79679993e-04 9.99901020e-01 -9.07738257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.517719420999995 meters Centerline goodness [0,1] 0.9463936031331592 Centerline is valid? [True, False] Translation: X:9.42, Y:0.12, Z:-0.91 [[ 9.98192378e-01 5.83936664e-02 -1.42181990e-02 9.41787982e+00] [-5.83585717e-02 9.98291557e-01 2.87115732e-03 1.17838447e-01] [ 1.43615654e-02 -2.03621357e-03 9.99894794e-01 -9.08731032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.547719421 meters Centerline goodness [0,1] 0.9420160208189322 Centerline is valid? [False, False] Translation: X:9.42, Y:0.12, Z:-0.91 [[ 9.98150201e-01 5.90645716e-02 -1.44067119e-02 9.41844222e+00] [-5.90158481e-02 9.98249873e-01 3.78437993e-03 1.16232792e-01] [ 1.46050211e-02 -2.92715527e-03 9.99889056e-01 -9.08963680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.577719421 meters Centerline goodness [0,1] 0.9309147047472018 Centerline is valid? [False, False] Translation: X:9.42, Y:0.11, Z:-0.91 [[ 9.98242723e-01 5.74220992e-02 -1.46345010e-02 9.41895010e+00] [-5.73954671e-02 9.98349023e-01 2.23371012e-03 1.12653217e-01] [ 1.47386041e-02 -1.38983085e-03 9.99890415e-01 -9.09415912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.607719421 meters Centerline goodness [0,1] 0.9270137143090726 Centerline is valid? [False, False] Translation: X:9.42, Y:0.10, Z:-0.91 [[ 9.98492958e-01 5.29491105e-02 -1.44293104e-02 9.41848941e+00] [-5.29751148e-02 9.98594815e-01 -1.42569624e-03 1.04109439e-01] [ 1.43335452e-02 2.18794203e-03 9.99894876e-01 -9.10277400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.637719421 meters Centerline goodness [0,1] 0.9358526775688533 Centerline is valid? [False, False] Translation: X:9.42, Y:0.10, Z:-0.91 [[ 9.98658989e-01 4.96044377e-02 -1.48196920e-02 9.41916280e+00] [-4.96681145e-02 9.98757928e-01 -3.95983727e-03 9.99651032e-02] [ 1.46048593e-02 4.69059324e-03 9.99882341e-01 -9.10815639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.667719421 meters Centerline goodness [0,1] 0.9512562302919336 Centerline is valid? [False, True] Translation: X:9.42, Y:0.09, Z:-0.91 [[ 0.99909458 0.03969926 -0.01529673 9.41765166] [-0.03988671 0.99913033 -0.01215027 0.09185094] [ 0.01480107 0.0127494 0.99980917 -0.90924186] [ 0. 0. 0. 1. ]] SLAMing on 62.697719420999995 meters Centerline goodness [0,1] 0.9557460988296489 Centerline is valid? [True, True] Translation: X:9.45, Y:0.08, Z:-0.91 [[ 9.99317721e-01 3.41282849e-02 -1.41192127e-02 9.44738154e+00] [-3.41288439e-02 9.99417421e-01 2.01422781e-04 7.80808520e-02] [ 1.41178613e-02 2.80587051e-04 9.99900299e-01 -9.09482692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.727719420999996 meters Centerline goodness [0,1] 0.9575371981461908 Centerline is valid? [True, True] Translation: X:9.48, Y:0.06, Z:-0.91 [[ 9.99606222e-01 2.45659252e-02 -1.35616056e-02 9.47730778e+00] [-2.45655653e-02 9.99698202e-01 1.93145161e-04 6.26002863e-02] [ 1.35622575e-02 1.40079403e-04 9.99908019e-01 -9.07253941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.757719421 meters Centerline goodness [0,1] 0.9549114658337221 Centerline is valid? [True, True] Translation: X:9.51, Y:0.06, Z:-0.91 [[ 9.99703373e-01 2.04813511e-02 -1.31787703e-02 9.50513034e+00] [-2.04807009e-02 9.99790231e-01 1.84310214e-04 5.69576098e-02] [ 1.31797807e-02 8.56549093e-05 9.99913139e-01 -9.08835703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.787719421 meters Centerline goodness [0,1] 0.9559698612888158 Centerline is valid? [True, True] Translation: X:9.53, Y:0.04, Z:-0.91 [[ 9.99806760e-01 1.45439969e-02 -1.32255574e-02 9.53348381e+00] [-1.45428310e-02 9.99894230e-01 1.84330795e-04 4.49263150e-02] [ 1.32268394e-02 8.04187029e-06 9.99912522e-01 -9.08575131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.817719421 meters Centerline goodness [0,1] 0.953951108584423 Centerline is valid? [True, True] Translation: X:9.56, Y:0.04, Z:-0.91 [[ 9.99838820e-01 1.23968605e-02 -1.29866292e-02 9.56125921e+00] [-1.23955794e-02 9.99923156e-01 1.79136418e-04 4.04001342e-02] [ 1.29878520e-02 -1.81307505e-05 9.99915654e-01 -9.09738628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.847719421 meters Centerline goodness [0,1] 0.9543590368294961 Centerline is valid? [True, True] Translation: X:9.59, Y:0.04, Z:-0.91 [[ 9.99863277e-01 1.04029490e-02 -1.28532582e-02 9.59042733e+00] [-1.04015375e-02 9.99945887e-01 1.76664238e-04 3.60418126e-02] [ 1.28544005e-02 -4.29464372e-05 9.99917378e-01 -9.09819766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.877719420999995 meters Centerline goodness [0,1] 0.9524778256977785 Centerline is valid? [True, True] Translation: X:9.62, Y:0.04, Z:-0.91 [[ 9.99855837e-01 9.86023795e-03 -1.38231839e-02 9.61934889e+00] [-9.85856718e-03 9.99951385e-01 1.89005001e-04 3.57657464e-02] [ 1.38243756e-02 -5.27009661e-05 9.99904437e-01 -9.12706610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.907719420999996 meters Centerline goodness [0,1] 0.9508230034545824 Centerline is valid? [True, True] Translation: X:9.65, Y:0.04, Z:-0.91 [[ 9.99840398e-01 1.07583332e-02 -1.42631007e-02 9.64855975e+00] [-1.07566617e-02 9.99942127e-01 1.93904363e-04 3.55808772e-02] [ 1.42643613e-02 -4.04500676e-05 9.99898258e-01 -9.14215901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.937719421 meters Centerline goodness [0,1] 0.9546953901286854 Centerline is valid? [True, True] Translation: X:9.68, Y:0.04, Z:-0.91 [[ 9.99811369e-01 1.23950672e-02 -1.49528838e-02 9.67707258e+00] [-1.23934327e-02 9.99923178e-01 2.01972672e-04 3.58613549e-02] [ 1.49542386e-02 -1.66170147e-05 9.99888179e-01 -9.11691376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.967719421 meters Centerline goodness [0,1] 0.9562469517151683 Centerline is valid? [True, True] Translation: X:9.71, Y:0.04, Z:-0.91 [[ 9.99732529e-01 1.81368985e-02 -1.43500587e-02 9.70522799e+00] [-1.81360235e-02 9.99835511e-01 1.91115584e-04 4.00160312e-02] [ 1.43511645e-02 6.91885357e-05 9.99897014e-01 -9.10945441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.997719421 meters Centerline goodness [0,1] 0.9558563861094762 Centerline is valid? [True, True] Translation: X:9.73, Y:0.04, Z:-0.91 [[ 9.99690857e-01 2.03714055e-02 -1.42546783e-02 9.73315211e+00] [-2.03707852e-02 9.99792476e-01 1.88730201e-04 4.24050861e-02] [ 1.42555648e-02 1.01707133e-04 9.99898379e-01 -9.12862815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.027719421 meters Centerline goodness [0,1] 0.9544113757959192 Centerline is valid? [True, True] Translation: X:9.76, Y:0.05, Z:-0.91 [[ 9.99570281e-01 2.61552449e-02 -1.32346341e-02 9.76076994e+00] [-2.61552431e-02 9.99657878e-01 1.73249959e-04 4.74848252e-02] [ 1.32346376e-02 1.72979561e-04 9.99912403e-01 -9.14937631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.057719421 meters Centerline goodness [0,1] 0.9518480011416224 Centerline is valid? [True, True] Translation: X:9.79, Y:0.05, Z:-0.92 [[ 9.99487956e-01 2.87568372e-02 -1.40310708e-02 9.78940444e+00] [-2.87570930e-02 9.99586412e-01 1.83568473e-04 4.93861819e-02] [ 1.40305466e-02 2.20018331e-04 9.99901543e-01 -9.16999424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.087719420999996 meters Centerline goodness [0,1] 0.9532696907132198 Centerline is valid? [True, True] Translation: X:9.82, Y:0.05, Z:-0.92 [[ 9.99311961e-01 3.31178102e-02 -1.66977526e-02 9.81928654e+00] [-3.31187732e-02 9.99451399e-01 2.18922374e-04 4.98409707e-02] [ 1.66958425e-02 3.34237336e-04 9.99860559e-01 -9.16948146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.117719421 meters Centerline goodness [0,1] 0.947176647803607 Centerline is valid? [True, False] Translation: X:9.82, Y:0.05, Z:-0.92 [[ 9.99229642e-01 3.54458087e-02 -1.68439137e-02 9.82122765e+00] [-3.54136249e-02 9.99370308e-01 2.20524525e-03 4.84661950e-02] [ 1.69114739e-02 -1.60704238e-03 9.99855699e-01 -9.18792279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.147719421 meters Centerline goodness [0,1] 0.9428222854819032 Centerline is valid? [False, False] Translation: X:9.82, Y:0.05, Z:-0.92 [[ 9.99210050e-01 3.59793689e-02 -1.68748660e-02 9.82087654e+00] [-3.59407028e-02 9.99350570e-01 2.58913805e-03 4.77401391e-02] [ 1.69570625e-02 -1.98059821e-03 9.99854257e-01 -9.18270574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.177719421 meters Centerline goodness [0,1] 0.9480612099354077 Centerline is valid? [False, False] Translation: X:9.82, Y:0.05, Z:-0.92 [[ 9.99151024e-01 3.77090302e-02 -1.65909676e-02 9.81912446e+00] [-3.76464189e-02 9.99282833e-01 4.07019909e-03 4.58526416e-02] [ 1.67325524e-02 -3.44215307e-03 9.99854076e-01 -9.16718712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.207719421 meters Centerline goodness [0,1] 0.9223223428220356 Centerline is valid? [False, False] Translation: X:9.82, Y:0.05, Z:-0.92 [[ 9.99247178e-01 3.50202584e-02 -1.66930960e-02 9.81913867e+00] [-3.50130706e-02 9.99386593e-01 7.22739841e-04 4.63405825e-02] [ 1.67081669e-02 -1.37719199e-04 9.99860399e-01 -9.16730736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.237719421 meters Centerline goodness [0,1] 0.9194878915342835 Centerline is valid? [False, False] Translation: X:9.82, Y:0.04, Z:-0.92 [[ 9.99355680e-01 3.12713923e-02 -1.76160461e-02 9.82380718e+00] [-3.13192639e-02 9.99506433e-01 -2.44813352e-03 4.27255603e-02] [ 1.75307949e-02 2.99827774e-03 9.99841828e-01 -9.20597122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.267719420999995 meters Centerline goodness [0,1] 0.9238021543912521 Centerline is valid? [False, False] Translation: X:9.83, Y:0.04, Z:-0.92 [[ 9.99431830e-01 2.83866952e-02 -1.81717677e-02 9.82626723e+00] [-2.84789001e-02 9.99582698e-01 -4.83551520e-03 4.04208601e-02] [ 1.80269202e-02 5.35027976e-03 9.99823187e-01 -9.22498404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.297719421 meters Centerline goodness [0,1] 0.947478948763431 Centerline is valid? [False, False] Translation: X:9.83, Y:0.04, Z:-0.92 [[ 9.99554788e-01 2.34451585e-02 -1.84540287e-02 9.82613815e+00] [-2.35960927e-02 9.99689531e-01 -8.00410163e-03 3.65252704e-02] [ 1.82606418e-02 8.43598108e-03 9.99797671e-01 -9.21924308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.327719421 meters Centerline goodness [0,1] 0.9543418051482567 Centerline is valid? [False, True] Translation: X:9.82, Y:0.03, Z:-0.92 [[ 0.99963021 0.01986285 -0.01857157 9.824935 ] [-0.0200691 0.99973824 -0.01098603 0.03425264] [ 0.01834849 0.01135468 0.99976717 -0.92044358] [ 0. 0. 0. 1. ]] SLAMing on 63.357719421 meters Centerline goodness [0,1] 0.962994556828337 Centerline is valid? [True, True] Translation: X:9.85, Y:0.01, Z:-0.91 [[ 9.99852065e-01 1.29448313e-02 -1.13260462e-02 9.85452129e+00] [-1.29452889e-02 9.99916206e-01 3.29089615e-05 1.45393580e-02] [ 1.13255232e-02 1.13714848e-04 9.99935858e-01 -9.14748981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.387719421 meters Centerline goodness [0,1] 0.9691641596877795 Centerline is valid? [True, True] Translation: X:9.88, Y:0.01, Z:-0.91 [[ 9.99916491e-01 9.49494150e-03 -8.76679130e-03 9.88342154e+00] [-9.49510364e-03 9.99954920e-01 2.31279936e-05 6.77031942e-03] [ 8.76661569e-03 6.01155297e-05 9.99961571e-01 -9.10884580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.417719421 meters Centerline goodness [0,1] 0.9612151630146488 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.01, Z:-0.92 [[ 9.99940807e-01 8.98976179e-04 -1.08431846e-02 9.91194890e+00] [-8.98715836e-04 9.99999596e-01 2.88823928e-05 -6.75989010e-03] [ 1.08432062e-02 -1.91357414e-05 9.99941211e-01 -9.15813948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.447719420999995 meters Centerline goodness [0,1] 0.9561424961278226 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.01, Z:-0.92 [[ 9.99898486e-01 -4.73569693e-03 -1.34384183e-02 9.94093662e+00] [ 4.73659900e-03 9.99988782e-01 3.52992122e-05 -1.48270604e-02] [ 1.34381003e-02 -9.89480274e-05 9.99909700e-01 -9.19124422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.477719420999996 meters Centerline goodness [0,1] 0.9514329423763386 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99755039e-01 -1.44922488e-02 -1.67283289e-02 9.97123545e+00] [ 1.44950425e-02 9.99894940e-01 4.57612436e-05 -2.87220817e-02] [ 1.67259083e-02 -2.88227872e-04 9.99860071e-01 -9.23323098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.507719421 meters Centerline goodness [0,1] 0.9454434499593165 Centerline is valid? [True, False] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99731138e-01 -1.56969488e-02 -1.70662541e-02 9.97189561e+00] [ 1.57047289e-02 9.99876621e-01 3.21942363e-04 -3.14417155e-02] [ 1.70590950e-02 -5.89876698e-04 9.99854309e-01 -9.23182094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.537719421 meters Centerline goodness [0,1] 0.9455521004816779 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99724496e-01 -1.59255992e-02 -1.72426116e-02 9.97166121e+00] [ 1.59318673e-02 9.99873054e-01 2.26216891e-04 -3.12214446e-02] [ 1.72368201e-02 -5.00861568e-04 9.99851310e-01 -9.22440965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.567719421 meters Centerline goodness [0,1] 0.9458607149396757 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99722836e-01 -1.58760876e-02 -1.73839057e-02 9.97092667e+00] [ 1.58846993e-02 9.99873766e-01 3.57407141e-04 -3.16121767e-02] [ 1.73760370e-02 -6.33446196e-04 9.99848825e-01 -9.21178065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.597719421 meters Centerline goodness [0,1] 0.9493418103272608 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99721159e-01 -1.59681730e-02 -1.73960254e-02 9.96981562e+00] [ 1.59777621e-02 9.99872262e-01 4.12369472e-04 -3.26983997e-02] [ 1.73872185e-02 -6.90204042e-04 9.99848593e-01 -9.19704775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.627719420999995 meters Centerline goodness [0,1] 0.9459382557974108 Centerline is valid? [False, False] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99716229e-01 -1.61750410e-02 -1.74879868e-02 9.97070248e+00] [ 1.61779815e-02 9.99869128e-01 2.66762070e-05 -3.16575860e-02] [ 1.74852666e-02 -3.09588963e-04 9.99847073e-01 -9.20590004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.657719420999996 meters Centerline goodness [0,1] 0.950005086987486 Centerline is valid? [False, True] Translation: X:9.97, Y:-0.03, Z:-0.92 [[ 9.99771329e-01 -1.27005169e-02 -1.72042426e-02 9.97137699e+00] [ 1.27428675e-02 9.99916035e-01 2.35425092e-03 -2.62650301e-02] [ 1.71728979e-02 -2.57294395e-03 9.99849224e-01 -9.22159307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.687719421 meters Centerline goodness [0,1] 0.9537423837955699 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.02, Z:-0.92 [[ 9.99826293e-01 -8.72355799e-03 -1.64706637e-02 1.00005931e+01] [ 8.72728424e-03 9.99961905e-01 1.54370827e-04 -1.77449832e-02] [ 1.64686896e-02 -2.98088175e-04 9.99864338e-01 -9.22028965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.717719421 meters Centerline goodness [0,1] 0.9641452930511133 Centerline is valid? [True, True] Translation: X:10.03, Y:0.00, Z:-0.92 [[ 9.99913562e-01 1.56813879e-03 -1.30540936e-02 1.00312973e+01] [-1.56667734e-03 9.99998765e-01 1.22178349e-04 2.39351137e-03] [ 1.30542690e-02 -1.01716236e-04 9.99914784e-01 -9.16639606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.747719421 meters Centerline goodness [0,1] 0.97076368670725 Centerline is valid? [True, True] Translation: X:10.06, Y:0.02, Z:-0.91 [[ 9.99842842e-01 1.36164397e-02 -1.13526668e-02 1.00607895e+01] [-1.36162042e-02 9.99907290e-01 9.80454440e-05 2.27242721e-02] [ 1.13529494e-02 5.65501943e-05 9.99935552e-01 -9.12805940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.777719421 meters Centerline goodness [0,1] 0.968811709859327 Centerline is valid? [True, True] Translation: X:10.09, Y:0.03, Z:-0.92 [[ 9.99721066e-01 2.00239422e-02 -1.25232740e-02 1.00884257e+01] [-2.00241252e-02 9.99799491e-01 1.10780798e-04 3.21379664e-02] [ 1.25229812e-02 1.40017710e-04 9.99921575e-01 -9.16186586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.807719421 meters Centerline goodness [0,1] 0.944042440749624 Centerline is valid? [True, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99538325e-01 2.54484822e-02 -1.65985516e-02 1.00967985e+01] [-2.54631646e-02 9.99675534e-01 -6.73779679e-04 3.88018391e-02] [ 1.65760193e-02 1.09612026e-03 9.99862008e-01 -9.23363725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.837719420999996 meters Centerline goodness [0,1] 0.9468104625797639 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99522615e-01 2.58093295e-02 -1.69829713e-02 1.00985090e+01] [-2.58336383e-02 9.99665519e-01 -1.21350500e-03 4.09322698e-02] [ 1.69459711e-02 1.65165763e-03 9.99855043e-01 -9.24582275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.867719421 meters Centerline goodness [0,1] 0.9379204892966361 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99505944e-01 2.63621013e-02 -1.71145596e-02 1.00988113e+01] [-2.63923747e-02 9.99650466e-01 -1.54538508e-03 4.31395996e-02] [ 1.70678379e-02 1.99631544e-03 9.99852341e-01 -9.24562646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.897719421 meters Centerline goodness [0,1] 0.9420723637326166 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99487564e-01 2.69864576e-02 -1.72145441e-02 1.01008627e+01] [-2.68330197e-02 9.99598665e-01 9.08287043e-03 3.98612673e-02] [ 1.74527498e-02 -8.61629784e-03 9.99810563e-01 -9.17520378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.927719421 meters Centerline goodness [0,1] 0.9452702977133342 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99568202e-01 2.36884496e-02 -1.73858144e-02 1.01003010e+01] [-2.35991877e-02 9.99707337e-01 5.32153628e-03 4.02782486e-02] [ 1.75067852e-02 -4.90894735e-03 9.99834694e-01 -9.16602645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.957719421 meters Centerline goodness [0,1] 0.9455509938620381 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99638778e-01 2.05807881e-02 -1.72842049e-02 1.00997694e+01] [-2.05553678e-02 9.99787359e-01 1.64710903e-03 4.06447600e-02] [ 1.73144284e-02 -1.29123087e-03 9.99849260e-01 -9.16317318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.987719421 meters Centerline goodness [0,1] 0.9387239933227475 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99624839e-01 2.12585005e-02 -1.72701218e-02 1.01009286e+01] [-2.12140075e-02 9.99771161e-01 2.75544364e-03 3.76684610e-02] [ 1.73247463e-02 -2.38804141e-03 9.99847064e-01 -9.17775195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.017719421 meters Centerline goodness [0,1] 0.9387239933227475 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99624839e-01 2.12585005e-02 -1.72701218e-02 1.01009286e+01] [-2.12140075e-02 9.99771161e-01 2.75544364e-03 3.76684610e-02] [ 1.73247463e-02 -2.38804141e-03 9.99847064e-01 -9.17775195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.047719421 meters Centerline goodness [0,1] 0.9353939443268762 Centerline is valid? [False, False] Translation: X:10.10, Y:0.04, Z:-0.92 [[ 9.99641381e-01 2.01404999e-02 -1.76484971e-02 1.01036274e+01] [-2.01138954e-02 9.99796277e-01 1.68369245e-03 3.66321288e-02] [ 1.76788121e-02 -1.32810862e-03 9.99842836e-01 -9.20133144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.077719421 meters Centerline goodness [0,1] 0.9388829917530824 Centerline is valid? [False, False] Translation: X:10.10, Y:0.03, Z:-0.92 [[ 9.99709191e-01 1.63428493e-02 -1.77326007e-02 1.01047959e+01] [-1.63717427e-02 9.99864871e-01 -1.48543983e-03 3.39531943e-02] [ 1.77059282e-02 1.77532142e-03 9.99841662e-01 -9.21604017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.107719421 meters Centerline goodness [0,1] 0.9414551813892956 Centerline is valid? [False, False] Translation: X:10.11, Y:0.03, Z:-0.92 [[ 9.99715930e-01 1.56401884e-02 -1.79845171e-02 1.01055927e+01] [-1.56669988e-02 9.99876353e-01 -1.35081836e-03 3.19253662e-02] [ 1.79611663e-02 1.63219804e-03 9.99837353e-01 -9.22047817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.137719421 meters Centerline goodness [0,1] 0.9520439292251373 Centerline is valid? [False, True] Translation: X:10.10, Y:0.03, Z:-0.92 [[ 9.99776713e-01 1.14690803e-02 -1.77478034e-02 1.01039188e+01] [-1.15436995e-02 9.99924932e-01 -4.10769889e-03 2.73441470e-02] [ 1.76993595e-02 4.31165700e-03 9.99834057e-01 -9.20566939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.167719421 meters Centerline goodness [0,1] 0.9501192490368346 Centerline is valid? [True, True] Translation: X:10.13, Y:0.01, Z:-0.92 [[ 9.99794633e-01 2.52993569e-03 -2.01070004e-02 1.01317403e+01] [-2.53392597e-03 9.99996775e-01 -1.72976997e-04 1.08819099e-02] [ 2.01064979e-02 2.23891123e-04 9.99797819e-01 -9.24385052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.197719421 meters Centerline goodness [0,1] 0.943444991656152 Centerline is valid? [True, False] Translation: X:10.13, Y:0.01, Z:-0.93 [[ 9.99788984e-01 -3.78123838e-04 -2.05388563e-02 1.01347553e+01] [ 3.30566308e-04 9.99997257e-01 -2.31883635e-03 8.45608852e-03] [ 2.05396767e-02 2.31155759e-03 9.99786366e-01 -9.26954374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.227719421 meters Centerline goodness [0,1] 0.935213849287169 Centerline is valid? [False, False] Translation: X:10.14, Y:0.01, Z:-0.93 [[ 9.99768228e-01 -4.27851066e-03 -2.10994026e-02 1.01378704e+01] [ 4.17815162e-03 9.99979760e-01 -4.79827908e-03 5.08687212e-03] [ 2.11195050e-02 4.70901047e-03 9.99765868e-01 -9.29427158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.257719421 meters Centerline goodness [0,1] 0.9410598598025791 Centerline is valid? [False, False] Translation: X:10.14, Y:0.00, Z:-0.93 [[ 9.99766074e-01 -4.53293416e-03 -2.11482714e-02 1.01375419e+01] [ 4.44568332e-03 9.99981420e-01 -4.17086453e-03 2.55492070e-03] [ 2.11667847e-02 4.07587034e-03 9.99767650e-01 -9.28829773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28771942099999 meters Centerline goodness [0,1] 0.9577720630255531 Centerline is valid? [False, True] Translation: X:10.13, Y:-0.00, Z:-0.93 [[ 9.99942715e-01 -4.86722716e-03 -9.53291452e-03 1.01328075e+01] [ 4.87452525e-03 9.99987844e-01 7.42482371e-04 -2.87388953e-03] [ 9.52918480e-03 -7.88908271e-04 9.99954285e-01 -9.28901576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31771942099999 meters Centerline goodness [0,1] 0.9563060211936215 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.00, Z:-0.93 [[ 9.99970231e-01 -3.49365869e-03 -6.87977656e-03 1.01607958e+01] [ 3.49362617e-03 9.99993897e-01 -1.67456165e-05 -2.68211821e-03] [ 6.87979308e-03 -7.29024939e-06 9.99976334e-01 -9.30099917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.347719421 meters Centerline goodness [0,1] 0.9537969265886764 Centerline is valid? [True, True] Translation: X:10.19, Y:0.00, Z:-0.93 [[ 9.99964027e-01 1.21290031e-03 -8.39484795e-03 1.01883182e+01] [-1.21309934e-03 9.99999264e-01 -1.86170913e-05 3.02384009e-03] [ 8.39481919e-03 2.88002061e-05 9.99964762e-01 -9.33412569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.377719421 meters Centerline goodness [0,1] 0.9496468582562104 Centerline is valid? [True, False] Translation: X:10.19, Y:0.00, Z:-0.94 [[ 9.99951356e-01 4.33647355e-03 -8.85895221e-03 1.01912792e+01] [-4.31085961e-03 9.99986479e-01 2.90835736e-03 3.88149770e-03] [ 8.87144445e-03 -2.87002619e-03 9.99956529e-01 -9.35877805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.407719421 meters Centerline goodness [0,1] 0.9461566647667128 Centerline is valid? [False, False] Translation: X:10.19, Y:0.01, Z:-0.94 [[ 9.99911696e-01 9.76618243e-03 -9.01231547e-03 1.01919512e+01] [-9.70249199e-03 9.99927837e-01 7.08391205e-03 5.74530665e-03] [ 9.08084789e-03 -6.99584460e-03 9.99934296e-01 -9.36406183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.437719421 meters Centerline goodness [0,1] 0.9486851716581446 Centerline is valid? [False, False] Translation: X:10.19, Y:0.01, Z:-0.94 [[ 9.99901788e-01 1.06417099e-02 -9.11966028e-03 1.01912144e+01] [-1.05754641e-02 9.99917564e-01 7.28175995e-03 6.20148910e-03] [ 9.19639887e-03 -7.18460015e-03 9.99931902e-01 -9.35235520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.467719421 meters Centerline goodness [0,1] 0.9514934483600553 Centerline is valid? [False, True] Translation: X:10.19, Y:0.00, Z:-0.93 [[ 9.99876925e-01 1.29043834e-02 -8.92249592e-03 1.01885002e+01] [-1.28190553e-02 9.99872177e-01 9.55520821e-03 2.86723631e-03] [ 9.04465949e-03 -9.43965424e-03 9.99914540e-01 -9.32313279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.497719421 meters Centerline goodness [0,1] 0.9511951988607467 Centerline is valid? [True, True] Translation: X:10.22, Y:0.01, Z:-0.93 [[ 9.99885571e-01 1.36388193e-02 -6.54432106e-03 1.02174645e+01] [-1.36396730e-02 9.99906972e-01 -8.58321648e-05 6.72539101e-03] [ 6.54254161e-03 1.75084743e-04 9.99978582e-01 -9.31972033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.527719421 meters Centerline goodness [0,1] 0.9556968453553799 Centerline is valid? [True, True] Translation: X:10.25, Y:0.01, Z:-0.93 [[ 9.99912534e-01 1.32257932e-02 4.20689931e-05 1.02480747e+01] [-1.32257932e-02 9.99912535e-01 -1.09008393e-07 6.44312625e-03] [-4.20667553e-05 -4.47396944e-07 9.99999999e-01 -9.26688029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.557719421 meters Centerline goodness [0,1] 0.9542223485925505 Centerline is valid? [True, True] Translation: X:10.28, Y:0.01, Z:-0.93 [[ 9.99906712e-01 1.35953130e-02 1.31713259e-03 1.02786132e+01] [-1.35953470e-02 9.99907579e-01 1.69054045e-05 5.10209527e-03] [-1.31678102e-03 -3.48107020e-05 9.99999132e-01 -9.26844615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.587719421 meters Centerline goodness [0,1] 0.951732698451458 Centerline is valid? [True, True] Translation: X:10.31, Y:0.00, Z:-0.93 [[ 9.99873788e-01 1.58844305e-02 3.05940482e-04 1.03094657e+01] [-1.58844326e-02 9.99873834e-01 4.56829724e-06 4.38307598e-03] [-3.05829318e-04 -9.42741163e-06 9.99999953e-01 -9.28855212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.617719421 meters Centerline goodness [0,1] 0.9396375002537092 Centerline is valid? [True, False] Translation: X:10.31, Y:0.00, Z:-0.93 [[ 9.99842127e-01 1.77671859e-02 2.19708113e-04 1.03109352e+01] [-1.77675434e-02 9.99840615e-01 1.74926821e-03 9.93756856e-04] [-1.88593522e-04 -1.75289573e-03 9.99998446e-01 -9.30439459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.647719421 meters Centerline goodness [0,1] 0.9316868744405566 Centerline is valid? [False, False] Translation: X:10.31, Y:0.00, Z:-0.93 [[ 9.99833503e-01 1.82461016e-02 2.15361773e-04 1.03114392e+01] [-1.82465021e-02 9.99831451e-01 2.03321147e-03 6.33538981e-04] [-1.78227291e-04 -2.03680255e-03 9.99997910e-01 -9.31108646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67771942099999 meters Centerline goodness [0,1] 0.9211348734603836 Centerline is valid? [False, False] Translation: X:10.31, Y:0.00, Z:-0.93 [[ 9.99812793e-01 1.93462793e-02 3.16018325e-04 1.03119968e+01] [-1.93470582e-02 9.99809230e-01 2.68247675e-03 4.83160488e-04] [-2.64062094e-04 -2.68808860e-03 9.99996352e-01 -9.32100865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.707719421 meters Centerline goodness [0,1] 0.9098370647271545 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.00, Z:-0.93 [[ 9.99801703e-01 1.99136317e-02 3.47653735e-05 1.03126537e+01] [-1.99136327e-02 9.99795706e-01 3.46310607e-03 -1.31795175e-03] [ 3.42047476e-05 -3.46311165e-03 9.99994003e-01 -9.32297871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.737719421 meters Centerline goodness [0,1] 0.8790544255085212 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.01, Z:-0.93 [[ 9.99828243e-01 1.85321535e-02 -2.08809987e-04 1.03136678e+01] [-1.85316488e-02 9.99825845e-01 2.20380339e-03 -6.22442381e-03] [ 2.49614845e-04 -2.19955527e-03 9.99997550e-01 -9.33126169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.767719421 meters Centerline goodness [0,1] 0.8686557417195567 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.01, Z:-0.94 [[ 9.99862231e-01 1.65842709e-02 -6.93086395e-04 1.03165312e+01] [-1.65840810e-02 9.99862436e-01 2.78874573e-04 -8.37368728e-03] [ 6.97615982e-04 -2.67341952e-04 9.99999721e-01 -9.35649106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.797719421 meters Centerline goodness [0,1] 0.826824401368301 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.01, Z:-0.94 [[ 9.99912460e-01 1.31753320e-02 -1.21746217e-03 1.03203144e+01] [-1.31781604e-02 9.99910414e-01 -2.34510569e-03 -1.29967945e-02] [ 1.18645555e-03 2.36094431e-03 9.99996509e-01 -9.39226229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.827719421 meters Centerline goodness [0,1] 0.9188562596599691 Centerline is valid? [False, False] Translation: X:10.32, Y:-0.02, Z:-0.94 [[ 9.99969751e-01 7.76919737e-03 -3.69323478e-04 1.03161181e+01] [-7.77109644e-03 9.99954933e-01 -5.45359972e-03 -2.28366695e-02] [ 3.26936741e-04 5.45630480e-03 9.99985061e-01 -9.35388909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.857719421 meters Centerline goodness [0,1] 0.9380358376335785 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.03, Z:-0.93 [[ 9.99988748e-01 4.73636315e-03 -2.65655083e-04 1.03143883e+01] [-4.73810201e-03 9.99964420e-01 -6.97922548e-03 -2.86707119e-02] [ 2.32589485e-04 6.98040566e-03 9.99975610e-01 -9.33370566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.887719421 meters Centerline goodness [0,1] 0.94831957487374 Centerline is valid? [False, False] Translation: X:10.31, Y:-0.03, Z:-0.93 [[ 9.99999350e-01 1.05274828e-03 -4.36877390e-04 1.03143155e+01] [-1.05681505e-03 9.99955116e-01 -9.41532359e-03 -3.28303676e-02] [ 4.26945816e-04 9.41577917e-03 9.99955579e-01 -9.32832461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.917719421 meters Centerline goodness [0,1] 0.9547553656799919 Centerline is valid? [False, True] Translation: X:10.31, Y:-0.04, Z:-0.94 [[ 9.99968620e-01 -7.92205780e-03 2.50928600e-05 1.03122765e+01] [ 7.92205825e-03 9.99948668e-01 -6.31679813e-03 -4.11124998e-02] [ 2.49504680e-05 6.31679869e-03 9.99980049e-01 -9.38108311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.947719421 meters Centerline goodness [0,1] 0.9584761671563826 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.05, Z:-0.94 [[ 9.99914807e-01 -1.30152225e-02 -9.91573557e-04 1.03423444e+01] [ 1.30152001e-02 9.99915298e-01 -2.90741323e-05 -5.32805195e-02] [ 9.91867975e-04 1.61661272e-05 9.99999508e-01 -9.38353208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.977719421 meters Centerline goodness [0,1] 0.9569053343657036 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.07, Z:-0.94 [[ 9.99761534e-01 -2.17712844e-02 -1.69872933e-03 1.03715248e+01] [ 2.17712315e-02 9.99762977e-01 -4.95836745e-05 -7.01818096e-02] [ 1.69940619e-03 1.25884210e-05 9.99998556e-01 -9.41657147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.007719421 meters Centerline goodness [0,1] 0.9589350823946388 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.07, Z:-0.94 [[ 9.99683382e-01 -2.50785132e-02 -2.05011055e-03 1.04000697e+01] [ 2.50784231e-02 9.99685484e-01 -6.96137288e-05 -7.47147936e-02] [ 2.05121156e-03 1.81781481e-05 9.99997896e-01 -9.40537168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03771942099999 meters Centerline goodness [0,1] 0.9534465493634153 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.08, Z:-0.94 [[ 9.99620247e-01 -2.72452990e-02 -4.12988703e-03 1.04273090e+01] [ 2.72450286e-02 9.99628778e-01 -1.21726257e-04 -7.64044811e-02] [ 4.13167040e-03 9.16114027e-06 9.99991465e-01 -9.43233376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06771942099999 meters Centerline goodness [0,1] 0.953239608801956 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.07, Z:-0.95 [[ 9.99651977e-01 -2.59974530e-02 -4.47846521e-03 1.04564714e+01] [ 2.59970927e-02 9.99662009e-01 -1.38656082e-04 -7.38060439e-02] [ 4.48055623e-03 2.21807510e-05 9.99989962e-01 -9.45566848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.097719421 meters Centerline goodness [0,1] 0.9548383150511764 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.07, Z:-0.95 [[ 9.99779201e-01 -2.06662156e-02 -3.80228721e-03 1.04842846e+01] [ 2.06659345e-02 9.99786430e-01 -1.13192520e-04 -6.58307625e-02] [ 3.80381442e-03 3.45897081e-05 9.99992765e-01 -9.46084160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.127719421 meters Centerline goodness [0,1] 0.9562817130099452 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.06, Z:-0.95 [[ 9.99832120e-01 -1.81126600e-02 -2.76837759e-03 1.05122684e+01] [ 1.81124749e-02 9.99835951e-01 -9.18896796e-05 -5.94408258e-02] [ 2.76958781e-03 4.17320834e-05 9.99996164e-01 -9.45803695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.157719421 meters Centerline goodness [0,1] 0.9534335156678935 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.05, Z:-0.95 [[ 9.99888132e-01 -1.47947856e-02 -2.19959267e-03 1.05401434e+01] [ 1.47946722e-02 9.99890551e-01 -6.78249715e-05 -4.97970138e-02] [ 2.20035538e-03 3.52751315e-05 9.99997579e-01 -9.49133293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.187719421 meters Centerline goodness [0,1] 0.9573263839403873 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.05, Z:-0.95 [[ 9.99893514e-01 -1.43769059e-02 -2.50300477e-03 1.05687188e+01] [ 1.43767408e-02 9.99896646e-01 -8.39217586e-05 -4.83138311e-02] [ 2.50395261e-03 4.79277713e-05 9.99996864e-01 -9.46693787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.217719421 meters Centerline goodness [0,1] 0.9537448960936071 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.04, Z:-0.95 [[ 9.99921831e-01 -1.21546886e-02 -2.93186930e-03 1.05966063e+01] [ 1.21544754e-02 9.99926128e-01 -9.05292860e-05 -4.03899341e-02] [ 2.93275307e-03 5.48868759e-05 9.99995698e-01 -9.49842934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.247719421 meters Centerline goodness [0,1] 0.9584041434005017 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.04, Z:-0.95 [[ 9.99931688e-01 -1.16008551e-02 -1.42826712e-03 1.06260699e+01] [ 1.16007925e-02 9.99932707e-01 -5.21061247e-05 -3.80869386e-02] [ 1.42877548e-03 3.55335348e-05 9.99998979e-01 -9.45338019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.277719421 meters Centerline goodness [0,1] 0.9594567035118489 Centerline is valid? [True, True] Translation: X:10.66, Y:-0.04, Z:-0.95 [[ 9.99916240e-01 -1.29422541e-02 -1.04529739e-04 1.06550941e+01] [ 1.29422537e-02 9.99916246e-01 -4.55020237e-06 -3.72210686e-02] [ 1.04579874e-04 3.19697085e-06 9.99999995e-01 -9.46461255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.307719421 meters Centerline goodness [0,1] 0.9640775907738701 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.04, Z:-0.94 [[ 9.99898182e-01 -1.41088361e-02 2.13668900e-03 1.06848300e+01] [ 1.41087341e-02 9.99900465e-01 6.27998358e-05 -3.88589039e-02] [-2.13736235e-03 -3.26474648e-05 9.99997715e-01 -9.43523048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.337719421 meters Centerline goodness [0,1] 0.9666151907993661 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.04, Z:-0.94 [[ 9.99823960e-01 -1.81971394e-02 4.57301892e-03 1.07145762e+01] [ 1.81967037e-02 9.99834417e-01 1.36850657e-04 -4.02481242e-02] [-4.57475200e-03 -5.36126958e-05 9.99989534e-01 -9.42367504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.367719421 meters Centerline goodness [0,1] 0.9694385216773277 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.04, Z:-0.94 [[ 9.99752691e-01 -2.10002646e-02 7.31747992e-03 1.07440806e+01] [ 2.09992200e-02 9.99779468e-01 2.19564688e-04 -4.24720400e-02] [-7.32047710e-03 -6.58490170e-05 9.99973203e-01 -9.40379477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.397719421 meters Centerline goodness [0,1] 0.9686578995508038 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.04, Z:-0.94 [[ 9.99762774e-01 -2.08495654e-02 6.30006776e-03 1.07745759e+01] [ 2.08487843e-02 9.99782622e-01 1.89636553e-04 -4.27132512e-02] [-6.30265211e-03 -5.82428122e-05 9.99980136e-01 -9.40988822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42771942099999 meters Centerline goodness [0,1] 0.9668358027197077 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.04, Z:-0.95 [[ 9.99849651e-01 -1.67467659e-02 4.49681643e-03 1.08040809e+01] [ 1.67463283e-02 9.99859761e-01 1.34959698e-04 -3.67318717e-02] [-4.49844594e-03 -5.96342428e-05 9.99989880e-01 -9.45265321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.457719421 meters Centerline goodness [0,1] 0.9646363821552251 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.03, Z:-0.95 [[ 9.99916880e-01 -1.25124374e-02 3.10987511e-03 1.08337853e+01] [ 1.25122087e-02 9.99921715e-01 9.30064996e-05 -3.01385212e-02] [-3.11079539e-03 -5.40873627e-05 9.99995160e-01 -9.45790614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.487719421 meters Centerline goodness [0,1] 0.9575881554695886 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.02, Z:-0.95 [[ 9.99963997e-01 -8.03942421e-03 2.71521566e-03 1.08625864e+01] [ 8.03923340e-03 9.99967682e-01 8.11791414e-05 -1.99041047e-02] [-2.71578055e-03 -5.93479662e-05 9.99996311e-01 -9.50334320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.517719421 meters Centerline goodness [0,1] 0.9466522941750732 Centerline is valid? [True, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99997735e-01 -2.90267105e-04 2.10828994e-03 1.08654152e+01] [ 2.75851289e-04 9.99976605e-01 6.83475736e-03 -1.72519542e-02] [-2.11022453e-03 -6.83416031e-03 9.99974420e-01 -9.52673368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.547719421 meters Centerline goodness [0,1] 0.9383471175143768 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99998506e-01 7.80410331e-05 1.72670385e-03 1.08669781e+01] [-8.92248484e-05 9.99979015e-01 6.47784493e-03 -1.62232403e-02] [-1.72616207e-03 -6.47798931e-03 9.99977528e-01 -9.53871437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.577719421 meters Centerline goodness [0,1] 0.9286631212176784 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99998347e-01 6.86909879e-04 1.68337530e-03 1.08675197e+01] [-6.98532971e-04 9.99975855e-01 6.91380126e-03 -1.72606038e-02] [-1.67858549e-03 -6.91496573e-03 9.99974682e-01 -9.54480779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.607719421 meters Centerline goodness [0,1] 0.9188827087816167 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99998308e-01 3.43018118e-04 1.80717761e-03 1.08667206e+01] [-3.55294999e-04 9.99976834e-01 6.79746454e-03 -1.67670144e-02] [-1.80480409e-03 -6.79809512e-03 9.99975264e-01 -9.53696271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.637719421 meters Centerline goodness [0,1] 0.922228306057472 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99998612e-01 -2.00797510e-04 1.65419801e-03 1.08672580e+01] [ 1.90050500e-04 9.99978893e-01 6.49440767e-03 -1.66210972e-02] [-1.65546716e-03 -6.49408427e-03 9.99977543e-01 -9.54024635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.667719421 meters Centerline goodness [0,1] 0.9273195667167025 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99998658e-01 -7.77966647e-04 1.44197660e-03 1.08681603e+01] [ 7.68653984e-04 9.99978919e-01 6.44760434e-03 -1.78587528e-02] [-1.44696222e-03 -6.44648730e-03 9.99978174e-01 -9.54596508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.697719421 meters Centerline goodness [0,1] 0.9486706280800665 Centerline is valid? [False, False] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99988157e-01 -4.71346363e-03 1.21168598e-03 1.08681749e+01] [ 4.70912660e-03 9.99982584e-01 3.55761537e-03 -2.18648854e-02] [-1.22843357e-03 -3.55186726e-03 9.99992938e-01 -9.53878953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.727719421 meters Centerline goodness [0,1] 0.9551473729175566 Centerline is valid? [False, True] Translation: X:10.87, Y:-0.02, Z:-0.95 [[ 9.99964570e-01 -8.34259320e-03 1.12226359e-03 1.08678031e+01] [ 8.34219885e-03 9.99965140e-01 3.55619703e-04 -2.41121875e-02] [-1.12519126e-03 -3.46244957e-04 9.99999307e-01 -9.53130343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.757719421 meters Centerline goodness [0,1] 0.9608878419267713 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.04, Z:-0.96 [[ 9.99848573e-01 -1.72184318e-02 2.52105558e-03 1.08973331e+01] [ 1.72182648e-02 9.99851751e-01 8.79475549e-05 -3.52624187e-02] [-2.52219616e-03 -4.45260347e-05 9.99996818e-01 -9.55357587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78771942099999 meters Centerline goodness [0,1] 0.9638667292351009 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.04, Z:-0.96 [[ 9.99638883e-01 -2.67828455e-02 2.18689368e-03 1.09273897e+01] [ 2.67827445e-02 9.99641275e-01 7.54259320e-05 -4.41929290e-02] [-2.18812931e-03 -1.68276796e-05 9.99997606e-01 -9.55257613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81771942099999 meters Centerline goodness [0,1] 0.9620312277923291 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.05, Z:-0.96 [[ 9.99491035e-01 -3.18649979e-02 1.51419766e-03 1.09552094e+01] [ 3.18649710e-02 9.99492182e-01 4.19059164e-05 -4.92750632e-02] [-1.51476406e-03 6.36527686e-06 9.99998853e-01 -9.57679082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.847719421 meters Centerline goodness [0,1] 0.9539360745524401 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.06, Z:-0.96 [[ 9.99156021e-01 -4.10597115e-02 -1.15983487e-03 1.09842197e+01] [ 4.10596786e-02 9.99156694e-01 -5.21565414e-05 -5.94753979e-02] [ 1.16099831e-03 4.49007525e-06 9.99999326e-01 -9.59523951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.877719421 meters Centerline goodness [0,1] 0.9511544026246612 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.06, Z:-0.96 [[ 9.99020056e-01 -4.42574315e-02 -4.55893957e-04 1.10114431e+01] [ 4.42574262e-02 9.99020160e-01 -2.16658337e-05 -6.18107040e-02] [ 4.56406128e-04 1.46790923e-06 9.99999896e-01 -9.61317053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.907719421 meters Centerline goodness [0,1] 0.9511544026246612 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.06, Z:-0.96 [[ 9.99005106e-01 -4.45936090e-02 -4.55656367e-04 1.10389414e+01] [ 4.45936007e-02 9.99005210e-01 -2.82153120e-05 -6.05524952e-02] [ 4.56461308e-04 7.86788260e-06 9.99999896e-01 -9.62270951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.937719421 meters Centerline goodness [0,1] 0.9509143798694034 Centerline is valid? [True, True] Translation: X:11.07, Y:-0.06, Z:-0.96 [[ 9.98789576e-01 -4.91814339e-02 7.54175510e-04 1.10673293e+01] [ 4.91814354e-02 9.98789861e-01 1.65799303e-05 -6.44892849e-02] [-7.54078278e-04 2.05315725e-05 9.99999715e-01 -9.62610186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.967719421 meters Centerline goodness [0,1] 0.9481272113546708 Centerline is valid? [True, False] Translation: X:11.07, Y:-0.07, Z:-0.96 [[ 9.98805061e-01 -4.88683330e-02 5.79965121e-04 1.10672976e+01] [ 4.88679115e-02 9.98804990e-01 7.19957766e-04 -6.62870087e-02] [-6.14455193e-04 -6.90755776e-04 9.99999573e-01 -9.62081447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.997719421 meters Centerline goodness [0,1] 0.9502113477483336 Centerline is valid? [False, True] Translation: X:11.07, Y:-0.07, Z:-0.96 [[ 9.98821691e-01 -4.85288174e-02 4.29081428e-04 1.10671645e+01] [ 4.85282324e-02 9.98820988e-01 1.28230302e-03 -6.75813765e-02] [-4.90804185e-04 -1.25996951e-03 9.99999086e-01 -9.61513565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.027719421 meters Centerline goodness [0,1] 0.9536243100674148 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.06, Z:-0.96 [[ 9.98940316e-01 -4.59834792e-02 1.94037728e-03 1.10960107e+01] [ 4.59834498e-02 9.98942200e-01 5.97862054e-05 -6.09687124e-02] [-1.94107393e-03 2.95023903e-05 9.99998116e-01 -9.60757744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.057719421 meters Centerline goodness [0,1] 0.9501323020557704 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.05, Z:-0.97 [[ 9.99136791e-01 -4.15382737e-02 -4.94590191e-04 1.11233020e+01] [ 4.15382672e-02 9.99136913e-01 -2.34398152e-05 -5.20748623e-02] [ 4.95136966e-04 2.87516219e-06 9.99999877e-01 -9.65380667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.087719421 meters Centerline goodness [0,1] 0.9532323500030581 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.05, Z:-0.97 [[ 9.99231650e-01 -3.91894714e-02 -5.42653034e-04 1.11514925e+01] [ 3.91894604e-02 9.99231798e-01 -3.09476178e-05 -4.77429707e-02] [ 5.43448988e-04 9.65755959e-06 9.99999852e-01 -9.65598734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.117719421 meters Centerline goodness [0,1] 0.9618678464161052 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.04, Z:-0.96 [[ 9.99400363e-01 -3.45262988e-02 2.61723046e-03 1.11803402e+01] [ 3.45261742e-02 9.99403790e-01 9.27871840e-05 -3.70276894e-02] [-2.61887364e-03 -2.36859058e-06 9.99996571e-01 -9.63701805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.147719421 meters Centerline goodness [0,1] 0.9608323133414933 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.03, Z:-0.96 [[ 9.99448388e-01 -3.31865562e-02 1.25402586e-03 1.12093527e+01] [ 3.31865368e-02 9.99449175e-01 3.63346135e-05 -3.20557642e-02] [-1.25454093e-03 5.30220457e-06 9.99999213e-01 -9.64623027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17771942099999 meters Centerline goodness [0,1] 0.9615899140586995 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.03, Z:-0.97 [[ 9.99508265e-01 -3.13400887e-02 -1.01346618e-03 1.12377893e+01] [ 3.13400613e-02 9.99508779e-01 -4.29536082e-05 -3.19818549e-02] [ 1.01431452e-03 1.11703941e-05 9.99999486e-01 -9.67127155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.207719421 meters Centerline goodness [0,1] 0.962424686533138 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.03, Z:-0.97 [[ 9.99548298e-01 -3.00168920e-02 -1.47860592e-03 1.12666263e+01] [ 3.00168282e-02 9.99549391e-01 -6.52875908e-05 -3.07721731e-02] [ 1.47989937e-03 2.08750404e-05 9.99998905e-01 -9.68478392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.237719421 meters Centerline goodness [0,1] 0.9624850122949987 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.02, Z:-0.97 [[ 9.99600017e-01 -2.82381931e-02 -1.55234588e-03 1.12948584e+01] [ 2.82381209e-02 9.99601222e-01 -6.84371159e-05 -2.23953209e-02] [ 1.55365938e-03 2.45744117e-05 9.99998793e-01 -9.70327522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.267719421 meters Centerline goodness [0,1] 0.9592077676226922 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.02, Z:-0.97 [[ 9.99656266e-01 -2.61056012e-02 -2.41799218e-03 1.13223810e+01] [ 2.61054485e-02 9.99659190e-01 -9.46905130e-05 -1.63536039e-02] [ 2.41964006e-03 3.15351942e-05 9.99997072e-01 -9.74176898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.297719421 meters Centerline goodness [0,1] 0.9563315222920864 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.01, Z:-0.98 [[ 9.99737753e-01 -2.26372514e-02 -3.46128839e-03 1.13498555e+01] [ 2.26369152e-02 9.99743743e-01 -1.36292759e-04 -1.23018469e-02] [ 3.46348671e-03 5.79041243e-05 9.99994000e-01 -9.75925888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.327719421 meters Centerline goodness [0,1] 0.9560134085520399 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.01, Z:-0.98 [[ 9.99747267e-01 -2.20954647e-02 -4.14631503e-03 1.13784964e+01] [ 2.20949580e-02 9.99755863e-01 -1.67978500e-04 -1.09450776e-02] [ 4.14901432e-03 7.63233902e-05 9.99991390e-01 -9.77001433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.357719421 meters Centerline goodness [0,1] 0.95486373379606 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.01, Z:-0.98 [[ 9.99764384e-01 -2.13408727e-02 -3.96782739e-03 1.14068121e+01] [ 2.13404162e-02 9.99772255e-01 -1.57368361e-04 -9.62917614e-03] [ 3.97028211e-03 7.26561950e-05 9.99992116e-01 -9.77702336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.387719421 meters Centerline goodness [0,1] 0.9549180327868853 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.01, Z:-0.98 [[ 9.99781809e-01 -2.07125437e-02 -2.70642893e-03 1.14360328e+01] [ 2.07123105e-02 9.99785471e-01 -1.14155565e-04 -8.02838738e-03] [ 2.70821278e-03 5.80742611e-05 9.99996331e-01 -9.77814760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.417719421 meters Centerline goodness [0,1] 0.9598187986267699 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.01, Z:-0.97 [[ 9.99799016e-01 -2.00384846e-02 -6.21929444e-04 1.14649060e+01] [ 2.00384671e-02 9.99799209e-01 -3.43627194e-05 -7.54172188e-03] [ 6.22493143e-04 2.18933003e-05 9.99999806e-01 -9.73934081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.447719421 meters Centerline goodness [0,1] 0.960650267553765 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.01, Z:-0.97 [[ 9.99793345e-01 -2.03042729e-02 1.00209399e-03 1.14935169e+01] [ 2.03042538e-02 9.99793847e-01 2.91810070e-05 -5.56197146e-03] [-1.00247991e-03 -8.82820576e-06 9.99999497e-01 -9.74103791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.477719421 meters Centerline goodness [0,1] 0.9561319699957311 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.00, Z:-0.98 [[ 9.99797740e-01 -1.99339050e-02 2.66789023e-03 1.15221220e+01] [ 1.99337023e-02 9.99801299e-01 1.02545822e-04 -1.82928591e-03] [-2.66940425e-03 -4.93441514e-05 9.99996436e-01 -9.77745120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.507719421 meters Centerline goodness [0,1] 0.9622169830494696 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.01, Z:-0.97 [[ 9.99743415e-01 -2.15925766e-02 6.84580977e-03 1.15526093e+01] [ 2.15912531e-02 9.99766846e-01 2.67182162e-04 -5.20278953e-03] [-6.84998279e-03 -1.19303995e-04 9.99976531e-01 -9.74580948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53771942099999 meters Centerline goodness [0,1] 0.9681576643524645 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.01, Z:-0.97 [[ 9.99692205e-01 -2.36524149e-02 7.48723344e-03 1.15838035e+01] [ 2.36508746e-02 9.99720236e-01 2.94210182e-04 -9.39246629e-03] [-7.49209756e-03 -1.17040007e-04 9.99971927e-01 -9.71580526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56771942099999 meters Centerline goodness [0,1] 0.9651295421215578 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.02, Z:-0.98 [[ 9.99520396e-01 -3.06441364e-02 4.46270242e-03 1.16136536e+01] [ 3.06436582e-02 9.99530357e-01 1.75494997e-04 -1.60172124e-02] [-4.46598444e-03 -3.86573010e-05 9.99990027e-01 -9.77000484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.597719421 meters Centerline goodness [0,1] 0.9608856689323945 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.03, Z:-0.98 [[ 9.99206703e-01 -3.97989796e-02 1.41596072e-03 1.16430434e+01] [ 3.97989545e-02 9.99207707e-01 4.58820678e-05 -2.51064739e-02] [-1.41666493e-03 1.05080867e-05 9.99998996e-01 -9.80273339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.627719421 meters Centerline goodness [0,1] 0.9581555795962524 Centerline is valid? [True, True] Translation: X:11.67, Y:-0.03, Z:-0.98 [[ 9.99019472e-01 -4.42711592e-02 -3.98671833e-04 1.16718737e+01] [ 4.42711522e-02 9.99019552e-01 -2.63710772e-05 -2.78046414e-02] [ 3.99448434e-04 8.69555824e-06 9.99999920e-01 -9.81899805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.657719421 meters Centerline goodness [0,1] 0.9537988724482527 Centerline is valid? [True, True] Translation: X:11.70, Y:-0.03, Z:-0.98 [[ 9.98908022e-01 -4.66842070e-02 -1.83001456e-03 1.17008551e+01] [ 4.66841315e-02 9.98909698e-01 -8.39972279e-05 -2.84411148e-02] [ 1.83194064e-03 -1.52713563e-06 9.99998322e-01 -9.84901160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.687719421 meters Centerline goodness [0,1] 0.9498132538726861 Centerline is valid? [True, False] Translation: X:11.70, Y:-0.03, Z:-0.98 [[ 9.99077341e-01 -4.28860422e-02 -2.29226375e-03 1.17010554e+01] [ 4.28947567e-02 9.99071991e-01 3.89829966e-03 -2.83026620e-02] [ 2.12295387e-03 -3.99302896e-03 9.99989774e-01 -9.84374992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.717719421 meters Centerline goodness [0,1] 0.9580362764812219 Centerline is valid? [False, True] Translation: X:11.70, Y:-0.03, Z:-0.98 [[ 9.99286159e-01 -3.76788023e-02 -2.73501195e-03 1.17000817e+01] [ 3.76989557e-02 9.99259207e-01 7.73473199e-03 -2.52543237e-02] [ 2.44155043e-03 -7.83231772e-03 9.99966346e-01 -9.82716473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.747719421 meters Centerline goodness [0,1] 0.9590739722680349 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.01, Z:-0.98 [[ 9.99449989e-01 -3.30230283e-02 -3.03301958e-03 1.17283223e+01] [ 3.30227752e-02 9.99454591e-01 -1.33499219e-04 -1.44307616e-02] [ 3.03577390e-03 3.32670688e-05 9.99995391e-01 -9.84230375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.777719421 meters Centerline goodness [0,1] 0.9591658011038472 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.01, Z:-0.99 [[ 9.99569945e-01 -2.91047370e-02 -3.58306486e-03 1.17562979e+01] [ 2.91043878e-02 9.99576366e-01 -1.49587472e-04 -5.57984260e-03] [ 3.58590066e-03 4.52402324e-05 9.99993570e-01 -9.85033757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.807719421 meters Centerline goodness [0,1] 0.9554814709409876 Centerline is valid? [True, True] Translation: X:11.78, Y:0.01, Z:-0.99 [[ 9.99762037e-01 -2.14295374e-02 -4.07979563e-03 1.17848412e+01] [ 2.14290277e-02 9.99770358e-01 -1.68609647e-04 7.17930149e-03] [ 4.08247197e-03 8.11434701e-05 9.99991663e-01 -9.87390081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.837719421 meters Centerline goodness [0,1] 0.9543123448247792 Centerline is valid? [True, True] Translation: X:11.81, Y:0.01, Z:-0.99 [[ 9.99802170e-01 -1.93184042e-02 -4.73503330e-03 1.18131673e+01] [ 1.93176517e-02 9.99813376e-01 -2.04594626e-04 1.06964456e-02] [ 4.73810207e-03 1.13084427e-04 9.99988769e-01 -9.89430747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.867719421 meters Centerline goodness [0,1] 0.9522097652124462 Centerline is valid? [True, True] Translation: X:11.84, Y:0.01, Z:-0.99 [[ 9.99817376e-01 -1.88755333e-02 -2.98818523e-03 1.18413386e+01] [ 1.88752183e-02 9.99821838e-01 -1.33592072e-04 1.43809606e-02] [ 2.99017448e-03 7.71650262e-05 9.99995526e-01 -9.91458351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.897719421 meters Centerline goodness [0,1] 0.957481436273014 Centerline is valid? [True, True] Translation: X:11.87, Y:0.02, Z:-0.99 [[ 9.99818576e-01 -1.90035758e-02 -1.29602071e-03 1.18705890e+01] [ 1.90035087e-02 9.99819415e-01 -6.40784853e-05 1.58905731e-02] [ 1.29700439e-03 3.94379191e-05 9.99999158e-01 -9.88660291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92771942099999 meters Centerline goodness [0,1] 0.9601064910783238 Centerline is valid? [True, True] Translation: X:11.90, Y:0.02, Z:-0.99 [[ 9.99792797e-01 -2.02908797e-02 1.62610713e-03 1.18998703e+01] [ 2.02908110e-02 9.99794119e-01 5.87583834e-05 1.74457628e-02] [-1.62696460e-03 -2.57511760e-05 9.99998676e-01 -9.85953660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.957719421 meters Centerline goodness [0,1] 0.9613313555361388 Centerline is valid? [True, True] Translation: X:11.93, Y:0.02, Z:-0.99 [[ 9.99778340e-01 -2.09388778e-02 2.19869748e-03 1.19297067e+01] [ 2.09387284e-02 9.99780757e-01 9.09088490e-05 1.78838385e-02] [-2.20011896e-03 -4.48507688e-05 9.99997579e-01 -9.85326550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.987719421 meters Centerline goodness [0,1] 0.9598255931859664 Centerline is valid? [True, True] Translation: X:11.96, Y:0.02, Z:-0.99 [[ 9.99765927e-01 -2.15876617e-02 1.43692418e-03 1.19587255e+01] [ 2.15876002e-02 9.99766959e-01 5.82843202e-05 1.79401973e-02] [-1.43784754e-03 -2.72509327e-05 9.99998966e-01 -9.87722540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.017719421 meters Centerline goodness [0,1] 0.9589274832419257 Centerline is valid? [True, True] Translation: X:11.99, Y:0.02, Z:-0.99 [[ 9.99760925e-01 -2.18156973e-02 -1.47232454e-03 1.19880290e+01] [ 2.18156252e-02 9.99762009e-01 -6.50307917e-05 1.53664854e-02] [ 1.47339283e-03 3.28955642e-05 9.99998914e-01 -9.90299103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.047719421 meters Centerline goodness [0,1] 0.9592551361198259 Centerline is valid? [True, True] Translation: X:12.02, Y:0.02, Z:-0.99 [[ 9.99748493e-01 -2.24088486e-02 -8.90861738e-04 1.20168608e+01] [ 2.24088148e-02 9.99748890e-01 -4.78745491e-05 1.68458461e-02] [ 8.91710847e-04 2.78993527e-05 9.99999602e-01 -9.90394263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.077719421 meters Centerline goodness [0,1] 0.9611046759739073 Centerline is valid? [True, True] Translation: X:12.05, Y:0.02, Z:-0.99 [[ 9.99757851e-01 -2.20040582e-02 -2.45904922e-04 1.20455375e+01] [ 2.20040538e-02 9.99757881e-01 -2.07158345e-05 1.97820846e-02] [ 2.46301216e-04 1.52999130e-05 9.99999970e-01 -9.90351037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.107719421 meters Centerline goodness [0,1] 0.9642559928552581 Centerline is valid? [True, True] Translation: X:12.07, Y:0.02, Z:-0.99 [[ 9.99671682e-01 -2.52630523e-02 4.27867281e-03 1.20748966e+01] [ 2.52625057e-02 9.99680835e-01 1.81755757e-04 2.24547817e-02] [-4.28189891e-03 -7.36060873e-05 9.99990830e-01 -9.88551695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.137719421 meters Centerline goodness [0,1] 0.967939612840388 Centerline is valid? [True, True] Translation: X:12.10, Y:0.02, Z:-0.99 [[ 9.99502638e-01 -3.11358066e-02 5.00373607e-03 1.21047356e+01] [ 3.11351303e-02 9.99515162e-01 2.13011834e-04 1.78141463e-02] [-5.00794236e-03 -5.71139153e-05 9.99987459e-01 -9.88801768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.167719421 meters Centerline goodness [0,1] 0.9653286155848382 Centerline is valid? [True, True] Translation: X:12.13, Y:0.01, Z:-0.99 [[ 9.99344901e-01 -3.60364625e-02 3.33785931e-03 1.21341857e+01] [ 3.60362161e-02 9.99350476e-01 1.33951262e-04 1.36476855e-02] [-3.34051842e-03 -1.35796917e-05 9.99994420e-01 -9.91150587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.197719421 meters Centerline goodness [0,1] 0.9568197115874926 Centerline is valid? [True, True] Translation: X:12.16, Y:0.00, Z:-1.00 [[ 9.98830333e-01 -4.83449198e-02 8.57461890e-04 1.21624564e+01] [ 4.83449088e-02 9.98830701e-01 3.35310492e-05 3.11376637e-03] [-8.58080316e-04 7.96208780e-06 9.99999632e-01 -9.95508656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.227719421 meters Centerline goodness [0,1] 0.958132438205676 Centerline is valid? [True, True] Translation: X:12.19, Y:0.00, Z:-1.00 [[ 9.98506057e-01 -5.46189073e-02 1.55847840e-03 1.21915055e+01] [ 5.46188837e-02 9.98507273e-01 5.77299167e-05 1.10177017e-03] [-1.55930516e-03 2.74786788e-05 9.99998784e-01 -9.95148616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.257719421 meters Centerline goodness [0,1] 0.9540337711069419 Centerline is valid? [True, True] Translation: X:12.22, Y:0.00, Z:-1.00 [[ 9.98065858e-01 -6.21549255e-02 1.14395870e-03 1.22214005e+01] [ 6.21549108e-02 9.98066513e-01 4.84388386e-05 6.22749605e-04] [-1.14475758e-03 2.27574998e-05 9.99999345e-01 -9.96631548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28771942099999 meters Centerline goodness [0,1] 0.9516237538988441 Centerline is valid? [True, True] Translation: X:12.25, Y:0.00, Z:-1.00 [[ 9.97938625e-01 -6.41742489e-02 -4.08631637e-04 1.22499532e+01] [ 6.41742428e-02 9.97938708e-01 -2.81861274e-05 3.09095825e-03] [ 4.09598152e-04 1.90439932e-06 9.99999916e-01 -9.98929429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31771942099999 meters Centerline goodness [0,1] 0.947384527501224 Centerline is valid? [True, False] Translation: X:12.25, Y:0.00, Z:-1.00 [[ 9.98135312e-01 -6.10316265e-02 -1.01981485e-03 1.22511464e+01] [ 6.10347799e-02 9.98129792e-01 3.41662447e-03 3.33379990e-03] [ 8.09385439e-04 -3.47249771e-03 9.99993643e-01 -9.99496988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.347719421 meters Centerline goodness [0,1] 0.9481097411611007 Centerline is valid? [False, False] Translation: X:12.25, Y:0.01, Z:-1.00 [[ 9.98343697e-01 -5.75066881e-02 -1.68603618e-03 1.22522126e+01] [ 5.75154500e-02 9.98328261e-01 5.71460030e-03 7.32810723e-03] [ 1.35458983e-03 -5.80210832e-03 9.99982250e-01 -1.00000172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.377719421 meters Centerline goodness [0,1] 0.9491902255945824 Centerline is valid? [False, False] Translation: X:12.25, Y:0.01, Z:-1.00 [[ 9.98546375e-01 -5.38611085e-02 -2.02930938e-03 1.22519853e+01] [ 5.38774841e-02 9.98505760e-01 9.13582920e-03 8.48568242e-03] [ 1.53421122e-03 -9.23188321e-03 9.99956208e-01 -9.99415721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.407719421 meters Centerline goodness [0,1] 0.9518507984234692 Centerline is valid? [False, True] Translation: X:12.25, Y:0.01, Z:-1.00 [[ 9.98893121e-01 -4.69881564e-02 -2.15544572e-03 1.22498387e+01] [ 4.70152059e-02 9.98782259e-01 1.49522721e-02 1.32458838e-02] [ 1.45024124e-03 -1.50370605e-02 9.99885885e-01 -9.97480729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.437719421 meters Centerline goodness [0,1] 0.9581281790437437 Centerline is valid? [True, True] Translation: X:12.28, Y:0.03, Z:-0.99 [[ 9.99124435e-01 -4.18363945e-02 -2.80250470e-04 1.22779628e+01] [ 4.18363901e-02 9.99124475e-01 -2.15351409e-05 3.04525329e-02] [ 2.80906057e-04 9.79161751e-06 9.99999960e-01 -9.94899316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.467719421 meters Centerline goodness [0,1] 0.9627302671709161 Centerline is valid? [True, True] Translation: X:12.31, Y:0.05, Z:-0.99 [[ 9.99562359e-01 -2.95760418e-02 5.90293128e-04 1.23056470e+01] [ 2.95760383e-02 9.99562533e-01 1.45857709e-05 5.21407245e-02] [-5.90466284e-04 2.87914461e-06 9.99999826e-01 -9.94744334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.497719421 meters Centerline goodness [0,1] 0.9506388156560536 Centerline is valid? [True, True] Translation: X:12.33, Y:0.07, Z:-1.00 [[ 9.99837607e-01 -1.79200150e-02 -1.90576263e-03 1.23338511e+01] [ 1.79198938e-02 9.99839423e-01 -8.06678988e-05 6.70766542e-02] [ 1.90690218e-03 4.65037351e-05 9.99998181e-01 -1.00103682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.527719421 meters Centerline goodness [0,1] 0.943859221823053 Centerline is valid? [True, False] Translation: X:12.33, Y:0.07, Z:-1.00 [[ 9.99905349e-01 -1.35767791e-02 -2.22807008e-03 1.23347711e+01] [ 1.35863898e-02 9.99898210e-01 4.35655744e-03 6.61055194e-02] [ 2.16869526e-03 -4.38641652e-03 9.99988028e-01 -1.00157886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.557719421 meters Centerline goodness [0,1] 0.9378859204010516 Centerline is valid? [False, False] Translation: X:12.34, Y:0.07, Z:-1.00 [[ 9.99950362e-01 -9.70064343e-03 -2.27385644e-03 1.23356194e+01] [ 9.71844759e-03 9.99921138e-01 7.95423208e-03 6.74648563e-02] [ 2.19651595e-03 -7.97593561e-03 9.99965779e-01 -1.00265792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.587719421 meters Centerline goodness [0,1] 0.9274768931409113 Centerline is valid? [False, False] Translation: X:12.34, Y:0.07, Z:-1.00 [[ 9.99951493e-01 -9.54225615e-03 -2.44084893e-03 1.23366716e+01] [ 9.56135719e-03 9.99922786e-01 7.93741891e-03 6.79981247e-02] [ 2.36491957e-03 -7.96037172e-03 9.99965519e-01 -1.00363152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.617719421 meters Centerline goodness [0,1] 0.9416252950272646 Centerline is valid? [False, False] Translation: X:12.34, Y:0.07, Z:-1.00 [[ 9.99950242e-01 -9.64088644e-03 -2.56261930e-03 1.23374238e+01] [ 9.66175082e-03 9.99919224e-01 8.25810728e-03 6.64978115e-02] [ 2.48279683e-03 -8.28245577e-03 9.99962618e-01 -1.00422070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.647719421 meters Centerline goodness [0,1] 0.9360377588802539 Centerline is valid? [False, False] Translation: X:12.34, Y:0.07, Z:-1.00 [[ 9.99948452e-01 -9.78432226e-03 -2.71282357e-03 1.23375563e+01] [ 9.80694551e-03 9.99916161e-01 8.45540752e-03 6.54581265e-02] [ 2.62986570e-03 -8.48157618e-03 9.99960573e-01 -1.00398114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67771942099999 meters Centerline goodness [0,1] 0.9342680966238629 Centerline is valid? [False, False] Translation: X:12.34, Y:0.06, Z:-1.00 [[ 9.99905565e-01 -1.34265600e-02 -2.93046754e-03 1.23380016e+01] [ 1.34407887e-02 9.99897706e-01 4.89098706e-03 6.44319079e-02] [ 2.86449864e-03 -4.92991297e-03 9.99983745e-01 -1.00392929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.707719421 meters Centerline goodness [0,1] 0.9448533897271137 Centerline is valid? [False, False] Translation: X:12.34, Y:0.06, Z:-1.01 [[ 9.99859656e-01 -1.64488250e-02 -3.17871050e-03 1.23398711e+01] [ 1.64560142e-02 9.99862061e-01 2.24891042e-03 6.19900177e-02] [ 3.14128010e-03 -2.30090370e-03 9.99992419e-01 -1.00539131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.737719421 meters Centerline goodness [0,1] 0.9464659393348368 Centerline is valid? [False, False] Translation: X:12.34, Y:0.06, Z:-1.01 [[ 9.99864216e-01 -1.61375965e-02 -3.33587207e-03 1.23403423e+01] [ 1.61477880e-02 9.99864961e-01 3.05110174e-03 5.99307328e-02] [ 3.28618415e-03 -3.10455440e-03 9.99989781e-01 -1.00557537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.767719421 meters Centerline goodness [0,1] 0.9496961443873092 Centerline is valid? [False, False] Translation: X:12.34, Y:0.05, Z:-1.00 [[ 9.99873082e-01 -1.55975083e-02 -3.24623242e-03 1.23393011e+01] [ 1.56128782e-02 9.99866760e-01 4.76446256e-03 5.45953050e-02] [ 3.17148615e-03 -4.81454089e-03 9.99983381e-01 -1.00429686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.797719421 meters Centerline goodness [0,1] 0.9498788705441664 Centerline is valid? [False, False] Translation: X:12.34, Y:0.05, Z:-1.00 [[ 9.99877432e-01 -1.52964167e-02 -3.33762767e-03 1.23391444e+01] [ 1.53154472e-02 9.99866162e-01 5.75276726e-03 5.19868180e-02] [ 3.24918425e-03 -5.80317942e-03 9.99977883e-01 -1.00379648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.827719421 meters Centerline goodness [0,1] 0.9498788705441664 Centerline is valid? [False, False] Translation: X:12.34, Y:0.05, Z:-1.00 [[ 9.99877432e-01 -1.52964167e-02 -3.33762767e-03 1.23391444e+01] [ 1.53154472e-02 9.99866162e-01 5.75276726e-03 5.19868180e-02] [ 3.24918425e-03 -5.80317942e-03 9.99977883e-01 -1.00379648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.857719421 meters Centerline goodness [0,1] 0.9508798993240912 Centerline is valid? [False, True] Translation: X:12.34, Y:0.05, Z:-1.00 [[ 9.99875892e-01 -1.53242878e-02 -3.65617716e-03 1.23397589e+01] [ 1.53484919e-02 9.99859848e-01 6.68648421e-03 4.94489454e-02] [ 3.55319913e-03 -6.74177116e-03 9.99970961e-01 -1.00372994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.887719421 meters Centerline goodness [0,1] 0.946633942516379 Centerline is valid? [True, False] Translation: X:12.34, Y:0.05, Z:-1.00 [[ 9.99875399e-01 -1.52906028e-02 -3.92214083e-03 1.23402448e+01] [ 1.53195781e-02 9.99854766e-01 7.46713773e-03 4.71362987e-02] [ 3.80739417e-03 -7.52629287e-03 9.99964429e-01 -1.00363674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.917719421 meters Centerline goodness [0,1] 0.9462490332559939 Centerline is valid? [False, False] Translation: X:12.34, Y:0.04, Z:-1.00 [[ 9.99753549e-01 -2.18272819e-02 -4.05108935e-03 1.23412560e+01] [ 2.18353107e-02 9.99759683e-01 1.94835271e-03 4.12425230e-02] [ 4.00758856e-03 -2.03632934e-03 9.99989896e-01 -1.00411215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.947719421 meters Centerline goodness [0,1] 0.9524752071174958 Centerline is valid? [False, True] Translation: X:12.34, Y:0.04, Z:-1.00 [[ 9.99667382e-01 -2.54355842e-02 -4.26103697e-03 1.23421777e+01] [ 2.54321859e-02 9.99676188e-01 -8.49834611e-04 3.74635127e-02] [ 4.28127324e-03 7.41184456e-04 9.99990561e-01 -1.00449120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.977719421 meters Centerline goodness [0,1] 0.9496888707538509 Centerline is valid? [True, False] Translation: X:12.34, Y:0.03, Z:-1.01 [[ 9.99443012e-01 -3.31059563e-02 -4.20244988e-03 1.23436119e+01] [ 3.30760983e-02 9.99428421e-01 -6.98598336e-03 3.23082152e-02] [ 4.43132550e-03 6.84309161e-03 9.99966767e-01 -1.00573130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.007719421 meters Centerline goodness [0,1] 0.9521323244477984 Centerline is valid? [False, True] Translation: X:12.34, Y:0.03, Z:-1.01 [[ 9.99424792e-01 -3.36368625e-02 -4.31828526e-03 1.23439111e+01] [ 3.36086789e-02 9.99414312e-01 -6.44119441e-03 3.04457192e-02] [ 4.53241766e-03 6.29235751e-03 9.99969931e-01 -1.00569261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03771942099999 meters Centerline goodness [0,1] 0.9499051929781638 Centerline is valid? [True, False] Translation: X:12.34, Y:0.03, Z:-1.01 [[ 9.99379343e-01 -3.49332163e-02 -4.53856706e-03 1.23442453e+01] [ 3.49034737e-02 9.99369712e-01 -6.47509267e-03 2.95861911e-02] [ 4.76190227e-03 6.31266210e-03 9.99968737e-01 -1.00534732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06771942099999 meters Centerline goodness [0,1] 0.9486194136066041 Centerline is valid? [False, False] Translation: X:12.34, Y:0.03, Z:-1.00 [[ 9.99375013e-01 -3.50217460e-02 -4.80205407e-03 1.23442750e+01] [ 3.49918285e-02 9.99368498e-01 -6.17874461e-03 2.85152395e-02] [ 5.01541199e-03 6.00685032e-03 9.99969381e-01 -1.00470052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.097719421 meters Centerline goodness [0,1] 0.9512170344183023 Centerline is valid? [False, True] Translation: X:12.34, Y:0.03, Z:-1.00 [[ 9.99366623e-01 -3.52697541e-02 -4.73258716e-03 1.23432994e+01] [ 3.52409313e-02 9.99360585e-01 -6.04142691e-03 2.73879380e-02] [ 4.94264072e-03 5.87081963e-03 9.99970551e-01 -1.00351365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.127719421 meters Centerline goodness [0,1] 0.9544233196270814 Centerline is valid? [True, True] Translation: X:12.37, Y:0.03, Z:-1.00 [[ 9.99317839e-01 -3.67460506e-02 -3.68574412e-03 1.23720668e+01] [ 3.67459612e-02 9.99324635e-01 -9.19984445e-05 2.77961839e-02] [ 3.68663548e-03 -4.35005237e-05 9.99993203e-01 -1.00165886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.157719421 meters Centerline goodness [0,1] 0.9577742538830609 Centerline is valid? [True, True] Translation: X:12.40, Y:0.03, Z:-1.00 [[ 9.99202139e-01 -3.99256834e-02 -1.01258750e-03 1.24006077e+01] [ 3.99256708e-02 9.99202652e-01 -3.26003501e-05 3.24646172e-02] [ 1.01308171e-03 -7.85389581e-06 9.99999487e-01 -9.99167352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.187719421 meters Centerline goodness [0,1] 0.9564297628249461 Centerline is valid? [True, True] Translation: X:12.43, Y:0.04, Z:-1.00 [[ 9.99019975e-01 -4.42615426e-02 -7.81221895e-05 1.24288669e+01] [ 4.42615422e-02 9.99019978e-01 -6.91514569e-06 3.60810304e-02] [ 7.83517030e-05 3.45056008e-06 9.99999997e-01 -9.99904651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.217719421 meters Centerline goodness [0,1] 0.9550685377925332 Centerline is valid? [True, True] Translation: X:12.46, Y:0.04, Z:-1.00 [[ 9.98888386e-01 -4.71338129e-02 -6.29124328e-04 1.24571843e+01] [ 4.71338110e-02 9.98888584e-01 -1.78480891e-05 3.82314317e-02] [ 6.29266358e-04 -1.18247782e-05 9.99999802e-01 -1.00036903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.247719421 meters Centerline goodness [0,1] 0.9498659299585601 Centerline is valid? [True, False] Translation: X:12.46, Y:0.04, Z:-1.00 [[ 9.98848242e-01 -4.79739816e-02 -8.28917513e-04 1.24579169e+01] [ 4.79733246e-02 9.98848301e-01 -7.95137628e-04 3.95423853e-02] [ 8.66108768e-04 7.54455893e-04 9.99999340e-01 -1.00083709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.277719421 meters Centerline goodness [0,1] 0.927671802396674 Centerline is valid? [False, False] Translation: X:12.46, Y:0.04, Z:-1.00 [[ 9.98580990e-01 -5.32463718e-02 -9.11262262e-04 1.24594967e+01] [ 5.32401844e-02 9.98564719e-01 -5.82960385e-03 3.97703019e-02] [ 1.22035960e-03 5.77281581e-03 9.99982593e-01 -1.00205450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.307719421 meters Centerline goodness [0,1] 0.9081168234789885 Centerline is valid? [False, False] Translation: X:12.46, Y:0.04, Z:-1.00 [[ 9.98537555e-01 -5.40533053e-02 -9.96134232e-04 1.24603329e+01] [ 5.40456834e-02 9.98517107e-01 -6.53075592e-03 4.09143157e-02] [ 1.34766602e-03 6.46736829e-03 9.99978178e-01 -1.00284207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.337719421 meters Centerline goodness [0,1] 0.8814306712395884 Centerline is valid? [False, False] Translation: X:12.46, Y:0.05, Z:-1.00 [[ 9.98575695e-01 -5.33455789e-02 -9.11767001e-04 1.24592161e+01] [ 5.33391006e-02 9.98558051e-01 -6.06285173e-03 4.86639192e-02] [ 1.23387862e-03 6.00558355e-03 9.99981205e-01 -1.00206229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.367719421 meters Centerline goodness [0,1] 0.877672039614452 Centerline is valid? [False, False] Translation: X:12.46, Y:0.05, Z:-1.00 [[ 9.98736951e-01 -5.02279502e-02 -1.28707773e-03 1.24592456e+01] [ 5.02239511e-02 9.98733562e-01 -2.97096484e-03 5.09280620e-02] [ 1.43467320e-03 2.90257024e-03 9.99994758e-01 -1.00167178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.397719421 meters Centerline goodness [0,1] 0.9069515878847253 Centerline is valid? [False, False] Translation: X:12.46, Y:0.05, Z:-1.00 [[ 9.98908635e-01 -4.66804727e-02 -1.57259429e-03 1.24598278e+01] [ 4.66799063e-02 9.98909821e-01 -3.95002325e-04 5.47890176e-02] [ 1.58931878e-03 3.21162680e-04 9.99998685e-01 -1.00228259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42771942099999 meters Centerline goodness [0,1] 0.9063603158732426 Centerline is valid? [False, False] Translation: X:12.46, Y:0.06, Z:-1.00 [[ 9.99074403e-01 -4.29763817e-02 -1.83499249e-03 1.24605018e+01] [ 4.29822310e-02 9.99070463e-01 3.27697561e-03 5.51247341e-02] [ 1.69245424e-03 -3.35281452e-03 9.99992947e-01 -1.00290271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.457719421 meters Centerline goodness [0,1] 0.9325634445394925 Centerline is valid? [False, False] Translation: X:12.46, Y:0.06, Z:-1.00 [[ 9.99232178e-01 -3.91221131e-02 -2.12491428e-03 1.24615589e+01] [ 3.91339516e-02 9.99216854e-01 5.84910921e-03 6.03075178e-02] [ 1.89442065e-03 -5.92777442e-03 9.99980636e-01 -1.00413541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.487719421 meters Centerline goodness [0,1] 0.9337345710496787 Centerline is valid? [False, False] Translation: X:12.46, Y:0.06, Z:-1.00 [[ 9.99368922e-01 -3.54470336e-02 -2.29455460e-03 1.24615914e+01] [ 3.54661404e-02 9.99331209e-01 8.90436902e-03 6.34569563e-02] [ 1.97738655e-03 -8.98012867e-03 9.99957723e-01 -1.00416925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.517719421 meters Centerline goodness [0,1] 0.9529825846354166 Centerline is valid? [False, True] Translation: X:12.46, Y:0.07, Z:-1.00 [[ 9.99603793e-01 -2.80285853e-02 -2.57994646e-03 1.24603392e+01] [ 2.80632234e-02 9.99500330e-01 1.45446177e-02 7.09674488e-02] [ 2.17099228e-03 -1.46112567e-02 9.99890893e-01 -1.00260827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.547719421 meters Centerline goodness [0,1] 0.9497522138272808 Centerline is valid? [True, False] Translation: X:12.46, Y:0.07, Z:-1.00 [[ 9.99702229e-01 -2.42373707e-02 -2.82907899e-03 1.24599559e+01] [ 2.42832782e-02 9.99551734e-01 1.75115028e-02 7.41335655e-02] [ 2.40337802e-03 -1.75749877e-02 9.99842659e-01 -1.00184245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.577719421 meters Centerline goodness [0,1] 0.9542320131811802 Centerline is valid? [False, True] Translation: X:12.46, Y:0.08, Z:-1.00 [[ 9.99899484e-01 -1.38693857e-02 -2.94323883e-03 1.24581959e+01] [ 1.38942743e-02 9.99866388e-01 8.61129870e-03 8.21580777e-02] [ 2.82341215e-03 -8.65132729e-03 9.99958591e-01 -1.00129674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.607719421 meters Centerline goodness [0,1] 0.958679368181078 Centerline is valid? [True, True] Translation: X:12.49, Y:0.09, Z:-1.00 [[ 9.99969720e-01 -7.01638817e-03 -3.36583163e-03 1.24874716e+01] [ 7.01633272e-03 9.99975385e-01 -2.82825352e-05 9.40784141e-02] [ 3.36594722e-03 4.66588421e-06 9.99994335e-01 -1.00103776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.637719421 meters Centerline goodness [0,1] 0.9562724888699152 Centerline is valid? [True, True] Translation: X:12.52, Y:0.11, Z:-1.01 [[ 9.99984894e-01 4.09936121e-03 -3.66162904e-03 1.25159669e+01] [-4.09950440e-03 9.99991596e-01 -3.15987507e-05 1.10331046e-01] [ 3.66146874e-03 4.66091377e-05 9.99993296e-01 -1.00797437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.667719421 meters Centerline goodness [0,1] 0.9566579209632478 Centerline is valid? [True, True] Translation: X:12.55, Y:0.12, Z:-1.01 [[ 9.99960263e-01 7.88101670e-03 -4.16676885e-03 1.25452265e+01] [-7.88123123e-03 9.99968942e-01 -3.50675782e-05 1.17949282e-01] [ 4.16636307e-03 6.79054534e-05 9.99991318e-01 -1.00861166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.697719421 meters Centerline goodness [0,1] 0.9577312433668055 Centerline is valid? [True, True] Translation: X:12.57, Y:0.13, Z:-1.00 [[ 9.99913361e-01 1.28121670e-02 -3.01969829e-03 1.25738284e+01] [-1.28123088e-02 9.99917919e-01 -2.76253660e-05 1.30209570e-01] [ 3.01909649e-03 6.63122797e-05 9.99995440e-01 -1.00479546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.727719421 meters Centerline goodness [0,1] 0.9574740695546065 Centerline is valid? [True, True] Translation: X:12.60, Y:0.13, Z:-1.01 [[ 9.99905218e-01 1.36838610e-02 -1.51911745e-03 1.26028624e+01] [-1.36838991e-02 9.99906371e-01 -1.47004099e-05 1.34360801e-01] [ 1.51877406e-03 3.54864665e-05 9.99998846e-01 -1.00510582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.757719421 meters Centerline goodness [0,1] 0.9577216319247304 Centerline is valid? [True, True] Translation: X:12.63, Y:0.13, Z:-1.01 [[ 9.99930263e-01 1.16756551e-02 -1.77456385e-03 1.26322519e+01] [-1.16757007e-02 9.99931837e-01 -1.53626812e-05 1.30899619e-01] [ 1.77426352e-03 3.60808863e-05 9.99998425e-01 -1.00760394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78771942099999 meters Centerline goodness [0,1] 0.9571091397411898 Centerline is valid? [True, True] Translation: X:12.66, Y:0.12, Z:-1.01 [[ 9.99982807e-01 4.67620132e-03 -3.53821079e-03 1.26619709e+01] [-4.67633951e-03 9.99989065e-01 -3.07867234e-05 1.20240569e-01] [ 3.53802813e-03 4.73320690e-05 9.99993740e-01 -1.01210216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81771942099999 meters Centerline goodness [0,1] 0.9575929246820998 Centerline is valid? [True, True] Translation: X:12.69, Y:0.11, Z:-1.01 [[ 9.99995125e-01 2.25010326e-04 -3.11446867e-03 1.26917312e+01] [-2.25096831e-04 9.99999974e-01 -2.74245792e-05 1.14970504e-01] [ 3.11446242e-03 2.81255025e-05 9.99995150e-01 -1.01295539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.847719421 meters Centerline goodness [0,1] 0.9595126026448234 Centerline is valid? [True, True] Translation: X:12.72, Y:0.11, Z:-1.01 [[ 9.99989579e-01 -4.26857645e-03 -1.61892926e-03 1.27219754e+01] [ 4.26855895e-03 9.99990890e-01 -1.42588254e-05 1.10566949e-01] [ 1.61897538e-03 7.34818180e-06 9.99998689e-01 -1.01269518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.877719421 meters Centerline goodness [0,1] 0.9566145092460882 Centerline is valid? [True, True] Translation: X:12.75, Y:0.11, Z:-1.01 [[ 9.99955457e-01 -9.38572899e-03 -9.96112444e-04 1.27515655e+01] [ 9.38572461e-03 9.99955953e-01 -9.06492853e-06 1.05232945e-01] [ 9.96153650e-04 -2.84712334e-07 9.99999504e-01 -1.01237857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.907719421 meters Centerline goodness [0,1] 0.9552168768107071 Centerline is valid? [True, True] Translation: X:12.78, Y:0.10, Z:-1.01 [[ 9.99939975e-01 -1.06797673e-02 -2.44706437e-03 1.27816450e+01] [ 1.06797472e-02 9.99942970e-01 -2.12821346e-05 1.02538647e-01] [ 2.44715210e-03 -4.85317169e-06 9.99997006e-01 -1.01356194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.937719421 meters Centerline goodness [0,1] 0.952281776416539 Centerline is valid? [True, True] Translation: X:12.81, Y:0.10, Z:-1.02 [[ 9.99899968e-01 -1.32851747e-02 -4.85368973e-03 1.28116325e+01] [ 1.32851252e-02 9.99911748e-01 -4.24267772e-05 9.73456104e-02] [ 4.85382503e-03 -2.20593427e-05 9.99988220e-01 -1.01616291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.967719421 meters Centerline goodness [0,1] 0.9551224489795919 Centerline is valid? [True, True] Translation: X:12.84, Y:0.10, Z:-1.02 [[ 9.99863767e-01 -1.57695305e-02 -4.87529852e-03 1.28402304e+01] [ 1.57694601e-02 9.99875653e-01 -5.28881207e-05 9.78752502e-02] [ 4.87552631e-03 -2.39999098e-05 9.99988114e-01 -1.01532248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.997719421 meters Centerline goodness [0,1] 0.9497290911312991 Centerline is valid? [True, False] Translation: X:12.84, Y:0.10, Z:-1.02 [[ 9.99860145e-01 -1.59393816e-02 -5.06229155e-03 1.28410408e+01] [ 1.59374307e-02 9.99872901e-01 -4.25473718e-04 9.92505520e-02] [ 5.06842993e-03 3.44734293e-04 9.99987096e-01 -1.01594790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.027719421 meters Centerline goodness [0,1] 0.9526985681067189 Centerline is valid? [False, True] Translation: X:12.84, Y:0.10, Z:-1.02 [[ 9.99904839e-01 -1.28141593e-02 -5.10985183e-03 1.28415241e+01] [ 1.28315619e-02 9.99911934e-01 3.38758923e-03 9.86217074e-02] [ 5.06599272e-03 -3.45283424e-03 9.99981207e-01 -1.01655590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.057719421 meters Centerline goodness [0,1] 0.9552393746946751 Centerline is valid? [True, True] Translation: X:12.87, Y:0.10, Z:-1.02 [[ 9.99884887e-01 -1.47792713e-02 -3.43294865e-03 1.28700050e+01] [ 1.47792632e-02 9.99890780e-01 -2.77270529e-05 9.91636197e-02] [ 3.43298349e-03 -2.30125903e-05 9.99994107e-01 -1.01639413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.087719421 meters Centerline goodness [0,1] 0.9529129275786989 Centerline is valid? [True, True] Translation: X:12.90, Y:0.10, Z:-1.02 [[ 9.99857706e-01 -1.67264148e-02 -2.18991082e-03 1.28987007e+01] [ 1.67264245e-02 9.99860103e-01 -1.39158149e-05 9.65282288e-02] [ 2.18983723e-03 -2.27155432e-05 9.99997602e-01 -1.01935846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.117719421 meters Centerline goodness [0,1] 0.953160925387104 Centerline is valid? [True, True] Translation: X:12.93, Y:0.09, Z:-1.02 [[ 9.99756767e-01 -2.19396653e-02 -2.24880013e-03 1.29279013e+01] [ 2.19396880e-02 9.99759296e-01 -1.45483793e-05 9.15294635e-02] [ 2.24857803e-03 -3.47931326e-05 9.99997471e-01 -1.01965364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.147719421 meters Centerline goodness [0,1] 0.9523342927715517 Centerline is valid? [True, True] Translation: X:12.96, Y:0.09, Z:-1.02 [[ 9.99690719e-01 -2.46024381e-02 -3.63119256e-03 1.29578847e+01] [ 2.46025260e-02 9.99697312e-01 -2.04676246e-05 9.34060930e-02] [ 3.63059699e-03 -6.88752151e-05 9.99993407e-01 -1.02067863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17771942099999 meters Centerline goodness [0,1] 0.9527547845187008 Centerline is valid? [True, True] Translation: X:12.99, Y:0.10, Z:-1.02 [[ 9.99716499e-01 -2.36394814e-02 -2.84553132e-03 1.29868099e+01] [ 2.36395042e-02 9.99720548e-01 -2.56451280e-05 9.82543919e-02] [ 2.84534237e-03 -4.16290920e-05 9.99995951e-01 -1.02144113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.207719421 meters Centerline goodness [0,1] 0.9566856909906237 Centerline is valid? [True, True] Translation: X:13.02, Y:0.11, Z:-1.02 [[ 9.99874316e-01 -1.58370759e-02 7.34009781e-04 1.30156676e+01] [ 1.58370782e-02 9.99874586e-01 2.70335892e-06 1.11603029e-01] [-7.33960539e-04 8.92155116e-06 9.99999731e-01 -1.01957026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.237719421 meters Centerline goodness [0,1] 0.9588753842708524 Centerline is valid? [True, True] Translation: X:13.05, Y:0.12, Z:-1.02 [[ 9.99941353e-01 -1.06981765e-02 1.68486789e-03 1.30460416e+01] [ 1.06981758e-02 9.99942773e-01 9.40669486e-06 1.19280451e-01] [-1.68487210e-03 8.61886969e-06 9.99998581e-01 -1.01910724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.267719421 meters Centerline goodness [0,1] 0.9598992402388982 Centerline is valid? [True, True] Translation: X:13.08, Y:0.13, Z:-1.02 [[ 9.99986767e-01 -4.87165219e-03 1.65334272e-03 1.30765492e+01] [ 4.87164248e-03 9.99988133e-01 9.89752744e-06 1.26965201e-01] [-1.65337132e-03 -1.84290184e-06 9.99998633e-01 -1.02069455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.297719421 meters Centerline goodness [0,1] 0.9627032067134228 Centerline is valid? [True, True] Translation: X:13.11, Y:0.14, Z:-1.02 [[ 9.99972706e-01 6.87918772e-03 2.69528917e-03 1.31062313e+01] [-6.87926173e-03 9.99976337e-01 1.81909357e-05 1.42555662e-01] [-2.69510025e-03 -3.67320388e-05 9.99996368e-01 -1.02238557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.327719421 meters Centerline goodness [0,1] 0.9643538243051328 Centerline is valid? [True, True] Translation: X:13.14, Y:0.15, Z:-1.02 [[ 9.99870697e-01 1.51275470e-02 5.45397150e-03 1.31368005e+01] [-1.51279343e-02 9.99885566e-01 2.97646362e-05 1.53171062e-01] [-5.45289712e-03 -1.12268110e-04 9.99985127e-01 -1.01977497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.357719421 meters Centerline goodness [0,1] 0.9623576228859155 Centerline is valid? [True, True] Translation: X:13.17, Y:0.16, Z:-1.02 [[ 9.99824159e-01 1.80348128e-02 5.13774390e-03 1.31676812e+01] [-1.80351980e-02 9.99837352e-01 2.86504264e-05 1.55190270e-01] [-5.13639156e-03 -1.21305617e-04 9.99986801e-01 -1.02019294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.387719421 meters Centerline goodness [0,1] 0.9553956249491746 Centerline is valid? [True, True] Translation: X:13.20, Y:0.15, Z:-1.03 [[ 9.99788728e-01 2.05405374e-02 7.65939506e-04 1.31976025e+01] [-2.05405466e-02 9.99789021e-01 4.16342535e-06 1.54228823e-01] [-7.65692389e-04 -1.98953618e-05 9.99999707e-01 -1.02606315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.417719421 meters Centerline goodness [0,1] 0.9535517458768024 Centerline is valid? [True, True] Translation: X:13.23, Y:0.15, Z:-1.03 [[ 9.99779961e-01 2.09389435e-02 -1.26069813e-03 1.32272531e+01] [-2.09389707e-02 9.99780756e-01 -8.34949078e-06 1.52034869e-01] [ 1.26024690e-03 3.47453748e-05 9.99999205e-01 -1.02841349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.447719421 meters Centerline goodness [0,1] 0.9506984889830163 Centerline is valid? [True, True] Translation: X:13.26, Y:0.15, Z:-1.03 [[ 9.99756140e-01 2.17748495e-02 -3.67654482e-03 1.32566999e+01] [-2.17750766e-02 9.99762895e-01 -2.17485482e-05 1.49422931e-01] [ 3.67519952e-03 1.01800290e-04 9.99993241e-01 -1.03168201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.477719421 meters Centerline goodness [0,1] 0.9503397057923408 Centerline is valid? [True, True] Translation: X:13.29, Y:0.15, Z:-1.03 [[ 9.99732069e-01 2.27648273e-02 -4.18972843e-03 1.32861749e+01] [-2.27651309e-02 9.99740841e-01 -2.47788323e-05 1.48531527e-01] [ 4.18807854e-03 1.20151909e-04 9.99991223e-01 -1.03395854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.507719421 meters Centerline goodness [0,1] 0.9467950548778 Centerline is valid? [True, False] Translation: X:13.29, Y:0.15, Z:-1.04 [[ 9.99786657e-01 2.01790667e-02 -4.40974709e-03 1.32872898e+01] [-2.01906227e-02 9.99792789e-01 -2.59194321e-03 1.45250696e-01] [ 4.35653035e-03 2.68042577e-03 9.99986918e-01 -1.03504972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53771942099999 meters Centerline goodness [0,1] 0.9476070426544139 Centerline is valid? [False, False] Translation: X:13.29, Y:0.14, Z:-1.04 [[ 9.99826642e-01 1.79358513e-02 -4.99920677e-03 1.32885344e+01] [-1.79609621e-02 9.99826066e-01 -5.02415064e-03 1.43576527e-01] [ 4.90822481e-03 5.11307023e-03 9.99974883e-01 -1.03533569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56771942099999 meters Centerline goodness [0,1] 0.951744315988378 Centerline is valid? [False, True] Translation: X:13.29, Y:0.14, Z:-1.03 [[ 9.99864957e-01 1.56826613e-02 -4.91139914e-03 1.32864745e+01] [-1.57157920e-02 9.99853503e-01 -6.78134332e-03 1.40815669e-01] [ 4.80433012e-03 6.85761407e-03 9.99964945e-01 -1.03318960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.597719421 meters Centerline goodness [0,1] 0.954902199991867 Centerline is valid? [True, True] Translation: X:13.32, Y:0.14, Z:-1.03 [[ 9.99893100e-01 1.40098549e-02 -4.18474555e-03 1.33158983e+01] [-1.40102015e-02 9.99901851e-01 -5.35361298e-05 1.35927409e-01] [ 4.18358478e-03 1.12159535e-04 9.99991242e-01 -1.03308019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.627719421 meters Centerline goodness [0,1] 0.9540248558199984 Centerline is valid? [True, True] Translation: X:13.34, Y:0.13, Z:-1.04 [[ 9.99933849e-01 1.01029181e-02 -5.49807199e-03 1.33447042e+01] [-1.01034434e-02 9.99948957e-01 -6.77695663e-05 1.28968643e-01] [ 5.49710668e-03 1.23314542e-04 9.99984883e-01 -1.03727737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.657719421 meters Centerline goodness [0,1] 0.9560025269507448 Centerline is valid? [True, True] Translation: X:13.37, Y:0.12, Z:-1.04 [[ 9.99949256e-01 7.00539806e-03 -7.23952351e-03 1.33735718e+01] [-7.00623296e-03 9.99975452e-01 -8.99700331e-05 1.22973919e-01] [ 7.23871552e-03 1.40687256e-04 9.99973790e-01 -1.03748049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.687719421 meters Centerline goodness [0,1] 0.9536146415861718 Centerline is valid? [True, True] Translation: X:13.40, Y:0.12, Z:-1.04 [[ 9.99975411e-01 3.89570198e-03 -5.83109213e-03 1.34020316e+01] [-3.89619195e-03 9.99992407e-01 -7.26689329e-05 1.18898381e-01] [ 5.83076476e-03 9.53862002e-05 9.99982996e-01 -1.03991669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.717719421 meters Centerline goodness [0,1] 0.9536146415861718 Centerline is valid? [True, True] Translation: X:13.43, Y:0.12, Z:-1.04 [[ 9.99975728e-01 3.81328665e-03 -5.83107928e-03 1.34303669e+01] [-3.81378133e-03 9.99992725e-01 -7.37186285e-05 1.19355341e-01] [ 5.83075575e-03 9.59553005e-05 9.99982996e-01 -1.04079664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.747719421 meters Centerline goodness [0,1] 0.9560211554109032 Centerline is valid? [True, True] Translation: X:13.46, Y:0.11, Z:-1.04 [[ 9.99988476e-01 -3.61966618e-03 -3.15358075e-03 1.34608868e+01] [ 3.61956061e-03 9.99993449e-01 -3.91837616e-05 1.06711827e-01] [ 3.15370192e-03 2.77687334e-05 9.99995027e-01 -1.03930818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.777719421 meters Centerline goodness [0,1] 0.9572157716005449 Centerline is valid? [True, True] Translation: X:13.49, Y:0.09, Z:-1.04 [[ 9.99928023e-01 -1.19455165e-02 -1.11988429e-03 1.34911939e+01] [ 1.19455079e-02 9.99928650e-01 -1.43787271e-05 9.08545730e-02] [ 1.11997615e-03 1.00010543e-06 9.99999373e-01 -1.03609728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.807719421 meters Centerline goodness [0,1] 0.9583468922876668 Centerline is valid? [True, True] Translation: X:13.52, Y:0.09, Z:-1.04 [[ 9.99882892e-01 -1.52498435e-02 -1.28256898e-03 1.35211246e+01] [ 1.52498341e-02 9.99883714e-01 -1.71041274e-05 8.57218844e-02] [ 1.28268067e-03 -2.45683980e-06 9.99999177e-01 -1.03554615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.837719421 meters Centerline goodness [0,1] 0.9512150445719868 Centerline is valid? [True, True] Translation: X:13.55, Y:0.08, Z:-1.04 [[ 9.99854603e-01 -1.66954734e-02 -3.46897784e-03 1.35493517e+01] [ 1.66954183e-02 9.99860621e-01 -4.48514959e-05 8.39256242e-02] [ 3.46924315e-03 -1.30710615e-05 9.99993982e-01 -1.04141115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.867719421 meters Centerline goodness [0,1] 0.9498769800117937 Centerline is valid? [True, False] Translation: X:13.55, Y:0.08, Z:-1.04 [[ 9.99894206e-01 -1.39910862e-02 -3.97824625e-03 1.35518553e+01] [ 1.40036002e-02 9.99897029e-01 3.13533673e-03 8.34505695e-02] [ 3.93396984e-03 -3.19071480e-03 9.99987172e-01 -1.04333013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89771942099999 meters Centerline goodness [0,1] 0.9464981139769599 Centerline is valid? [False, False] Translation: X:13.55, Y:0.08, Z:-1.05 [[ 9.99929288e-01 -1.10793407e-02 -4.32064844e-03 1.35541351e+01] [ 1.11057040e-02 9.99919563e-01 6.12620306e-03 8.35687553e-02] [ 4.25242661e-03 -6.17375370e-03 9.99971900e-01 -1.04536537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92771942099999 meters Centerline goodness [0,1] 0.9484960185732033 Centerline is valid? [False, False] Translation: X:13.56, Y:0.08, Z:-1.05 [[ 9.99951190e-01 -8.56781984e-03 -4.92039110e-03 1.35565444e+01] [ 8.60576944e-03 9.99932983e-01 7.74404749e-03 8.32896988e-02] [ 4.85371174e-03 -7.78601326e-03 9.99957909e-01 -1.04697754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.957719421 meters Centerline goodness [0,1] 0.953815505956011 Centerline is valid? [False, True] Translation: X:13.56, Y:0.08, Z:-1.05 [[ 9.99962129e-01 -7.15641031e-03 -4.95248122e-03 1.35553472e+01] [ 7.19954395e-03 9.99935825e-01 8.74718166e-03 8.11944543e-02] [ 4.88956497e-03 -8.78250600e-03 9.99949479e-01 -1.04538416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.987719421 meters Centerline goodness [0,1] 0.9597952176827905 Centerline is valid? [True, True] Translation: X:13.58, Y:0.09, Z:-1.04 [[ 9.99987981e-01 -4.53696460e-03 -1.85840786e-03 1.35841401e+01] [ 4.53689517e-03 9.99989707e-01 -4.15739938e-05 8.60263009e-02] [ 1.85857735e-03 3.31420924e-05 9.99998272e-01 -1.04169172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.017719421 meters Centerline goodness [0,1] 0.9625965495570378 Centerline is valid? [True, True] Translation: X:13.61, Y:0.09, Z:-1.04 [[ 9.99997592e-01 -1.53542854e-03 1.56804150e-03 1.36136431e+01] [ 1.53539017e-03 9.99998821e-01 2.56722996e-05 9.04056833e-02] [-1.56807907e-03 -2.32646823e-05 9.99998770e-01 -1.04076247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.047719421 meters Centerline goodness [0,1] 0.9602576345571652 Centerline is valid? [True, True] Translation: X:13.64, Y:0.10, Z:-1.04 [[ 9.99988704e-01 4.47608831e-03 1.59861828e-03 1.36441817e+01] [-4.47613705e-03 9.99989982e-01 2.69114676e-05 1.00789835e-01] [-1.59848180e-03 -3.40667981e-05 9.99998722e-01 -1.04119356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.077719421 meters Centerline goodness [0,1] 0.9488684841344005 Centerline is valid? [True, False] Translation: X:13.65, Y:0.10, Z:-1.04 [[ 9.99963690e-01 8.44711511e-03 1.12439526e-03 1.36473928e+01] [-8.45132229e-03 9.99957100e-01 3.79109583e-03 1.00039339e-01] [-1.09232321e-03 -3.80046080e-03 9.99992182e-01 -1.04399083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.107719421 meters Centerline goodness [0,1] 0.9441808596918086 Centerline is valid? [False, False] Translation: X:13.65, Y:0.10, Z:-1.04 [[ 9.99957746e-01 9.13764643e-03 1.00512642e-03 1.36481641e+01] [-9.14197451e-03 9.99948578e-01 4.38916305e-03 9.84627036e-02] [-9.64968119e-04 -4.39816643e-03 9.99989862e-01 -1.04469429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.137719421 meters Centerline goodness [0,1] 0.9316917705330681 Centerline is valid? [False, False] Translation: X:13.65, Y:0.10, Z:-1.04 [[ 9.99944857e-01 1.04605058e-02 9.28011563e-04 1.36482213e+01] [-1.04652004e-02 9.99931681e-01 5.20705754e-03 9.72183127e-02] [-8.73479707e-04 -5.21648223e-03 9.99986013e-01 -1.04458722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.167719421 meters Centerline goodness [0,1] 0.9332018382203424 Centerline is valid? [False, False] Translation: X:13.65, Y:0.10, Z:-1.04 [[ 9.99943277e-01 1.06231974e-02 7.68942201e-04 1.36486110e+01] [-1.06268874e-02 9.99931205e-01 4.96530887e-03 9.79886083e-02] [-7.16141846e-04 -4.97319868e-03 9.99987377e-01 -1.04473050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.197719421 meters Centerline goodness [0,1] 0.9129824418628308 Centerline is valid? [False, False] Translation: X:13.65, Y:0.10, Z:-1.04 [[ 9.99943068e-01 1.06553745e-02 5.68506846e-04 1.36490919e+01] [-1.06580005e-02 9.99931510e-01 4.83550897e-03 9.81909495e-02] [-5.16943750e-04 -4.84129283e-03 9.99988147e-01 -1.04486726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.227719421 meters Centerline goodness [0,1] 0.9174771051138666 Centerline is valid? [False, False] Translation: X:13.65, Y:0.10, Z:-1.05 [[ 9.99962807e-01 8.61592679e-03 3.87394113e-04 1.36509845e+01] [-8.61695357e-03 9.99959142e-01 2.73190933e-03 9.61995306e-02] [-3.63840354e-04 -2.73514588e-03 9.99996193e-01 -1.04682874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.257719421 meters Centerline goodness [0,1] 0.9206725893472881 Centerline is valid? [False, False] Translation: X:13.65, Y:0.10, Z:-1.05 [[ 9.99987426e-01 4.98591392e-03 5.37067598e-04 1.36505541e+01] [-4.98553033e-03 9.99987318e-01 -7.13206402e-04 9.53379194e-02] [-5.40616772e-04 7.10519867e-04 9.99999601e-01 -1.04668897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28771942099999 meters Centerline goodness [0,1] 0.9391853360488799 Centerline is valid? [False, False] Translation: X:13.65, Y:0.09, Z:-1.04 [[ 9.99994425e-01 3.25949559e-03 7.25514367e-04 1.36485536e+01] [-3.25805814e-03 9.99992745e-01 -1.97372694e-03 9.40575423e-02] [-7.31942457e-04 1.97135217e-03 9.99997789e-01 -1.04471985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31771942099999 meters Centerline goodness [0,1] 0.9526385358413828 Centerline is valid? [False, True] Translation: X:13.65, Y:0.09, Z:-1.04 [[ 9.99999848e-01 2.03175280e-04 5.12240697e-04 1.36475961e+01] [-2.01266212e-04 9.99993045e-01 -3.72419866e-03 8.83634429e-02] [-5.12993799e-04 3.72409500e-03 9.99992934e-01 -1.04289769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.347719421 meters Centerline goodness [0,1] 0.9401361371095175 Centerline is valid? [True, False] Translation: X:13.65, Y:0.08, Z:-1.04 [[ 9.99999907e-01 4.02624732e-04 1.53104269e-04 1.36481071e+01] [-4.02211236e-04 9.99996298e-01 -2.69125597e-03 8.46062059e-02] [-1.54187268e-04 2.69119414e-03 9.99996367e-01 -1.04264388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.377719421 meters Centerline goodness [0,1] 0.9465216773853239 Centerline is valid? [False, False] Translation: X:13.65, Y:0.08, Z:-1.04 [[ 9.99999627e-01 8.62118172e-04 -4.62688637e-05 1.36485737e+01] [-8.62187645e-04 9.99998468e-01 -1.52308582e-03 8.12415499e-02] [ 4.49557129e-05 1.52312515e-03 9.99998839e-01 -1.04276477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.407719421 meters Centerline goodness [0,1] 0.9399699443564437 Centerline is valid? [False, False] Translation: X:13.65, Y:0.08, Z:-1.04 [[ 9.99999354e-01 1.13492709e-03 -6.88406441e-05 1.36497413e+01] [-1.13496617e-03 9.99999193e-01 -5.70316584e-04 7.86595019e-02] [ 6.81933209e-05 5.70394348e-04 9.99999835e-01 -1.04422732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.437719421 meters Centerline goodness [0,1] 0.9516903299296204 Centerline is valid? [False, True] Translation: X:13.65, Y:0.08, Z:-1.04 [[ 9.99999177e-01 1.28230197e-03 -3.21409553e-05 1.36499642e+01] [-1.28230228e-03 9.99999178e-01 -9.37867453e-06 7.71670954e-02] [ 3.21289026e-05 9.41988124e-06 9.99999999e-01 -1.04462106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.467719421 meters Centerline goodness [0,1] 0.9510490930879695 Centerline is valid? [True, True] Translation: X:13.68, Y:0.07, Z:-1.05 [[ 9.99999660e-01 -8.25135512e-04 -1.21874848e-05 1.36801932e+01] [ 8.25135508e-04 9.99999660e-01 -3.71650402e-07 7.00412596e-02] [ 1.21877873e-05 3.61593949e-07 1.00000000e+00 -1.04717327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.497719421 meters Centerline goodness [0,1] 0.9441278468433755 Centerline is valid? [True, False] Translation: X:13.68, Y:0.07, Z:-1.05 [[ 9.99999257e-01 -1.15661975e-03 -3.84914147e-04 1.36814664e+01] [ 1.15696141e-03 9.99998936e-01 8.88571007e-04 6.54866472e-02] [ 3.83885999e-04 -8.89015677e-04 9.99999531e-01 -1.04775385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.527719421 meters Centerline goodness [0,1] 0.9511932349473513 Centerline is valid? [False, True] Translation: X:13.68, Y:0.06, Z:-1.05 [[ 9.99987149e-01 -5.03977015e-03 -5.50322097e-04 1.36818092e+01] [ 5.03914199e-03 9.99986657e-01 -1.13691560e-03 5.95264419e-02] [ 5.56044548e-04 1.13412783e-03 9.99999202e-01 -1.04754608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.557719421 meters Centerline goodness [0,1] 0.9512195121951219 Centerline is valid? [True, True] Translation: X:13.71, Y:0.06, Z:-1.05 [[ 9.99960203e-01 -8.91992432e-03 -1.66833722e-04 1.37121504e+01] [ 8.91992357e-03 9.99960217e-01 -5.23729316e-06 5.55132297e-02] [ 1.66873801e-04 3.74894067e-06 9.99999986e-01 -1.04849069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.587719421 meters Centerline goodness [0,1] 0.9496395573154635 Centerline is valid? [True, False] Translation: X:13.71, Y:0.05, Z:-1.05 [[ 9.99915349e-01 -1.30085182e-02 -2.69948249e-04 1.37122814e+01] [ 1.30075460e-02 9.99909835e-01 -3.33545270e-03 5.34382442e-02] [ 3.13313206e-04 3.33165898e-03 9.99994401e-01 -1.04823136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.617719421 meters Centerline goodness [0,1] 0.9490154640222714 Centerline is valid? [False, False] Translation: X:13.71, Y:0.05, Z:-1.05 [[ 9.99910637e-01 -1.33613582e-02 -4.38801172e-04 1.37128054e+01] [ 1.33601477e-02 9.99907226e-01 -2.65449779e-03 5.01292601e-02] [ 4.74228158e-04 2.64839812e-03 9.99996381e-01 -1.04836911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64771942099999 meters Centerline goodness [0,1] 0.9509483056532434 Centerline is valid? [False, True] Translation: X:13.71, Y:0.05, Z:-1.05 [[ 9.99850929e-01 -1.72608201e-02 -4.27646720e-04 1.37123987e+01] [ 1.72580536e-02 9.99834270e-01 -5.79590798e-03 4.71915212e-02] [ 5.27617972e-04 5.78766363e-03 9.99983112e-01 -1.04763599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67771942099999 meters Centerline goodness [0,1] 0.9531497824230347 Centerline is valid? [True, True] Translation: X:13.74, Y:0.04, Z:-1.04 [[ 9.99747712e-01 -2.24422101e-02 9.26949937e-04 1.37416610e+01] [ 2.24422101e-02 9.99748142e-01 1.03980822e-05 4.16156572e-02] [-9.26949833e-04 1.04073464e-05 9.99999570e-01 -1.04358323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.707719421 meters Centerline goodness [0,1] 0.9512190187152251 Centerline is valid? [True, True] Translation: X:13.77, Y:0.04, Z:-1.05 [[ 9.99706708e-01 -2.40529737e-02 2.81983905e-03 1.37694132e+01] [ 2.40529034e-02 9.99710685e-01 5.88364527e-05 4.18429940e-02] [-2.82043842e-03 9.00612001e-06 9.99996023e-01 -1.04592428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.737719421 meters Centerline goodness [0,1] 0.9571930679994312 Centerline is valid? [True, True] Translation: X:13.80, Y:0.04, Z:-1.04 [[ 9.99660240e-01 -2.57377029e-02 4.12002229e-03 1.37988083e+01] [ 2.57375825e-02 9.99668730e-01 8.22337747e-05 4.28939079e-02] [-4.12077396e-03 2.38335788e-05 9.99991509e-01 -1.04181105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.767719421 meters Centerline goodness [0,1] 0.9539467007651871 Centerline is valid? [True, True] Translation: X:13.83, Y:0.04, Z:-1.05 [[ 9.99545817e-01 -2.94835150e-02 6.23550935e-03 1.38273631e+01] [ 2.94832273e-02 9.99565266e-01 1.38078805e-04 4.15337802e-02] [-6.23686961e-03 4.58268474e-05 9.99980549e-01 -1.04571350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.797719421 meters Centerline goodness [0,1] 0.9533033762448385 Centerline is valid? [True, True] Translation: X:13.86, Y:0.04, Z:-1.05 [[ 9.99372073e-01 -3.51568200e-02 4.41111613e-03 1.38574759e+01] [ 3.51567299e-02 9.99381806e-01 9.79803909e-05 3.74039440e-02] [-4.41183389e-03 5.71615523e-05 9.99990266e-01 -1.04658886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.827719421 meters Centerline goodness [0,1] 0.951355726426548 Centerline is valid? [True, True] Translation: X:13.89, Y:0.03, Z:-1.05 [[ 9.99276952e-01 -3.78424620e-02 3.67719623e-03 1.38864200e+01] [ 3.78424462e-02 9.99283715e-01 7.39089348e-05 3.49085075e-02] [-3.67735920e-03 6.52986053e-05 9.99993236e-01 -1.04790635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.857719421 meters Centerline goodness [0,1] 0.950902923073798 Centerline is valid? [True, True] Translation: X:13.92, Y:0.03, Z:-1.05 [[ 9.99169858e-01 -4.06715109e-02 2.32854512e-03 1.39154727e+01] [ 4.06715190e-02 9.99172570e-01 4.38813434e-05 3.44704572e-02] [-2.32840313e-03 5.08605513e-05 9.99997288e-01 -1.04955311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.887719421 meters Centerline goodness [0,1] 0.9511912976417584 Centerline is valid? [True, True] Translation: X:13.94, Y:0.04, Z:-1.05 [[ 9.99176140e-01 -4.04837178e-02 2.84770329e-03 1.39444518e+01] [ 4.04837204e-02 9.99180197e-01 5.67588423e-05 3.89486172e-02] [-2.84766654e-03 5.85735429e-05 9.99995944e-01 -1.05018835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.917719421 meters Centerline goodness [0,1] 0.9516744469251066 Centerline is valid? [True, True] Translation: X:13.97, Y:0.04, Z:-1.05 [[ 9.99247923e-01 -3.85103975e-02 4.53183711e-03 1.39726616e+01] [ 3.85103504e-02 9.99258197e-01 9.76828894e-05 4.47609321e-02] [-4.53223718e-03 7.69132108e-05 9.99989726e-01 -1.05132412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.947719421 meters Centerline goodness [0,1] 0.9583011739854572 Centerline is valid? [True, True] Translation: X:14.00, Y:0.06, Z:-1.05 [[ 9.99457336e-01 -3.23992437e-02 5.94319361e-03 1.40012953e+01] [ 3.23989915e-02 9.99475005e-01 1.38741554e-04 5.82474065e-02] [-5.94456858e-03 5.38872155e-05 9.99982329e-01 -1.04769055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.977719421 meters Centerline goodness [0,1] 0.9602823643961216 Centerline is valid? [True, True] Translation: X:14.03, Y:0.07, Z:-1.05 [[ 9.99577353e-01 -2.85217980e-02 5.62337887e-03 1.40293662e+01] [ 2.85215054e-02 9.99593170e-01 1.32246625e-04 6.50733988e-02] [-5.62486303e-03 2.81964991e-05 9.99984180e-01 -1.04901370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.007719421 meters Centerline goodness [0,1] 0.9579244058723335 Centerline is valid? [True, True] Translation: X:14.06, Y:0.08, Z:-1.05 [[ 9.99806012e-01 -1.94622530e-02 3.02636334e-03 1.40589226e+01] [ 1.94621252e-02 9.99810592e-01 7.16865895e-05 8.36811277e-02] [-3.02718531e-03 -1.27732211e-05 9.99995418e-01 -1.05341403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03771942099999 meters Centerline goodness [0,1] 0.9575520674280829 Centerline is valid? [True, True] Translation: X:14.09, Y:0.09, Z:-1.06 [[ 9.99893962e-01 -1.45103860e-02 1.22997353e-03 1.40888618e+01] [ 1.45103607e-02 9.99894719e-01 2.94212420e-05 9.28137291e-02] [-1.23027095e-03 -1.15707627e-05 9.99999243e-01 -1.05588008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06771942099999 meters Centerline goodness [0,1] 0.9528631852936392 Centerline is valid? [True, True] Translation: X:14.12, Y:0.11, Z:-1.06 [[ 9.99980799e-01 -5.89116955e-03 -1.92224674e-03 1.41176673e+01] [ 5.89109059e-03 9.99982646e-01 -4.67380505e-05 1.08432766e-01] [ 1.92248872e-03 3.54130235e-05 9.99998151e-01 -1.06217626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.097719421 meters Centerline goodness [0,1] 0.9526366095214853 Centerline is valid? [True, True] Translation: X:14.15, Y:0.11, Z:-1.06 [[ 9.99991890e-01 -2.72867143e-03 -2.96218170e-03 1.41469823e+01] [ 2.72846877e-03 9.99996275e-01 -7.24560331e-05 1.14179026e-01] [ 2.96236837e-03 6.43732252e-05 9.99995610e-01 -1.06317619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.127719421 meters Centerline goodness [0,1] 0.949916663278995 Centerline is valid? [True, False] Translation: X:14.15, Y:0.12, Z:-1.06 [[ 9.99993890e-01 5.01394683e-04 -3.45948093e-03 1.41485787e+01] [-4.93266444e-04 9.99997117e-01 2.35000794e-03 1.16977634e-01] [ 3.46064924e-03 -2.34828714e-03 9.99991255e-01 -1.06398109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.157719421 meters Centerline goodness [0,1] 0.9481290270127442 Centerline is valid? [False, False] Translation: X:14.15, Y:0.12, Z:-1.06 [[ 9.99993276e-01 1.83707342e-04 -3.66266773e-03 1.41492124e+01] [-1.77896180e-04 9.99998725e-01 1.58685544e-03 1.18674239e-01] [ 3.66295458e-03 -1.58619320e-03 9.99992033e-01 -1.06431306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.187719421 meters Centerline goodness [0,1] 0.9500507820434694 Centerline is valid? [False, True] Translation: X:14.15, Y:0.12, Z:-1.06 [[ 9.99994022e-01 -2.73723365e-05 -3.45753155e-03 1.41485945e+01] [ 2.84018925e-05 9.99999955e-01 2.97723214e-04 1.23607366e-01] [ 3.45752325e-03 -2.97819635e-04 9.99993978e-01 -1.06402451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.217719421 meters Centerline goodness [0,1] 0.9558531545038291 Centerline is valid? [True, True] Translation: X:14.18, Y:0.13, Z:-1.06 [[ 9.99996912e-01 1.44157103e-03 2.02432089e-03 1.41785932e+01] [-1.44167926e-03 9.99998959e-01 5.20079264e-05 1.27915177e-01] [-2.02424381e-03 -5.49261872e-05 9.99997950e-01 -1.06036085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.247719421 meters Centerline goodness [0,1] 0.9585989206801752 Centerline is valid? [True, True] Translation: X:14.21, Y:0.13, Z:-1.06 [[ 9.99994833e-01 2.17375803e-03 2.36822401e-03 1.42101852e+01] [-2.17391364e-03 9.99997635e-01 6.31371751e-05 1.26122349e-01] [-2.36808116e-03 -6.82851634e-05 9.99997194e-01 -1.05848264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.277719421 meters Centerline goodness [0,1] 0.953828943354012 Centerline is valid? [True, True] Translation: X:14.24, Y:0.13, Z:-1.06 [[ 9.99991606e-01 2.95261354e-03 2.84079733e-03 1.42400344e+01] [-2.95283735e-03 9.99995638e-01 7.45921009e-05 1.28628967e-01] [-2.84056470e-03 -8.29798873e-05 9.99995962e-01 -1.06210609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.307719421 meters Centerline goodness [0,1] 0.9583663356282621 Centerline is valid? [True, True] Translation: X:14.27, Y:0.13, Z:-1.06 [[ 9.99986219e-01 3.86291540e-03 3.55514996e-03 1.42716762e+01] [-3.86327300e-03 9.99992533e-01 9.37250884e-05 1.25889266e-01] [-3.55476136e-03 -1.07458312e-04 9.99993676e-01 -1.06008290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.337719421 meters Centerline goodness [0,1] 0.9576402163745068 Centerline is valid? [True, True] Translation: X:14.30, Y:0.13, Z:-1.06 [[ 9.99991226e-01 3.10792736e-03 2.80858515e-03 1.43034721e+01] [-3.10814998e-03 9.99995167e-01 7.49043805e-05 1.25295938e-01] [-2.80833878e-03 -8.36332272e-05 9.99996053e-01 -1.06256151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.367719421 meters Centerline goodness [0,1] 0.9569925239720461 Centerline is valid? [True, True] Translation: X:14.33, Y:0.12, Z:-1.07 [[ 9.99997986e-01 -2.74433331e-04 1.98824074e-03 1.43338159e+01] [ 2.74330176e-04 9.99999961e-01 5.21553270e-05 1.18600489e-01] [-1.98825498e-03 -5.16097876e-05 9.99998022e-01 -1.06786336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39771942099999 meters Centerline goodness [0,1] 0.9595369863569098 Centerline is valid? [True, True] Translation: X:14.36, Y:0.10, Z:-1.07 [[ 9.99969517e-01 -6.89525325e-03 3.66346270e-03 1.43645922e+01] [ 6.89495237e-03 9.99976225e-01 9.47533977e-05 1.04488330e-01] [-3.66402895e-03 -6.94911085e-05 9.99993285e-01 -1.06943381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42771942099999 meters Centerline goodness [0,1] 0.9584891852333712 Centerline is valid? [True, True] Translation: X:14.40, Y:0.10, Z:-1.07 [[ 9.99934724e-01 -1.09373445e-02 3.30483373e-03 1.43953332e+01] [ 1.09371136e-02 9.99940184e-01 8.79254704e-05 9.81742842e-02] [-3.30559772e-03 -5.17743889e-05 9.99994535e-01 -1.07074039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.457719421 meters Centerline goodness [0,1] 0.9558122478914558 Centerline is valid? [True, True] Translation: X:14.43, Y:0.09, Z:-1.07 [[ 9.99862887e-01 -1.63484300e-02 2.63356433e-03 1.44258022e+01] [ 1.63483061e-02 9.99866355e-01 6.85665381e-05 9.10551965e-02] [-2.63433332e-03 -2.55028209e-05 9.99996530e-01 -1.07407192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.487719421 meters Centerline goodness [0,1] 0.9548066186173992 Centerline is valid? [True, True] Translation: X:14.46, Y:0.09, Z:-1.08 [[ 9.99846573e-01 -1.73930198e-02 2.07690734e-03 1.44558219e+01] [ 1.73929461e-02 9.99848730e-01 5.35124825e-05 9.07441514e-02] [-2.07752391e-03 -1.73807348e-05 9.99997842e-01 -1.07552460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.517719421 meters Centerline goodness [0,1] 0.9526459001746335 Centerline is valid? [True, True] Translation: X:14.49, Y:0.09, Z:-1.08 [[ 9.99845976e-01 -1.75490954e-02 2.32654560e-04 1.44866141e+01] [ 1.75490945e-02 9.99846003e-01 5.99445282e-06 9.19623015e-02] [-2.32723929e-04 -1.91065267e-06 9.99999973e-01 -1.07852382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.547719421 meters Centerline goodness [0,1] 0.946112660572871 Centerline is valid? [True, False] Translation: X:14.49, Y:0.09, Z:-1.08 [[ 9.99871164e-01 -1.60466214e-02 -4.02309096e-04 1.44900625e+01] [ 1.60471968e-02 9.99870155e-01 1.47023839e-03 9.15031985e-02] [ 3.78664499e-04 -1.47650490e-03 9.99998838e-01 -1.08131805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.577719421 meters Centerline goodness [0,1] 0.9454822954822955 Centerline is valid? [False, False] Translation: X:14.49, Y:0.09, Z:-1.08 [[ 9.99872252e-01 -1.59704126e-02 -6.52700607e-04 1.44908419e+01] [ 1.59713194e-02 9.99871458e-01 1.40845707e-03 9.13846368e-02] [ 6.30123067e-04 -1.41870163e-03 9.99998795e-01 -1.08171033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.607719421 meters Centerline goodness [0,1] 0.9465580448065173 Centerline is valid? [False, False] Translation: X:14.49, Y:0.09, Z:-1.08 [[ 9.99877001e-01 -1.56705593e-02 -6.44953680e-04 1.44907437e+01] [ 1.56713542e-02 9.99876420e-01 1.24636827e-03 9.21504714e-02] [ 6.25342688e-04 -1.25632227e-03 9.99999015e-01 -1.08165410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.637719421 meters Centerline goodness [0,1] 0.9465580448065173 Centerline is valid? [False, False] Translation: X:14.49, Y:0.09, Z:-1.08 [[ 9.99877001e-01 -1.56705593e-02 -6.44953680e-04 1.44907437e+01] [ 1.56713542e-02 9.99876420e-01 1.24636827e-03 9.21504714e-02] [ 6.25342688e-04 -1.25632227e-03 9.99999015e-01 -1.08165410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.667719421 meters Centerline goodness [0,1] 0.9447107572310692 Centerline is valid? [False, False] Translation: X:14.49, Y:0.09, Z:-1.08 [[ 9.99877432e-01 -1.56339009e-02 -8.37476220e-04 1.44910367e+01] [ 1.56346340e-02 9.99877388e-01 8.76203709e-04 9.36881576e-02] [ 8.23675053e-04 -8.89189949e-04 9.99999265e-01 -1.08161472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.697719421 meters Centerline goodness [0,1] 0.9470397404703974 Centerline is valid? [False, False] Translation: X:14.49, Y:0.10, Z:-1.08 [[ 9.99921983e-01 -1.24390505e-02 -1.13929352e-03 1.44911673e+01] [ 1.24435805e-02 9.99914336e-01 4.05934185e-03 9.59888242e-02] [ 1.08870156e-03 -4.07320205e-03 9.99991112e-01 -1.08122190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.727719421 meters Centerline goodness [0,1] 0.951595137075718 Centerline is valid? [False, True] Translation: X:14.49, Y:0.10, Z:-1.08 [[ 9.99936472e-01 -1.12245939e-02 -1.03008832e-03 1.44896186e+01] [ 1.12298524e-02 9.99923163e-01 5.24958562e-03 9.76075174e-02] [ 9.71084700e-04 -5.26081986e-03 9.99985690e-01 -1.07972239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.757719421 meters Centerline goodness [0,1] 0.9462555962555963 Centerline is valid? [True, False] Translation: X:14.49, Y:0.10, Z:-1.08 [[ 9.99935712e-01 -1.12432081e-02 -1.47015211e-03 1.44909927e+01] [ 1.12502520e-02 9.99924835e-01 4.87413111e-03 9.88888495e-02] [ 1.41524073e-03 -4.89035734e-03 9.99987041e-01 -1.08047415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78771942099999 meters Centerline goodness [0,1] 0.9463594507598908 Centerline is valid? [False, False] Translation: X:14.49, Y:0.10, Z:-1.08 [[ 9.99940982e-01 -1.07425399e-02 -1.62188618e-03 1.44911130e+01] [ 1.07511625e-02 9.99927598e-01 5.40469636e-03 9.76028199e-02] [ 1.56370858e-03 -5.42181455e-03 9.99984079e-01 -1.08025439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81771942099999 meters Centerline goodness [0,1] 0.95770539620807 Centerline is valid? [False, True] Translation: X:14.49, Y:0.10, Z:-1.08 [[ 9.99974870e-01 -6.26064806e-03 3.32607070e-03 1.44937395e+01] [ 6.26684475e-03 9.99978641e-01 -1.85592017e-03 9.66296929e-02] [-3.31438040e-03 1.87671750e-03 9.99992746e-01 -1.07704398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.847719421 meters Centerline goodness [0,1] 0.9586547048794349 Centerline is valid? [True, True] Translation: X:14.52, Y:0.10, Z:-1.08 [[ 9.99980772e-01 -2.99420994e-03 5.43047550e-03 1.45239788e+01] [ 2.99348209e-03 9.99995509e-01 1.42152948e-04 1.00065651e-01] [-5.43087675e-03 -1.25894183e-04 9.99985245e-01 -1.07693225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.877719421 meters Centerline goodness [0,1] 0.956049533089728 Centerline is valid? [True, True] Translation: X:14.56, Y:0.11, Z:-1.08 [[ 9.99974556e-01 3.41330874e-03 6.26398396e-03 1.45554009e+01] [-3.41440520e-03 9.99994157e-01 1.64357206e-04 1.07314708e-01] [-6.26338636e-03 -1.85740803e-04 9.99980368e-01 -1.07847975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.907719421 meters Centerline goodness [0,1] 0.9501932858596134 Centerline is valid? [True, True] Translation: X:14.59, Y:0.11, Z:-1.08 [[ 9.99966120e-01 6.22760905e-03 5.38293607e-03 1.45858339e+01] [-6.22847704e-03 9.99980592e-01 1.44500086e-04 1.11267836e-01] [-5.38193171e-03 -1.78022684e-04 9.99985501e-01 -1.08186905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.937719421 meters Centerline goodness [0,1] 0.9457827638959715 Centerline is valid? [True, False] Translation: X:14.59, Y:0.11, Z:-1.08 [[ 9.99957618e-01 7.48667365e-03 5.35826957e-03 1.45860975e+01] [-7.49642814e-03 9.99970276e-01 1.80269138e-03 1.07583726e-01] [-5.34461415e-03 -1.84278286e-03 9.99984019e-01 -1.08216778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.967719421 meters Centerline goodness [0,1] 0.9421855017153529 Centerline is valid? [False, False] Translation: X:14.59, Y:0.11, Z:-1.08 [[ 9.99955356e-01 7.93784367e-03 5.12601924e-03 1.45867166e+01] [-7.95125609e-03 9.99965004e-01 2.60147878e-03 1.05176498e-01] [-5.10518972e-03 -2.64212093e-03 9.99983478e-01 -1.08238851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.997719421 meters Centerline goodness [0,1] 0.9338720784218415 Centerline is valid? [False, False] Translation: X:14.59, Y:0.10, Z:-1.08 [[ 9.99948850e-01 8.72922322e-03 5.10864061e-03 1.45862317e+01] [-8.74679147e-03 9.99955875e-01 3.42675032e-03 1.03688794e-01] [-5.07850232e-03 -3.47125925e-03 9.99981079e-01 -1.08167121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.027719421 meters Centerline goodness [0,1] 0.9239917059684501 Centerline is valid? [False, False] Translation: X:14.59, Y:0.10, Z:-1.08 [[ 9.99946391e-01 9.01347608e-03 5.09629266e-03 1.45859164e+01] [-9.03149771e-03 9.99953004e-01 3.52433810e-03 1.03783645e-01] [-5.06428662e-03 -3.57017632e-03 9.99980803e-01 -1.08121293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.057719421 meters Centerline goodness [0,1] 0.8841842329718533 Centerline is valid? [False, False] Translation: X:14.59, Y:0.10, Z:-1.08 [[ 9.99935063e-01 1.03281501e-02 4.81647485e-03 1.45873691e+01] [-1.03504564e-02 9.99935716e-01 4.62955011e-03 1.01439449e-01] [-4.76835053e-03 -4.67910219e-03 9.99977684e-01 -1.08242640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.087719421 meters Centerline goodness [0,1] 0.8535985195127407 Centerline is valid? [False, False] Translation: X:14.59, Y:0.10, Z:-1.08 [[ 9.99937060e-01 1.01958655e-02 4.68198599e-03 1.45892883e+01] [-1.02167898e-02 9.99937829e-01 4.46714989e-03 9.93357841e-02] [-4.63614844e-03 -4.51470359e-03 9.99979062e-01 -1.08440940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.117719421 meters Centerline goodness [0,1] 0.841925516344121 Centerline is valid? [False, False] Translation: X:14.59, Y:0.10, Z:-1.09 [[ 9.99961471e-01 7.46331953e-03 4.62120198e-03 1.45897828e+01] [-7.46861580e-03 9.99971471e-01 1.12988636e-03 9.87309597e-02] [-4.61263744e-03 -1.16435681e-03 9.99988684e-01 -1.08509249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14771942099999 meters Centerline goodness [0,1] 0.8270667508091932 Centerline is valid? [False, False] Translation: X:14.59, Y:0.10, Z:-1.08 [[ 9.99951979e-01 8.49347502e-03 4.88884402e-03 1.45884033e+01] [-8.50667298e-03 9.99960212e-01 2.68517372e-03 9.59046808e-02] [-4.86584305e-03 -2.72663257e-03 9.99984444e-01 -1.08393044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17771942099999 meters Centerline goodness [0,1] 0.8145622570073483 Centerline is valid? [False, False] Translation: X:14.59, Y:0.09, Z:-1.08 [[ 9.99969592e-01 6.15097401e-03 4.79375292e-03 1.45890818e+01] [-6.15455078e-03 9.99980793e-01 7.31736913e-04 9.19971692e-02] [-4.78915995e-03 -7.61218058e-04 9.99988242e-01 -1.08462881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.207719421 meters Centerline goodness [0,1] 0.816497564935065 Centerline is valid? [False, False] Translation: X:14.59, Y:0.09, Z:-1.09 [[ 9.99982599e-01 4.17621388e-03 4.16667438e-03 1.45925795e+01] [-4.17300911e-03 9.99990991e-01 -7.77541480e-04 8.82553483e-02] [-4.16988402e-03 7.60140380e-04 9.99991017e-01 -1.08754101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.237719421 meters Centerline goodness [0,1] 0.8289978765109441 Centerline is valid? [False, False] Translation: X:14.59, Y:0.08, Z:-1.09 [[ 9.99991320e-01 -1.05090136e-03 4.03183851e-03 1.45945455e+01] [ 1.06905019e-03 9.99989295e-01 -4.50186732e-03 7.84583518e-02] [-4.02706433e-03 4.50613848e-03 9.99981739e-01 -1.08959177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.267719421 meters Centerline goodness [0,1] 0.8432863124517257 Centerline is valid? [False, False] Translation: X:14.59, Y:0.07, Z:-1.09 [[ 9.99985012e-01 -3.74404771e-03 3.99484328e-03 1.45939592e+01] [ 3.76878555e-03 9.99973659e-01 -6.20298893e-03 7.29688746e-02] [-3.97151376e-03 6.21795166e-03 9.99972782e-01 -1.08868105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.297719421 meters Centerline goodness [0,1] 0.9168443496801706 Centerline is valid? [False, False] Translation: X:14.59, Y:0.06, Z:-1.08 [[ 9.99949272e-01 -9.00952412e-03 4.50361684e-03 1.45909254e+01] [ 9.04756974e-03 9.99922942e-01 -8.50003546e-03 6.14658620e-02] [-4.42668853e-03 8.54035106e-03 9.99953732e-01 -1.08496511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.327719421 meters Centerline goodness [0,1] 0.931444724640039 Centerline is valid? [False, False] Translation: X:14.59, Y:0.06, Z:-1.08 [[ 9.99950049e-01 -8.95597018e-03 4.43725690e-03 1.45907313e+01] [ 8.98477006e-03 9.99938421e-01 -6.51361517e-03 5.56650685e-02] [-4.37864792e-03 6.55315754e-03 9.99968941e-01 -1.08417993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.357719421 meters Centerline goodness [0,1] 0.9490286827842397 Centerline is valid? [False, False] Translation: X:14.59, Y:0.05, Z:-1.09 [[ 9.99872336e-01 -1.54478515e-02 4.08361715e-03 1.45933007e+01] [ 1.54904658e-02 9.99823633e-01 -1.06183287e-02 4.83108159e-02] [-3.91886657e-03 1.06802302e-02 9.99935285e-01 -1.08617398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.387719421 meters Centerline goodness [0,1] 0.9476461121636212 Centerline is valid? [False, False] Translation: X:14.59, Y:0.04, Z:-1.09 [[ 9.99814198e-01 -1.88710808e-02 3.93091325e-03 1.45945251e+01] [ 1.89213730e-02 9.99734153e-01 -1.31759028e-02 4.47440802e-02] [-3.68122471e-03 1.32478330e-02 9.99905467e-01 -1.08716742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.417719421 meters Centerline goodness [0,1] 0.9487826724208126 Centerline is valid? [False, False] Translation: X:14.60, Y:0.04, Z:-1.09 [[ 9.99742349e-01 -2.23796196e-02 3.79321623e-03 1.45953306e+01] [ 2.24371177e-02 9.99622418e-01 -1.58618233e-02 4.09836778e-02] [-3.43680241e-03 1.59428453e-02 9.99866998e-01 -1.08764689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.447719421 meters Centerline goodness [0,1] 0.9544871664393739 Centerline is valid? [False, True] Translation: X:14.59, Y:0.03, Z:-1.09 [[ 9.99572234e-01 -2.89720904e-02 3.99577177e-03 1.45948919e+01] [ 2.90490474e-02 9.99362068e-01 -2.07752079e-02 3.24043521e-02] [-3.39132154e-03 2.08823944e-02 9.99776187e-01 -1.08693710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.477719421 meters Centerline goodness [0,1] 0.9548174380266211 Centerline is valid? [True, True] Translation: X:14.62, Y:0.02, Z:-1.08 [[ 9.99481654e-01 -3.18418996e-02 4.74510171e-03 1.46233009e+01] [ 3.18411638e-02 9.99492915e-01 2.30534974e-04 2.28055271e-02] [-4.75003621e-03 -7.93259162e-05 9.99988715e-01 -1.08493216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.507719421 meters Centerline goodness [0,1] 0.9617172434791434 Centerline is valid? [True, True] Translation: X:14.65, Y:0.02, Z:-1.08 [[ 9.99406303e-01 -3.33956342e-02 8.47193771e-03 1.46534102e+01] [ 3.33932944e-02 9.99442201e-01 4.17528942e-04 1.91880819e-02] [-8.48115572e-03 -1.34375146e-04 9.99964025e-01 -1.07943397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53771942099999 meters Centerline goodness [0,1] 0.9578203096428136 Centerline is valid? [True, True] Translation: X:14.68, Y:0.03, Z:-1.08 [[ 9.99487643e-01 -3.12068631e-02 7.11219628e-03 1.46819263e+01] [ 3.12052132e-02 9.99512940e-01 3.42861600e-04 2.53183357e-02] [-7.11943185e-03 -1.20748331e-04 9.99974649e-01 -1.08318530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56771942099999 meters Centerline goodness [0,1] 0.9562097216857427 Centerline is valid? [True, True] Translation: X:14.71, Y:0.03, Z:-1.09 [[ 9.99547738e-01 -2.93920410e-02 6.35818649e-03 1.47109487e+01] [ 2.93906809e-02 9.99567953e-01 3.07268897e-04 2.91185080e-02] [-6.36447072e-03 -1.20258501e-04 9.99979739e-01 -1.08558784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.597719421 meters Centerline goodness [0,1] 0.954796277819633 Centerline is valid? [True, True] Translation: X:14.74, Y:0.03, Z:-1.09 [[ 9.99638117e-01 -2.66470672e-02 3.68355558e-03 1.47407775e+01] [ 2.66465737e-02 9.99644900e-01 1.82973664e-04 2.93930496e-02] [-3.68712326e-03 -8.47533138e-05 9.99993199e-01 -1.08725837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.627719421 meters Centerline goodness [0,1] 0.952250330183887 Centerline is valid? [True, True] Translation: X:14.77, Y:0.03, Z:-1.09 [[ 9.99669514e-01 -2.55916862e-02 2.43475389e-03 1.47683568e+01] [ 2.55914740e-02 9.99672478e-01 1.18283957e-04 3.09408261e-02] [-2.43698354e-03 -5.59359250e-05 9.99997029e-01 -1.09050517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.657719421 meters Centerline goodness [0,1] 0.9518135764944275 Centerline is valid? [True, True] Translation: X:14.80, Y:0.03, Z:-1.09 [[ 9.99699558e-01 -2.42703265e-02 3.42702234e-03 1.47956157e+01] [ 2.42698960e-02 9.99705429e-01 1.67164651e-04 3.43071713e-02] [-3.43006998e-03 -8.39409524e-05 9.99994114e-01 -1.09175658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.687719421 meters Centerline goodness [0,1] 0.9524604515748112 Centerline is valid? [True, True] Translation: X:14.82, Y:0.04, Z:-1.09 [[ 9.99719235e-01 -2.32784030e-02 4.42350381e-03 1.48238835e+01] [ 2.32776932e-02 9.99729015e-01 2.11883272e-04 3.66351127e-02] [-4.42723741e-03 -1.08854818e-04 9.99990194e-01 -1.09070468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.717719421 meters Centerline goodness [0,1] 0.9460227849643604 Centerline is valid? [True, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99824645e-01 -1.83126956e-02 3.91460767e-03 1.48244102e+01] [ 1.82909827e-02 9.99817511e-01 5.51229274e-03 3.40652480e-02] [-4.01483823e-03 -5.43972411e-03 9.99977145e-01 -1.09027987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.747719421 meters Centerline goodness [0,1] 0.9368795768917819 Centerline is valid? [False, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99895103e-01 -1.40156913e-02 3.65277061e-03 1.48247986e+01] [ 1.39777629e-02 9.99850178e-01 1.02100009e-02 3.18244377e-02] [-3.79532356e-03 -1.01578724e-02 9.99941205e-01 -1.09013055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.777719421 meters Centerline goodness [0,1] 0.8830907873104792 Centerline is valid? [False, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99959910e-01 -8.17973264e-03 3.64293102e-03 1.48243333e+01] [ 8.12109737e-03 9.99841723e-01 1.58296124e-02 2.96782190e-02] [-3.77183643e-03 -1.57993932e-02 9.99868068e-01 -1.08971220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.807719421 meters Centerline goodness [0,1] 0.8513291562747125 Centerline is valid? [False, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99965954e-01 -7.47392414e-03 3.49737349e-03 1.48247765e+01] [ 7.41684029e-03 9.99843525e-01 1.60597324e-02 3.00125698e-02] [-3.61685546e-03 -1.60332461e-02 9.99864918e-01 -1.09007941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.837719421 meters Centerline goodness [0,1] 0.8645698051948052 Centerline is valid? [False, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99970828e-01 -6.73268259e-03 3.60752474e-03 1.48241268e+01] [ 6.67270809e-03 9.99843464e-01 1.63866521e-02 3.04035259e-02] [-3.71728616e-03 -1.63621021e-02 9.99859222e-01 -1.08967125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.867719421 meters Centerline goodness [0,1] 0.8698758016072733 Centerline is valid? [False, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99948277e-01 -9.51592909e-03 3.59028921e-03 1.48231084e+01] [ 9.46772946e-03 9.99867903e-01 1.32112765e-02 3.02137322e-02] [-3.71553252e-03 -1.31766013e-02 9.99906282e-01 -1.08847817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89771942099999 meters Centerline goodness [0,1] 0.8930651675359731 Centerline is valid? [False, False] Translation: X:14.82, Y:0.03, Z:-1.09 [[ 9.99907136e-01 -1.31978362e-02 3.39655172e-03 1.48233274e+01] [ 1.31611972e-02 9.99857282e-01 1.05924042e-02 2.55329676e-02] [-3.53586379e-03 -1.05467179e-02 9.99938130e-01 -1.08794858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92771942099999 meters Centerline goodness [0,1] 0.90978618087394 Centerline is valid? [False, False] Translation: X:14.83, Y:0.02, Z:-1.09 [[ 9.99894385e-01 -1.42526901e-02 2.84230195e-03 1.48261579e+01] [ 1.42239325e-02 9.99849888e-01 9.89352995e-03 2.47405652e-02] [-2.98288470e-03 -9.85205634e-03 9.99947018e-01 -1.09008797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.957719421 meters Centerline goodness [0,1] 0.9205366566534059 Centerline is valid? [False, False] Translation: X:14.83, Y:0.02, Z:-1.09 [[ 9.99876843e-01 -1.55028805e-02 2.44105169e-03 1.48294807e+01] [ 1.54799558e-02 9.99838351e-01 9.14569608e-03 2.37913479e-02] [-2.58244173e-03 -9.10678235e-03 9.99955198e-01 -1.09316554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.987719421 meters Centerline goodness [0,1] 0.9139453228065191 Centerline is valid? [False, False] Translation: X:14.83, Y:0.02, Z:-1.09 [[ 9.99876734e-01 -1.55543433e-02 2.13974026e-03 1.48302833e+01] [ 1.55329774e-02 9.99832656e-01 9.66363824e-03 2.14093089e-02] [-2.28969374e-03 -9.62921051e-03 9.99951017e-01 -1.09336127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.017719421 meters Centerline goodness [0,1] 0.9212644726970416 Centerline is valid? [False, False] Translation: X:14.83, Y:0.02, Z:-1.09 [[ 9.99825660e-01 -1.85727509e-02 1.92430828e-03 1.48303971e+01] [ 1.85580521e-02 9.99800445e-01 7.39379113e-03 1.65506527e-02] [-2.06124732e-03 -7.35679068e-03 9.99970814e-01 -1.09267110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.047719421 meters Centerline goodness [0,1] 0.9221300671222599 Centerline is valid? [False, False] Translation: X:14.83, Y:0.01, Z:-1.09 [[ 9.99829171e-01 -1.84218800e-02 1.50422598e-03 1.48309849e+01] [ 1.84086256e-02 9.99795301e-01 8.39514421e-03 1.29572827e-02] [-1.65857240e-03 -8.36601934e-03 9.99963629e-01 -1.09221792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.077719421 meters Centerline goodness [0,1] 0.9459107466270528 Centerline is valid? [False, False] Translation: X:14.83, Y:0.01, Z:-1.09 [[ 9.99757950e-01 -2.19464318e-02 1.54746597e-03 1.48308772e+01] [ 2.19357165e-02 9.99737391e-01 6.63120655e-03 7.34829642e-03] [-1.69259091e-03 -6.59565669e-03 9.99976816e-01 -1.09152632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.107719421 meters Centerline goodness [0,1] 0.9490703972957012 Centerline is valid? [False, False] Translation: X:14.83, Y:0.00, Z:-1.09 [[ 9.99744155e-01 -2.25772750e-02 1.37526838e-03 1.48321217e+01] [ 2.25666310e-02 9.99718561e-01 7.31749789e-03 4.26650416e-03] [-1.54009049e-03 -7.28459057e-03 9.99972281e-01 -1.09234999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.137719421 meters Centerline goodness [0,1] 0.9518425716555644 Centerline is valid? [False, True] Translation: X:14.84, Y:0.00, Z:-1.10 [[ 9.99526099e-01 -3.07592154e-02 1.20365791e-03 1.48356995e+01] [ 3.07581270e-02 9.99526440e-01 9.12551887e-04 1.00505798e-04] [-1.23115729e-03 -8.75097164e-04 9.99998859e-01 -1.09545547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.167719421 meters Centerline goodness [0,1] 0.9528653091116219 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.02, Z:-1.09 [[ 9.99043854e-01 -4.37178806e-02 3.54470871e-04 1.48672247e+01] [ 4.37178775e-02 9.99043916e-01 1.65629592e-05 -2.20063210e-02] [-3.54856064e-04 -1.05040852e-06 9.99999937e-01 -1.09349817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.197719421 meters Centerline goodness [0,1] 0.9506094955127292 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.03, Z:-1.09 [[ 9.98721518e-01 -5.05476919e-02 -5.10288158e-04 1.48958380e+01] [ 5.05476783e-02 9.98721648e-01 -3.96706446e-05 -3.08968887e-02] [ 5.11641090e-04 1.38260447e-05 9.99999869e-01 -1.09409928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.227719421 meters Centerline goodness [0,1] 0.9480919455832263 Centerline is valid? [True, False] Translation: X:14.90, Y:-0.03, Z:-1.09 [[ 9.98511480e-01 -5.45392099e-02 -5.47357181e-04 1.48968927e+01] [ 5.45370767e-02 9.98506106e-01 -3.35608840e-03 -3.33341124e-02] [ 7.29577897e-04 3.32124153e-03 9.99994219e-01 -1.09467627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.257719421 meters Centerline goodness [0,1] 0.945740861618799 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.03, Z:-1.10 [[ 9.98259068e-01 -5.89789447e-02 -5.63320643e-04 1.48978121e+01] [ 5.89733924e-02 9.98233706e-01 -7.18381224e-03 -3.39432971e-02] [ 9.86019318e-04 7.13808478e-03 9.99974037e-01 -1.09508604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28771942099999 meters Centerline goodness [0,1] 0.945983464325814 Centerline is valid? [False, False] Translation: X:14.90, Y:-0.03, Z:-1.09 [[ 9.98445937e-01 -5.57215262e-02 -9.06480918e-04 1.48981291e+01] [ 5.57184560e-02 9.98441651e-01 -3.11820858e-03 -3.47241546e-02] [ 1.07881964e-03 3.06285497e-03 9.99994728e-01 -1.09482805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31771942099999 meters Centerline goodness [0,1] 0.9502999491611591 Centerline is valid? [False, True] Translation: X:14.90, Y:-0.03, Z:-1.09 [[ 9.98632136e-01 -5.22653017e-02 -1.48134905e-03 1.48971134e+01] [ 5.22660668e-02 9.98633078e-01 4.82512403e-04 -3.39841120e-02] [ 1.45410551e-03 -5.59276680e-04 9.99998786e-01 -1.09259567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.347719421 meters Centerline goodness [0,1] 0.9502191736342236 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.03, Z:-1.09 [[ 9.98689345e-01 -5.11810348e-02 -3.06498649e-04 1.49252236e+01] [ 5.11810319e-02 9.98689392e-01 -1.71570497e-05 -3.22940191e-02] [ 3.06975065e-04 1.44764558e-06 9.99999953e-01 -1.09155323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.377719421 meters Centerline goodness [0,1] 0.9544492818488831 Centerline is valid? [True, True] Translation: X:14.95, Y:-0.03, Z:-1.09 [[ 9.98812698e-01 -4.87141648e-02 -3.54206359e-04 1.49536149e+01] [ 4.87141581e-02 9.98812760e-01 -2.73460080e-05 -2.75543973e-02] [ 3.55117969e-04 1.00586754e-05 9.99999937e-01 -1.08759174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.407719421 meters Centerline goodness [0,1] 0.9552496746909565 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.02, Z:-1.09 [[ 9.98874760e-01 -4.74246632e-02 3.40377263e-04 1.49823958e+01] [ 4.74246640e-02 9.98874818e-01 5.82417171e-06 -2.27320276e-02] [-3.40270486e-04 1.03246592e-05 9.99999942e-01 -1.08938738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.437719421 meters Centerline goodness [0,1] 0.9554630253301493 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.01, Z:-1.09 [[ 9.99117918e-01 -4.19912606e-02 3.47709157e-04 1.50099303e+01] [ 4.19912614e-02 9.99117978e-01 4.92568262e-06 -1.21655708e-02] [-3.47609305e-04 9.67940834e-06 9.99999940e-01 -1.09147338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.467719421 meters Centerline goodness [0,1] 0.9556865535115358 Centerline is valid? [True, True] Translation: X:15.04, Y:0.00, Z:-1.09 [[ 9.99457228e-01 -3.29276474e-02 1.00946722e-03 1.50374071e+01] [ 3.29276223e-02 9.99457738e-01 4.15013157e-05 6.08477217e-04] [-1.01028637e-03 -8.23943454e-06 9.99999490e-01 -1.09374369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.497719421 meters Centerline goodness [0,1] 0.9552644386761843 Centerline is valid? [True, True] Translation: X:15.07, Y:0.01, Z:-1.09 [[ 9.99619630e-01 -2.75450474e-02 1.36554444e-03 1.50657972e+01] [ 2.75449992e-02 9.99620563e-01 5.41345962e-05 8.87900581e-03] [-1.36651744e-03 -1.65000848e-05 9.99999066e-01 -1.09406473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.527719421 meters Centerline goodness [0,1] 0.9552644386761843 Centerline is valid? [True, True] Translation: X:15.09, Y:0.01, Z:-1.09 [[ 9.99610542e-01 -2.78729163e-02 1.36558610e-03 1.50933088e+01] [ 2.78728695e-02 9.99611475e-01 5.32754504e-05 1.04176519e-02] [-1.36654048e-03 -1.51918986e-05 9.99999066e-01 -1.09496328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.557719421 meters Centerline goodness [0,1] 0.953211157963023 Centerline is valid? [True, True] Translation: X:15.12, Y:0.02, Z:-1.10 [[ 9.99750235e-01 -2.23104569e-02 1.30779660e-03 1.51225255e+01] [ 2.23103974e-02 9.99751090e-01 6.00144441e-05 1.97561206e-02] [-1.30881002e-03 -3.08219928e-05 9.99999143e-01 -1.09579803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.587719421 meters Centerline goodness [0,1] 0.937021813446199 Centerline is valid? [True, False] Translation: X:15.12, Y:0.02, Z:-1.10 [[ 9.99948641e-01 -1.00888987e-02 9.64395350e-04 1.51228563e+01] [ 1.00775940e-02 9.99887778e-01 1.10847993e-02 2.38096118e-02] [-1.07612054e-03 -1.10745113e-02 9.99938097e-01 -1.09597827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.617719421 meters Centerline goodness [0,1] 0.9089782401105264 Centerline is valid? [False, False] Translation: X:15.12, Y:0.03, Z:-1.10 [[ 9.99981625e-01 -6.00915134e-03 7.99996148e-04 1.51238076e+01] [ 5.99735785e-03 9.99883902e-01 1.40076293e-02 2.73978930e-02] [-8.84077235e-04 -1.40025741e-02 9.99901568e-01 -1.09713232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64771942099999 meters Centerline goodness [0,1] 0.813171358105216 Centerline is valid? [False, False] Translation: X:15.13, Y:0.03, Z:-1.10 [[ 9.99980126e-01 2.89829137e-03 -5.59889527e-03 1.51341055e+01] [-2.83129207e-03 9.99924736e-01 1.19376102e-02 3.08324674e-02] [ 5.63307254e-03 -1.19215209e-02 9.99913069e-01 -1.09624033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67771942099999 meters Centerline goodness [0,1] 0.7890318515356627 Centerline is valid? [False, False] Translation: X:15.13, Y:0.03, Z:-1.10 [[ 9.99978805e-01 3.13565712e-03 -5.70595816e-03 1.51344803e+01] [-3.06829763e-03 9.99925955e-01 1.17758205e-02 3.09142206e-02] [ 5.74246060e-03 -1.17580634e-02 9.99914382e-01 -1.09650835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.707719421 meters Centerline goodness [0,1] 0.7910662532174054 Centerline is valid? [False, False] Translation: X:15.13, Y:0.03, Z:-1.10 [[ 9.99982940e-01 -5.09657942e-04 -5.81886069e-03 1.51338192e+01] [ 5.54156092e-04 9.99970599e-01 7.64817765e-03 3.17143679e-02] [ 5.81479165e-03 -7.65127174e-03 9.99953822e-01 -1.09559959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.737719421 meters Centerline goodness [0,1] 0.8268006971748206 Centerline is valid? [False, False] Translation: X:15.13, Y:0.03, Z:-1.09 [[ 9.99976446e-01 -3.91063639e-03 -5.64049128e-03 1.51328492e+01] [ 3.93403386e-03 9.99983679e-01 4.14301354e-03 3.29823629e-02] [ 5.62419740e-03 -4.16510584e-03 9.99975510e-01 -1.09491949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.767719421 meters Centerline goodness [0,1] 0.8881271107132684 Centerline is valid? [False, False] Translation: X:15.13, Y:0.03, Z:-1.10 [[ 9.99943795e-01 -8.84505256e-03 -5.84564634e-03 1.51337355e+01] [ 8.84702165e-03 9.99960816e-01 3.11073067e-04 3.20949794e-02] [ 5.84266582e-03 -3.62772143e-04 9.99982866e-01 -1.09526767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.797719421 meters Centerline goodness [0,1] 0.9165125871142085 Centerline is valid? [False, False] Translation: X:15.13, Y:0.03, Z:-1.10 [[ 9.99897731e-01 -1.29204928e-02 -6.13095347e-03 1.51347548e+01] [ 1.29003937e-02 9.99911319e-01 -3.30660576e-03 3.05717296e-02] [ 6.17313275e-03 3.22717589e-03 9.99975739e-01 -1.09574863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.827719421 meters Centerline goodness [0,1] 0.945950345950346 Centerline is valid? [False, False] Translation: X:15.14, Y:0.03, Z:-1.10 [[ 9.99748070e-01 -2.15636124e-02 -6.22950757e-03 1.51366968e+01] [ 2.14965805e-02 9.99712365e-01 -1.06340727e-02 2.53562991e-02] [ 6.45702477e-03 1.04974805e-02 9.99924052e-01 -1.09732193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.857719421 meters Centerline goodness [0,1] 0.9418192196355037 Centerline is valid? [False, False] Translation: X:15.14, Y:0.02, Z:-1.10 [[ 9.99656546e-01 -2.54599848e-02 -6.21125418e-03 1.51368055e+01] [ 2.53709307e-02 9.99579816e-01 -1.40181094e-02 2.33139239e-02] [ 6.56554517e-03 1.38557096e-02 9.99882450e-01 -1.09723465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.887719421 meters Centerline goodness [0,1] 0.9543115197624036 Centerline is valid? [False, True] Translation: X:15.14, Y:0.02, Z:-1.10 [[ 9.99561529e-01 -2.90299767e-02 -5.83179184e-03 1.51350649e+01] [ 2.89309794e-02 9.99446908e-01 -1.63974275e-02 1.96437184e-02] [ 6.30458326e-03 1.62215183e-02 9.99848546e-01 -1.09535098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.917719421 meters Centerline goodness [0,1] 0.9551817886706704 Centerline is valid? [True, True] Translation: X:15.16, Y:0.01, Z:-1.09 [[ 9.99474017e-01 -3.19905159e-02 -5.31950228e-03 1.51632618e+01] [ 3.19896041e-02 9.99488169e-01 -2.56418508e-04 1.38093490e-02] [ 5.32498255e-03 8.61148636e-05 9.99985818e-01 -1.09340572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.947719421 meters Centerline goodness [0,1] 0.9524885496183206 Centerline is valid? [True, True] Translation: X:15.19, Y:0.01, Z:-1.09 [[ 9.99332192e-01 -3.60406384e-02 -6.02016701e-03 1.51909903e+01] [ 3.60395430e-02 9.99350322e-01 -2.90379243e-04 1.21442163e-02] [ 6.02672130e-03 7.32212579e-05 9.99981836e-01 -1.09499190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.977719421 meters Centerline goodness [0,1] 0.9561455180678841 Centerline is valid? [True, True] Translation: X:15.22, Y:0.01, Z:-1.09 [[ 9.99261495e-01 -3.80729259e-02 -5.18807863e-03 1.52199191e+01] [ 3.80721046e-02 9.99274962e-01 -2.57025490e-04 1.09022822e-02] [ 5.19410279e-03 5.93146029e-05 9.99986509e-01 -1.09068386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.007719421 meters Centerline goodness [0,1] 0.9577682438340009 Centerline is valid? [True, True] Translation: X:15.25, Y:0.01, Z:-1.09 [[ 9.99201042e-01 -3.97938170e-02 -3.70524100e-03 1.52481089e+01] [ 3.97934128e-02 9.99207912e-01 -1.82772116e-04 1.06888214e-02] [ 3.70957933e-03 3.51819041e-05 9.99993119e-01 -1.08942420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03771942099999 meters Centerline goodness [0,1] 0.9571129494501921 Centerline is valid? [True, True] Translation: X:15.28, Y:0.01, Z:-1.09 [[ 9.99197233e-01 -3.98448163e-02 -4.15687652e-03 1.52763894e+01] [ 3.98443132e-02 9.99205879e-01 -2.03801092e-04 1.26886161e-02] [ 4.16169588e-03 3.80095977e-05 9.99991339e-01 -1.08979673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06771942099999 meters Centerline goodness [0,1] 0.9521690541501575 Centerline is valid? [True, True] Translation: X:15.30, Y:0.02, Z:-1.09 [[ 9.99195387e-01 -3.94985695e-02 -6.95993772e-03 1.53039057e+01] [ 3.94971579e-02 9.99219625e-01 -3.40204466e-04 1.60341362e-02] [ 6.96794394e-03 6.50329739e-05 9.99975721e-01 -1.09389179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.097719421 meters Centerline goodness [0,1] 0.9502975646416022 Centerline is valid? [True, True] Translation: X:15.33, Y:0.02, Z:-1.10 [[ 9.99204359e-01 -3.88773178e-02 -8.89963475e-03 1.53311563e+01] [ 3.88749608e-02 9.99243987e-01 -4.37744335e-04 1.89853983e-02] [ 8.90992484e-03 9.14230955e-05 9.99960302e-01 -1.09783807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.127719421 meters Centerline goodness [0,1] 0.9506004199881751 Centerline is valid? [True, True] Translation: X:15.36, Y:0.02, Z:-1.10 [[ 9.99201241e-01 -3.85673918e-02 -1.04611358e-02 1.53600592e+01] [ 3.85640639e-02 9.99255995e-01 -5.19720453e-04 2.14384188e-02] [ 1.04733969e-02 1.15881413e-04 9.99945146e-01 -1.09795665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.157719421 meters Centerline goodness [0,1] 0.9502692815770755 Centerline is valid? [True, True] Translation: X:15.39, Y:0.03, Z:-1.10 [[ 9.99319016e-01 -3.56151696e-02 -9.64698092e-03 1.53876034e+01] [ 3.56122317e-02 9.99365570e-01 -4.76196167e-04 3.14970625e-02] [ 9.65782039e-03 1.32321365e-04 9.99953353e-01 -1.10108768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.187719421 meters Centerline goodness [0,1] 0.9517070294231278 Centerline is valid? [True, True] Translation: X:15.42, Y:0.04, Z:-1.10 [[ 9.99408425e-01 -3.32898643e-02 -8.63630311e-03 1.54153535e+01] [ 3.32873477e-02 9.99445728e-01 -4.35018428e-04 3.81105601e-02] [ 8.64599796e-03 1.47281457e-04 9.99962612e-01 -1.10092525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.217719421 meters Centerline goodness [0,1] 0.9510432735243972 Centerline is valid? [True, True] Translation: X:15.44, Y:0.05, Z:-1.10 [[ 9.99616105e-01 -2.58323982e-02 -1.00164916e-02 1.54446205e+01] [ 2.58287255e-02 9.99666260e-01 -4.95873125e-04 4.82473624e-02] [ 1.00259583e-02 2.36969549e-04 9.99949711e-01 -1.10197722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.247719421 meters Centerline goodness [0,1] 0.9481166612430849 Centerline is valid? [True, False] Translation: X:15.45, Y:0.05, Z:-1.10 [[ 9.99783563e-01 -1.80814998e-02 -1.02901115e-02 1.54458774e+01] [ 1.81458773e-02 9.99816141e-01 6.19765223e-03 5.07097450e-02] [ 1.01761567e-02 -6.38303393e-03 9.99927849e-01 -1.10332129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.277719421 meters Centerline goodness [0,1] 0.9392473776580548 Centerline is valid? [False, False] Translation: X:15.45, Y:0.05, Z:-1.10 [[ 9.99847724e-01 -1.39189707e-02 -1.05257789e-02 1.54458567e+01] [ 1.40196485e-02 9.99856091e-01 9.55235889e-03 5.32254235e-02] [ 1.03913052e-02 -9.69847201e-03 9.99898975e-01 -1.10299340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.307719421 meters Centerline goodness [0,1] 0.9221750350517139 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99934521e-01 -7.60083064e-03 -8.55459532e-03 1.54525548e+01] [ 7.62719863e-03 9.99966249e-01 3.05392596e-03 5.68157728e-02] [ 8.53109422e-03 -3.11897359e-03 9.99958745e-01 -1.10224487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.337719421 meters Centerline goodness [0,1] 0.8763324924729433 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99962243e-01 2.00067577e-04 -8.68748009e-03 1.54510625e+01] [-1.13416795e-04 9.99950256e-01 9.97356100e-03 5.97772936e-02] [ 8.68904333e-03 -9.97219912e-03 9.99912524e-01 -1.10028502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.367719421 meters Centerline goodness [0,1] 0.8615700797655869 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99961877e-01 5.04334240e-04 -8.71725496e-03 1.54507931e+01] [-4.22189576e-04 9.99955518e-01 9.42249895e-03 6.23161922e-02] [ 8.72161929e-03 -9.41845940e-03 9.99917610e-01 -1.10002989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39771942099999 meters Centerline goodness [0,1] 0.8615950720689585 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99961549e-01 7.00647982e-04 -8.74126887e-03 1.54506159e+01] [-6.20906299e-04 9.99958203e-01 9.12181889e-03 6.32276585e-02] [ 8.74729469e-03 -9.11604064e-03 9.99920188e-01 -1.09980450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42771942099999 meters Centerline goodness [0,1] 0.8205756648909235 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99960492e-01 5.47884638e-04 -8.87210317e-03 1.54510672e+01] [-4.69707070e-04 9.99961069e-01 8.81130371e-03 6.36651225e-02] [ 8.87658536e-03 -8.80678831e-03 9.99921820e-01 -1.10002923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.457719421 meters Centerline goodness [0,1] 0.8260183649528741 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99959446e-01 -2.48511903e-03 -8.65626369e-03 1.54503254e+01] [ 2.52838410e-03 9.99984350e-01 4.99077035e-03 6.47348736e-02] [ 8.64372556e-03 -5.01245432e-03 9.99950079e-01 -1.09981543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.487719421 meters Centerline goodness [0,1] 0.8497799233281272 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99945416e-01 -5.82328849e-03 -8.67496625e-03 1.54498815e+01] [ 5.83797499e-03 9.99981567e-01 1.66861467e-03 6.37030397e-02] [ 8.66508952e-03 -1.71916782e-03 9.99960980e-01 -1.09925425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.517719421 meters Centerline goodness [0,1] 0.89439948071969 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99905860e-01 -1.03190947e-02 -9.04359805e-03 1.54517395e+01] [ 1.03067012e-02 9.99945882e-01 -1.41595798e-03 5.91478197e-02] [ 9.05772003e-03 1.32261502e-03 9.99958103e-01 -1.10033660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.547719421 meters Centerline goodness [0,1] 0.9129620582966943 Centerline is valid? [False, False] Translation: X:15.45, Y:0.06, Z:-1.10 [[ 9.99897482e-01 -1.08115813e-02 -9.38804856e-03 1.54533175e+01] [ 1.08030118e-02 9.99941182e-01 -9.63045230e-04 5.69709668e-02] [ 9.39790842e-03 8.61527301e-04 9.99955468e-01 -1.10136623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.577719421 meters Centerline goodness [0,1] 0.9446240823215992 Centerline is valid? [False, False] Translation: X:15.46, Y:0.05, Z:-1.10 [[ 9.99850293e-01 -1.44079772e-02 -9.58131709e-03 1.54560281e+01] [ 1.43760611e-02 9.99890907e-01 -3.39164798e-03 5.46527813e-02] [ 9.62913862e-03 3.25339863e-03 9.99948346e-01 -1.10386088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.607719421 meters Centerline goodness [0,1] 0.946695139312589 Centerline is valid? [False, False] Translation: X:15.46, Y:0.05, Z:-1.10 [[ 9.99843890e-01 -1.46882181e-02 -9.82101768e-03 1.54562598e+01] [ 1.46645099e-02 9.99889391e-01 -2.48169614e-03 5.13229197e-02] [ 9.85638308e-03 2.33728831e-03 9.99948693e-01 -1.10330682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.637719421 meters Centerline goodness [0,1] 0.9471644516587197 Centerline is valid? [False, False] Translation: X:15.45, Y:0.05, Z:-1.10 [[ 9.99718467e-01 -2.15975975e-02 -9.82499363e-03 1.54547205e+01] [ 2.15164686e-02 9.99734128e-01 -8.28950380e-03 4.61723990e-02] [ 1.00014148e-02 8.07577086e-03 9.99917373e-01 -1.10091874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.667719421 meters Centerline goodness [0,1] 0.9476886139822577 Centerline is valid? [False, False] Translation: X:15.46, Y:0.04, Z:-1.10 [[ 9.99631626e-01 -2.52260941e-02 -1.00128032e-02 1.54552918e+01] [ 2.51102716e-02 9.99618201e-01 -1.15293583e-02 4.40698232e-02] [ 1.02998210e-02 1.12736869e-02 9.99883402e-01 -1.10095960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.697719421 meters Centerline goodness [0,1] 0.9512620728836945 Centerline is valid? [False, True] Translation: X:15.46, Y:0.04, Z:-1.10 [[ 9.99554249e-01 -2.80919892e-02 -1.01065714e-02 1.54584090e+01] [ 2.79549097e-02 9.99518584e-01 -1.34582299e-02 4.17127604e-02] [ 1.04797744e-02 1.31697026e-02 9.99858357e-01 -1.10407008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.727719421 meters Centerline goodness [0,1] 0.9504474341023924 Centerline is valid? [True, True] Translation: X:15.49, Y:0.04, Z:-1.10 [[ 9.99514728e-01 -2.97194031e-02 -9.33087136e-03 1.54860796e+01] [ 2.97165188e-02 9.99558267e-01 -4.47631510e-04 3.94249307e-02] [ 9.34005294e-03 1.70133273e-04 9.99956366e-01 -1.10267806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.757719421 meters Centerline goodness [0,1] 0.9520994576147236 Centerline is valid? [True, True] Translation: X:15.51, Y:0.04, Z:-1.10 [[ 9.99511546e-01 -3.03708761e-02 -7.36741332e-03 1.55146700e+01] [ 3.03690415e-02 9.99538689e-01 -3.60778872e-04 4.30285394e-02] [ 7.37497183e-03 1.36861367e-04 9.99972795e-01 -1.10214741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78771942099999 meters Centerline goodness [0,1] 0.9563866092467701 Centerline is valid? [True, True] Translation: X:15.54, Y:0.05, Z:-1.10 [[ 9.99612103e-01 -2.73129468e-02 -5.44478391e-03 1.55427163e+01] [ 2.73118715e-02 9.99626924e-01 -2.71774319e-04 5.03467915e-02] [ 5.45017555e-03 1.22961660e-04 9.99985140e-01 -1.09818098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81771942099999 meters Centerline goodness [0,1] 0.9546848658420165 Centerline is valid? [True, True] Translation: X:15.57, Y:0.05, Z:-1.10 [[ 9.99657074e-01 -2.52526337e-02 -6.93095661e-03 1.55701822e+01] [ 2.52508820e-02 9.99681088e-01 -3.40144389e-04 5.35785383e-02] [ 6.93733578e-03 1.65014978e-04 9.99975923e-01 -1.09864911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.847719421 meters Centerline goodness [0,1] 0.954335952569491 Centerline is valid? [True, True] Translation: X:15.60, Y:0.06, Z:-1.10 [[ 9.99716029e-01 -2.23672745e-02 -8.21986066e-03 1.55995144e+01] [ 2.23647292e-02 9.99749798e-01 -4.01453723e-04 5.50285285e-02] [ 8.22678346e-03 2.17504764e-04 9.99966136e-01 -1.09814370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.877719421 meters Centerline goodness [0,1] 0.9564516787010974 Centerline is valid? [True, True] Translation: X:15.63, Y:0.06, Z:-1.10 [[ 9.99721001e-01 -2.21794129e-02 -8.12366131e-03 1.56279140e+01] [ 2.21768568e-02 9.99753981e-01 -4.04610373e-04 5.76436509e-02] [ 8.13063675e-03 2.24340214e-04 9.99966921e-01 -1.09839403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.907719421 meters Centerline goodness [0,1] 0.9545270242873941 Centerline is valid? [True, True] Translation: X:15.66, Y:0.06, Z:-1.10 [[ 9.99663844e-01 -2.46194898e-02 -8.12891801e-03 1.56555370e+01] [ 2.46170437e-02 9.99696874e-01 -4.00844694e-04 6.27473103e-02] [ 8.13632252e-03 2.00600018e-04 9.99966879e-01 -1.10300483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.937719421 meters Centerline goodness [0,1] 0.9485420936225474 Centerline is valid? [True, False] Translation: X:15.66, Y:0.06, Z:-1.10 [[ 9.99647089e-01 -2.51448299e-02 -8.56944416e-03 1.56568057e+01] [ 2.51426308e-02 9.99683808e-01 -3.64269039e-04 6.20114418e-02] [ 8.57589405e-03 1.48682114e-04 9.99963215e-01 -1.10339524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.967719421 meters Centerline goodness [0,1] 0.953061846247588 Centerline is valid? [False, True] Translation: X:15.66, Y:0.06, Z:-1.10 [[ 9.99433174e-01 -3.25960631e-02 -8.41588628e-03 1.56555672e+01] [ 3.25403744e-02 9.99448156e-01 -6.67137561e-03 5.74240129e-02] [ 8.62870261e-03 6.39373801e-03 9.99942331e-01 -1.10146982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.997719421 meters Centerline goodness [0,1] 0.9600389468132582 Centerline is valid? [True, True] Translation: X:15.69, Y:0.05, Z:-1.09 [[ 9.99212190e-01 -3.93629434e-02 -5.05550783e-03 1.56866209e+01] [ 3.93622728e-02 9.99224978e-01 -2.32115210e-04 4.72794961e-02] [ 5.06072644e-03 3.29360684e-05 9.99987194e-01 -1.09397815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.027719421 meters Centerline goodness [0,1] 0.9614062213903526 Centerline is valid? [True, True] Translation: X:15.72, Y:0.04, Z:-1.09 [[ 9.98656253e-01 -5.18150734e-02 -9.41157249e-04 1.57151895e+01] [ 5.18150532e-02 9.98656697e-01 -4.57865070e-05 3.53618454e-02] [ 9.42265421e-04 -3.04113146e-06 9.99999556e-01 -1.09033606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.057719421 meters Centerline goodness [0,1] 0.9598116937373902 Centerline is valid? [True, True] Translation: X:15.74, Y:0.03, Z:-1.09 [[ 9.98396573e-01 -5.65849750e-02 -1.55677279e-03 1.57435486e+01] [ 5.65849281e-02 9.98397787e-01 -7.41790950e-05 3.39164518e-02] [ 1.55847593e-03 -1.40297222e-05 9.99998785e-01 -1.09260235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.087719421 meters Centerline goodness [0,1] 0.9570567144719687 Centerline is valid? [True, True] Translation: X:15.77, Y:0.04, Z:-1.09 [[ 9.98176767e-01 -6.03551761e-02 -6.27880821e-04 1.57715388e+01] [ 6.03551683e-02 9.98176965e-01 -3.14689723e-05 3.51229580e-02] [ 6.28635487e-04 -6.48425553e-06 9.99999802e-01 -1.09363564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.117719421 meters Centerline goodness [0,1] 0.9599097817694152 Centerline is valid? [True, True] Translation: X:15.80, Y:0.04, Z:-1.09 [[ 9.98137840e-01 -6.09772078e-02 1.62279896e-03 1.58004689e+01] [ 6.09771771e-02 9.98139158e-01 6.84009119e-05 3.69945302e-02] [-1.62395008e-03 3.06801609e-05 9.99998681e-01 -1.09166445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14771942099999 meters Centerline goodness [0,1] 0.9593126002965732 Centerline is valid? [True, True] Translation: X:15.83, Y:0.04, Z:-1.09 [[ 9.98083020e-01 -6.18889855e-02 1.95200590e-04 1.58291596e+01] [ 6.18889863e-02 9.98083039e-01 1.81936361e-06 4.19770614e-02] [-1.94938997e-04 1.02648907e-05 9.99999981e-01 -1.09061731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17771942099999 meters Centerline goodness [0,1] 0.951862848775726 Centerline is valid? [True, True] Translation: X:15.86, Y:0.04, Z:-1.10 [[ 9.98035354e-01 -6.25852504e-02 -2.91865583e-03 1.58562666e+01] [ 6.25851092e-02 9.98039621e-01 -1.39782446e-04 4.36309725e-02] [ 2.92168248e-03 -4.31565707e-05 9.99995731e-01 -1.09685981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.207719421 meters Centerline goodness [0,1] 0.95255273616631 Centerline is valid? [True, True] Translation: X:15.88, Y:0.06, Z:-1.10 [[ 9.97985260e-01 -6.31967694e-02 -5.62040946e-03 1.58844304e+01] [ 6.31962381e-02 9.98001083e-01 -2.72240394e-04 5.61298303e-02] [ 5.62637944e-03 -8.34968346e-05 9.99984168e-01 -1.10011528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.237719421 meters Centerline goodness [0,1] 0.9536303865491481 Centerline is valid? [True, True] Translation: X:15.91, Y:0.06, Z:-1.10 [[ 9.97969835e-01 -6.34952275e-02 -4.95629569e-03 1.59117468e+01] [ 6.34948347e-02 9.97982139e-01 -2.36724952e-04 6.34092340e-02] [ 4.96132547e-03 -7.84548142e-05 9.99987689e-01 -1.10254209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.267719421 meters Centerline goodness [0,1] 0.951591579375572 Centerline is valid? [True, True] Translation: X:15.94, Y:0.08, Z:-1.11 [[ 9.97964582e-01 -6.35475518e-02 -5.32928505e-03 1.59391208e+01] [ 6.35470968e-02 9.97978808e-01 -2.54836452e-04 7.56560338e-02] [ 5.33470778e-03 -8.43428399e-05 9.99985767e-01 -1.10674888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.297719421 meters Centerline goodness [0,1] 0.9518968257202233 Centerline is valid? [True, True] Translation: X:15.97, Y:0.08, Z:-1.11 [[ 9.97973704e-01 -6.32102199e-02 -7.27701227e-03 1.59678355e+01] [ 6.32093183e-02 9.98000229e-01 -3.54050244e-04 8.23586402e-02] [ 7.28483950e-03 -1.06642151e-04 9.99973460e-01 -1.10660777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.327719421 meters Centerline goodness [0,1] 0.947607597000326 Centerline is valid? [True, False] Translation: X:15.97, Y:0.09, Z:-1.11 [[ 9.98169675e-01 -5.99276561e-02 -8.12261233e-03 1.59683954e+01] [ 5.99456880e-02 9.98199647e-01 1.99476582e-03 8.55248524e-02] [ 7.98844712e-03 -2.47803033e-03 9.99965021e-01 -1.10590506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.357719421 meters Centerline goodness [0,1] 0.9535489649276365 Centerline is valid? [False, True] Translation: X:15.97, Y:0.09, Z:-1.11 [[ 9.98356929e-01 -5.66515710e-02 -8.60474751e-03 1.59693068e+01] [ 5.66946987e-02 9.98379765e-01 4.85349603e-03 8.79528139e-02] [ 8.31584762e-03 -5.33336496e-03 9.99951200e-01 -1.10642929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.387719421 meters Centerline goodness [0,1] 0.95260605566649 Centerline is valid? [True, True] Translation: X:16.00, Y:0.11, Z:-1.11 [[ 9.98587461e-01 -5.20542490e-02 -1.06507120e-02 1.59964162e+01] [ 5.20519938e-02 9.98644256e-01 -4.89025865e-04 1.08470120e-01] [ 1.06617283e-02 -6.60556987e-05 9.99943160e-01 -1.11445384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.417719421 meters Centerline goodness [0,1] 0.9461629376044342 Centerline is valid? [True, False] Translation: X:16.00, Y:0.11, Z:-1.12 [[ 9.98901165e-01 -4.54781022e-02 -1.13227252e-02 1.59975336e+01] [ 4.55451169e-02 9.98945834e-01 5.73268815e-03 1.12651702e-01] [ 1.10500774e-02 -6.24208371e-03 9.99919463e-01 -1.11512134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.447719421 meters Centerline goodness [0,1] 0.9461629376044342 Centerline is valid? [False, False] Translation: X:16.00, Y:0.11, Z:-1.12 [[ 9.98901165e-01 -4.54781022e-02 -1.13227252e-02 1.59975336e+01] [ 4.55451169e-02 9.98945834e-01 5.73268815e-03 1.12651702e-01] [ 1.10500774e-02 -6.24208371e-03 9.99919463e-01 -1.11512134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.477719421 meters Centerline goodness [0,1] 0.9463681916323787 Centerline is valid? [False, False] Translation: X:16.00, Y:0.12, Z:-1.11 [[ 9.99044465e-01 -4.20286906e-02 -1.19894176e-02 1.59981033e+01] [ 4.21291588e-02 9.99078079e-01 8.25389975e-03 1.17044346e-01] [ 1.16314637e-02 -8.75111694e-03 9.99894058e-01 -1.11485513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.507719421 meters Centerline goodness [0,1] 0.9557352671569127 Centerline is valid? [False, True] Translation: X:16.00, Y:0.12, Z:-1.11 [[ 9.99275851e-01 -3.56105378e-02 -1.34038488e-02 1.59998928e+01] [ 3.56530172e-02 9.99359894e-01 2.94362064e-03 1.22663840e-01] [ 1.32904450e-02 -3.41937667e-03 9.99905832e-01 -1.10699503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53771942099999 meters Centerline goodness [0,1] 0.9564846416382252 Centerline is valid? [True, True] Translation: X:16.03, Y:0.14, Z:-1.11 [[ 9.99528905e-01 -2.89010799e-02 -1.03293757e-02 1.60271082e+01] [ 2.88980386e-02 9.99582266e-01 -4.43597911e-04 1.38635745e-01] [ 1.03378813e-02 1.44890236e-04 9.99946552e-01 -1.10856291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56771942099999 meters Centerline goodness [0,1] 0.9619957321410426 Centerline is valid? [True, True] Translation: X:16.06, Y:0.15, Z:-1.11 [[ 9.99608953e-01 -2.60932418e-02 -1.00540307e-02 1.60555334e+01] [ 2.60901550e-02 9.99659498e-01 -4.38082420e-04 1.47177448e-01] [ 1.00620382e-02 1.75599891e-04 9.99949361e-01 -1.10548904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.597719421 meters Centerline goodness [0,1] 0.9586199898528666 Centerline is valid? [True, True] Translation: X:16.08, Y:0.17, Z:-1.11 [[ 9.99778038e-01 -1.90657532e-02 -8.96504449e-03 1.60844532e+01] [ 1.90630568e-02 9.99818209e-01 -3.86126740e-04 1.66437777e-01] [ 8.97077652e-03 2.15139882e-04 9.99959739e-01 -1.10660082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.627719421 meters Centerline goodness [0,1] 0.9556034833563929 Centerline is valid? [True, True] Translation: X:16.11, Y:0.17, Z:-1.11 [[ 9.99830270e-01 -1.65175705e-02 -8.16100152e-03 1.61114405e+01] [ 1.65152266e-02 9.99863551e-01 -3.54524492e-04 1.74432664e-01] [ 8.16574385e-03 2.19683529e-04 9.99966636e-01 -1.10829510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.657719421 meters Centerline goodness [0,1] 0.9558319300452434 Centerline is valid? [True, True] Translation: X:16.14, Y:0.18, Z:-1.11 [[ 9.99854306e-01 -1.50819223e-02 -7.99391260e-03 1.61398325e+01] [ 1.50795780e-02 9.99886234e-01 -3.53455993e-04 1.77543307e-01] [ 7.99833397e-03 2.32859668e-04 9.99967986e-01 -1.10847190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.687719421 meters Centerline goodness [0,1] 0.9578840491420448 Centerline is valid? [True, True] Translation: X:16.17, Y:0.18, Z:-1.11 [[ 9.99822075e-01 -1.61833666e-02 -9.69104677e-03 1.61690314e+01] [ 1.61799579e-02 9.99869003e-01 -4.30046231e-04 1.76532223e-01] [ 9.69673687e-03 2.73168987e-04 9.99952948e-01 -1.10942994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.717719421 meters Centerline goodness [0,1] 0.9538163660450423 Centerline is valid? [True, True] Translation: X:16.20, Y:0.18, Z:-1.12 [[ 9.99742224e-01 -1.86323394e-02 -1.29738566e-02 1.61966905e+01] [ 1.86265027e-02 9.99826349e-01 -5.70576826e-04 1.77243027e-01] [ 1.29822349e-02 3.28772170e-04 9.99915673e-01 -1.11549158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.747719421 meters Centerline goodness [0,1] 0.9575983924330688 Centerline is valid? [True, True] Translation: X:16.22, Y:0.18, Z:-1.11 [[ 9.99736309e-01 -1.90228979e-02 -1.28623934e-02 1.62247079e+01] [ 1.90170693e-02 9.99818994e-01 -5.75317909e-04 1.77959865e-01] [ 1.28710095e-02 3.30561176e-04 9.99917110e-01 -1.11342748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.777719421 meters Centerline goodness [0,1] 0.9583544946673438 Centerline is valid? [True, True] Translation: X:16.25, Y:0.18, Z:-1.11 [[ 9.99774706e-01 -1.83571211e-02 -1.06561645e-02 1.62530473e+01] [ 1.83530434e-02 9.99831453e-01 -4.80333390e-04 1.82443524e-01] [ 1.06631860e-02 2.84652124e-04 9.99943106e-01 -1.11242667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.807719421 meters Centerline goodness [0,1] 0.9566294416243655 Centerline is valid? [True, True] Translation: X:16.28, Y:0.18, Z:-1.11 [[ 9.99779576e-01 -1.83784908e-02 -1.01504428e-02 1.62811832e+01] [ 1.83747444e-02 9.99831063e-01 -4.62226809e-04 1.84548870e-01] [ 1.01572230e-02 2.75613131e-04 9.99948376e-01 -1.11328412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.837719421 meters Centerline goodness [0,1] 0.9563802745297407 Centerline is valid? [True, True] Translation: X:16.31, Y:0.18, Z:-1.11 [[ 9.99762280e-01 -1.95583712e-02 -9.63608284e-03 1.63089021e+01] [ 1.95550865e-02 9.99808686e-01 -4.34980692e-04 1.83406308e-01] [ 9.64274684e-03 2.46442855e-04 9.99953477e-01 -1.11384971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.867719421 meters Centerline goodness [0,1] 0.9582977859029047 Centerline is valid? [True, True] Translation: X:16.34, Y:0.18, Z:-1.11 [[ 9.99728448e-01 -2.14037794e-02 -9.21460837e-03 1.63377406e+01] [ 2.14007897e-02 9.99770887e-01 -4.22936377e-04 1.80649828e-01] [ 9.22154963e-03 2.25621632e-04 9.99957455e-01 -1.11331058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89771942099999 meters Centerline goodness [0,1] 0.9657111535182102 Centerline is valid? [True, True] Translation: X:16.37, Y:0.17, Z:-1.11 [[ 9.99614772e-01 -2.70882157e-02 -6.04447784e-03 1.63686071e+01] [ 2.70870553e-02 9.99633041e-01 -2.73773748e-04 1.71028395e-01] [ 6.04967581e-03 1.09941178e-04 9.99981695e-01 -1.11032326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92771942099999 meters Centerline goodness [0,1] 0.9668590238550006 Centerline is valid? [True, True] Translation: X:16.40, Y:0.17, Z:-1.11 [[ 9.99510014e-01 -3.09801284e-02 -4.46795922e-03 1.63976432e+01] [ 3.09795247e-02 9.99519998e-01 -2.04272122e-04 1.68375668e-01] [ 4.47214297e-03 6.57567784e-05 9.99989998e-01 -1.10997490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.957719421 meters Centerline goodness [0,1] 0.9649201525565458 Centerline is valid? [True, True] Translation: X:16.43, Y:0.16, Z:-1.11 [[ 9.99191475e-01 -3.98231019e-02 -5.52421301e-03 1.64272031e+01] [ 3.98222846e-02 9.99206745e-01 -2.57898581e-04 1.62825077e-01] [ 5.53010122e-03 3.77032809e-05 9.99984708e-01 -1.11236589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.987719421 meters Centerline goodness [0,1] 0.964602670574825 Centerline is valid? [True, True] Translation: X:16.46, Y:0.16, Z:-1.11 [[ 9.98987976e-01 -4.46862848e-02 -5.11468801e-03 1.64565187e+01] [ 4.46856351e-02 9.99001069e-01 -2.41303654e-04 1.58306991e-01] [ 5.12036175e-03 1.25063667e-05 9.99986891e-01 -1.11251842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.017719421 meters Centerline goodness [0,1] 0.964459492336388 Centerline is valid? [True, True] Translation: X:16.49, Y:0.15, Z:-1.11 [[ 9.98636596e-01 -5.20870194e-02 -3.44842205e-03 1.64851609e+01] [ 5.20867742e-02 9.98642550e-01 -1.60939304e-04 1.49826962e-01] [ 3.45212384e-03 -1.88973018e-05 9.99994041e-01 -1.11079918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.047719421 meters Centerline goodness [0,1] 0.9638250766762131 Centerline is valid? [True, True] Translation: X:16.51, Y:0.15, Z:-1.11 [[ 9.98478458e-01 -5.50730511e-02 -2.77999217e-03 1.65131319e+01] [ 5.50728852e-02 9.98482328e-01 -1.36272608e-04 1.54145530e-01] [ 2.78327800e-03 -1.70369257e-05 9.99996127e-01 -1.11092118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.077719421 meters Centerline goodness [0,1] 0.9657834850455137 Centerline is valid? [True, True] Translation: X:16.54, Y:0.16, Z:-1.11 [[ 9.98516938e-01 -5.44303427e-02 -1.12330045e-03 1.65407280e+01] [ 5.44303159e-02 9.98517570e-01 -5.44567321e-05 1.59530439e-01] [ 1.12459933e-03 -6.76562899e-06 9.99999368e-01 -1.11056064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.107719421 meters Centerline goodness [0,1] 0.9718009622997746 Centerline is valid? [True, True] Translation: X:16.57, Y:0.17, Z:-1.11 [[ 9.98548067e-01 -5.38604828e-02 8.97816087e-04 1.65697470e+01] [ 5.38604701e-02 9.98548471e-01 3.83429008e-05 1.67527946e-01] [-8.98578047e-04 1.00695670e-05 9.99999596e-01 -1.10851215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.137719421 meters Centerline goodness [0,1] 0.9681666937185522 Centerline is valid? [True, True] Translation: X:16.60, Y:0.17, Z:-1.11 [[ 9.98559181e-01 -5.36594695e-02 -4.71645070e-04 1.65976138e+01] [ 5.36594634e-02 9.98559293e-01 -2.55745575e-05 1.69967171e-01] [ 4.72337885e-04 2.29487795e-07 9.99999888e-01 -1.11139018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.167719421 meters Centerline goodness [0,1] 0.961656410568858 Centerline is valid? [True, True] Translation: X:16.63, Y:0.17, Z:-1.12 [[ 9.98467945e-01 -5.51908727e-02 -3.96611705e-03 1.66253080e+01] [ 5.51905607e-02 9.98475822e-01 -1.88148981e-04 1.73052678e-01] [ 3.97045609e-03 -3.10314974e-05 9.99992117e-01 -1.11745288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.197719421 meters Centerline goodness [0,1] 0.9593231369996746 Centerline is valid? [True, True] Translation: X:16.65, Y:0.18, Z:-1.12 [[ 9.98447562e-01 -5.54294569e-02 -5.48105550e-03 1.66529891e+01] [ 5.54288668e-02 9.98462605e-01 -2.59636986e-04 1.77958462e-01] [ 5.48702049e-03 -4.45747798e-05 9.99984945e-01 -1.12034786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.227719421 meters Centerline goodness [0,1] 0.9585834944540551 Centerline is valid? [True, True] Translation: X:16.68, Y:0.19, Z:-1.12 [[ 9.98447382e-01 -5.53673502e-02 -6.10584782e-03 1.66804847e+01] [ 5.53666147e-02 9.98466051e-01 -2.89558152e-04 1.85213802e-01] [ 6.11251382e-03 -4.89515442e-05 9.99981317e-01 -1.12133311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.257719421 meters Centerline goodness [0,1] 0.9584613819069909 Centerline is valid? [True, True] Translation: X:16.71, Y:0.19, Z:-1.12 [[ 9.98479997e-01 -5.47432362e-02 -6.39319311e-03 1.67086163e+01] [ 5.47423728e-02 9.98500464e-01 -3.10095154e-04 1.89654211e-01] [ 6.40058190e-03 -4.03547524e-05 9.99979515e-01 -1.12109133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28771942099999 meters Centerline goodness [0,1] 0.959322654090096 Centerline is valid? [True, True] Translation: X:16.74, Y:0.20, Z:-1.12 [[ 9.98644593e-01 -5.16972490e-02 -6.03086090e-03 1.67368093e+01] [ 5.16964178e-02 9.98662803e-01 -2.93728246e-04 1.97793092e-01] [ 6.03798140e-03 -1.84437805e-05 9.99981771e-01 -1.12111786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31771942099999 meters Centerline goodness [0,1] 0.9620946315938913 Centerline is valid? [True, True] Translation: X:16.77, Y:0.21, Z:-1.12 [[ 9.98924596e-01 -4.60731149e-02 -5.18848195e-03 1.67652162e+01] [ 4.60724117e-02 9.98938070e-01 -2.55045775e-04 2.09383514e-01] [ 5.19472289e-03 1.57256210e-05 9.99986507e-01 -1.12207815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.347719421 meters Centerline goodness [0,1] 0.9627664979777656 Centerline is valid? [True, True] Translation: X:16.79, Y:0.22, Z:-1.12 [[ 9.99104896e-01 -4.19167150e-02 -5.69176285e-03 1.67939342e+01] [ 4.19157934e-02 9.99121107e-01 -2.81176348e-04 2.17983981e-01] [ 5.69854639e-03 4.23499101e-05 9.99983762e-01 -1.12096186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.377719421 meters Centerline goodness [0,1] 0.9603795436536157 Centerline is valid? [True, True] Translation: X:16.82, Y:0.23, Z:-1.13 [[ 9.99285729e-01 -3.73418930e-02 -5.79790365e-03 1.68215190e+01] [ 3.73408814e-02 9.99302546e-01 -2.82672891e-04 2.28265619e-01] [ 5.80441542e-03 6.59721535e-05 9.99983152e-01 -1.12516867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.407719421 meters Centerline goodness [0,1] 0.953181735196868 Centerline is valid? [True, True] Translation: X:16.85, Y:0.24, Z:-1.13 [[ 9.99599256e-01 -2.65904123e-02 -9.70969375e-03 1.68513554e+01] [ 2.65871037e-02 9.99646390e-01 -4.69694968e-04 2.44678347e-01] [ 9.71874969e-03 2.11354106e-04 9.99952750e-01 -1.12976557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.437719421 meters Centerline goodness [0,1] 0.9497295318664335 Centerline is valid? [True, False] Translation: X:16.85, Y:0.24, Z:-1.13 [[ 9.99702819e-01 -2.22301621e-02 -1.00046997e-02 1.68522091e+01] [ 2.22703298e-02 9.99744294e-01 3.92153532e-03 2.43633840e-01] [ 9.91496508e-03 -4.14317788e-03 9.99942262e-01 -1.13032473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.467719421 meters Centerline goodness [0,1] 0.953404799610184 Centerline is valid? [False, True] Translation: X:16.85, Y:0.24, Z:-1.13 [[ 9.99724319e-01 -2.11515949e-02 -1.01929154e-02 1.68524285e+01] [ 2.11963458e-02 9.99766074e-01 4.30254431e-03 2.44152618e-01] [ 1.00995253e-02 -4.51741074e-03 9.99938794e-01 -1.13026565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.497719421 meters Centerline goodness [0,1] 0.952958844062018 Centerline is valid? [True, True] Translation: X:16.88, Y:0.25, Z:-1.13 [[ 9.99732975e-01 -2.17079648e-02 -7.92099335e-03 1.68809514e+01] [ 2.17053873e-02 9.99764326e-01 -4.11235618e-04 2.49070273e-01] [ 7.92805367e-03 2.39197579e-04 9.99968544e-01 -1.12949468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.527719421 meters Centerline goodness [0,1] 0.9524871737675664 Centerline is valid? [True, True] Translation: X:16.91, Y:0.25, Z:-1.13 [[ 9.99742688e-01 -2.20171959e-02 -5.45896583e-03 1.69084697e+01] [ 2.20159853e-02 9.99757579e-01 -2.81763272e-04 2.53880191e-01] [ 5.46384610e-03 1.61506260e-04 9.99985060e-01 -1.12940531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.557719421 meters Centerline goodness [0,1] 0.9554510630535682 Centerline is valid? [True, True] Translation: X:16.94, Y:0.25, Z:-1.13 [[ 9.99702168e-01 -2.33098864e-02 -7.22671356e-03 1.69376424e+01] [ 2.33077569e-02 9.99728266e-01 -3.78765714e-04 2.48466023e-01] [ 7.23357880e-03 2.10214423e-04 9.99973815e-01 -1.13036038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.587719421 meters Centerline goodness [0,1] 0.954798133495638 Centerline is valid? [True, True] Translation: X:16.97, Y:0.25, Z:-1.13 [[ 9.99659326e-01 -2.51258201e-02 -7.06575587e-03 1.69656765e+01] [ 2.51238541e-02 9.99684279e-01 -3.66874667e-04 2.47338782e-01] [ 7.07274309e-03 1.89230663e-04 9.99974970e-01 -1.13351898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.617719421 meters Centerline goodness [0,1] 0.9639634146341464 Centerline is valid? [True, True] Translation: X:17.00, Y:0.24, Z:-1.13 [[ 9.99541420e-01 -3.00835533e-02 -3.45385024e-03 1.69960544e+01] [ 3.00831129e-02 9.99547385e-01 -1.79398625e-04 2.39681076e-01] [ 3.45768393e-03 7.54137900e-05 9.99994019e-01 -1.12907021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64771942099999 meters Centerline goodness [0,1] 0.9658911272344047 Centerline is valid? [True, True] Translation: X:17.03, Y:0.24, Z:-1.13 [[ 9.99458402e-01 -3.27932437e-02 -2.73953641e-03 1.70254350e+01] [ 3.27929587e-02 9.99462155e-01 -1.48894881e-04 2.36888156e-01] [ 2.74294571e-03 5.89767358e-05 9.99996236e-01 -1.12896685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67771942099999 meters Centerline goodness [0,1] 0.9651948157312943 Centerline is valid? [True, True] Translation: X:17.05, Y:0.23, Z:-1.13 [[ 9.99321503e-01 -3.66983910e-02 -3.12453631e-03 1.70532241e+01] [ 3.66980512e-02 9.99326386e-01 -1.66012304e-04 2.30094243e-01] [ 3.12852396e-03 5.12352715e-05 9.99995105e-01 -1.13092311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.707719421 meters Centerline goodness [0,1] 0.9634550145245495 Centerline is valid? [True, True] Translation: X:17.08, Y:0.23, Z:-1.13 [[ 9.99206185e-01 -3.97526674e-02 -2.59312487e-03 1.70817661e+01] [ 3.97524322e-02 9.99209550e-01 -1.42202332e-04 2.25924865e-01] [ 2.59672806e-03 3.90064293e-05 9.99996628e-01 -1.13290893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.737719421 meters Centerline goodness [0,1] 0.9608221459471535 Centerline is valid? [True, True] Translation: X:17.11, Y:0.23, Z:-1.14 [[ 9.99140041e-01 -4.13680381e-02 -2.80415134e-03 1.71093572e+01] [ 4.13677783e-02 9.99143976e-01 -1.50623597e-04 2.25267520e-01] [ 2.80798192e-03 3.44925565e-05 9.99996057e-01 -1.13539425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.767719421 meters Centerline goodness [0,1] 0.9586469224197551 Centerline is valid? [True, True] Translation: X:17.14, Y:0.22, Z:-1.14 [[ 9.99045777e-01 -4.34935593e-02 -3.98065706e-03 1.71385241e+01] [ 4.34930423e-02 9.99053706e-01 -2.16393638e-04 2.23107077e-01] [ 3.98630192e-03 4.30562637e-05 9.99992054e-01 -1.13760601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.797719421 meters Centerline goodness [0,1] 0.9619778832250575 Centerline is valid? [True, True] Translation: X:17.17, Y:0.22, Z:-1.13 [[ 9.98975575e-01 -4.51193983e-02 -3.46981878e-03 1.71679794e+01] [ 4.51190076e-02 9.98981601e-01 -1.90834119e-04 2.16027749e-01] [ 3.47489544e-03 3.40838438e-05 9.99993962e-01 -1.13477806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.827719421 meters Centerline goodness [0,1] 0.9670376538445916 Centerline is valid? [True, True] Translation: X:17.20, Y:0.21, Z:-1.13 [[ 9.98887227e-01 -4.71255507e-02 1.86825680e-03 1.71970045e+01] [ 4.71254501e-02 9.98888974e-01 9.78442185e-05 2.12821572e-01] [-1.87079208e-03 -9.69289723e-06 9.99998250e-01 -1.12937371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.857719421 meters Centerline goodness [0,1] 0.9685202485884885 Centerline is valid? [True, True] Translation: X:17.23, Y:0.21, Z:-1.13 [[ 9.98746992e-01 -4.99657958e-02 2.80466266e-03 1.72261716e+01] [ 4.99655908e-02 9.98750930e-01 1.43133776e-04 2.13067373e-01] [-2.80831123e-03 -2.81780143e-06 9.99996057e-01 -1.12772367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.887719421 meters Centerline goodness [0,1] 0.9655348012955004 Centerline is valid? [True, True] Translation: X:17.26, Y:0.21, Z:-1.13 [[ 9.98461798e-01 -5.54423129e-02 4.32635369e-04 1.72553164e+01] [ 5.54423110e-02 9.98461892e-01 1.64293100e-05 2.12678116e-01] [-4.32880808e-04 7.58226629e-06 9.99999906e-01 -1.13140984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.917719421 meters Centerline goodness [0,1] 0.9643883059997963 Centerline is valid? [True, True] Translation: X:17.28, Y:0.21, Z:-1.13 [[ 9.98303300e-01 -5.82168745e-02 -1.14788896e-03 1.72842529e+01] [ 5.82168337e-02 9.98303959e-01 -6.89296610e-05 2.12734740e-01] [ 1.14995496e-03 1.98624734e-06 9.99999339e-01 -1.13310566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.947719421 meters Centerline goodness [0,1] 0.9609362257380525 Centerline is valid? [True, True] Translation: X:17.31, Y:0.21, Z:-1.13 [[ 9.98063049e-01 -6.21940043e-02 -1.43407583e-03 1.73124465e+01] [ 6.21939534e-02 9.98064079e-01 -8.00857340e-05 2.11765288e-01] [ 1.43628043e-03 -9.26023377e-06 9.99998969e-01 -1.13410665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.977719421 meters Centerline goodness [0,1] 0.9612502284774265 Centerline is valid? [True, True] Translation: X:17.34, Y:0.22, Z:-1.13 [[ 9.98016918e-01 -6.29406946e-02 -8.36991490e-04 1.73396350e+01] [ 6.29406767e-02 9.98017269e-01 -4.77718448e-05 2.16165221e-01] [ 8.38338754e-04 -5.00370141e-06 9.99999649e-01 -1.13356138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.007719421 meters Centerline goodness [0,1] 0.9591840876801299 Centerline is valid? [True, True] Translation: X:17.37, Y:0.22, Z:-1.14 [[ 9.97990120e-01 -6.33585695e-02 -1.18856767e-03 1.73672115e+01] [ 6.33585347e-02 9.97990827e-01 -6.69383247e-05 2.19588974e-01] [ 1.19042075e-03 -8.50211954e-06 9.99999291e-01 -1.13740313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03771942099999 meters Centerline goodness [0,1] 0.960417387059374 Centerline is valid? [True, True] Translation: X:17.40, Y:0.23, Z:-1.14 [[ 9.98015492e-01 -6.28112710e-02 -4.45212784e-03 1.73956819e+01] [ 6.28107794e-02 9.98025422e-01 -2.50299916e-04 2.30009488e-01] [ 4.45905842e-03 -2.98384262e-05 9.99990058e-01 -1.13811253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06771942099999 meters Centerline goodness [0,1] 0.9576889466945759 Centerline is valid? [True, True] Translation: X:17.42, Y:0.23, Z:-1.14 [[ 9.98037401e-01 -6.24783834e-02 -4.21881829e-03 1.74236626e+01] [ 6.24779492e-02 9.98046317e-01 -2.34777053e-04 2.33839088e-01] [ 4.22524454e-03 -2.92668347e-05 9.99991073e-01 -1.14158377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.097719421 meters Centerline goodness [0,1] 0.9620327815512263 Centerline is valid? [True, True] Translation: X:17.45, Y:0.24, Z:-1.14 [[ 9.98253035e-01 -5.90089774e-02 -2.96974719e-03 1.74524545e+01] [ 5.90087313e-02 9.98257452e-01 -1.70496279e-04 2.43482361e-01] [ 2.97463307e-03 -5.04258618e-06 9.99995576e-01 -1.13884421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.127719421 meters Centerline goodness [0,1] 0.9630554371434952 Centerline is valid? [True, True] Translation: X:17.48, Y:0.25, Z:-1.14 [[ 9.98475413e-01 -5.51518477e-02 -2.26328113e-03 1.74813787e+01] [ 5.51516909e-02 9.98477979e-01 -1.31691033e-04 2.51893019e-01] [ 2.26709938e-03 6.66647685e-06 9.99997430e-01 -1.13838533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.157719421 meters Centerline goodness [0,1] 0.9646695516141485 Centerline is valid? [True, True] Translation: X:17.51, Y:0.27, Z:-1.14 [[ 9.98945198e-01 -4.58483321e-02 -2.53407386e-03 1.75094369e+01] [ 4.58481043e-02 9.98948412e-01 -1.47917976e-04 2.68486087e-01] [ 2.53819085e-03 3.15794687e-05 9.99996778e-01 -1.13949463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.187719421 meters Centerline goodness [0,1] 0.9631683731513083 Centerline is valid? [True, True] Translation: X:17.54, Y:0.28, Z:-1.14 [[ 9.99150747e-01 -4.11066344e-02 -2.83370877e-03 1.75375946e+01] [ 4.11063305e-02 9.99154764e-01 -1.65441450e-04 2.76358717e-01] [ 2.83811436e-03 4.88175788e-05 9.99995971e-01 -1.14086557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.217719421 meters Centerline goodness [0,1] 0.9605321867521194 Centerline is valid? [True, True] Translation: X:17.57, Y:0.29, Z:-1.14 [[ 9.99517605e-01 -3.08733105e-02 -3.37573475e-03 1.75662937e+01] [ 3.08728472e-02 9.99523302e-01 -1.89288881e-04 2.88419893e-01] [ 3.37996952e-03 8.49790257e-05 9.99994284e-01 -1.14363890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.247719421 meters Centerline goodness [0,1] 0.953040300477109 Centerline is valid? [True, True] Translation: X:17.60, Y:0.30, Z:-1.14 [[ 9.99748844e-01 -2.21740160e-02 -3.24999543e-03 1.75963602e+01] [ 2.21735415e-02 9.99754120e-01 -1.81981813e-04 3.00134173e-01] [ 3.25323159e-03 1.09872198e-04 9.99994702e-01 -1.14333555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.277719421 meters Centerline goodness [0,1] 0.9455700828325483 Centerline is valid? [True, False] Translation: X:17.60, Y:0.30, Z:-1.14 [[ 9.99828049e-01 -1.81881591e-02 -3.61418552e-03 1.75967375e+01] [ 1.82021753e-02 9.99826783e-01 3.88380852e-03 3.00251669e-01] [ 3.54292016e-03 -3.94892674e-03 9.99985927e-01 -1.14312696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.307719421 meters Centerline goodness [0,1] 0.9447824147300969 Centerline is valid? [False, False] Translation: X:17.60, Y:0.30, Z:-1.14 [[ 9.99839941e-01 -1.74581339e-02 -3.91217928e-03 1.75963159e+01] [ 1.74758126e-02 9.99837019e-01 4.53120039e-03 2.99133079e-01] [ 3.83243537e-03 -4.59884364e-03 9.99982081e-01 -1.14191981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.337719421 meters Centerline goodness [0,1] 0.9447824147300969 Centerline is valid? [False, False] Translation: X:17.60, Y:0.30, Z:-1.14 [[ 9.99839941e-01 -1.74581339e-02 -3.91217928e-03 1.75963159e+01] [ 1.74758126e-02 9.99837019e-01 4.53120039e-03 2.99133079e-01] [ 3.83243537e-03 -4.59884364e-03 9.99982081e-01 -1.14191981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.367719421 meters Centerline goodness [0,1] 0.9446846517670463 Centerline is valid? [False, False] Translation: X:17.60, Y:0.30, Z:-1.14 [[ 9.99840166e-01 -1.74109962e-02 -4.06187359e-03 1.75961684e+01] [ 1.74313591e-02 9.99835396e-01 5.03280326e-03 2.97301642e-01] [ 3.97357887e-03 -5.10280283e-03 9.99979086e-01 -1.14134749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39771942099999 meters Centerline goodness [0,1] 0.9515781776820896 Centerline is valid? [False, True] Translation: X:17.60, Y:0.30, Z:-1.14 [[ 9.99760767e-01 -2.15065169e-02 -3.98476831e-03 1.75966701e+01] [ 2.15126698e-02 9.99767439e-01 1.50772483e-03 2.95341796e-01] [ 3.95141570e-03 -1.59308714e-03 9.99990924e-01 -1.14195149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42771942099999 meters Centerline goodness [0,1] 0.9610751637976641 Centerline is valid? [True, True] Translation: X:17.63, Y:0.29, Z:-1.14 [[ 9.99666354e-01 -2.54379621e-02 -4.48225142e-03 1.76258295e+01] [ 2.54371207e-02 9.99676394e-01 -2.44643475e-04 2.89308343e-01] [ 4.48702417e-03 1.30546280e-04 9.99989925e-01 -1.14174872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.457719421 meters Centerline goodness [0,1] 0.964683675333374 Centerline is valid? [True, True] Translation: X:17.66, Y:0.28, Z:-1.14 [[ 9.99393322e-01 -3.45068364e-02 -4.71861602e-03 1.76560304e+01] [ 3.45060080e-02 9.99404457e-01 -2.56874389e-04 2.80016753e-01] [ 4.72466981e-03 9.38979464e-05 9.99988834e-01 -1.14332224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.487719421 meters Centerline goodness [0,1] 0.962579358619567 Centerline is valid? [True, True] Translation: X:17.69, Y:0.27, Z:-1.14 [[ 9.99032108e-01 -4.37799701e-02 -4.26172343e-03 1.76852882e+01] [ 4.37793756e-02 9.99041196e-01 -2.32724888e-04 2.71847883e-01] [ 4.26782596e-03 4.59240447e-05 9.99990892e-01 -1.14479228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.517719421 meters Centerline goodness [0,1] 0.9633698146155252 Centerline is valid? [True, True] Translation: X:17.71, Y:0.27, Z:-1.15 [[ 9.98873611e-01 -4.72007615e-02 -4.85771887e-03 1.77142620e+01] [ 4.72000030e-02 9.98885422e-01 -2.70733145e-04 2.68281531e-01] [ 4.86508338e-03 4.11438485e-05 9.99988165e-01 -1.14574951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.547719421 meters Centerline goodness [0,1] 0.9575729278739774 Centerline is valid? [True, True] Translation: X:17.74, Y:0.26, Z:-1.15 [[ 9.98596928e-01 -5.23028452e-02 -8.28178555e-03 1.77425199e+01] [ 5.23008696e-02 9.98631269e-01 -4.55102686e-04 2.56991229e-01] [ 8.29425319e-03 2.13195580e-05 9.99965602e-01 -1.15047071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.577719421 meters Centerline goodness [0,1] 0.9581902769030738 Centerline is valid? [True, True] Translation: X:17.77, Y:0.25, Z:-1.15 [[ 9.98458140e-01 -5.47349646e-02 -9.24261555e-03 1.77718917e+01] [ 5.47325519e-02 9.98500918e-01 -5.13973004e-04 2.53526151e-01] [ 9.25689241e-03 7.30859396e-06 9.99957154e-01 -1.15077435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.607719421 meters Centerline goodness [0,1] 0.9573036457058968 Centerline is valid? [True, True] Translation: X:17.80, Y:0.25, Z:-1.15 [[ 9.98175100e-01 -5.91929973e-02 -1.19439876e-02 1.78007614e+01] [ 5.91892598e-02 9.98246556e-01 -6.66474321e-04 2.53276151e-01] [ 1.19624951e-02 -4.16977131e-05 9.99928446e-01 -1.15276653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.637719421 meters Centerline goodness [0,1] 0.9554489654892078 Centerline is valid? [True, True] Translation: X:17.83, Y:0.26, Z:-1.15 [[ 9.98111186e-01 -6.01264444e-02 -1.26043673e-02 1.78292358e+01] [ 6.01223113e-02 9.98190767e-01 -7.06917022e-04 2.55724699e-01] [ 1.26240675e-02 -5.22219065e-05 9.99920312e-01 -1.15397024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.667719421 meters Centerline goodness [0,1] 0.9563698407539811 Centerline is valid? [True, True] Translation: X:17.86, Y:0.26, Z:-1.15 [[ 9.98106156e-01 -6.02059061e-02 -1.26233638e-02 1.78572918e+01] [ 6.02017012e-02 9.98185978e-01 -7.13169990e-04 2.58245847e-01] [ 1.26434018e-02 -4.81286203e-05 9.99920068e-01 -1.15395081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.697719421 meters Centerline goodness [0,1] 0.9625222960921032 Centerline is valid? [True, True] Translation: X:17.89, Y:0.26, Z:-1.15 [[ 9.98177649e-01 -5.98915321e-02 -7.37465137e-03 1.78865506e+01] [ 5.98901085e-02 9.98204891e-01 -4.13923377e-04 2.60508119e-01] [ 7.38620357e-03 -2.84996070e-05 9.99972721e-01 -1.14973895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.727719421 meters Centerline goodness [0,1] 0.9647395558442613 Centerline is valid? [True, True] Translation: X:17.92, Y:0.26, Z:-1.15 [[ 9.97895829e-01 -6.46584990e-02 -4.81581024e-03 1.79154707e+01] [ 6.46579159e-02 9.97907449e-01 -2.76835851e-04 2.58759955e-01] [ 4.82363270e-03 -3.51269124e-05 9.99988366e-01 -1.14788139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.757719421 meters Centerline goodness [0,1] 0.9638224008770327 Centerline is valid? [True, True] Translation: X:17.94, Y:0.26, Z:-1.15 [[ 9.97734674e-01 -6.70653532e-02 -5.26862899e-03 1.79446554e+01] [ 6.70646835e-02 9.97748584e-01 -3.03876446e-04 2.59387766e-01] [ 5.27714670e-03 -5.01508690e-05 9.99986075e-01 -1.14904091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78771942099999 meters Centerline goodness [0,1] 0.9615939232690862 Centerline is valid? [True, True] Translation: X:17.97, Y:0.26, Z:-1.15 [[ 9.97316273e-01 -7.28515024e-02 -7.27397650e-03 1.79740200e+01] [ 7.28504281e-02 9.97342792e-01 -4.12902550e-04 2.61301973e-01] [ 7.28472861e-03 -1.18117870e-04 9.99973459e-01 -1.15202879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81771942099999 meters Centerline goodness [0,1] 0.9623528458249752 Centerline is valid? [True, True] Translation: X:18.00, Y:0.26, Z:-1.15 [[ 9.97213059e-01 -7.43016012e-02 -6.73693338e-03 1.80020336e+01] [ 7.43006997e-02 9.97235809e-01 -3.84353594e-04 2.64613768e-01] [ 6.74686930e-03 -1.17276441e-04 9.99977233e-01 -1.15280710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.847719421 meters Centerline goodness [0,1] 0.9657466182644142 Centerline is valid? [True, True] Translation: X:18.03, Y:0.27, Z:-1.15 [[ 9.97323737e-01 -7.29731209e-02 -4.50403423e-03 1.80308350e+01] [ 7.29726791e-02 9.97333906e-01 -2.62574868e-04 2.72800181e-01] [ 4.51118695e-03 -6.67992958e-05 9.99989822e-01 -1.15029837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.877719421 meters Centerline goodness [0,1] 0.9650478740668614 Centerline is valid? [True, True] Translation: X:18.06, Y:0.28, Z:-1.15 [[ 9.97514036e-01 -7.03129592e-02 -4.67286193e-03 1.80586217e+01] [ 7.03124700e-02 9.97524979e-01 -2.69097326e-04 2.79321338e-01] [ 4.68021753e-03 -6.01321037e-05 9.99989046e-01 -1.15118053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.907719421 meters Centerline goodness [0,1] 0.959888647308638 Centerline is valid? [True, True] Translation: X:18.08, Y:0.30, Z:-1.16 [[ 9.98062642e-01 -6.15996403e-02 -8.74339394e-03 1.80847327e+01] [ 6.15975850e-02 9.98100938e-01 -5.04419813e-04 2.99519823e-01] [ 8.75786177e-03 -3.51293804e-05 9.99961649e-01 -1.15682315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.937719421 meters Centerline goodness [0,1] 0.9605322049070268 Centerline is valid? [True, True] Translation: X:18.11, Y:0.31, Z:-1.16 [[ 9.98333071e-01 -5.67775867e-02 -1.03626503e-02 1.81131991e+01] [ 5.67743862e-02 9.98386852e-01 -6.02997269e-04 3.11763005e-01] [ 1.03801705e-02 1.36590057e-05 9.99946124e-01 -1.15624029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.967719421 meters Centerline goodness [0,1] 0.959351742649152 Centerline is valid? [True, True] Translation: X:18.14, Y:0.33, Z:-1.16 [[ 9.98847045e-01 -4.68671951e-02 -1.03945559e-02 1.81401611e+01] [ 4.68634654e-02 9.98901123e-01 -6.02226140e-04 3.29115133e-01] [ 1.04113582e-02 1.14406890e-04 9.99945794e-01 -1.15619060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.997719421 meters Centerline goodness [0,1] 0.9599300656650878 Centerline is valid? [True, True] Translation: X:18.17, Y:0.34, Z:-1.16 [[ 9.99051506e-01 -4.25021757e-02 -9.46852145e-03 1.81686392e+01] [ 4.24988229e-02 9.99096363e-01 -5.55112332e-04 3.37262543e-01] [ 9.48355883e-03 1.52184795e-04 9.99955018e-01 -1.15600370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.027719421 meters Centerline goodness [0,1] 0.9582808372282057 Centerline is valid? [True, True] Translation: X:18.20, Y:0.35, Z:-1.16 [[ 9.99322111e-01 -3.52913936e-02 -1.04803116e-02 1.81977264e+01] [ 3.52869413e-02 9.99377036e-01 -6.09488203e-04 3.48212977e-01] [ 1.04952924e-02 2.39256896e-04 9.99944894e-01 -1.15899896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.057719421 meters Centerline goodness [0,1] 0.9500701091263793 Centerline is valid? [True, True] Translation: X:18.23, Y:0.36, Z:-1.17 [[ 9.99364456e-01 -3.34121650e-02 -1.24221725e-02 1.82255849e+01] [ 3.34057443e-02 9.99441610e-01 -7.24072041e-04 3.55250097e-01] [ 1.24394289e-02 3.08639944e-04 9.99922580e-01 -1.16574312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.087719421 meters Centerline goodness [0,1] 0.951901725507772 Centerline is valid? [True, True] Translation: X:18.25, Y:0.35, Z:-1.16 [[ 9.99383819e-01 -3.23341499e-02 -1.36559895e-02 1.82547629e+01] [ 3.23261843e-02 9.99477049e-01 -8.03694413e-04 3.53383276e-01] [ 1.36748348e-02 3.61753159e-04 9.99906430e-01 -1.16487824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.117719421 meters Centerline goodness [0,1] 0.9524186188013386 Centerline is valid? [True, True] Translation: X:18.28, Y:0.35, Z:-1.16 [[ 9.99367172e-01 -3.34983575e-02 -1.19630530e-02 1.82828295e+01] [ 3.34923474e-02 9.99438727e-01 -7.02435637e-04 3.53097181e-01] [ 1.19798689e-02 3.01320387e-04 9.99928193e-01 -1.16424020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14771942099999 meters Centerline goodness [0,1] 0.9531348312326209 Centerline is valid? [True, True] Translation: X:18.31, Y:0.35, Z:-1.16 [[ 9.99333753e-01 -3.46277756e-02 -1.15311441e-02 1.83120759e+01] [ 3.46221881e-02 9.99400238e-01 -6.83886075e-04 3.53139353e-01] [ 1.15479096e-02 2.84197000e-04 9.99933280e-01 -1.16401448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17771942099999 meters Centerline goodness [0,1] 0.9537091626176584 Centerline is valid? [True, True] Translation: X:18.34, Y:0.35, Z:-1.16 [[ 9.99267843e-01 -3.67388854e-02 -1.06785813e-02 1.83405816e+01] [ 3.67341783e-02 9.99324869e-01 -6.36670954e-04 3.52139170e-01] [ 1.06947625e-02 2.43935900e-04 9.99942780e-01 -1.16398948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.207719421 meters Centerline goodness [0,1] 0.9538107177072505 Centerline is valid? [True, True] Translation: X:18.37, Y:0.35, Z:-1.17 [[ 9.99185442e-01 -3.84965938e-02 -1.21022491e-02 1.83696365e+01] [ 3.84906451e-02 9.99258698e-01 -7.24160850e-04 3.52216926e-01] [ 1.21211554e-02 2.57747603e-04 9.99926503e-01 -1.16564883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.237719421 meters Centerline goodness [0,1] 0.9526812596631133 Centerline is valid? [True, True] Translation: X:18.40, Y:0.35, Z:-1.17 [[ 9.99029751e-01 -4.21174329e-02 -1.28716482e-02 1.83988496e+01] [ 4.21109628e-02 9.99112641e-01 -7.73399272e-04 3.48131611e-01] [ 1.28928000e-02 2.30611383e-04 9.99916858e-01 -1.16807135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.267719421 meters Centerline goodness [0,1] 0.9591583402861155 Centerline is valid? [True, True] Translation: X:18.43, Y:0.34, Z:-1.16 [[ 9.98876491e-01 -4.55744809e-02 -1.29892922e-02 1.84277366e+01] [ 4.55681841e-02 9.98960926e-01 -7.80472940e-04 3.42517634e-01] [ 1.30113650e-02 1.87697612e-04 9.99915331e-01 -1.16387496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.297719421 meters Centerline goodness [0,1] 0.9611798403315254 Centerline is valid? [True, True] Translation: X:18.46, Y:0.33, Z:-1.16 [[ 9.98433407e-01 -5.48722701e-02 -1.09437857e-02 1.84571381e+01] [ 5.48683700e-02 9.98493381e-01 -6.56524521e-04 3.33914203e-01] [ 1.09633226e-02 5.50283316e-05 9.99939899e-01 -1.16355098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.327719421 meters Centerline goodness [0,1] 0.9611267146985794 Centerline is valid? [True, True] Translation: X:18.49, Y:0.33, Z:-1.16 [[ 9.98151909e-01 -5.97050334e-02 -1.13170311e-02 1.84858237e+01] [ 5.97010656e-02 9.98216063e-01 -6.88413108e-04 3.30136294e-01] [ 1.13379439e-02 1.15020428e-05 9.99935723e-01 -1.16455125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.357719421 meters Centerline goodness [0,1] 0.961474377209737 Centerline is valid? [True, True] Translation: X:18.51, Y:0.32, Z:-1.16 [[ 9.97850180e-01 -6.48268007e-02 -9.61789872e-03 1.85143514e+01] [ 6.48241970e-02 9.97896530e-01 -5.82531706e-04 3.21874596e-01] [ 9.63543142e-03 -4.21931934e-05 9.99953577e-01 -1.16476523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.387719421 meters Centerline goodness [0,1] 0.9628109250528369 Centerline is valid? [True, True] Translation: X:18.54, Y:0.32, Z:-1.16 [[ 9.97792158e-01 -6.57237613e-02 -9.54964919e-03 1.85423819e+01] [ 6.57211615e-02 9.97837855e-01 -5.86137129e-04 3.22734526e-01] [ 9.56752460e-03 -4.27710064e-05 9.99954229e-01 -1.16476541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.417719421 meters Centerline goodness [0,1] 0.9616470062737296 Centerline is valid? [True, True] Translation: X:18.57, Y:0.33, Z:-1.17 [[ 9.97814068e-01 -6.53525996e-02 -9.80428061e-03 1.85701541e+01] [ 6.53498100e-02 9.97862233e-01 -6.04962603e-04 3.27205086e-01] [ 9.82285722e-03 -3.70676792e-05 9.99951754e-01 -1.16520616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.447719421 meters Centerline goodness [0,1] 0.9598862597745507 Centerline is valid? [True, True] Translation: X:18.60, Y:0.33, Z:-1.17 [[ 9.97922739e-01 -6.35227862e-02 -1.07267504e-02 1.85986606e+01] [ 6.35193224e-02 9.97980388e-01 -6.63641749e-04 3.30883539e-01] [ 1.07472429e-02 -1.90927226e-05 9.99942247e-01 -1.16619991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.477719421 meters Centerline goodness [0,1] 0.9583307925279997 Centerline is valid? [True, True] Translation: X:18.63, Y:0.34, Z:-1.17 [[ 9.98173256e-01 -5.93684438e-02 -1.12044011e-02 1.86271092e+01] [ 5.93643670e-02 9.98236138e-01 -6.96387005e-04 3.35172258e-01] [ 1.12259815e-02 2.99727069e-05 9.99936986e-01 -1.16749611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.507719421 meters Centerline goodness [0,1] 0.9596746243705531 Centerline is valid? [True, True] Translation: X:18.66, Y:0.34, Z:-1.17 [[ 9.98205879e-01 -5.87707855e-02 -1.14462972e-02 1.86556119e+01] [ 5.87664540e-02 9.98271503e-01 -7.14683675e-04 3.37091496e-01] [ 1.14685149e-02 4.07431459e-05 9.99934234e-01 -1.16774344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53771942099999 meters Centerline goodness [0,1] 0.9632986415201938 Centerline is valid? [True, True] Translation: X:18.68, Y:0.34, Z:-1.16 [[ 9.98144256e-01 -6.01288025e-02 -9.62143579e-03 1.86841930e+01] [ 6.01257661e-02 9.98190626e-01 -6.04801285e-04 3.39844287e-01] [ 9.64039299e-03 2.51827310e-05 9.99953530e-01 -1.16461071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56771942099999 meters Centerline goodness [0,1] 0.9615369002192092 Centerline is valid? [True, True] Translation: X:18.71, Y:0.34, Z:-1.17 [[ 9.97951159e-01 -6.33733007e-02 -8.79258639e-03 1.87117609e+01] [ 6.33709110e-02 9.97989892e-01 -5.50395161e-04 3.40961497e-01] [ 8.80979270e-03 -7.92672132e-06 9.99961193e-01 -1.16750783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.597719421 meters Centerline goodness [0,1] 0.9622308721566719 Centerline is valid? [True, True] Translation: X:18.74, Y:0.34, Z:-1.17 [[ 9.97672979e-01 -6.76202552e-02 -8.72512579e-03 1.87393453e+01] [ 6.76180574e-02 9.97711130e-01 -5.46974817e-04 3.38383488e-01] [ 8.74214169e-03 -4.42740619e-05 9.99961786e-01 -1.16800886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.627719421 meters Centerline goodness [0,1] 0.9606585331195063 Centerline is valid? [True, True] Translation: X:18.77, Y:0.33, Z:-1.17 [[ 9.97285057e-01 -7.31142036e-02 -8.76516841e-03 1.87689061e+01] [ 7.31121451e-02 9.97323571e-01 -5.55473097e-04 3.34104355e-01] [ 8.78232203e-03 -8.68752462e-05 9.99961431e-01 -1.16808060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.657719421 meters Centerline goodness [0,1] 0.9510828596459059 Centerline is valid? [True, True] Translation: X:18.80, Y:0.32, Z:-1.17 [[ 9.96336230e-01 -8.47022098e-02 -1.18174860e-02 1.88001776e+01] [ 8.46993577e-02 9.96406276e-01 -7.42521985e-04 3.22117831e-01] [ 1.18379104e-02 -2.61131917e-04 9.99929895e-01 -1.17048010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.687719421 meters Centerline goodness [0,1] 0.9453234487661216 Centerline is valid? [True, False] Translation: X:18.80, Y:0.32, Z:-1.17 [[ 9.96026448e-01 -8.82624605e-02 -1.18765998e-02 1.88028061e+01] [ 8.82194204e-02 9.96092623e-01 -4.10132968e-03 3.21836919e-01] [ 1.21921869e-02 3.03728608e-03 9.99921060e-01 -1.17272850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.717719421 meters Centerline goodness [0,1] 0.9307257112621596 Centerline is valid? [False, False] Translation: X:18.80, Y:0.32, Z:-1.17 [[ 9.95819087e-01 -9.05971189e-02 -1.16837031e-02 1.88040187e+01] [ 9.05301869e-02 9.95874804e-01 -6.13675864e-03 3.24737578e-01] [ 1.21914782e-02 5.05337356e-03 9.99912912e-01 -1.17439870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.747719421 meters Centerline goodness [0,1] 0.9082363473589973 Centerline is valid? [False, False] Translation: X:18.80, Y:0.33, Z:-1.17 [[ 9.95700244e-01 -9.18609679e-02 -1.19409415e-02 1.88038380e+01] [ 9.17718310e-02 9.95749425e-01 -7.81106371e-03 3.29134321e-01] [ 1.26077175e-02 6.68163598e-03 9.99898195e-01 -1.17367038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.777719421 meters Centerline goodness [0,1] 0.9108213979679275 Centerline is valid? [False, False] Translation: X:18.80, Y:0.33, Z:-1.17 [[ 9.95957955e-01 -8.89429642e-02 -1.25260340e-02 1.88042572e+01] [ 8.88944253e-02 9.96031419e-01 -4.38101909e-03 3.29172289e-01] [ 1.28659842e-02 3.24981622e-03 9.99911949e-01 -1.17345055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.807719421 meters Centerline goodness [0,1] 0.89914019147509 Centerline is valid? [False, False] Translation: X:18.80, Y:0.33, Z:-1.17 [[ 9.96165055e-01 -8.65355677e-02 -1.29142524e-02 1.88036654e+01] [ 8.65166484e-02 9.96248362e-01 -2.01759327e-03 3.32456214e-01] [ 1.30403964e-02 8.92558076e-04 9.99914572e-01 -1.17252929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.837719421 meters Centerline goodness [0,1] 0.9014107411472944 Centerline is valid? [False, False] Translation: X:18.80, Y:0.33, Z:-1.17 [[ 9.96429935e-01 -8.33978403e-02 -1.31218893e-02 1.88030424e+01] [ 8.34202091e-02 9.96513778e-01 1.16573602e-03 3.33988833e-01] [ 1.29789236e-02 -2.25620502e-03 9.99913225e-01 -1.17202207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.867719421 meters Centerline goodness [0,1] 0.9193987959648552 Centerline is valid? [False, False] Translation: X:18.80, Y:0.34, Z:-1.17 [[ 9.96713068e-01 -7.99462617e-02 -1.31017194e-02 1.88018225e+01] [ 7.99943309e-02 9.96790227e-01 3.18604481e-03 3.40579542e-01] [ 1.28049535e-02 -4.22363578e-03 9.99909093e-01 -1.17159619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89771942099999 meters Centerline goodness [0,1] 0.9299486385129627 Centerline is valid? [False, False] Translation: X:18.80, Y:0.34, Z:-1.17 [[ 9.96989784e-01 -7.63582656e-02 -1.34456695e-02 1.88019883e+01] [ 7.64473068e-02 9.97054115e-01 6.23701565e-03 3.43157666e-01] [ 1.29298124e-02 -7.24612610e-03 9.99890151e-01 -1.17179264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92771942099999 meters Centerline goodness [0,1] 0.940958583494454 Centerline is valid? [False, False] Translation: X:18.80, Y:0.35, Z:-1.17 [[ 9.97277333e-01 -7.23875626e-02 -1.40699211e-02 1.88036540e+01] [ 7.25057214e-02 9.97335292e-01 8.07691941e-03 3.50147089e-01] [ 1.34477603e-02 -9.07507843e-03 9.99868392e-01 -1.17355097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.957719421 meters Centerline goodness [0,1] 0.9470682878149121 Centerline is valid? [False, False] Translation: X:18.80, Y:0.35, Z:-1.17 [[ 9.97521182e-01 -6.88759984e-02 -1.44079161e-02 1.88043179e+01] [ 6.90332392e-02 9.97556803e-01 1.07161618e-02 3.53871210e-01] [ 1.36346284e-02 -1.16842235e-02 9.99838775e-01 -1.17436013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.987719421 meters Centerline goodness [0,1] 0.951705587480132 Centerline is valid? [False, True] Translation: X:18.80, Y:0.36, Z:-1.18 [[ 9.97994524e-01 -6.14892339e-02 -1.50334683e-02 1.88046941e+01] [ 6.17251023e-02 9.97968695e-01 1.57637253e-02 3.63082129e-01] [ 1.40336314e-02 -1.66600539e-02 9.99762722e-01 -1.17500925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.017719421 meters Centerline goodness [0,1] 0.9523935037813508 Centerline is valid? [True, True] Translation: X:18.83, Y:0.38, Z:-1.18 [[ 9.98203604e-01 -5.81525867e-02 -1.44167327e-02 1.88325759e+01] [ 5.81492190e-02 9.98307689e-01 -6.53026236e-04 3.77545794e-01] [ 1.44303103e-02 -1.86468606e-04 9.99895860e-01 -1.17668232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.047719421 meters Centerline goodness [0,1] 0.9487994782112429 Centerline is valid? [True, False] Translation: X:18.83, Y:0.38, Z:-1.18 [[ 9.98428260e-01 -5.40804822e-02 -1.47075477e-02 1.88330703e+01] [ 5.41093126e-02 9.98533785e-01 1.56914145e-03 3.83754186e-01] [ 1.46011233e-02 -2.36249046e-03 9.99890607e-01 -1.17729615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.077719421 meters Centerline goodness [0,1] 0.9474337074995933 Centerline is valid? [False, False] Translation: X:18.83, Y:0.39, Z:-1.18 [[ 9.98606714e-01 -5.05348269e-02 -1.51941451e-02 1.88338740e+01] [ 5.06099094e-02 9.98707913e-01 4.59807629e-03 3.86359166e-01] [ 1.49421499e-02 -5.36064416e-03 9.99873990e-01 -1.17770317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.107719421 meters Centerline goodness [0,1] 0.9500886542890333 Centerline is valid? [False, True] Translation: X:18.83, Y:0.39, Z:-1.18 [[ 9.98764394e-01 -4.72679459e-02 -1.53436059e-02 1.88332654e+01] [ 4.73860759e-02 9.98849024e-01 7.42875013e-03 3.88999258e-01] [ 1.49748040e-02 -8.14664439e-03 9.99854683e-01 -1.17708759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.137719421 meters Centerline goodness [0,1] 0.9563806045851085 Centerline is valid? [True, True] Translation: X:18.86, Y:0.40, Z:-1.17 [[ 9.99013796e-01 -4.29916648e-02 -1.10974322e-02 1.88612477e+01] [ 4.29889563e-02 9.99075431e-01 -4.82598116e-04 4.04651334e-01] [ 1.11079195e-02 5.05514892e-06 9.99938305e-01 -1.17276677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.167719421 meters Centerline goodness [0,1] 0.958124733972475 Centerline is valid? [True, True] Translation: X:18.89, Y:0.42, Z:-1.17 [[ 9.99270126e-01 -3.69634553e-02 -9.63938194e-03 1.88888976e+01] [ 3.69611142e-02 9.99316616e-01 -4.20965825e-04 4.18077272e-01] [ 9.64835489e-03 6.43762768e-05 9.99953451e-01 -1.17144998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.197719421 meters Centerline goodness [0,1] 0.9577002552570804 Centerline is valid? [True, True] Translation: X:18.92, Y:0.43, Z:-1.17 [[ 9.99360137e-01 -3.46789014e-02 -8.75724778e-03 1.89166226e+01] [ 3.46768225e-02 9.99398502e-01 -3.89162557e-04 4.25344245e-01] [ 8.76547605e-03 8.52400191e-05 9.99961579e-01 -1.17242484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.227719421 meters Centerline goodness [0,1] 0.9653870358716173 Centerline is valid? [True, True] Translation: X:18.95, Y:0.43, Z:-1.17 [[ 9.99508768e-01 -3.00685925e-02 -8.83761444e-03 1.89455273e+01] [ 3.00662727e-02 9.99547829e-01 -3.95259012e-04 4.31352631e-01] [ 8.84550321e-03 1.29350722e-04 9.99960869e-01 -1.16756749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.257719421 meters Centerline goodness [0,1] 0.9556466339325569 Centerline is valid? [True, True] Translation: X:18.97, Y:0.44, Z:-1.18 [[ 9.99576554e-01 -2.74742565e-02 -9.58531263e-03 1.89729861e+01] [ 2.74714388e-02 9.99622498e-01 -4.25531136e-04 4.38988639e-01] [ 9.59338531e-03 1.62028618e-04 9.99953969e-01 -1.17550560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28771942099999 meters Centerline goodness [0,1] 0.9556466339325569 Centerline is valid? [True, True] Translation: X:19.00, Y:0.44, Z:-1.18 [[ 9.99569497e-01 -2.77298889e-02 -9.58507456e-03 1.90012651e+01] [ 2.77270315e-02 9.99615439e-01 -4.30898253e-04 4.40484558e-01] [ 9.59333727e-03 1.64947086e-04 9.99953969e-01 -1.17605407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31771942099999 meters Centerline goodness [0,1] 0.9449216364746591 Centerline is valid? [True, False] Translation: X:19.00, Y:0.44, Z:-1.18 [[ 9.99681966e-01 -2.31647684e-02 -9.96797472e-03 1.90032978e+01] [ 2.32075118e-02 9.99721872e-01 4.19397807e-03 4.39798046e-01] [ 9.86804982e-03 -4.42397614e-03 9.99941523e-01 -1.17788330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.347719421 meters Centerline goodness [0,1] 0.9423135495136957 Centerline is valid? [False, False] Translation: X:19.01, Y:0.44, Z:-1.18 [[ 9.99713097e-01 -2.15132801e-02 -1.05309878e-02 1.90056952e+01] [ 2.15760395e-02 9.99749904e-01 5.88259530e-03 4.38953256e-01] [ 1.04018001e-02 -6.10812458e-03 9.99927244e-01 -1.17952919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.377719421 meters Centerline goodness [0,1] 0.9537797152227496 Centerline is valid? [False, True] Translation: X:19.01, Y:0.44, Z:-1.18 [[ 9.99730981e-01 -2.06352457e-02 -1.05901507e-02 1.90058034e+01] [ 2.07119072e-02 9.99759696e-01 7.18104921e-03 4.36264894e-01] [ 1.04394231e-02 -7.39845959e-03 9.99918137e-01 -1.17945058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.407719421 meters Centerline goodness [0,1] 0.9531755560529904 Centerline is valid? [True, True] Translation: X:19.03, Y:0.44, Z:-1.18 [[ 9.99807609e-01 -1.81144914e-02 -7.52397935e-03 1.90332229e+01] [ 1.81124636e-02 9.99835899e-01 -3.37558649e-04 4.38171501e-01] [ 7.52885936e-03 2.01215903e-04 9.99971637e-01 -1.17702419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.437719421 meters Centerline goodness [0,1] 0.953683568743014 Centerline is valid? [True, True] Translation: X:19.06, Y:0.44, Z:-1.18 [[ 9.99832635e-01 -1.69048530e-02 -6.99488962e-03 1.90619441e+01] [ 1.69030242e-02 9.99857082e-01 -3.20484059e-04 4.37386187e-01] [ 6.99930766e-03 2.02195633e-04 9.99975484e-01 -1.17601558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.467719421 meters Centerline goodness [0,1] 0.946233286667884 Centerline is valid? [True, False] Translation: X:19.07, Y:0.43, Z:-1.18 [[ 9.99854406e-01 -1.52541966e-02 -7.64695063e-03 1.90653785e+01] [ 1.52725935e-02 9.99880598e-01 2.35319096e-03 4.29567273e-01] [ 7.61014154e-03 -2.46963712e-03 9.99967993e-01 -1.17852158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.497719421 meters Centerline goodness [0,1] 0.9470517693449054 Centerline is valid? [False, False] Translation: X:19.07, Y:0.43, Z:-1.18 [[ 9.99862036e-01 -1.45411761e-02 -8.02891672e-03 1.90670786e+01] [ 1.45727111e-02 9.99886272e-01 3.88323552e-03 4.26021801e-01] [ 7.97153680e-03 -3.99970286e-03 9.99960228e-01 -1.17970887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.527719421 meters Centerline goodness [0,1] 0.9482142131567185 Centerline is valid? [False, False] Translation: X:19.07, Y:0.42, Z:-1.18 [[ 9.99864086e-01 -1.43725079e-02 -8.07712677e-03 1.90676552e+01] [ 1.44196279e-02 9.99879174e-01 5.80610861e-03 4.21080931e-01] [ 7.99270250e-03 -5.92178864e-03 9.99950523e-01 -1.18024828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.557719421 meters Centerline goodness [0,1] 0.95120414592013 Centerline is valid? [False, True] Translation: X:19.07, Y:0.42, Z:-1.18 [[ 9.99861821e-01 -1.44393080e-02 -8.23682646e-03 1.90678600e+01] [ 1.44956980e-02 9.99871619e-01 6.82796174e-03 4.17316173e-01] [ 8.13717796e-03 -6.94641681e-03 9.99942765e-01 -1.18000951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.587719421 meters Centerline goodness [0,1] 0.9531646855633445 Centerline is valid? [True, True] Translation: X:19.10, Y:0.40, Z:-1.18 [[ 9.99736804e-01 -2.05596531e-02 -1.01795153e-02 1.90966868e+01] [ 2.05565718e-02 9.99788608e-01 -4.07246069e-04 4.04423867e-01] [ 1.01857362e-02 1.97882947e-04 9.99948104e-01 -1.18363971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.617719421 meters Centerline goodness [0,1] 0.9593738579607748 Centerline is valid? [True, True] Translation: X:19.13, Y:0.39, Z:-1.18 [[ 9.99551751e-01 -2.81514493e-02 -1.01879124e-02 1.91266281e+01] [ 2.81487276e-02 9.99603662e-01 -4.10477269e-04 3.89020106e-01] [ 1.01954301e-02 1.23516501e-04 9.99948018e-01 -1.17926930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64771942099999 meters Centerline goodness [0,1] 0.9516106115655509 Centerline is valid? [True, True] Translation: X:19.15, Y:0.39, Z:-1.19 [[ 9.99410319e-01 -3.28046351e-02 -1.01425177e-02 1.91540428e+01] [ 3.28022091e-02 9.99461780e-01 -4.05501766e-04 3.85578833e-01] [ 1.01503612e-02 7.25656615e-05 9.99948481e-01 -1.18560043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67771942099999 meters Centerline goodness [0,1] 0.9608022247934556 Centerline is valid? [True, True] Translation: X:19.18, Y:0.38, Z:-1.18 [[ 9.99243947e-01 -3.77223893e-02 -9.41037243e-03 1.91837418e+01] [ 3.77204491e-02 9.99288257e-01 -3.83635351e-04 3.80139814e-01] [ 9.41814630e-03 2.83818280e-05 9.99955648e-01 -1.17877892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.707719421 meters Centerline goodness [0,1] 0.953897753836772 Centerline is valid? [True, True] Translation: X:19.21, Y:0.37, Z:-1.18 [[ 9.98859190e-01 -4.72716085e-02 -6.76121163e-03 1.92122388e+01] [ 4.72708367e-02 9.98882072e-01 -2.73996006e-04 3.67976739e-01] [ 6.76660531e-03 -4.59247026e-05 9.99977105e-01 -1.18272784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.737719421 meters Centerline goodness [0,1] 0.9622401100234609 Centerline is valid? [True, True] Translation: X:19.24, Y:0.37, Z:-1.18 [[ 9.98664824e-01 -5.14844906e-02 -4.23280047e-03 1.92418531e+01] [ 5.14842139e-02 9.98673793e-01 -1.74388289e-04 3.65079774e-01] [ 4.23616520e-03 -4.37669544e-05 9.99991026e-01 -1.17631378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.767719421 meters Centerline goodness [0,1] 0.9582825822168087 Centerline is valid? [True, True] Translation: X:19.27, Y:0.36, Z:-1.18 [[ 9.98323481e-01 -5.78778756e-02 -6.15898370e-04 1.92689717e+01] [ 5.78778678e-02 9.98323671e-01 -3.06181170e-05 3.57057159e-01] [ 6.16638033e-04 -5.08009928e-06 9.99999810e-01 -1.17537981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.797719421 meters Centerline goodness [0,1] 0.9604872493594175 Centerline is valid? [True, True] Translation: X:19.30, Y:0.36, Z:-1.17 [[ 9.98175124e-01 -6.03792560e-02 -8.76443819e-04 1.92974074e+01] [ 6.03792458e-02 9.98175508e-01 -3.81949505e-05 3.58273092e-01] [ 8.77150938e-04 -1.47937673e-05 9.99999615e-01 -1.17146021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.827719421 meters Centerline goodness [0,1] 0.9603601046249924 Centerline is valid? [True, True] Translation: X:19.33, Y:0.36, Z:-1.17 [[ 9.98157254e-01 -6.06420584e-02 -2.15334793e-03 1.93263777e+01] [ 6.06419938e-02 9.98159576e-01 -9.53596535e-05 3.61145461e-01] [ 2.15516766e-03 -3.53993816e-05 9.99997677e-01 -1.17376864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.857719421 meters Centerline goodness [0,1] 0.9573493340901259 Centerline is valid? [True, True] Translation: X:19.35, Y:0.37, Z:-1.18 [[ 9.98196622e-01 -5.99485409e-02 -3.11056297e-03 1.93541466e+01] [ 5.99484262e-02 9.98201467e-01 -1.30170318e-04 3.65960883e-01] [ 3.11277204e-03 -5.65377833e-05 9.99995154e-01 -1.17852866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.887719421 meters Centerline goodness [0,1] 0.9616254201038802 Centerline is valid? [True, True] Translation: X:19.38, Y:0.37, Z:-1.18 [[ 9.98267584e-01 -5.87163347e-02 -3.77129266e-03 1.93817825e+01] [ 5.87161321e-02 9.98274706e-01 -1.64519488e-04 3.71574855e-01] [ 3.77444605e-03 -5.72012458e-05 9.99992875e-01 -1.17745447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.917719421 meters Centerline goodness [0,1] 0.9579683698296837 Centerline is valid? [True, True] Translation: X:19.41, Y:0.37, Z:-1.18 [[ 9.98360073e-01 -5.70505816e-02 -4.73231945e-03 1.94084059e+01] [ 5.70502736e-02 9.98371287e-01 -2.00159828e-04 3.73503626e-01] [ 4.73603110e-03 -7.01485385e-05 9.99988782e-01 -1.18120352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.947719421 meters Centerline goodness [0,1] 0.9581977878985036 Centerline is valid? [True, True] Translation: X:19.44, Y:0.38, Z:-1.19 [[ 9.98583869e-01 -5.26309512e-02 -7.76136209e-03 1.94362961e+01] [ 5.26300094e-02 9.98614028e-01 -3.25678922e-04 3.83367676e-01] [ 7.76774585e-03 -8.32628424e-05 9.99969827e-01 -1.18528512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.977719421 meters Centerline goodness [0,1] 0.9568187362771408 Centerline is valid? [True, True] Translation: X:19.46, Y:0.39, Z:-1.19 [[ 9.98690948e-01 -5.04529665e-02 -8.41956139e-03 1.94636719e+01] [ 5.04517102e-02 9.98726436e-01 -3.61674957e-04 3.89966752e-01] [ 8.42708611e-03 -6.35797655e-05 9.99964489e-01 -1.18703661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.007719421 meters Centerline goodness [0,1] 0.9544541192230409 Centerline is valid? [True, True] Translation: X:19.49, Y:0.40, Z:-1.19 [[ 9.98920575e-01 -4.54116050e-02 -9.77091152e-03 1.94906463e+01] [ 4.54097311e-02 9.98968360e-01 -4.13663297e-04 4.00373297e-01] [ 9.77961657e-03 -3.04776862e-05 9.99952178e-01 -1.18894875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03771942099999 meters Centerline goodness [0,1] 0.9522006432962827 Centerline is valid? [True, True] Translation: X:19.52, Y:0.41, Z:-1.19 [[ 9.99056736e-01 -4.17485699e-02 -1.19455380e-02 1.95178769e+01] [ 4.17454997e-02 9.99128148e-01 -5.06358149e-04 4.10634494e-01] [ 1.19562630e-02 7.20806589e-06 9.99928521e-01 -1.19301082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06771942099999 meters Centerline goodness [0,1] 0.9522706962385247 Centerline is valid? [True, True] Translation: X:19.55, Y:0.42, Z:-1.19 [[ 9.99092038e-01 -4.07607162e-02 -1.23960942e-02 1.95460394e+01] [ 4.07572351e-02 9.99168936e-01 -5.33419729e-04 4.17004067e-01] [ 1.24075348e-02 2.77048784e-05 9.99923023e-01 -1.19418204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.097719421 meters Centerline goodness [0,1] 0.9483445053828966 Centerline is valid? [True, False] Translation: X:19.55, Y:0.42, Z:-1.19 [[ 9.99204341e-01 -3.78231045e-02 -1.26529940e-02 1.95467918e+01] [ 3.78558376e-02 9.99280430e-01 2.35747814e-03 4.17984317e-01] [ 1.25547222e-02 -2.83459208e-03 9.99917169e-01 -1.19474485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.127719421 meters Centerline goodness [0,1] 0.9501502599090318 Centerline is valid? [False, True] Translation: X:19.55, Y:0.42, Z:-1.20 [[ 9.99201781e-01 -3.78097898e-02 -1.28926591e-02 1.95475704e+01] [ 3.78415161e-02 9.99281275e-01 2.22571071e-03 4.18387934e-01] [ 1.27992392e-02 -2.71181188e-03 9.99914409e-01 -1.19515150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.157719421 meters Centerline goodness [0,1] 0.9516656178315503 Centerline is valid? [True, True] Translation: X:19.58, Y:0.43, Z:-1.19 [[ 9.99264075e-01 -3.67877067e-02 -1.08615231e-02 1.95766606e+01] [ 3.67850460e-02 9.99323102e-01 -4.44710558e-04 4.27147686e-01] [ 1.08705308e-02 4.48416587e-05 9.99940913e-01 -1.19383540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.187719421 meters Centerline goodness [0,1] 0.9519962652485436 Centerline is valid? [True, True] Translation: X:19.60, Y:0.44, Z:-1.20 [[ 9.99462061e-01 -3.09681327e-02 -1.07964097e-02 1.96042804e+01] [ 3.09651967e-02 9.99520367e-01 -4.39039094e-04 4.38993980e-01] [ 1.08048276e-02 1.04489967e-04 9.99941621e-01 -1.19665015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.217719421 meters Centerline goodness [0,1] 0.9557167825061984 Centerline is valid? [True, True] Translation: X:19.63, Y:0.45, Z:-1.20 [[ 9.99579794e-01 -2.70594352e-02 -1.03933479e-02 1.96329174e+01] [ 2.70564226e-02 9.99633815e-01 -4.30382380e-04 4.45929993e-01] [ 1.04011879e-02 1.48994718e-04 9.99945895e-01 -1.19674846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.247719421 meters Centerline goodness [0,1] 0.95338413267593 Centerline is valid? [True, True] Translation: X:19.66, Y:0.46, Z:-1.20 [[ 9.99783114e-01 -1.69233462e-02 -1.21377873e-02 1.96622966e+01] [ 1.69185801e-02 9.99856748e-01 -4.95248666e-04 4.59640059e-01] [ 1.21444298e-02 2.89787127e-04 9.99926212e-01 -1.19710012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.277719421 meters Centerline goodness [0,1] 0.9491294719947991 Centerline is valid? [True, False] Translation: X:19.66, Y:0.46, Z:-1.20 [[ 9.99840390e-01 -1.26797315e-02 -1.25864428e-02 1.96630110e+01] [ 1.27282906e-02 9.99911827e-01 3.78546152e-03 4.58719665e-01] [ 1.25373344e-02 -3.94506122e-03 9.99913622e-01 -1.19705900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.307719421 meters Centerline goodness [0,1] 0.9348531542747516 Centerline is valid? [False, False] Translation: X:19.66, Y:0.46, Z:-1.20 [[ 9.99889741e-01 -7.70104754e-03 -1.26964494e-02 1.96625492e+01] [ 7.81479831e-03 9.99929553e-01 8.93412223e-03 4.55497742e-01] [ 1.26267529e-02 -9.03235735e-03 9.99879484e-01 -1.19625408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.337719421 meters Centerline goodness [0,1] 0.9244883413094389 Centerline is valid? [False, False] Translation: X:19.66, Y:0.45, Z:-1.20 [[ 9.99890530e-01 -7.38992494e-03 -1.28186047e-02 1.96623125e+01] [ 7.51046201e-03 9.99927794e-01 9.38077878e-03 4.54068096e-01] [ 1.27483559e-02 -9.47602552e-03 9.99873834e-01 -1.19566332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.367719421 meters Centerline goodness [0,1] 0.9309229924558229 Centerline is valid? [False, False] Translation: X:19.66, Y:0.45, Z:-1.19 [[ 9.99862921e-01 -1.02214895e-02 -1.30253423e-02 1.96615005e+01] [ 1.03174745e-02 9.99919956e-01 7.32333100e-03 4.49760156e-01] [ 1.29494443e-02 -7.45671576e-03 9.99888348e-01 -1.19406308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39771942099999 meters Centerline goodness [0,1] 0.9540498759204263 Centerline is valid? [False, True] Translation: X:19.66, Y:0.45, Z:-1.19 [[ 9.99819071e-01 -1.35994637e-02 -1.32996118e-02 1.96623373e+01] [ 1.36623202e-02 9.99895869e-01 4.64680500e-03 4.46669371e-01] [ 1.32350328e-02 -4.82766781e-03 9.99900759e-01 -1.19430608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42771942099999 meters Centerline goodness [0,1] 0.9559410656020104 Centerline is valid? [True, True] Translation: X:19.69, Y:0.44, Z:-1.20 [[ 9.99672868e-01 -2.19601675e-02 -1.31113364e-02 1.96915917e+01] [ 2.19539784e-02 9.99758793e-01 -6.15797080e-04 4.37398627e-01] [ 1.31216968e-02 3.27749638e-04 9.99913853e-01 -1.19995154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.457719421 meters Centerline goodness [0,1] 0.9629125898258293 Centerline is valid? [True, True] Translation: X:19.72, Y:0.43, Z:-1.20 [[ 9.99555925e-01 -2.72067959e-02 -1.21549653e-02 1.97218377e+01] [ 2.72018581e-02 9.99629798e-01 -5.71408149e-04 4.29259218e-01] [ 1.21660117e-02 2.40516760e-04 9.99925962e-01 -1.19847548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.487719421 meters Centerline goodness [0,1] 0.965451838557706 Centerline is valid? [True, True] Translation: X:19.75, Y:0.41, Z:-1.20 [[ 9.99286012e-01 -3.60711629e-02 -1.12399577e-02 1.97525398e+01] [ 3.60674948e-02 9.99349216e-01 -5.28944425e-04 4.12970545e-01] [ 1.12517225e-02 1.23169650e-04 9.99936690e-01 -1.19546636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.517719421 meters Centerline goodness [0,1] 0.9680842413400553 Centerline is valid? [True, True] Translation: X:19.78, Y:0.41, Z:-1.19 [[ 9.99145328e-01 -4.00767983e-02 -1.01224579e-02 1.97817063e+01] [ 4.00739496e-02 9.99196599e-01 -4.84177273e-04 4.05955196e-01] [ 1.01337298e-02 7.81165933e-05 9.99948649e-01 -1.19335031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.547719421 meters Centerline goodness [0,1] 0.9647391552046879 Centerline is valid? [True, True] Translation: X:19.81, Y:0.40, Z:-1.20 [[ 9.98890013e-01 -4.60869887e-02 -9.73304543e-03 1.98096388e+01] [ 4.60846476e-02 9.98937430e-01 -4.64798124e-04 3.95129260e-01] [ 9.74412454e-03 1.57382357e-05 9.99952525e-01 -1.19512408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.577719421 meters Centerline goodness [0,1] 0.9637795915052585 Centerline is valid? [True, True] Translation: X:19.84, Y:0.39, Z:-1.20 [[ 9.98774822e-01 -4.85159783e-02 -9.74964750e-03 1.98374166e+01] [ 4.85136827e-02 9.98822407e-01 -4.71963696e-04 3.94166290e-01] [ 9.76106416e-03 -1.60584833e-06 9.99952360e-01 -1.19599725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.607719421 meters Centerline goodness [0,1] 0.9651933477005652 Centerline is valid? [True, True] Translation: X:19.87, Y:0.39, Z:-1.20 [[ 9.98641746e-01 -5.13170699e-02 -9.01227622e-03 1.98667005e+01] [ 5.13152001e-02 9.98682411e-01 -4.38749824e-04 3.94605026e-01] [ 9.02291710e-03 -2.43128666e-05 9.99959292e-01 -1.19525252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.637719421 meters Centerline goodness [0,1] 0.9649723036819811 Centerline is valid? [True, True] Translation: X:19.89, Y:0.40, Z:-1.20 [[ 9.98558649e-01 -5.29809042e-02 -8.58191014e-03 1.98944712e+01] [ 5.29792356e-02 9.98595525e-01 -4.21807306e-04 3.95385302e-01] [ 8.59220479e-03 -3.34637064e-05 9.99963086e-01 -1.19613555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.667719421 meters Centerline goodness [0,1] 0.9610083350274446 Centerline is valid? [True, True] Translation: X:19.92, Y:0.39, Z:-1.20 [[ 9.98368974e-01 -5.60295901e-02 -1.09579154e-02 1.99224268e+01] [ 5.60271043e-02 9.98429105e-01 -5.33942467e-04 3.90742791e-01] [ 1.09706183e-02 -8.08686771e-05 9.99939818e-01 -1.19909742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.697719421 meters Centerline goodness [0,1] 0.9601100693028944 Centerline is valid? [True, True] Translation: X:19.95, Y:0.39, Z:-1.20 [[ 9.98217362e-01 -5.86178404e-02 -1.12270546e-02 1.99514037e+01] [ 5.86153195e-02 9.98280490e-01 -5.53742778e-04 3.88022607e-01] [ 1.12402088e-02 -1.05321739e-04 9.99936821e-01 -1.19946536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.727719421 meters Centerline goodness [0,1] 0.9570818070818071 Centerline is valid? [True, True] Translation: X:19.98, Y:0.38, Z:-1.20 [[ 9.97880635e-01 -6.40534317e-02 -1.14628463e-02 1.99804475e+01] [ 6.40511224e-02 9.97946457e-01 -5.68833641e-04 3.83284661e-01] [ 1.14757426e-02 -1.66580097e-04 9.99934138e-01 -1.20090680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.757719421 meters Centerline goodness [0,1] 0.9541099652163301 Centerline is valid? [True, True] Translation: X:20.01, Y:0.38, Z:-1.20 [[ 9.97673236e-01 -6.70245252e-02 -1.24830790e-02 2.00093381e+01] [ 6.70219785e-02 9.97751305e-01 -6.22710008e-04 3.82630267e-01] [ 1.24967452e-02 -2.15379544e-04 9.99921889e-01 -1.20309589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78771942099999 meters Centerline goodness [0,1] 0.9489775134430504 Centerline is valid? [True, False] Translation: X:20.01, Y:0.38, Z:-1.20 [[ 9.97368702e-01 -7.14122802e-02 -1.24883533e-02 2.00108445e+01] [ 7.13614819e-02 9.97440514e-01 -4.46759095e-03 3.82162930e-01] [ 1.27754304e-02 3.56464799e-03 9.99912037e-01 -1.20424256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81771942099999 meters Centerline goodness [0,1] 0.9416256506856252 Centerline is valid? [False, False] Translation: X:20.01, Y:0.38, Z:-1.21 [[ 9.97130064e-01 -7.46054118e-02 -1.28711735e-02 2.00136161e+01] [ 7.45192400e-02 9.97194654e-01 -7.05011789e-03 3.80464202e-01] [ 1.33610424e-02 6.07073443e-03 9.99892309e-01 -1.20598686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.847719421 meters Centerline goodness [0,1] 0.9399825093046432 Centerline is valid? [False, False] Translation: X:20.01, Y:0.38, Z:-1.21 [[ 9.97128542e-01 -7.45369951e-02 -1.33756314e-02 2.00149827e+01] [ 7.44515134e-02 9.97201589e-01 -6.77956868e-03 3.79691121e-01] [ 1.38435296e-02 5.76426544e-03 9.99887559e-01 -1.20641655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.877719421 meters Centerline goodness [0,1] 0.9417624052798826 Centerline is valid? [False, False] Translation: X:20.01, Y:0.38, Z:-1.21 [[ 9.97427193e-01 -7.03332645e-02 -1.38646129e-02 2.00148585e+01] [ 7.03015375e-02 9.97521959e-01 -2.76319675e-03 3.80553672e-01] [ 1.40246004e-02 1.78138397e-03 9.99900064e-01 -1.20582655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.907719421 meters Centerline goodness [0,1] 0.9468137055424433 Centerline is valid? [False, False] Translation: X:20.01, Y:0.38, Z:-1.21 [[ 9.97700977e-01 -6.62753130e-02 -1.41542488e-02 2.00143780e+01] [ 6.62952954e-02 9.97799598e-01 9.46737983e-04 3.82335616e-01] [ 1.40603585e-02 -1.88292152e-03 9.99899375e-01 -1.20528581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.937719421 meters Centerline goodness [0,1] 0.955884750183389 Centerline is valid? [False, True] Translation: X:20.01, Y:0.39, Z:-1.20 [[ 9.98144477e-01 -5.92104432e-02 -1.42030210e-02 2.00118953e+01] [ 5.93121274e-02 9.98215998e-01 6.84788887e-03 3.86985220e-01] [ 1.37722163e-02 -7.67759385e-03 9.99875683e-01 -1.20331143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.967719421 meters Centerline goodness [0,1] 0.960968660968661 Centerline is valid? [True, True] Translation: X:20.04, Y:0.40, Z:-1.20 [[ 9.98448946e-01 -5.43557904e-02 -1.20478172e-02 2.00401740e+01] [ 5.43528911e-02 9.98521627e-01 -5.68191551e-04 3.99077782e-01] [ 1.20608906e-02 -8.75234439e-05 9.99927261e-01 -1.20218507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.997719421 meters Centerline goodness [0,1] 0.9617899053883948 Centerline is valid? [True, True] Translation: X:20.07, Y:0.41, Z:-1.20 [[ 9.98693033e-01 -4.96477885e-02 -1.21376831e-02 2.00690148e+01] [ 4.96444196e-02 9.98766788e-01 -5.78878924e-04 4.10291492e-01] [ 1.21514549e-02 -2.44458864e-05 9.99926168e-01 -1.20127634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.027719421 meters Centerline goodness [0,1] 0.9544351797109132 Centerline is valid? [True, True] Translation: X:20.10, Y:0.43, Z:-1.21 [[ 9.99060144e-01 -4.02187931e-02 -1.61640885e-02 2.00969148e+01] [ 4.02116442e-02 9.99190890e-01 -7.67173420e-04 4.29994199e-01] [ 1.61818648e-02 1.16467811e-04 9.99869058e-01 -1.20878520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.057719421 meters Centerline goodness [0,1] 0.9520829936409587 Centerline is valid? [True, True] Translation: X:20.13, Y:0.45, Z:-1.21 [[ 9.99387584e-01 -2.97471396e-02 -1.84272636e-02 2.01261506e+01] [ 2.97360764e-02 9.99557403e-01 -8.74145694e-04 4.48458533e-01] [ 1.84451111e-02 3.25655837e-04 9.99829821e-01 -1.21201038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.087719421 meters Centerline goodness [0,1] 0.9513751956579188 Centerline is valid? [True, True] Translation: X:20.15, Y:0.46, Z:-1.21 [[ 9.99525651e-01 -2.51826156e-02 -1.77287602e-02 2.01536450e+01] [ 2.51716042e-02 9.99682789e-01 -8.44016808e-04 4.57861635e-01] [ 1.77443910e-02 3.97355116e-04 9.99842477e-01 -1.21284189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.117719421 meters Centerline goodness [0,1] 0.952950297886232 Centerline is valid? [True, True] Translation: X:20.18, Y:0.47, Z:-1.21 [[ 9.99735440e-01 -1.64942507e-02 -1.60309209e-02 2.01828945e+01] [ 1.64841309e-02 9.99863836e-01 -7.63208678e-04 4.69473045e-01] [ 1.60413266e-02 4.98750966e-04 9.99871205e-01 -1.20577362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14771942099999 meters Centerline goodness [0,1] 0.952950297886232 Centerline is valid? [True, True] Translation: X:20.21, Y:0.47, Z:-1.21 [[ 9.99729484e-01 -1.68518598e-02 -1.60304169e-02 2.02103487e+01] [ 1.68416169e-02 9.99857871e-01 -7.73761556e-04 4.71054410e-01] [ 1.60411778e-02 5.03574101e-04 9.99871205e-01 -1.20619777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17771942099999 meters Centerline goodness [0,1] 0.924741202925268 Centerline is valid? [True, False] Translation: X:20.21, Y:0.47, Z:-1.21 [[ 9.99775543e-01 -1.34209608e-02 -1.63933654e-02 2.02108247e+01] [ 1.34625288e-02 9.99906428e-01 2.42793728e-03 4.72892410e-01] [ 1.63592462e-02 -2.64808846e-03 9.99862672e-01 -1.20606599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.207719421 meters Centerline goodness [0,1] 0.9073644829409133 Centerline is valid? [False, False] Translation: X:20.21, Y:0.47, Z:-1.21 [[ 9.99811247e-01 -9.98585855e-03 -1.66659501e-02 2.02108692e+01] [ 1.00810506e-02 9.99933293e-01 5.63756274e-03 4.74620055e-01] [ 1.66085424e-02 -5.80450892e-03 9.99845220e-01 -1.20558442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.237719421 meters Centerline goodness [0,1] 0.9447378617019108 Centerline is valid? [False, False] Translation: X:20.21, Y:0.47, Z:-1.20 [[ 9.99780140e-01 -1.26100612e-02 -1.67528406e-02 2.02100998e+01] [ 1.26630035e-02 9.99915145e-01 3.05788314e-03 4.72433300e-01] [ 1.67128590e-02 -3.26935212e-03 9.99854985e-01 -1.20425099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.267719421 meters Centerline goodness [0,1] 0.9481729064340596 Centerline is valid? [False, False] Translation: X:20.21, Y:0.47, Z:-1.20 [[ 9.99772106e-01 -1.28815757e-02 -1.70235443e-02 2.02105705e+01] [ 1.29449362e-02 9.99909669e-01 3.61699258e-03 4.69447204e-01] [ 1.69754140e-02 -3.83653699e-03 9.99848547e-01 -1.20406776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.297719421 meters Centerline goodness [0,1] 0.9556120374135828 Centerline is valid? [False, True] Translation: X:20.21, Y:0.47, Z:-1.20 [[ 9.99715127e-01 -1.65297395e-02 -1.72172443e-02 2.02109767e+01] [ 1.65389218e-02 9.99863146e-01 3.91059555e-04 4.67732381e-01] [ 1.72084240e-02 -6.75702811e-04 9.99851696e-01 -1.20391721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.327719421 meters Centerline goodness [0,1] 0.9620412471581682 Centerline is valid? [True, True] Translation: X:20.24, Y:0.46, Z:-1.20 [[ 9.99563661e-01 -2.49830698e-02 -1.57585971e-02 2.02418446e+01] [ 2.49745630e-02 9.99687816e-01 -7.36416060e-04 4.58745734e-01] [ 1.57720754e-02 3.42530659e-04 9.99875554e-01 -1.20468337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.357719421 meters Centerline goodness [0,1] 0.9605068123210624 Centerline is valid? [True, True] Translation: X:20.27, Y:0.45, Z:-1.21 [[ 9.99410698e-01 -2.97446245e-02 -1.71322408e-02 2.02708108e+01] [ 2.97351443e-02 9.99557486e-01 -8.07878976e-04 4.53971678e-01] [ 1.71486896e-02 2.97973238e-04 9.99852906e-01 -1.20651053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.387719421 meters Centerline goodness [0,1] 0.9495142086367416 Centerline is valid? [True, False] Translation: X:20.27, Y:0.45, Z:-1.21 [[ 9.99283678e-01 -3.34531271e-02 -1.76923738e-02 2.02739505e+01] [ 3.33965726e-02 9.99436112e-01 -3.48248351e-03 4.51744680e-01] [ 1.77988972e-02 2.88912428e-03 9.99837413e-01 -1.20862164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.417719421 meters Centerline goodness [0,1] 0.9553006731336302 Centerline is valid? [False, True] Translation: X:20.28, Y:0.45, Z:-1.21 [[ 9.99275041e-01 -3.34943390e-02 -1.80975790e-02 2.02751309e+01] [ 3.34424747e-02 9.99435645e-01 -3.16097896e-03 4.50727549e-01] [ 1.81932405e-02 2.55345955e-03 9.99831229e-01 -1.20908638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.447719421 meters Centerline goodness [0,1] 0.9545066124109868 Centerline is valid? [True, True] Translation: X:20.30, Y:0.45, Z:-1.21 [[ 9.99300400e-01 -3.20888598e-02 -1.92098056e-02 2.03034770e+01] [ 3.20785103e-02 9.99484993e-01 -8.46739719e-04 4.50266862e-01] [ 1.92270834e-02 2.29925392e-04 9.99815116e-01 -1.21018825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.477719421 meters Centerline goodness [0,1] 0.9572012795076326 Centerline is valid? [True, True] Translation: X:20.33, Y:0.46, Z:-1.21 [[ 9.99441836e-01 -2.95332994e-02 -1.56141001e-02 2.03307720e+01] [ 2.95261215e-02 9.99563771e-01 -6.90083529e-04 4.55538563e-01] [ 1.56276692e-02 2.28674534e-04 9.99877854e-01 -1.20842731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.507719421 meters Centerline goodness [0,1] 0.9588541878740992 Centerline is valid? [True, True] Translation: X:20.36, Y:0.46, Z:-1.21 [[ 9.99453282e-01 -2.94137212e-02 -1.50987046e-02 2.03583347e+01] [ 2.94068780e-02 9.99567296e-01 -6.75094618e-04 4.59084939e-01] [ 1.51120283e-02 2.30719768e-04 9.99885780e-01 -1.20711412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53771942099999 meters Centerline goodness [0,1] 0.9565704051936422 Centerline is valid? [True, True] Translation: X:20.39, Y:0.46, Z:-1.21 [[ 9.99489414e-01 -2.75865070e-02 -1.61212683e-02 2.03861670e+01] [ 2.75784912e-02 9.99619382e-01 -7.19367130e-04 4.63166527e-01] [ 1.61349771e-02 2.74399576e-04 9.99869785e-01 -1.20907485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56771942099999 meters Centerline goodness [0,1] 0.9550071384866409 Centerline is valid? [True, True] Translation: X:20.41, Y:0.46, Z:-1.21 [[ 9.99508989e-01 -2.64447720e-02 -1.68064064e-02 2.04136035e+01] [ 2.64358466e-02 9.99650228e-01 -7.53052621e-04 4.64809304e-01] [ 1.68204423e-02 3.08391283e-04 9.99858479e-01 -1.21148346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.597719421 meters Centerline goodness [0,1] 0.9549498198399935 Centerline is valid? [True, True] Translation: X:20.44, Y:0.47, Z:-1.21 [[ 9.99511511e-01 -2.56071909e-02 -1.79167954e-02 2.04420400e+01] [ 2.55967947e-02 9.99672021e-01 -8.09371712e-04 4.66053726e-01] [ 1.79316448e-02 3.50363810e-04 9.99839154e-01 -1.21303730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.627719421 meters Centerline goodness [0,1] 0.9478669116146152 Centerline is valid? [True, False] Translation: X:20.44, Y:0.47, Z:-1.22 [[ 9.99583719e-01 -2.23655319e-02 -1.82255985e-02 2.04449740e+01] [ 2.24174561e-02 9.99745186e-01 2.64963763e-03 4.66322367e-01] [ 1.81616938e-02 -3.05710619e-03 9.99830389e-01 -1.21599162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.657719421 meters Centerline goodness [0,1] 0.9451547231270359 Centerline is valid? [False, False] Translation: X:20.45, Y:0.47, Z:-1.22 [[ 9.99579027e-01 -2.20554281e-02 -1.88501030e-02 2.04462890e+01] [ 2.21171734e-02 9.99750661e-01 3.07339732e-03 4.66059286e-01] [ 1.87776179e-02 -3.48901450e-03 9.99817597e-01 -1.21610917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.687719421 meters Centerline goodness [0,1] 0.9452442525809933 Centerline is valid? [False, False] Translation: X:20.45, Y:0.46, Z:-1.22 [[ 9.99579230e-01 -2.16954277e-02 -1.92528504e-02 2.04467256e+01] [ 2.17727634e-02 9.99755661e-01 3.81633821e-03 4.63846938e-01] [ 1.91653491e-02 -4.23392016e-03 9.99807363e-01 -1.21558326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.717719421 meters Centerline goodness [0,1] 0.9482975784170323 Centerline is valid? [False, False] Translation: X:20.45, Y:0.46, Z:-1.21 [[ 9.99500846e-01 -2.46821023e-02 -1.97193550e-02 2.04471325e+01] [ 2.47159123e-02 9.99693430e-01 1.47265358e-03 4.59852464e-01] [ 1.96769615e-02 -1.95930035e-03 9.99804470e-01 -1.21467355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.747719421 meters Centerline goodness [0,1] 0.9536646494284492 Centerline is valid? [False, True] Translation: X:20.45, Y:0.46, Z:-1.21 [[ 9.99501858e-01 -2.44781392e-02 -1.99212701e-02 2.04472089e+01] [ 2.45300540e-02 9.99696294e-01 2.36578737e-03 4.57468698e-01] [ 1.98573099e-02 -2.85327870e-03 9.99798753e-01 -1.21419165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.777719421 meters Centerline goodness [0,1] 0.9550855706058885 Centerline is valid? [True, True] Translation: X:20.48, Y:0.46, Z:-1.21 [[ 9.99560918e-01 -2.49930089e-02 -1.59160646e-02 2.04750819e+01] [ 2.49848379e-02 9.99687577e-01 -7.12046773e-04 4.59623273e-01] [ 1.59288882e-02 3.14073832e-04 9.99873078e-01 -1.21361029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.807719421 meters Centerline goodness [0,1] 0.9560000810684826 Centerline is valid? [True, True] Translation: X:20.50, Y:0.46, Z:-1.21 [[ 9.99591261e-01 -2.47221346e-02 -1.43571326e-02 2.05038523e+01] [ 2.47153645e-02 9.99694318e-01 -6.48817086e-04 4.61045751e-01] [ 1.43687840e-02 2.93710125e-04 9.99896721e-01 -1.21275864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.837719421 meters Centerline goodness [0,1] 0.9557520321062604 Centerline is valid? [True, True] Translation: X:20.53, Y:0.46, Z:-1.21 [[ 9.99645313e-01 -2.21142237e-02 -1.48394581e-02 2.05326609e+01] [ 2.21066400e-02 9.99755391e-01 -6.74907136e-04 4.61462539e-01] [ 1.48507532e-02 3.46617198e-04 9.99889661e-01 -1.21316181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.867719421 meters Centerline goodness [0,1] 0.9541894668321163 Centerline is valid? [True, True] Translation: X:20.56, Y:0.46, Z:-1.21 [[ 9.99673002e-01 -2.04841490e-02 -1.53064900e-02 2.05617972e+01] [ 2.04758248e-02 9.99790103e-01 -7.00370596e-04 4.63387119e-01] [ 1.53176237e-02 3.86728569e-04 9.99882604e-01 -1.21480211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89771942099999 meters Centerline goodness [0,1] 0.9569643401402012 Centerline is valid? [True, True] Translation: X:20.59, Y:0.46, Z:-1.21 [[ 9.99750417e-01 -1.80613480e-02 -1.31488467e-02 2.05902558e+01] [ 1.80549861e-02 9.99836814e-01 -6.02391004e-04 4.62414299e-01] [ 1.31575810e-02 3.64838413e-04 9.99913369e-01 -1.21107616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92771942099999 meters Centerline goodness [0,1] 0.9567439313743384 Centerline is valid? [True, True] Translation: X:20.62, Y:0.47, Z:-1.21 [[ 9.99831666e-01 -1.60264762e-02 -8.93257203e-03 2.06189606e+01] [ 1.60234122e-02 9.99871531e-01 -4.14484809e-04 4.66806688e-01] [ 8.93806720e-03 2.71284754e-04 9.99960018e-01 -1.20664252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.957719421 meters Centerline goodness [0,1] 0.9558152793614595 Centerline is valid? [True, True] Translation: X:20.65, Y:0.47, Z:-1.21 [[ 9.99857841e-01 -1.50766926e-02 -7.54930870e-03 2.06466777e+01] [ 1.50744487e-02 9.99886311e-01 -3.54054509e-04 4.70027046e-01] [ 7.55378840e-03 2.40202510e-04 9.99971441e-01 -1.20574808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.987719421 meters Centerline goodness [0,1] 0.955426317180796 Centerline is valid? [True, True] Translation: X:20.68, Y:0.47, Z:-1.21 [[ 9.99872036e-01 -1.43229908e-02 -7.12483260e-03 2.06755228e+01] [ 1.43209604e-02 9.99897393e-01 -3.35919854e-04 4.72440122e-01] [ 7.12891292e-03 2.33842423e-04 9.99974562e-01 -1.20596422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.017719421 meters Centerline goodness [0,1] 0.9525429945390822 Centerline is valid? [True, True] Translation: X:20.71, Y:0.47, Z:-1.21 [[ 9.99890926e-01 -1.08149365e-02 -1.00584496e-02 2.07054992e+01] [ 1.08107590e-02 9.99941452e-01 -4.69608332e-04 4.71076938e-01] [ 1.00629395e-02 3.60817636e-04 9.99949302e-01 -1.20794030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.047719421 meters Centerline goodness [0,1] 0.916532709329535 Centerline is valid? [True, False] Translation: X:20.71, Y:0.47, Z:-1.21 [[ 9.99916554e-01 -6.67985502e-03 -1.10573493e-02 2.07110528e+01] [ 6.72365189e-03 9.99969679e-01 3.92845909e-03 4.66986903e-01] [ 1.10307725e-02 -4.00247705e-03 9.99931149e-01 -1.21223895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.077719421 meters Centerline goodness [0,1] 0.8921638668326836 Centerline is valid? [False, False] Translation: X:20.71, Y:0.47, Z:-1.21 [[ 9.99919603e-01 -5.86017286e-03 -1.12447832e-02 2.07117259e+01] [ 5.91241887e-03 9.99971855e-01 4.61863967e-03 4.66651401e-01] [ 1.12174007e-02 -4.68475222e-03 9.99926109e-01 -1.21265615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.107719421 meters Centerline goodness [0,1] 0.8869319682288175 Centerline is valid? [False, False] Translation: X:20.71, Y:0.47, Z:-1.21 [[ 9.99920001e-01 -4.35807426e-03 -1.18742748e-02 2.07141875e+01] [ 4.43268334e-03 9.99970555e-01 6.26419615e-03 4.65522195e-01] [ 1.18466254e-02 -6.31632992e-03 9.99909877e-01 -1.21407733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.137719421 meters Centerline goodness [0,1] 0.8712691144001963 Centerline is valid? [False, False] Translation: X:20.72, Y:0.46, Z:-1.21 [[ 9.99917532e-01 -3.37370709e-03 -1.23913891e-02 2.07157159e+01] [ 3.47253762e-03 9.99962266e-01 7.96290578e-03 4.61373740e-01] [ 1.23640570e-02 -8.00527866e-03 9.99891517e-01 -1.21462795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.167719421 meters Centerline goodness [0,1] 0.8466194936398217 Centerline is valid? [False, False] Translation: X:20.72, Y:0.45, Z:-1.22 [[ 9.99911916e-01 -4.73202217e-03 -1.24003078e-02 2.07172065e+01] [ 4.82190143e-03 9.99962250e-01 7.22830199e-03 4.51760482e-01] [ 1.23656352e-02 -7.28745835e-03 9.99896987e-01 -1.21603205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.197719421 meters Centerline goodness [0,1] 0.8610913090412856 Centerline is valid? [False, False] Translation: X:20.72, Y:0.45, Z:-1.22 [[ 9.99898033e-01 -5.75507924e-03 -1.30691567e-02 2.07196846e+01] [ 5.83887972e-03 9.99962582e-01 6.38300147e-03 4.47892089e-01] [ 1.30319329e-02 -6.45865985e-03 9.99894222e-01 -1.21741142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.227719421 meters Centerline goodness [0,1] 0.8383743681721832 Centerline is valid? [False, False] Translation: X:20.72, Y:0.44, Z:-1.22 [[ 9.99888249e-01 -6.27263331e-03 -1.35699641e-02 2.07221607e+01] [ 6.36689820e-03 9.99955825e-01 6.91457060e-03 4.43404486e-01] [ 1.35259921e-02 -7.00019646e-03 9.99884016e-01 -1.21900067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.257719421 meters Centerline goodness [0,1] 0.8458298403091582 Centerline is valid? [False, False] Translation: X:20.72, Y:0.44, Z:-1.22 [[ 9.99883623e-01 -6.08113303e-03 -1.39914386e-02 2.07231694e+01] [ 6.18890833e-03 9.99951413e-01 7.67258598e-03 4.41488938e-01] [ 1.39441008e-02 -7.75828479e-03 9.99872677e-01 -1.21914669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28771942099999 meters Centerline goodness [0,1] 0.8503355567794708 Centerline is valid? [False, False] Translation: X:20.72, Y:0.43, Z:-1.22 [[ 9.99852044e-01 -8.89817580e-03 -1.47211827e-02 2.07232068e+01] [ 8.98972821e-03 9.99940589e-01 6.16465220e-03 4.34655671e-01] [ 1.46654540e-02 -6.29607953e-03 9.99872634e-01 -1.21708714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31771942099999 meters Centerline goodness [0,1] 0.9216780368597902 Centerline is valid? [False, False] Translation: X:20.72, Y:0.43, Z:-1.22 [[ 9.99818612e-01 -1.23204081e-02 -1.45241206e-02 2.07219586e+01] [ 1.23910483e-02 9.99911785e-01 4.78372785e-03 4.27077246e-01] [ 1.44639019e-02 -4.96282922e-03 9.99883076e-01 -1.21513745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.347719421 meters Centerline goodness [0,1] 0.9405033858203475 Centerline is valid? [False, False] Translation: X:20.72, Y:0.42, Z:-1.21 [[ 9.99814093e-01 -1.26328532e-02 -1.45667286e-02 2.07220291e+01] [ 1.27153576e-02 9.99903558e-01 5.58525231e-03 4.24104060e-01] [ 1.44947660e-02 -5.76943513e-03 9.99878300e-01 -1.21488271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.377719421 meters Centerline goodness [0,1] 0.9296121945752074 Centerline is valid? [False, False] Translation: X:20.72, Y:0.42, Z:-1.22 [[ 9.99758169e-01 -1.63527326e-02 -1.47034672e-02 2.07228244e+01] [ 1.64010248e-02 9.99860470e-01 3.16983840e-03 4.19507397e-01] [ 1.46495801e-02 -3.41022377e-03 9.99886874e-01 -1.21513597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.407719421 meters Centerline goodness [0,1] 0.9540531737307113 Centerline is valid? [False, True] Translation: X:20.72, Y:0.42, Z:-1.22 [[ 9.99750614e-01 -1.65126087e-02 -1.50347755e-02 2.07243256e+01] [ 1.65727913e-02 9.99855106e-01 3.88713074e-03 4.15959622e-01] [ 1.49684104e-02 -4.13532954e-03 9.99879416e-01 -1.21597614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.437719421 meters Centerline goodness [0,1] 0.9532316216161163 Centerline is valid? [True, True] Translation: X:20.75, Y:0.42, Z:-1.22 [[ 9.99679404e-01 -1.99792568e-02 -1.55536998e-02 2.07522288e+01] [ 1.99696237e-02 9.99800287e-01 -7.74424855e-04 4.15118047e-01] [ 1.55660660e-02 4.63575046e-04 9.99878734e-01 -1.21952224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.467719421 meters Centerline goodness [0,1] 0.9485936771236794 Centerline is valid? [True, False] Translation: X:20.75, Y:0.41, Z:-1.22 [[ 9.99675277e-01 -1.98139979e-02 -1.60233157e-02 2.07531638e+01] [ 1.98122870e-02 9.99803682e-01 -2.65520651e-04 4.14064282e-01] [ 1.60254311e-02 -5.20241005e-05 9.99871583e-01 -1.21949306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.497719421 meters Centerline goodness [0,1] 0.9524438304960793 Centerline is valid? [False, True] Translation: X:20.75, Y:0.41, Z:-1.22 [[ 9.99666691e-01 -1.97457869e-02 -1.66316063e-02 2.07546784e+01] [ 1.97548538e-02 9.99804781e-01 3.81032904e-04 4.12439760e-01] [ 1.66208357e-02 -7.09460853e-04 9.99861613e-01 -1.21982628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.527719421 meters Centerline goodness [0,1] 0.9554983975340396 Centerline is valid? [True, True] Translation: X:20.78, Y:0.41, Z:-1.22 [[ 9.99609217e-01 -2.13712821e-02 -1.80189253e-02 2.07831059e+01] [ 2.13590297e-02 9.99771489e-01 -8.72173894e-04 4.08886795e-01] [ 1.80334472e-02 4.86966304e-04 9.99837266e-01 -1.22039803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.557719421 meters Centerline goodness [0,1] 0.9536925741061424 Centerline is valid? [True, True] Translation: X:20.81, Y:0.40, Z:-1.22 [[ 9.99470328e-01 -2.46354585e-02 -2.12639805e-02 2.08125622e+01] [ 2.46190206e-02 9.99696371e-01 -1.03451158e-03 4.01124871e-01] [ 2.12830098e-02 5.10465251e-04 9.99773361e-01 -1.22266868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.587719421 meters Centerline goodness [0,1] 0.9505241261165722 Centerline is valid? [True, True] Translation: X:20.84, Y:0.40, Z:-1.22 [[ 9.99406667e-01 -2.70715066e-02 -2.12943098e-02 2.08403081e+01] [ 2.70555594e-02 9.99633394e-01 -1.03669016e-03 3.99118832e-01] [ 2.13145679e-02 4.59945592e-04 9.99772713e-01 -1.22499936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.617719421 meters Centerline goodness [0,1] 0.9536558158401784 Centerline is valid? [True, True] Translation: X:20.87, Y:0.39, Z:-1.22 [[ 9.99232108e-01 -3.40213223e-02 -1.94356460e-02 2.08707081e+01] [ 3.40093547e-02 9.99421067e-01 -9.46047930e-04 3.89118480e-01] [ 1.94565798e-02 2.84327690e-04 9.99810662e-01 -1.22181669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64771942099999 meters Centerline goodness [0,1] 0.9526283618581907 Centerline is valid? [True, True] Translation: X:20.90, Y:0.39, Z:-1.22 [[ 9.99116610e-01 -3.79023150e-02 -1.81497834e-02 2.08987444e+01] [ 3.78924739e-02 9.99281430e-01 -8.85930457e-04 3.85269769e-01] [ 1.81703203e-02 1.97407640e-04 9.99834887e-01 -1.22327799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67771942099999 meters Centerline goodness [0,1] 0.9531227727207934 Centerline is valid? [True, True] Translation: X:20.93, Y:0.38, Z:-1.22 [[ 9.98818267e-01 -4.50952461e-02 -1.81242537e-02 2.09282350e+01] [ 4.50864965e-02 9.98982689e-01 -8.91291722e-04 3.75265340e-01] [ 1.81460087e-02 7.30793517e-05 9.99835345e-01 -1.22020112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.707719421 meters Centerline goodness [0,1] 0.9516501010265934 Centerline is valid? [True, True] Translation: X:20.96, Y:0.37, Z:-1.22 [[ 9.98660210e-01 -4.81715185e-02 -1.89020882e-02 2.09567447e+01] [ 4.81625187e-02 9.98839078e-01 -9.31326443e-04 3.72890279e-01] [ 1.89250077e-02 1.97064862e-05 9.99820906e-01 -1.22081223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.737719421 meters Centerline goodness [0,1] 0.951484845392387 Centerline is valid? [True, True] Translation: X:20.99, Y:0.37, Z:-1.22 [[ 9.98398942e-01 -5.34306327e-02 -1.85666146e-02 2.09851422e+01] [ 5.34227215e-02 9.98571561e-01 -9.22172069e-04 3.69096150e-01] [ 1.85893656e-02 -7.11834655e-05 9.99827200e-01 -1.22084560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.767719421 meters Centerline goodness [0,1] 0.9542310282204582 Centerline is valid? [True, True] Translation: X:21.01, Y:0.37, Z:-1.22 [[ 9.98231320e-01 -5.70716779e-02 -1.66449701e-02 2.10141747e+01] [ 5.70657441e-02 9.98370076e-01 -8.31623540e-04 3.70895069e-01] [ 1.66653023e-02 -1.19704943e-04 9.99861117e-01 -1.21791245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.797719421 meters Centerline goodness [0,1] 0.952657536479987 Centerline is valid? [True, True] Translation: X:21.04, Y:0.37, Z:-1.22 [[ 9.98135533e-01 -5.91258500e-02 -1.51522578e-02 2.10423692e+01] [ 5.91211650e-02 9.98250527e-01 -7.57338291e-04 3.71802319e-01] [ 1.51705276e-02 -1.39892875e-04 9.99884911e-01 -1.21938989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.827719421 meters Centerline goodness [0,1] 0.9555809586021067 Centerline is valid? [True, True] Translation: X:21.07, Y:0.37, Z:-1.21 [[ 9.97861642e-01 -6.38834380e-02 -1.38220822e-02 2.10708722e+01] [ 6.38799171e-02 9.97957349e-01 -6.96533360e-04 3.74667616e-01] [ 1.38383455e-02 -1.87909546e-04 9.99904228e-01 -1.21437186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.857719421 meters Centerline goodness [0,1] 0.95424583171772 Centerline is valid? [True, True] Translation: X:21.10, Y:0.38, Z:-1.21 [[ 9.97664097e-01 -6.67578056e-02 -1.44825844e-02 2.10993505e+01] [ 6.67541822e-02 9.97769182e-01 -7.34000910e-04 3.76565903e-01] [ 1.44992766e-02 -2.34486720e-04 9.99894852e-01 -1.21473932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.887719421 meters Centerline goodness [0,1] 0.951269802384452 Centerline is valid? [True, True] Translation: X:21.13, Y:0.38, Z:-1.22 [[ 9.97232718e-01 -7.27249053e-02 -1.54270520e-02 2.11280449e+01] [ 7.27215226e-02 9.97351979e-01 -7.80871056e-04 3.78268036e-01] [ 1.54429896e-02 -3.43168542e-04 9.99880691e-01 -1.21686725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.917719421 meters Centerline goodness [0,1] 0.9492260692464358 Centerline is valid? [True, False] Translation: X:21.13, Y:0.38, Z:-1.22 [[ 9.97419812e-01 -6.99744911e-02 -1.60402333e-02 2.11291746e+01] [ 7.00237141e-02 9.97542126e-01 2.52722130e-03 3.78785856e-01] [ 1.58239674e-02 -3.64389731e-03 9.99868153e-01 -1.21725039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.947719421 meters Centerline goodness [0,1] 0.9455934338304011 Centerline is valid? [False, False] Translation: X:21.13, Y:0.38, Z:-1.22 [[ 9.97576787e-01 -6.74812793e-02 -1.69360742e-02 2.11307426e+01] [ 6.75650190e-02 9.97705077e-01 4.42130938e-03 3.83188364e-01] [ 1.65988516e-02 -5.55488178e-03 9.99846799e-01 -1.21765479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.977719421 meters Centerline goodness [0,1] 0.9496419025077026 Centerline is valid? [False, False] Translation: X:21.13, Y:0.38, Z:-1.22 [[ 9.97785133e-01 -6.42016263e-02 -1.74063275e-02 2.11311796e+01] [ 6.43395274e-02 9.97900024e-01 7.48115301e-03 3.84913116e-01] [ 1.68894724e-02 -8.58449813e-03 9.99820510e-01 -1.21763046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.007719421 meters Centerline goodness [0,1] 0.9518654670268294 Centerline is valid? [False, True] Translation: X:21.13, Y:0.39, Z:-1.22 [[ 9.97953466e-01 -6.12480600e-02 -1.83726768e-02 2.11335813e+01] [ 6.14177373e-02 9.98073203e-01 8.81724704e-03 3.91980520e-01] [ 1.77972371e-02 -9.92761048e-03 9.99792329e-01 -1.21915161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03771942099999 meters Centerline goodness [0,1] 0.9450415241817294 Centerline is valid? [True, False] Translation: X:21.14, Y:0.39, Z:-1.22 [[ 9.98124284e-01 -5.82407346e-02 -1.88661057e-02 2.11353047e+01] [ 5.84596361e-02 9.98226195e-01 1.12665308e-02 3.94974274e-01] [ 1.81764698e-02 -1.23483037e-02 9.99758539e-01 -1.22059500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06771942099999 meters Centerline goodness [0,1] 0.9450415241817294 Centerline is valid? [False, False] Translation: X:21.14, Y:0.39, Z:-1.22 [[ 9.98124284e-01 -5.82407346e-02 -1.88661057e-02 2.11353047e+01] [ 5.84596361e-02 9.98226195e-01 1.12665308e-02 3.94974274e-01] [ 1.81764698e-02 -1.23483037e-02 9.99758539e-01 -1.22059500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.097719421 meters Centerline goodness [0,1] 0.9503782457575138 Centerline is valid? [False, True] Translation: X:21.14, Y:0.40, Z:-1.22 [[ 9.98263086e-01 -5.55329305e-02 -1.96698951e-02 2.11373486e+01] [ 5.57784609e-02 9.98369100e-01 1.21615630e-02 4.02122834e-01] [ 1.89624483e-02 -1.32375959e-02 9.99732560e-01 -1.22194969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.127719421 meters Centerline goodness [0,1] 0.9483709477197338 Centerline is valid? [True, False] Translation: X:21.14, Y:0.41, Z:-1.22 [[ 9.98414383e-01 -5.24856246e-02 -2.03464527e-02 2.11385869e+01] [ 5.27852241e-02 9.98500926e-01 1.44783097e-02 4.05735353e-01] [ 1.95560487e-02 -1.55293447e-02 9.99688152e-01 -1.22236894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.157719421 meters Centerline goodness [0,1] 0.9486049926578561 Centerline is valid? [False, False] Translation: X:21.14, Y:0.42, Z:-1.22 [[ 9.98854546e-01 -4.29330045e-02 -2.11270720e-02 2.11384353e+01] [ 4.33998399e-02 9.98812041e-01 2.21576137e-02 4.15758409e-01] [ 2.01506810e-02 -2.30491447e-02 9.99531234e-01 -1.22188220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.187719421 meters Centerline goodness [0,1] 0.946783112616565 Centerline is valid? [False, False] Translation: X:21.14, Y:0.42, Z:-1.22 [[ 9.98988341e-01 -3.93211391e-02 -2.18206693e-02 2.11391933e+01] [ 3.98526048e-02 9.98905640e-01 2.44804584e-02 4.20505719e-01] [ 2.08341901e-02 -2.53253031e-02 9.99462138e-01 -1.22175096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.217719421 meters Centerline goodness [0,1] 0.958159336741969 Centerline is valid? [False, True] Translation: X:21.14, Y:0.43, Z:-1.22 [[ 9.99252299e-01 -3.28460420e-02 -2.03956230e-02 2.11431148e+01] [ 3.31576924e-02 9.99335532e-01 1.51347955e-02 4.30386498e-01] [ 1.98849526e-02 -1.57997510e-02 9.99677426e-01 -1.21845089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.247719421 meters Centerline goodness [0,1] 0.964350465481065 Centerline is valid? [True, True] Translation: X:21.17, Y:0.45, Z:-1.22 [[ 9.99461748e-01 -2.83927537e-02 -1.64336708e-02 2.11699660e+01] [ 2.83859150e-02 9.99596828e-01 -6.49293569e-04 4.51246233e-01] [ 1.64454804e-02 1.82459302e-04 9.99864747e-01 -1.21548371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.277719421 meters Centerline goodness [0,1] 0.9597823659581379 Centerline is valid? [True, True] Translation: X:21.20, Y:0.46, Z:-1.22 [[ 9.99492051e-01 -2.67169821e-02 -1.73736203e-02 2.11968674e+01] [ 2.67090172e-02 9.99643012e-01 -6.90359404e-04 4.61877066e-01] [ 1.73858625e-02 2.25976412e-04 9.99848829e-01 -1.21961490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.307719421 meters Centerline goodness [0,1] 0.9597881880338412 Centerline is valid? [True, True] Translation: X:21.23, Y:0.48, Z:-1.22 [[ 9.99578284e-01 -2.13909205e-02 -1.96388001e-02 2.12259348e+01] [ 2.13797287e-02 9.99771123e-01 -7.79685732e-04 4.75345585e-01] [ 1.96509834e-02 3.59484710e-04 9.99806836e-01 -1.22062160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.337719421 meters Centerline goodness [0,1] 0.9602818966921949 Centerline is valid? [True, True] Translation: X:21.25, Y:0.48, Z:-1.22 [[ 9.99596190e-01 -1.95696801e-02 -2.06030027e-02 2.12543718e+01] [ 1.95568048e-02 9.99808406e-01 -8.26244352e-04 4.80948412e-01] [ 2.06152246e-02 4.22981805e-04 9.99787394e-01 -1.22158648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.367719421 meters Centerline goodness [0,1] 0.9604466814745379 Centerline is valid? [True, True] Translation: X:21.28, Y:0.49, Z:-1.22 [[ 9.99655156e-01 -1.59181777e-02 -2.08849597e-02 2.12828451e+01] [ 1.59040233e-02 9.99873167e-01 -8.43661926e-04 4.89363903e-01] [ 2.08957403e-02 5.11216107e-04 9.99781529e-01 -1.22271370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39771942099999 meters Centerline goodness [0,1] 0.9578169830901654 Centerline is valid? [True, True] Translation: X:21.31, Y:0.49, Z:-1.22 [[ 9.99668202e-01 -1.47563932e-02 -2.11124454e-02 2.13106468e+01] [ 1.47416593e-02 9.99890972e-01 -8.53345170e-04 4.94398810e-01] [ 2.11227358e-02 5.41829554e-04 9.99776743e-01 -1.22426279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42771942099999 meters Centerline goodness [0,1] 0.9549792023489112 Centerline is valid? [True, True] Translation: X:21.34, Y:0.50, Z:-1.23 [[ 9.99671244e-01 -1.34076584e-02 -2.18549403e-02 2.13377819e+01] [ 1.33914864e-02 9.99909937e-01 -8.86158023e-04 4.98442185e-01] [ 2.18648533e-02 5.93196557e-04 9.99760760e-01 -1.22598022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.457719421 meters Centerline goodness [0,1] 0.9570508377838477 Centerline is valid? [True, True] Translation: X:21.37, Y:0.50, Z:-1.22 [[ 9.99681666e-01 -1.38998209e-02 -2.10561349e-02 2.13669980e+01] [ 1.38847598e-02 9.99903231e-01 -8.61315362e-04 4.95515341e-01] [ 2.10660695e-02 5.68681800e-04 9.99777924e-01 -1.22420754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.487719421 meters Centerline goodness [0,1] 0.9551502801833928 Centerline is valid? [True, True] Translation: X:21.39, Y:0.49, Z:-1.23 [[ 9.99674061e-01 -1.50214469e-02 -2.06428544e-02 2.13949681e+01] [ 1.50071997e-02 9.99887029e-01 -8.44920921e-04 4.94915090e-01] [ 2.06532143e-02 5.34854090e-04 9.99786557e-01 -1.22655986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.517719421 meters Centerline goodness [0,1] 0.9605271173018741 Centerline is valid? [True, True] Translation: X:21.42, Y:0.48, Z:-1.23 [[ 9.99643024e-01 -1.88662560e-02 -1.89179518e-02 2.14238809e+01] [ 1.88549719e-02 9.99821929e-01 -7.74677114e-04 4.84957883e-01] [ 1.89291983e-02 4.17703124e-04 9.99820739e-01 -1.22582932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.547719421 meters Centerline goodness [0,1] 0.963524290015461 Centerline is valid? [True, True] Translation: X:21.45, Y:0.48, Z:-1.22 [[ 9.99605011e-01 -2.08213644e-02 -1.88757180e-02 2.14533814e+01] [ 2.08103307e-02 9.99783137e-01 -7.80803454e-04 4.78887380e-01] [ 1.88878819e-02 3.87685113e-04 9.99821533e-01 -1.22303037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.577719421 meters Centerline goodness [0,1] 0.9608923831330672 Centerline is valid? [True, True] Translation: X:21.48, Y:0.48, Z:-1.23 [[ 9.99571417e-01 -2.30047577e-02 -1.81042153e-02 2.14815654e+01] [ 2.29949601e-02 9.99735300e-01 -7.49192267e-04 4.77512808e-01] [ 1.81166581e-02 3.32565468e-04 9.99835825e-01 -1.22543692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.607719421 meters Centerline goodness [0,1] 0.9605132063195136 Centerline is valid? [True, True] Translation: X:21.51, Y:0.48, Z:-1.23 [[ 9.99510456e-01 -2.44043787e-02 -1.95773986e-02 2.15109133e+01] [ 2.43930479e-02 9.99702111e-01 -8.17393412e-04 4.75793232e-01] [ 1.95915147e-02 3.39440839e-04 9.99808010e-01 -1.22568681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.637719421 meters Centerline goodness [0,1] 0.9552539886301119 Centerline is valid? [True, True] Translation: X:21.54, Y:0.47, Z:-1.23 [[ 9.99408715e-01 -2.72285651e-02 -2.09958618e-02 2.15381012e+01] [ 2.72160713e-02 9.99629186e-01 -8.80630580e-04 4.66543127e-01] [ 2.10120546e-02 3.08685005e-04 9.99779175e-01 -1.22948919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.667719421 meters Centerline goodness [0,1] 0.9556968474251595 Centerline is valid? [True, True] Translation: X:21.57, Y:0.46, Z:-1.23 [[ 9.99293758e-01 -3.05796732e-02 -2.18373354e-02 2.15672691e+01] [ 3.05668180e-02 9.99532300e-01 -9.22301476e-04 4.60426391e-01] [ 2.18553257e-02 2.54152251e-04 9.99761112e-01 -1.22980106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.697719421 meters Centerline goodness [0,1] 0.9485881563700677 Centerline is valid? [True, False] Translation: X:21.57, Y:0.46, Z:-1.23 [[ 9.99098361e-01 -3.60145688e-02 -2.24814400e-02 2.15705349e+01] [ 3.59126115e-02 9.99342810e-01 -4.92268701e-03 4.57453376e-01] [ 2.26439539e-02 4.11088131e-03 9.99735141e-01 -1.23174834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.727719421 meters Centerline goodness [0,1] 0.9476329607911244 Centerline is valid? [False, False] Translation: X:21.57, Y:0.45, Z:-1.23 [[ 9.98931981e-01 -4.01724594e-02 -2.28269958e-02 2.15714467e+01] [ 4.00004301e-02 9.99168086e-01 -7.94368749e-03 4.54676824e-01] [ 2.31271232e-02 7.02211383e-03 9.99707870e-01 -1.23157167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.757719421 meters Centerline goodness [0,1] 0.9417586678366631 Centerline is valid? [False, False] Translation: X:21.57, Y:0.45, Z:-1.23 [[ 9.98932580e-01 -3.99872842e-02 -2.31239487e-02 2.15716248e+01] [ 3.98366888e-02 9.99182123e-01 -6.93710048e-03 4.51655894e-01] [ 2.33824320e-02 6.00851414e-03 9.99708537e-01 -1.23098896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78771942099999 meters Centerline goodness [0,1] 0.9491065600522193 Centerline is valid? [False, False] Translation: X:21.57, Y:0.45, Z:-1.23 [[ 9.98818617e-01 -4.27056174e-02 -2.31862201e-02 2.15702151e+01] [ 4.25082391e-02 9.99056116e-01 -8.94012066e-03 4.48154575e-01] [ 2.35461284e-02 7.94395357e-03 9.99691189e-01 -1.22864783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81771942099999 meters Centerline goodness [0,1] 0.9524275606125487 Centerline is valid? [False, True] Translation: X:21.57, Y:0.45, Z:-1.23 [[ 9.98832488e-01 -4.21453014e-02 -2.36100647e-02 2.15702990e+01] [ 4.19671525e-02 9.99087034e-01 -7.99103559e-03 4.46014938e-01] [ 2.39252941e-02 6.99085877e-03 9.99689306e-01 -1.22768150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.847719421 meters Centerline goodness [0,1] 0.9559202385540703 Centerline is valid? [True, True] Translation: X:21.60, Y:0.45, Z:-1.22 [[ 9.98898374e-01 -4.14033084e-02 -2.20862978e-02 2.15989295e+01] [ 4.13967430e-02 9.99142502e-01 -7.54582466e-04 4.45328973e-01] [ 2.20986010e-02 -1.60549594e-04 9.99755783e-01 -1.22438865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.877719421 meters Centerline goodness [0,1] 0.9576679753453081 Centerline is valid? [True, True] Translation: X:21.63, Y:0.45, Z:-1.22 [[ 9.99014370e-01 -3.74256354e-02 -2.38665088e-02 2.16270797e+01] [ 3.74166650e-02 9.99299413e-01 -8.22470220e-04 4.53717029e-01] [ 2.38805697e-02 -7.13455935e-05 9.99714816e-01 -1.22395830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.907719421 meters Centerline goodness [0,1] 0.9565962307252999 Centerline is valid? [True, True] Translation: X:21.65, Y:0.46, Z:-1.23 [[ 9.99172905e-01 -3.16385484e-02 -2.55442347e-02 2.16540906e+01] [ 3.16262731e-02 9.99499373e-01 -8.84511472e-04 4.62221191e-01] [ 2.55594312e-02 7.59109566e-05 9.99673301e-01 -1.22743278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.937719421 meters Centerline goodness [0,1] 0.9582831847575529 Centerline is valid? [True, True] Translation: X:21.68, Y:0.47, Z:-1.23 [[ 9.99275317e-01 -2.84142796e-02 -2.53272454e-02 2.16832018e+01] [ 2.84009917e-02 9.99596219e-01 -8.84284179e-04 4.66101433e-01] [ 2.53421451e-02 1.64324465e-04 9.99678823e-01 -1.22733230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.967719421 meters Centerline goodness [0,1] 0.9594338662050708 Centerline is valid? [True, True] Translation: X:21.71, Y:0.47, Z:-1.23 [[ 9.99380534e-01 -2.34541687e-02 -2.62383382e-02 2.17118472e+01] [ 2.34380019e-02 9.99724866e-01 -9.23562434e-04 4.71647077e-01] [ 2.62527805e-02 3.08016097e-04 9.99655289e-01 -1.22709747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.997719421 meters Centerline goodness [0,1] 0.9577542174558922 Centerline is valid? [True, True] Translation: X:21.74, Y:0.48, Z:-1.23 [[ 9.99368715e-01 -2.17955496e-02 -2.80557401e-02 2.17402121e+01] [ 2.17761916e-02 9.99762375e-01 -9.95371537e-04 4.76595297e-01] [ 2.80707680e-02 3.83796003e-04 9.99605865e-01 -1.22956163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.027719421 meters Centerline goodness [0,1] 0.9550545809363121 Centerline is valid? [True, True] Translation: X:21.77, Y:0.48, Z:-1.23 [[ 9.99387266e-01 -1.70765266e-02 -3.05529801e-02 2.17693634e+01] [ 1.70513285e-02 9.99854027e-01 -1.08510913e-03 4.83184859e-01] [ 3.05670501e-02 5.63475343e-04 9.99532560e-01 -1.23183956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.057719421 meters Centerline goodness [0,1] 0.9539108699628117 Centerline is valid? [True, True] Translation: X:21.80, Y:0.49, Z:-1.23 [[ 9.99419263e-01 -1.44794155e-02 -3.08461217e-02 2.17978398e+01] [ 1.44521941e-02 9.99894951e-01 -1.10526880e-03 4.87016237e-01] [ 3.08588850e-02 6.58832793e-04 9.99523534e-01 -1.23215279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.087719421 meters Centerline goodness [0,1] 0.9535613813348555 Centerline is valid? [True, True] Translation: X:21.83, Y:0.49, Z:-1.23 [[ 9.99495465e-01 -1.03924006e-02 -3.00135478e-02 2.18257893e+01] [ 1.03647131e-02 9.99945704e-01 -1.07793517e-03 4.93004077e-01] [ 3.00231205e-02 7.66309507e-04 9.99548911e-01 -1.23157081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.117719421 meters Centerline goodness [0,1] 0.9557592422853651 Centerline is valid? [True, True] Translation: X:21.85, Y:0.49, Z:-1.23 [[ 9.99589588e-01 -7.83764625e-03 -2.75540595e-02 2.18541324e+01] [ 7.81307353e-03 9.99968978e-01 -9.99350211e-04 4.93281821e-01] [ 2.75610373e-02 7.83658172e-04 9.99619815e-01 -1.22840931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14771942099999 meters Centerline goodness [0,1] 0.9542624181084315 Centerline is valid? [True, True] Translation: X:21.88, Y:0.50, Z:-1.23 [[ 9.99661695e-01 -6.28947137e-03 -2.52376210e-02 2.18831509e+01] [ 6.26818569e-03 9.99979929e-01 -9.22432489e-04 4.95541875e-01] [ 2.52429161e-02 7.63926330e-04 9.99681055e-01 -1.22784122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17771942099999 meters Centerline goodness [0,1] 0.9438561479248971 Centerline is valid? [True, False] Translation: X:21.88, Y:0.50, Z:-1.23 [[ 9.99662122e-01 -5.10422910e-03 -2.54870290e-02 2.18840524e+01] [ 5.10286560e-03 9.99986973e-01 -1.18536838e-04 4.95828022e-01] [ 2.54873021e-02 -1.15600971e-05 9.99675146e-01 -1.22840923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.207719421 meters Centerline goodness [0,1] 0.9385845352645605 Centerline is valid? [False, False] Translation: X:21.89, Y:0.49, Z:-1.23 [[ 9.99651250e-01 -4.25573590e-03 -2.60627706e-02 2.18863678e+01] [ 4.27912305e-03 9.99990490e-01 8.41632511e-04 4.94535147e-01] [ 2.60589410e-02 -9.52864793e-04 9.99659954e-01 -1.22977816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.237719421 meters Centerline goodness [0,1] 0.9336847890248122 Centerline is valid? [False, False] Translation: X:21.89, Y:0.49, Z:-1.23 [[ 9.99630146e-01 -6.28837074e-03 -2.64580360e-02 2.18868247e+01] [ 6.28084443e-03 9.99980208e-01 -3.67557418e-04 4.88664260e-01] [ 2.64598237e-02 2.01242668e-04 9.99649857e-01 -1.22930620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.267719421 meters Centerline goodness [0,1] 0.941315078510634 Centerline is valid? [False, False] Translation: X:21.89, Y:0.48, Z:-1.23 [[ 9.99717187e-01 -9.05731226e-03 -2.19888650e-02 2.18948948e+01] [ 9.21297630e-03 9.99933140e-01 6.98826720e-03 4.83641424e-01] [ 2.19240999e-02 -7.18887372e-03 9.99733792e-01 -1.23039901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.297719421 meters Centerline goodness [0,1] 0.9560140527587677 Centerline is valid? [False, True] Translation: X:21.90, Y:0.48, Z:-1.23 [[ 9.99789308e-01 -1.46068690e-02 -1.44214594e-02 2.19005383e+01] [ 1.47595334e-02 9.99835552e-01 1.05368554e-02 4.75656161e-01] [ 1.42651774e-02 -1.07474893e-02 9.99840485e-01 -1.23105859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.327719421 meters Centerline goodness [0,1] 0.9594890510948905 Centerline is valid? [True, True] Translation: X:21.93, Y:0.48, Z:-1.23 [[ 9.99794100e-01 -1.62197215e-02 -1.21934060e-02 2.19296391e+01] [ 1.62147570e-02 9.99868404e-01 -5.05897637e-04 4.75370706e-01] [ 1.22000070e-02 3.08080356e-04 9.99925530e-01 -1.22974617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.357719421 meters Centerline goodness [0,1] 0.9621050492735954 Centerline is valid? [True, True] Translation: X:21.96, Y:0.47, Z:-1.23 [[ 9.99751947e-01 -1.95112982e-02 -1.07402700e-02 2.19586784e+01] [ 1.95076264e-02 9.99809608e-01 -4.46537604e-04 4.66214276e-01] [ 1.07469377e-02 2.36909665e-04 9.99942222e-01 -1.22832227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.387719421 meters Centerline goodness [0,1] 0.9638674664381606 Centerline is valid? [True, True] Translation: X:21.99, Y:0.46, Z:-1.23 [[ 9.99639577e-01 -2.28413497e-02 -1.41063278e-02 2.19882089e+01] [ 2.28352510e-02 9.99739066e-01 -5.93272717e-04 4.55961997e-01] [ 1.41161981e-02 2.70937351e-04 9.99900325e-01 -1.22873862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.417719421 meters Centerline goodness [0,1] 0.9536648895038867 Centerline is valid? [True, True] Translation: X:22.02, Y:0.46, Z:-1.24 [[ 9.99548139e-01 -2.45564090e-02 -1.73349351e-02 2.20157201e+01] [ 2.45474569e-02 9.99698400e-01 -7.29043897e-04 4.56712471e-01] [ 1.73476096e-02 3.03185899e-04 9.99849473e-01 -1.23901218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.447719421 meters Centerline goodness [0,1] 0.9532116074339746 Centerline is valid? [True, True] Translation: X:22.05, Y:0.45, Z:-1.24 [[ 9.99337515e-01 -2.98681542e-02 -2.07948416e-02 2.20453231e+01] [ 2.98562663e-02 9.99553813e-01 -8.81973952e-04 4.45794120e-01] [ 2.08119062e-02 2.60533327e-04 9.99783375e-01 -1.23784070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.477719421 meters Centerline goodness [0,1] 0.9524576461234225 Centerline is valid? [True, True] Translation: X:22.07, Y:0.44, Z:-1.24 [[ 9.99249118e-01 -3.22036950e-02 -2.15435045e-02 2.20734513e+01] [ 3.21913108e-02 9.99481301e-01 -9.21486238e-04 4.42643440e-01] [ 2.15620052e-02 2.27280663e-04 9.99767487e-01 -1.23809082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50771942099999 meters Centerline goodness [0,1] 0.9519865856900395 Centerline is valid? [True, True] Translation: X:22.10, Y:0.44, Z:-1.24 [[ 9.99104197e-01 -3.63101744e-02 -2.17342003e-02 2.21031505e+01] [ 3.62984315e-02 9.99340558e-01 -9.34689154e-04 4.36076462e-01] [ 2.17538065e-02 1.44934477e-04 9.99763347e-01 -1.23708052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53771942099999 meters Centerline goodness [0,1] 0.9503391522212943 Centerline is valid? [True, True] Translation: X:22.13, Y:0.44, Z:-1.24 [[ 9.99109064e-01 -3.71497338e-02 -2.00243645e-02 2.21310461e+01] [ 3.71399321e-02 9.99309704e-01 -8.61283054e-04 4.35262917e-01] [ 2.00425382e-02 1.16812167e-04 9.99799121e-01 -1.23767943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56771942099999 meters Centerline goodness [0,1] 0.955502178072711 Centerline is valid? [True, True] Translation: X:22.16, Y:0.44, Z:-1.23 [[ 9.99218325e-01 -3.60166166e-02 -1.62954879e-02 2.21586648e+01] [ 3.60099448e-02 9.99351185e-01 -7.02755504e-04 4.39886779e-01] [ 1.63102260e-02 1.15406558e-04 9.99866973e-01 -1.23385187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.597719421 meters Centerline goodness [0,1] 0.9566934744986256 Centerline is valid? [True, True] Translation: X:22.19, Y:0.45, Z:-1.23 [[ 9.99290335e-01 -3.39127968e-02 -1.63935313e-02 2.21868566e+01] [ 3.39057336e-02 9.99424784e-01 -7.08677771e-04 4.45027749e-01] [ 1.64081347e-02 1.52340143e-04 9.99865366e-01 -1.23266130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.627719421 meters Centerline goodness [0,1] 0.9572846399967393 Centerline is valid? [True, True] Translation: X:22.21, Y:0.46, Z:-1.23 [[ 9.99551393e-01 -2.56085109e-02 -1.55311685e-02 2.22142451e+01] [ 2.56011176e-02 9.99672010e-01 -6.74692467e-04 4.56632336e-01] [ 1.55433523e-02 2.76774524e-04 9.99879156e-01 -1.23311848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.657719421 meters Centerline goodness [0,1] 0.9580244399185336 Centerline is valid? [True, True] Translation: X:22.24, Y:0.47, Z:-1.23 [[ 9.99751529e-01 -1.66678717e-02 -1.48007289e-02 2.22435262e+01] [ 1.66601910e-02 9.99861003e-01 -6.42090601e-04 4.65811016e-01] [ 1.48093740e-02 3.95348089e-04 9.99890257e-01 -1.23172853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.687719421 meters Centerline goodness [0,1] 0.9496869364349253 Centerline is valid? [True, False] Translation: X:22.25, Y:0.47, Z:-1.23 [[ 9.99779579e-01 -1.41321680e-02 -1.55266013e-02 2.22463949e+01] [ 1.41585117e-02 9.99898502e-01 1.58806440e-03 4.65084589e-01] [ 1.55025826e-02 -1.80754793e-03 9.99878194e-01 -1.23349536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.717719421 meters Centerline goodness [0,1] 0.9298995077098335 Centerline is valid? [False, False] Translation: X:22.25, Y:0.46, Z:-1.24 [[ 9.99817179e-01 -1.06624245e-02 -1.58720030e-02 2.22491577e+01] [ 1.07435458e-02 9.99929613e-01 5.03450312e-03 4.63426543e-01] [ 1.58172058e-02 -5.20410430e-03 9.99861357e-01 -1.23604678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.747719421 meters Centerline goodness [0,1] 0.9379478827361564 Centerline is valid? [False, False] Translation: X:22.25, Y:0.46, Z:-1.24 [[ 9.99814685e-01 -1.03987817e-02 -1.62006243e-02 2.22503889e+01] [ 1.04852887e-02 9.99931172e-01 5.26397342e-03 4.63441882e-01] [ 1.61447704e-02 -5.43286615e-03 9.99854905e-01 -1.23677714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.777719421 meters Centerline goodness [0,1] 0.9344385679414158 Centerline is valid? [False, False] Translation: X:22.25, Y:0.46, Z:-1.24 [[ 9.99814109e-01 -9.98863077e-03 -1.64916566e-02 2.22512847e+01] [ 1.00810446e-02 9.99933893e-01 5.53007768e-03 4.64429697e-01] [ 1.64353285e-02 -5.69530281e-03 9.99848710e-01 -1.23719252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.807719421 meters Centerline goodness [0,1] 0.9047445181443843 Centerline is valid? [False, False] Translation: X:22.25, Y:0.46, Z:-1.24 [[ 9.99808692e-01 -9.80209435e-03 -1.69262569e-02 2.22521967e+01] [ 9.90349687e-03 9.99933450e-01 5.91744675e-03 4.63411548e-01] [ 1.68671271e-02 -6.08394383e-03 9.99839230e-01 -1.23726104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.837719421 meters Centerline goodness [0,1] 0.9232367257988962 Centerline is valid? [False, False] Translation: X:22.25, Y:0.46, Z:-1.24 [[ 9.99790950e-01 -1.16340273e-02 -1.68138807e-02 2.22520794e+01] [ 1.17106567e-02 9.99921453e-01 4.46625820e-03 4.58290949e-01] [ 1.67605994e-02 -4.66222611e-03 9.99848662e-01 -1.23725372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.867719421 meters Centerline goodness [0,1] 0.9190110135285885 Centerline is valid? [False, False] Translation: X:22.25, Y:0.45, Z:-1.24 [[ 9.99763779e-01 -1.32377839e-02 -1.72379571e-02 2.22536567e+01] [ 1.32973421e-02 9.99905991e-01 3.34503496e-03 4.53472335e-01] [ 1.71920557e-02 -3.57346380e-03 9.99845820e-01 -1.23799233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89771942099999 meters Centerline goodness [0,1] 0.937679946092745 Centerline is valid? [False, False] Translation: X:22.25, Y:0.45, Z:-1.24 [[ 9.99765861e-01 -1.28253872e-02 -1.74279205e-02 2.22538074e+01] [ 1.29034034e-02 9.99907192e-01 4.37144920e-03 4.50684561e-01] [ 1.73702375e-02 -4.59530517e-03 9.99838566e-01 -1.23761949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92771942099999 meters Centerline goodness [0,1] 0.9172263605649855 Centerline is valid? [False, False] Translation: X:22.26, Y:0.45, Z:-1.24 [[ 9.99746755e-01 -1.35597497e-02 -1.79599180e-02 2.22558437e+01] [ 1.36345087e-02 9.99898857e-01 4.04665288e-03 4.47600519e-01] [ 1.79032299e-02 -4.29050275e-03 9.99830519e-01 -1.23866733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.957719421 meters Centerline goodness [0,1] 0.9172263605649855 Centerline is valid? [False, False] Translation: X:22.26, Y:0.45, Z:-1.24 [[ 9.99746755e-01 -1.35597497e-02 -1.79599180e-02 2.22558437e+01] [ 1.36345087e-02 9.99898857e-01 4.04665288e-03 4.47600519e-01] [ 1.79032299e-02 -4.29050275e-03 9.99830519e-01 -1.23866733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.987719421 meters Centerline goodness [0,1] 0.9122268523223904 Centerline is valid? [False, False] Translation: X:22.26, Y:0.44, Z:-1.24 [[ 9.99740254e-01 -1.36343594e-02 -1.82627757e-02 2.22581412e+01] [ 1.37318410e-02 9.99892073e-01 5.22298990e-03 4.40678750e-01] [ 1.81895925e-02 -5.47241478e-03 9.99819579e-01 -1.24043741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.017719421 meters Centerline goodness [0,1] 0.9349103971914928 Centerline is valid? [False, False] Translation: X:22.26, Y:0.44, Z:-1.24 [[ 9.99743294e-01 -1.32742447e-02 -1.83613598e-02 2.22583894e+01] [ 1.33941656e-02 9.99889660e-01 6.42366962e-03 4.37555201e-01] [ 1.82740645e-02 -6.66795572e-03 9.99810781e-01 -1.24036835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.047719421 meters Centerline goodness [0,1] 0.94413191472015 Centerline is valid? [False, False] Translation: X:22.26, Y:0.43, Z:-1.24 [[ 9.99828657e-01 -1.67588539e-02 -7.86108790e-03 2.22626761e+01] [ 1.68266339e-02 9.99821119e-01 8.63681605e-03 4.30560001e-01] [ 7.71493856e-03 -8.76761184e-03 9.99931802e-01 -1.24222985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.077719421 meters Centerline goodness [0,1] 0.9537854440421464 Centerline is valid? [False, True] Translation: X:22.26, Y:0.42, Z:-1.24 [[ 9.99702684e-01 -2.31127378e-02 -7.76823001e-03 2.22607536e+01] [ 2.31434303e-02 9.99724608e-01 3.88462560e-03 4.23817573e-01] [ 7.67630636e-03 -4.06325412e-03 9.99962281e-01 -1.23923473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.107719421 meters Centerline goodness [0,1] 0.9551147587723764 Centerline is valid? [True, True] Translation: X:22.29, Y:0.42, Z:-1.24 [[ 9.99608534e-01 -2.65583061e-02 -8.79970602e-03 2.22901912e+01] [ 2.65552087e-02 9.99647238e-01 -4.68657823e-04 4.20873371e-01] [ 8.80904858e-03 2.34796329e-04 9.99961172e-01 -1.24209770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.137719421 meters Centerline goodness [0,1] 0.9583112596275317 Centerline is valid? [True, True] Translation: X:22.32, Y:0.41, Z:-1.24 [[ 9.99496530e-01 -3.04182266e-02 -9.02315786e-03 2.23196830e+01] [ 3.04151013e-02 9.99537237e-01 -4.83414065e-04 4.12986146e-01] [ 9.03368687e-03 2.08730420e-04 9.99959174e-01 -1.24208158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.167719421 meters Centerline goodness [0,1] 0.9565447692777834 Centerline is valid? [True, True] Translation: X:22.35, Y:0.41, Z:-1.24 [[ 9.99467769e-01 -3.10111335e-02 -1.01236902e-02 2.23488281e+01] [ 3.10072083e-02 9.99519013e-01 -5.44484405e-04 4.11953829e-01] [ 1.01357059e-02 2.30287241e-04 9.99948606e-01 -1.24378967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.197719421 meters Centerline goodness [0,1] 0.9511931249872421 Centerline is valid? [True, True] Translation: X:22.38, Y:0.41, Z:-1.25 [[ 9.99506487e-01 -2.82999779e-02 -1.36343078e-02 2.23769522e+01] [ 2.82926785e-02 9.99599417e-01 -7.27993255e-04 4.11672119e-01] [ 1.36494483e-02 3.41882894e-04 9.99906783e-01 -1.24820438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.227719421 meters Centerline goodness [0,1] 0.9504138988247317 Centerline is valid? [True, True] Translation: X:22.41, Y:0.41, Z:-1.25 [[ 9.99563552e-01 -2.59103438e-02 -1.41901524e-02 2.24052150e+01] [ 2.59021706e-02 9.99664194e-01 -7.59487867e-04 4.12913883e-01] [ 1.42050658e-02 3.91600642e-04 9.99899026e-01 -1.24780133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25771942099999 meters Centerline goodness [0,1] 0.9435105471459464 Centerline is valid? [True, False] Translation: X:22.40, Y:0.41, Z:-1.25 [[ 9.99680946e-01 -2.08133766e-02 -1.43111618e-02 2.24040745e+01] [ 2.08869228e-02 9.99769297e-01 5.00894454e-03 4.09562090e-01] [ 1.42036071e-02 -5.30626255e-03 9.99885044e-01 -1.24601229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28771942099999 meters Centerline goodness [0,1] 0.9406253182605153 Centerline is valid? [False, False] Translation: X:22.40, Y:0.41, Z:-1.24 [[ 9.99695269e-01 -1.99780019e-02 -1.44999216e-02 2.24035304e+01] [ 2.00672602e-02 9.99780408e-01 6.03660117e-03 4.07935201e-01] [ 1.43761383e-02 -6.32573533e-03 9.99876648e-01 -1.24486633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31771942099999 meters Centerline goodness [0,1] 0.9268834290836491 Centerline is valid? [False, False] Translation: X:22.40, Y:0.40, Z:-1.24 [[ 9.99718346e-01 -1.85773487e-02 -1.47686031e-02 2.24035745e+01] [ 1.86967673e-02 9.99793278e-01 7.98944496e-03 4.03346901e-01] [ 1.46171274e-02 -8.26331983e-03 9.99859019e-01 -1.24414474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.347719421 meters Centerline goodness [0,1] 0.9326660415052799 Centerline is valid? [False, False] Translation: X:22.41, Y:0.40, Z:-1.25 [[ 9.99711310e-01 -1.85077168e-02 -1.53219296e-02 2.24060845e+01] [ 1.86357389e-02 9.99792258e-01 8.25528679e-03 4.01475041e-01] [ 1.51659601e-02 -8.53843905e-03 9.99848533e-01 -1.24581657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.377719421 meters Centerline goodness [0,1] 0.9073381060852587 Centerline is valid? [False, False] Translation: X:22.41, Y:0.40, Z:-1.25 [[ 9.99722030e-01 -1.71829405e-02 -1.61433676e-02 2.24118762e+01] [ 1.73427188e-02 9.99801476e-01 9.81014700e-03 3.98990826e-01] [ 1.59715955e-02 -1.00873900e-02 9.99821560e-01 -1.25087463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.407719421 meters Centerline goodness [0,1] 0.9193574723435523 Centerline is valid? [False, False] Translation: X:22.41, Y:0.40, Z:-1.25 [[ 9.99716186e-01 -1.71984723e-02 -1.64851471e-02 2.24131197e+01] [ 1.73639496e-02 9.99799746e-01 9.94793888e-03 3.98386371e-01] [ 1.63107566e-02 -1.02313628e-02 9.99814622e-01 -1.25157953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.437719421 meters Centerline goodness [0,1] 0.9104392586112184 Centerline is valid? [False, False] Translation: X:22.41, Y:0.40, Z:-1.25 [[ 9.99662960e-01 -1.99490108e-02 -1.66133722e-02 2.24129841e+01] [ 2.00768446e-02 9.99769829e-01 7.56371407e-03 3.95496636e-01] [ 1.64586597e-02 -7.89470888e-03 9.99833379e-01 -1.25091896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.467719421 meters Centerline goodness [0,1] 0.9075382203855628 Centerline is valid? [False, False] Translation: X:22.42, Y:0.39, Z:-1.25 [[ 9.99634895e-01 -2.09092242e-02 -1.71137419e-02 2.24150709e+01] [ 2.10330318e-02 9.99753665e-01 7.08664134e-03 3.92713083e-01] [ 1.69613500e-02 -7.44400786e-03 9.99828435e-01 -1.25199687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.497719421 meters Centerline goodness [0,1] 0.9391430261252626 Centerline is valid? [False, False] Translation: X:22.41, Y:0.39, Z:-1.25 [[ 9.99577840e-01 -2.37157977e-02 -1.67839963e-02 2.24135900e+01] [ 2.38056725e-02 9.99703209e-01 5.17537928e-03 3.88694708e-01] [ 1.66562767e-02 -5.57274876e-03 9.99845745e-01 -1.25056207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.527719421 meters Centerline goodness [0,1] 0.9361417179034517 Centerline is valid? [False, False] Translation: X:22.43, Y:0.38, Z:-1.25 [[ 9.99629320e-01 -2.45423624e-02 -1.17853599e-02 2.24255542e+01] [ 2.45768471e-02 9.99694050e-01 2.79018303e-03 3.84696368e-01] [ 1.17132764e-02 -3.07879576e-03 9.99926657e-01 -1.24838820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.557719421 meters Centerline goodness [0,1] 0.9413907486924846 Centerline is valid? [False, False] Translation: X:22.43, Y:0.38, Z:-1.25 [[ 9.99623502e-01 -2.46622821e-02 -1.20260490e-02 2.24257535e+01] [ 2.47081305e-02 9.99687938e-01 3.67884635e-03 3.81745306e-01] [ 1.19315674e-02 -3.97460246e-03 9.99920917e-01 -1.24773329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.587719421 meters Centerline goodness [0,1] 0.9566457501426127 Centerline is valid? [False, True] Translation: X:22.43, Y:0.38, Z:-1.25 [[ 9.99537581e-01 -2.79401874e-02 -1.19987845e-02 2.24256865e+01] [ 2.79641746e-02 9.99607240e-01 1.83600479e-03 3.75996789e-01] [ 1.19427735e-02 -2.17069190e-03 9.99926326e-01 -1.24706319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.617719421 meters Centerline goodness [0,1] 0.9584529846642634 Centerline is valid? [True, True] Translation: X:22.45, Y:0.37, Z:-1.25 [[ 9.99465246e-01 -3.05212499e-02 -1.17335538e-02 2.24543209e+01] [ 3.05153571e-02 9.99534066e-01 -6.80964522e-04 3.73869387e-01] [ 1.17488706e-02 3.22546789e-04 9.99930928e-01 -1.24921732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64771942099999 meters Centerline goodness [0,1] 0.9577530743545891 Centerline is valid? [True, True] Translation: X:22.48, Y:0.37, Z:-1.25 [[ 9.99270271e-01 -3.58834499e-02 -1.30882609e-02 2.24826904e+01] [ 3.58766156e-02 9.99355941e-01 -7.56668528e-04 3.68353416e-01] [ 1.31069831e-02 2.86553862e-04 9.99914059e-01 -1.25191064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67771942099999 meters Centerline goodness [0,1] 0.9541882151728631 Centerline is valid? [True, True] Translation: X:22.51, Y:0.37, Z:-1.26 [[ 9.99183990e-01 -3.81286999e-02 -1.33250065e-02 2.25109416e+01] [ 3.81217184e-02 9.99272801e-01 -7.77637277e-04 3.70123861e-01] [ 1.33449668e-02 2.69030574e-04 9.99910916e-01 -1.25608875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.707719421 meters Centerline goodness [0,1] 0.9536151960784314 Centerline is valid? [True, True] Translation: X:22.54, Y:0.36, Z:-1.26 [[ 9.99012138e-01 -4.13437828e-02 -1.62923312e-02 2.25405612e+01] [ 4.13337886e-02 9.99144942e-01 -9.49826948e-04 3.64783362e-01] [ 1.63176698e-02 2.75464874e-04 9.99866820e-01 -1.25551371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.737719421 meters Centerline goodness [0,1] 0.9494994709855945 Centerline is valid? [True, False] Translation: X:22.54, Y:0.36, Z:-1.26 [[ 9.98999042e-01 -4.14786281e-02 -1.67462973e-02 2.25414069e+01] [ 4.14762774e-02 9.99139370e-01 -4.87807694e-04 3.62702451e-01] [ 1.67521185e-02 -2.07254652e-04 9.99859652e-01 -1.25523113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.767719421 meters Centerline goodness [0,1] 0.9568182743597052 Centerline is valid? [False, True] Translation: X:22.54, Y:0.36, Z:-1.25 [[ 9.99008612e-01 -4.11651880e-02 -1.69475635e-02 2.25401291e+01] [ 4.11767590e-02 9.99151822e-01 3.34219837e-04 3.61332462e-01] [ 1.69194307e-02 -1.03173423e-03 9.99856324e-01 -1.25293768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.797719421 meters Centerline goodness [0,1] 0.9598986828774063 Centerline is valid? [True, True] Translation: X:22.57, Y:0.36, Z:-1.25 [[ 9.99053258e-01 -4.11080915e-02 -1.42377085e-02 2.25694397e+01] [ 4.11008475e-02 9.99154682e-01 -8.01146804e-04 3.64062069e-01] [ 1.42586067e-02 2.15206441e-04 9.99898318e-01 -1.25071370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.827719421 meters Centerline goodness [0,1] 0.9607295130459618 Centerline is valid? [True, True] Translation: X:22.60, Y:0.37, Z:-1.25 [[ 9.99137115e-01 -3.94561705e-02 -1.29705474e-02 2.25957104e+01] [ 3.94499868e-02 9.99221278e-01 -7.32356847e-04 3.71186127e-01] [ 1.29893430e-02 2.20036983e-04 9.99915611e-01 -1.25009448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.857719421 meters Centerline goodness [0,1] 0.9588775905283965 Centerline is valid? [True, True] Translation: X:22.62, Y:0.38, Z:-1.25 [[ 9.99207035e-01 -3.75777371e-02 -1.31610991e-02 2.26237644e+01] [ 3.75712161e-02 9.99293677e-01 -7.42461341e-04 3.78075347e-01] [ 1.31797032e-02 2.47394095e-04 9.99913113e-01 -1.25143653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.887719421 meters Centerline goodness [0,1] 0.9539209899660106 Centerline is valid? [True, True] Translation: X:22.65, Y:0.39, Z:-1.25 [[ 9.99367384e-01 -3.25976673e-02 -1.42205297e-02 2.26511679e+01] [ 3.25895408e-02 9.99468497e-01 -8.02884999e-04 3.89153298e-01] [ 1.42391436e-02 3.38936550e-04 9.99898561e-01 -1.25437046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.917719421 meters Centerline goodness [0,1] 0.9493030438493112 Centerline is valid? [True, False] Translation: X:22.65, Y:0.39, Z:-1.25 [[ 9.99464118e-01 -2.92386812e-02 -1.47165159e-02 2.26524550e+01] [ 2.92750814e-02 9.99568829e-01 2.26406152e-03 3.88903713e-01] [ 1.46439724e-02 -2.69367546e-03 9.99889143e-01 -1.25489401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.947719421 meters Centerline goodness [0,1] 0.9547264595968878 Centerline is valid? [False, True] Translation: X:22.65, Y:0.39, Z:-1.26 [[ 9.99470219e-01 -2.89146424e-02 -1.49407263e-02 2.26531303e+01] [ 2.89490691e-02 9.99578697e-01 2.09305934e-03 3.90114976e-01] [ 1.48739117e-02 -2.52447060e-03 9.99886190e-01 -1.25536675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.977719421 meters Centerline goodness [0,1] 0.9381264417090248 Centerline is valid? [True, False] Translation: X:22.66, Y:0.39, Z:-1.26 [[ 9.99577912e-01 -2.44711336e-02 -1.56576606e-02 2.26564377e+01] [ 2.45625208e-02 9.99682210e-01 5.67110954e-03 3.93856175e-01] [ 1.55139063e-02 -6.05330745e-03 9.99861328e-01 -1.25820947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00771942099999 meters Centerline goodness [0,1] 0.9125913262917964 Centerline is valid? [False, False] Translation: X:22.66, Y:0.40, Z:-1.26 [[ 9.99642318e-01 -2.13256949e-02 -1.61384961e-02 2.26579632e+01] [ 2.14680074e-02 9.99731708e-01 8.69692457e-03 3.95126408e-01] [ 1.59486983e-02 -9.04027519e-03 9.99831942e-01 -1.25906285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03771942099999 meters Centerline goodness [0,1] 0.8869885300577565 Centerline is valid? [False, False] Translation: X:22.66, Y:0.40, Z:-1.26 [[ 9.99714772e-01 -1.74606940e-02 -1.62941224e-02 2.26574480e+01] [ 1.76613576e-02 9.99768937e-01 1.22535332e-02 3.96527564e-01] [ 1.60764023e-02 -1.25378145e-02 9.99792155e-01 -1.25817902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06771942099999 meters Centerline goodness [0,1] 0.895529955786314 Centerline is valid? [False, False] Translation: X:22.66, Y:0.40, Z:-1.26 [[ 9.99712890e-01 -1.72430301e-02 -1.66378004e-02 2.26574359e+01] [ 1.74458111e-02 9.99774340e-01 1.21207807e-02 3.97938810e-01] [ 1.64250469e-02 -1.24075606e-02 9.99788113e-01 -1.25746975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.097719421 meters Centerline goodness [0,1] 0.9325283080238255 Centerline is valid? [False, False] Translation: X:22.66, Y:0.40, Z:-1.26 [[ 9.99704472e-01 -1.74142953e-02 -1.69620541e-02 2.26576203e+01] [ 1.76167038e-02 9.99774499e-01 1.18575959e-02 3.97929220e-01] [ 1.67517375e-02 -1.21529072e-02 9.99785820e-01 -1.25688642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.127719421 meters Centerline goodness [0,1] 0.9045333441802762 Centerline is valid? [False, False] Translation: X:22.66, Y:0.40, Z:-1.26 [[ 9.99660834e-01 -1.92234401e-02 -1.75691702e-02 2.26596145e+01] [ 1.93989024e-02 9.99763088e-01 9.87167116e-03 3.96137091e-01] [ 1.73752404e-02 -1.02091456e-02 9.99796917e-01 -1.25786027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.157719421 meters Centerline goodness [0,1] 0.9314292698826597 Centerline is valid? [False, False] Translation: X:22.66, Y:0.39, Z:-1.26 [[ 9.99609316e-01 -2.17053764e-02 -1.76094234e-02 2.26607917e+01] [ 2.18485274e-02 9.99729460e-01 7.97795751e-03 3.91646023e-01] [ 1.74314948e-02 -8.35958062e-03 9.99813113e-01 -1.25885299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.187719421 meters Centerline goodness [0,1] 0.9010400827200292 Centerline is valid? [False, False] Translation: X:22.66, Y:0.39, Z:-1.26 [[ 9.99605708e-01 -2.16957176e-02 -1.78248349e-02 2.26620338e+01] [ 2.18435554e-02 9.99728251e-01 8.14150124e-03 3.91238065e-01] [ 1.76433553e-02 -8.52764888e-03 9.99807977e-01 -1.25987049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.217719421 meters Centerline goodness [0,1] 0.9020570454822088 Centerline is valid? [False, False] Translation: X:22.66, Y:0.39, Z:-1.26 [[ 9.99663232e-01 -1.84846596e-02 -1.82137384e-02 2.26638515e+01] [ 1.86984647e-02 9.99757420e-01 1.16391321e-02 3.91696894e-01] [ 1.79941747e-02 -1.19757814e-02 9.99766368e-01 -1.26117057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.247719421 meters Centerline goodness [0,1] 0.9084409781460719 Centerline is valid? [False, False] Translation: X:22.66, Y:0.39, Z:-1.26 [[ 9.99663891e-01 -1.81081192e-02 -1.85526438e-02 2.26644466e+01] [ 1.83307039e-02 9.99761177e-01 1.18984777e-02 3.91468051e-01] [ 1.83327539e-02 -1.22345615e-02 9.99757083e-01 -1.26115122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.277719421 meters Centerline goodness [0,1] 0.874062328474721 Centerline is valid? [False, False] Translation: X:22.66, Y:0.39, Z:-1.26 [[ 9.99684149e-01 -1.67280047e-02 -1.87556951e-02 2.26636877e+01] [ 1.69835272e-02 9.99763975e-01 1.35482333e-02 3.86283162e-01] [ 1.85246334e-02 -1.38624920e-02 9.99732299e-01 -1.25962222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.307719421 meters Centerline goodness [0,1] 0.8544951478037963 Centerline is valid? [False, False] Translation: X:22.66, Y:0.38, Z:-1.26 [[ 9.99684581e-01 -1.64695215e-02 -1.89603104e-02 2.26637472e+01] [ 1.67351206e-02 9.99762837e-01 1.39357678e-02 3.84695374e-01] [ 1.87262983e-02 -1.42486753e-02 9.99723112e-01 -1.25909307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.337719421 meters Centerline goodness [0,1] 0.8214285714285714 Centerline is valid? [False, False] Translation: X:22.67, Y:0.39, Z:-1.26 [[ 9.99763790e-01 -1.27174673e-02 -1.76246804e-02 2.26702594e+01] [ 1.28121429e-02 9.99904037e-01 5.26929355e-03 3.85295390e-01] [ 1.75559770e-02 -5.49385882e-03 9.99830788e-01 -1.25757592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.367719421 meters Centerline goodness [0,1] 0.8304445350734094 Centerline is valid? [False, False] Translation: X:22.67, Y:0.38, Z:-1.26 [[ 9.99766271e-01 -1.25178034e-02 -1.76268969e-02 2.26698014e+01] [ 1.26292722e-02 9.99900860e-01 6.22673420e-03 3.82896166e-01] [ 1.75472043e-02 -6.44789372e-03 9.99825245e-01 -1.25674732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39771942099999 meters Centerline goodness [0,1] 0.8501725888324874 Centerline is valid? [False, False] Translation: X:22.67, Y:0.38, Z:-1.26 [[ 9.99739750e-01 -1.37636088e-02 -1.81932911e-02 2.26722660e+01] [ 1.38662556e-02 9.99888578e-01 5.52795409e-03 3.81569619e-01] [ 1.81151794e-02 -5.77878826e-03 9.99819207e-01 -1.25820259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42771942099999 meters Centerline goodness [0,1] 0.892660998332045 Centerline is valid? [False, False] Translation: X:22.67, Y:0.38, Z:-1.26 [[ 9.99652957e-01 -1.87637746e-02 -1.84901798e-02 2.26748702e+01] [ 1.87949550e-02 9.99822213e-01 1.51397273e-03 3.79295951e-01] [ 1.84584846e-02 -1.86096941e-03 9.99827896e-01 -1.26024475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.457719421 meters Centerline goodness [0,1] 0.9092481432495676 Centerline is valid? [False, False] Translation: X:22.68, Y:0.38, Z:-1.26 [[ 9.99634702e-01 -1.94194686e-02 -1.87975050e-02 2.26758669e+01] [ 1.94583010e-02 9.99808892e-01 1.88511844e-03 3.76584302e-01] [ 1.87573047e-02 -2.25019733e-03 9.99821534e-01 -1.26037986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.487719421 meters Centerline goodness [0,1] 0.9324137650834925 Centerline is valid? [False, False] Translation: X:22.68, Y:0.37, Z:-1.26 [[ 9.99536483e-01 -2.37781942e-02 -1.90109476e-02 2.26766440e+01] [ 2.37517306e-02 9.99716581e-01 -1.61663702e-03 3.74291652e-01] [ 1.90440003e-02 1.16434478e-03 9.99817969e-01 -1.26037462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.517719421 meters Centerline goodness [0,1] 0.9393828217357629 Centerline is valid? [False, False] Translation: X:22.68, Y:0.37, Z:-1.26 [[ 9.99515042e-01 -2.43436071e-02 -1.94182725e-02 2.26775525e+01] [ 2.43191773e-02 9.99703130e-01 -1.49326682e-03 3.73024593e-01] [ 1.94488593e-02 1.02030624e-03 9.99810332e-01 -1.26029849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.547719421 meters Centerline goodness [0,1] 0.952170908203919 Centerline is valid? [False, True] Translation: X:22.68, Y:0.37, Z:-1.26 [[ 9.99382475e-01 -2.91814970e-02 -1.95731579e-02 2.26778583e+01] [ 2.90837507e-02 9.99563138e-01 -5.26016288e-03 3.71254158e-01] [ 1.97181065e-02 4.68765375e-03 9.99794590e-01 -1.25967133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.577719421 meters Centerline goodness [0,1] 0.9646535437869462 Centerline is valid? [True, True] Translation: X:22.71, Y:0.36, Z:-1.25 [[ 9.99265065e-01 -3.37612568e-02 -1.81523342e-02 2.27087385e+01] [ 3.37490317e-02 9.99429859e-01 -9.79477611e-04 3.62624903e-01] [ 1.81750532e-02 3.66134056e-04 9.99834753e-01 -1.25082044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.607719421 meters Centerline goodness [0,1] 0.9559328927300458 Centerline is valid? [True, True] Translation: X:22.74, Y:0.36, Z:-1.26 [[ 9.98894137e-01 -4.42309322e-02 -1.59414024e-02 2.27382651e+01] [ 4.42228286e-02 9.99021321e-01 -8.60660952e-04 3.57324088e-01] [ 1.59638688e-02 1.54735270e-04 9.99872557e-01 -1.25606114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.637719421 meters Centerline goodness [0,1] 0.9598125127369065 Centerline is valid? [True, True] Translation: X:22.77, Y:0.35, Z:-1.25 [[ 9.98445842e-01 -5.42840532e-02 -1.26151828e-02 2.27691530e+01] [ 5.42797660e-02 9.98525534e-01 -6.82243121e-04 3.47224459e-01] [ 1.26336171e-02 -3.56636459e-06 9.99920193e-01 -1.24819249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.667719421 meters Centerline goodness [0,1] 0.950995530272247 Centerline is valid? [True, True] Translation: X:22.80, Y:0.34, Z:-1.25 [[ 9.98169406e-01 -5.94122829e-02 -1.13144811e-02 2.27972849e+01] [ 5.94091412e-02 9.98233528e-01 -6.13873965e-04 3.42443544e-01] [ 1.13309660e-02 -5.94333932e-05 9.99935801e-01 -1.25224129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.697719421 meters Centerline goodness [0,1] 0.9535817670322502 Centerline is valid? [True, True] Translation: X:22.83, Y:0.33, Z:-1.25 [[ 9.97603821e-01 -6.83828836e-02 -1.05069934e-02 2.28264812e+01] [ 6.83806071e-02 9.97659140e-01 -5.76178701e-04 3.33982486e-01] [ 1.05217988e-02 -1.43676514e-04 9.99944634e-01 -1.24542260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.727719421 meters Centerline goodness [0,1] 0.9523238563618998 Centerline is valid? [True, True] Translation: X:22.86, Y:0.33, Z:-1.25 [[ 9.97297115e-01 -7.28196177e-02 -9.78611259e-03 2.28555301e+01] [ 7.28178264e-02 9.97345112e-01 -5.39705215e-04 3.33048031e-01] [ 9.79943269e-03 -1.74356994e-04 9.99951969e-01 -1.24541793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75771942099999 meters Centerline goodness [0,1] 0.9458171226040373 Centerline is valid? [True, False] Translation: X:22.86, Y:0.34, Z:-1.25 [[ 9.97305976e-01 -7.26201619e-02 -1.03489792e-02 2.28591655e+01] [ 7.26248331e-02 9.97359327e-01 7.57866243e-05 3.38558233e-01] [ 1.03161473e-02 -8.27175339e-04 9.99946445e-01 -1.24858954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78771942099999 meters Centerline goodness [0,1] 0.9480122946648483 Centerline is valid? [False, False] Translation: X:22.86, Y:0.34, Z:-1.25 [[ 9.97456790e-01 -7.04255088e-02 -1.09636021e-02 2.28613959e+01] [ 7.04566044e-02 9.97511773e-01 2.47586139e-03 3.40820999e-01] [ 1.07619584e-02 -3.24202294e-03 9.99936833e-01 -1.25027546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81771942099999 meters Centerline goodness [0,1] 0.9445640255046095 Centerline is valid? [False, False] Translation: X:22.86, Y:0.35, Z:-1.25 [[ 9.97452824e-01 -7.04729880e-02 -1.10191944e-02 2.28601753e+01] [ 7.04909697e-02 9.97511632e-01 1.25158984e-03 3.46333375e-01] [ 1.09035713e-02 -2.02515552e-03 9.99938504e-01 -1.24906309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.847719421 meters Centerline goodness [0,1] 0.9472761376610667 Centerline is valid? [False, False] Translation: X:22.86, Y:0.35, Z:-1.25 [[ 9.97668148e-01 -6.72896756e-02 -1.14178357e-02 2.28597901e+01] [ 6.73422210e-02 9.97720750e-01 4.28129793e-03 3.47936177e-01] [ 1.11037245e-02 -5.04021699e-03 9.99925649e-01 -1.24815294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.877719421 meters Centerline goodness [0,1] 0.9472761376610667 Centerline is valid? [False, False] Translation: X:22.86, Y:0.35, Z:-1.25 [[ 9.97668148e-01 -6.72896756e-02 -1.14178357e-02 2.28597901e+01] [ 6.73422210e-02 9.97720750e-01 4.28129793e-03 3.47936177e-01] [ 1.11037245e-02 -5.04021699e-03 9.99925649e-01 -1.24815294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.907719421 meters Centerline goodness [0,1] 0.9440812182741116 Centerline is valid? [False, False] Translation: X:22.86, Y:0.36, Z:-1.25 [[ 9.97772761e-01 -6.55865821e-02 -1.21621296e-02 2.28618873e+01] [ 6.56440623e-02 9.97833453e-01 4.38834493e-03 3.57923580e-01] [ 1.18479632e-02 -5.17694264e-03 9.99916409e-01 -1.24997655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.937719421 meters Centerline goodness [0,1] 0.9449548760364251 Centerline is valid? [False, False] Translation: X:22.86, Y:0.36, Z:-1.25 [[ 9.97936848e-01 -6.29659144e-02 -1.25435624e-02 2.28626903e+01] [ 6.30496874e-02 9.97989877e-01 6.39859277e-03 3.63250100e-01] [ 1.21154551e-02 -7.17625919e-03 9.99900854e-01 -1.25076589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.967719421 meters Centerline goodness [0,1] 0.9452948710129901 Centerline is valid? [False, False] Translation: X:22.87, Y:0.38, Z:-1.25 [[ 9.98084766e-01 -6.03497092e-02 -1.35909000e-02 2.28656044e+01] [ 6.04658906e-02 9.98135706e-01 8.30590030e-03 3.75022041e-01] [ 1.30643039e-02 -9.11177842e-03 9.99873142e-01 -1.25262207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.997719421 meters Centerline goodness [0,1] 0.9416530944625408 Centerline is valid? [False, False] Translation: X:22.87, Y:0.38, Z:-1.25 [[ 9.98198595e-01 -5.83101222e-02 -1.41242214e-02 2.28673336e+01] [ 5.84534154e-02 9.98240511e-01 9.95388898e-03 3.78863392e-01] [ 1.35189575e-02 -1.07615670e-02 9.99850702e-01 -1.25395674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.027719421 meters Centerline goodness [0,1] 0.9401449423292845 Centerline is valid? [False, False] Translation: X:22.87, Y:0.39, Z:-1.25 [[ 9.98102505e-01 -5.99255474e-02 -1.41533551e-02 2.28674198e+01] [ 6.00239339e-02 9.98174908e-01 6.63171026e-03 3.87345199e-01] [ 1.37301151e-02 -7.46866668e-03 9.99877844e-01 -1.25438330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.057719421 meters Centerline goodness [0,1] 0.9372835784413573 Centerline is valid? [False, False] Translation: X:22.87, Y:0.39, Z:-1.25 [[ 9.98059952e-01 -6.05989039e-02 -1.42865584e-02 2.28668144e+01] [ 6.06761649e-02 9.98144792e-01 5.03759448e-03 3.92112163e-01] [ 1.39547811e-02 -5.89467487e-03 9.99885252e-01 -1.25352062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.087719421 meters Centerline goodness [0,1] 0.9439716600838797 Centerline is valid? [False, False] Translation: X:22.87, Y:0.41, Z:-1.25 [[ 9.98156573e-01 -5.89025708e-02 -1.46268063e-02 2.28652547e+01] [ 5.89811665e-02 9.98246568e-01 5.00108142e-03 4.05328895e-01] [ 1.43065826e-02 -5.85456838e-03 9.99880516e-01 -1.25175143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.117719421 meters Centerline goodness [0,1] 0.9493176595009051 Centerline is valid? [False, False] Translation: X:22.87, Y:0.42, Z:-1.25 [[ 9.98427328e-01 -5.38927497e-02 -1.54415901e-02 2.28654118e+01] [ 5.40226230e-02 9.98506693e-01 8.12039674e-03 4.19349302e-01] [ 1.49809005e-02 -8.94182121e-03 9.99847797e-01 -1.25147428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14771942099999 meters Centerline goodness [0,1] 0.9529675251959686 Centerline is valid? [False, True] Translation: X:22.87, Y:0.42, Z:-1.25 [[ 9.98585537e-01 -5.07477743e-02 -1.58615367e-02 2.28652559e+01] [ 5.09112290e-02 9.98652345e-01 1.00767741e-02 4.24718453e-01] [ 1.53287870e-02 -1.08700512e-02 9.99823420e-01 -1.25100436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17771942099999 meters Centerline goodness [0,1] 0.9590280601870679 Centerline is valid? [True, True] Translation: X:22.89, Y:0.44, Z:-1.25 [[ 9.98804947e-01 -4.67563092e-02 -1.42311104e-02 2.28943262e+01] [ 4.67555234e-02 9.98906287e-01 -3.88105581e-04 4.40551688e-01] [ 1.42336920e-02 -2.77741240e-04 9.99898657e-01 -1.24913053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.207719421 meters Centerline goodness [0,1] 0.9637071430019667 Centerline is valid? [True, True] Translation: X:22.92, Y:0.46, Z:-1.25 [[ 9.99295374e-01 -3.53882585e-02 -1.25070406e-02 2.29230173e+01] [ 3.53867641e-02 9.99373634e-01 -3.40837096e-04 4.63150433e-01] [ 1.25112683e-02 -1.01986762e-04 9.99921726e-01 -1.25008895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.237719421 meters Centerline goodness [0,1] 0.9656804974194335 Centerline is valid? [True, True] Translation: X:22.95, Y:0.49, Z:-1.25 [[ 9.99595127e-01 -2.34846711e-02 -1.60640321e-02 2.29509988e+01] [ 2.34805561e-02 9.99724195e-01 -4.44748251e-04 4.88002338e-01] [ 1.60700463e-02 6.73757787e-05 9.99870866e-01 -1.25415941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.267719421 meters Centerline goodness [0,1] 0.9607330911465775 Centerline is valid? [True, True] Translation: X:22.98, Y:0.50, Z:-1.26 [[ 9.99668689e-01 -1.79237030e-02 -1.84730109e-02 2.29794683e+01] [ 1.79173381e-02 9.99839342e-01 -5.10013967e-04 5.00882300e-01] [ 1.84791844e-02 1.78857812e-04 9.99829229e-01 -1.26042599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.297719421 meters Centerline goodness [0,1] 0.9591380816019822 Centerline is valid? [True, True] Translation: X:23.01, Y:0.52, Z:-1.26 [[ 9.99767015e-01 -9.90230692e-03 -1.91797023e-02 2.30074846e+01] [ 9.89393532e-03 9.99950913e-01 -5.31325342e-04 5.19733556e-01] [ 1.91840222e-02 3.41438817e-04 9.99815911e-01 -1.26330750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.327719421 meters Centerline goodness [0,1] 0.9601985011140368 Centerline is valid? [True, True] Translation: X:23.04, Y:0.53, Z:-1.26 [[ 9.99776218e-01 -7.76544899e-03 -1.96776837e-02 2.30358381e+01] [ 7.75607577e-03 9.99969768e-01 -5.52612037e-04 5.25697102e-01] [ 1.96813801e-02 3.99866767e-04 9.99806223e-01 -1.26069907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.357719421 meters Centerline goodness [0,1] 0.9527404070534283 Centerline is valid? [True, True] Translation: X:23.06, Y:0.54, Z:-1.26 [[ 9.99770113e-01 -4.71978073e-03 -2.09151629e-02 2.30635356e+01] [ 4.70852874e-03 9.99988742e-01 -5.87195259e-04 5.37068830e-01] [ 2.09176989e-02 4.88580625e-04 9.99781082e-01 -1.26372504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.387719421 meters Centerline goodness [0,1] 0.9572301012437356 Centerline is valid? [True, True] Translation: X:23.09, Y:0.54, Z:-1.26 [[ 9.99782545e-01 -4.84515004e-03 -2.02826890e-02 2.30925149e+01] [ 4.83444053e-03 9.99988148e-01 -5.77012312e-04 5.37740742e-01] [ 2.02852443e-02 4.78831384e-04 9.99794119e-01 -1.26127775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.417719421 meters Centerline goodness [0,1] 0.9567199104690203 Centerline is valid? [True, True] Translation: X:23.12, Y:0.54, Z:-1.26 [[ 9.99751585e-01 -5.44935772e-03 -2.16118558e-02 2.31207461e+01] [ 5.43733298e-03 9.99985028e-01 -6.15119310e-04 5.40288352e-01] [ 2.16148843e-02 4.97455649e-04 9.99766247e-01 -1.26400188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.447719421 meters Centerline goodness [0,1] 0.9572021653302942 Centerline is valid? [True, True] Translation: X:23.15, Y:0.54, Z:-1.26 [[ 9.99721332e-01 -6.58889876e-03 -2.26681426e-02 2.31494364e+01] [ 6.57577149e-03 9.99978166e-01 -6.53598469e-04 5.40671393e-01] [ 2.26719542e-02 5.04355806e-04 9.99742831e-01 -1.26330008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.477719421 meters Centerline goodness [0,1] 0.9561280345115276 Centerline is valid? [True, True] Translation: X:23.18, Y:0.54, Z:-1.27 [[ 9.99686728e-01 -7.32085082e-03 -2.39343000e-02 2.31779229e+01] [ 7.30626075e-03 9.99973066e-01 -6.96980445e-04 5.43344763e-01] [ 2.39387579e-02 5.21891863e-04 9.99713291e-01 -1.26548740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50771942099999 meters Centerline goodness [0,1] 0.9513560662920665 Centerline is valid? [True, True] Translation: X:23.21, Y:0.55, Z:-1.27 [[ 9.99676195e-01 -7.33714860e-03 -2.43653799e-02 2.32055056e+01] [ 7.32201625e-03 9.99972941e-01 -7.10217431e-04 5.47968240e-01] [ 2.43699316e-02 5.31583751e-04 9.99702868e-01 -1.26981946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53771942099999 meters Centerline goodness [0,1] 0.9563722198481981 Centerline is valid? [True, True] Translation: X:23.23, Y:0.55, Z:-1.26 [[ 9.99724471e-01 -7.85054907e-03 -2.21212965e-02 2.32343305e+01] [ 7.83802125e-03 9.99969069e-01 -6.52972285e-04 5.49215676e-01] [ 2.21257385e-02 4.79405180e-04 9.99755081e-01 -1.26426964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56771942099999 meters Centerline goodness [0,1] 0.9548989745151792 Centerline is valid? [True, True] Translation: X:23.26, Y:0.55, Z:-1.27 [[ 9.99746563e-01 -8.89625631e-03 -2.06800943e-02 2.32625070e+01] [ 8.88540653e-03 9.99960334e-01 -6.16476241e-04 5.51316301e-01] [ 2.06847583e-02 4.32568958e-04 9.99785954e-01 -1.26541486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.597719421 meters Centerline goodness [0,1] 0.9628168097310931 Centerline is valid? [True, True] Translation: X:23.29, Y:0.55, Z:-1.26 [[ 9.99738250e-01 -1.25505946e-02 -1.91288673e-02 2.32921853e+01] [ 1.25419489e-02 9.99921183e-01 -5.71872687e-04 5.45841017e-01] [ 1.91345370e-02 3.31809722e-04 9.99816863e-01 -1.25980049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.627719421 meters Centerline goodness [0,1] 0.96101289433136 Centerline is valid? [True, True] Translation: X:23.32, Y:0.55, Z:-1.26 [[ 9.99698678e-01 -1.57006203e-02 -1.88691218e-02 2.33196814e+01] [ 1.56927373e-02 9.99876701e-01 -5.65780027e-04 5.45957347e-01] [ 1.88756784e-02 2.69501375e-04 9.99821802e-01 -1.26328134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.657719421 meters Centerline goodness [0,1] 0.9621610642835381 Centerline is valid? [True, True] Translation: X:23.35, Y:0.54, Z:-1.26 [[ 9.99543576e-01 -2.32705540e-02 -1.92644883e-02 2.33488993e+01] [ 2.32636058e-02 9.99729195e-01 -5.84728214e-04 5.37778390e-01] [ 1.92728783e-02 1.36299870e-04 9.99814252e-01 -1.26258143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.687719421 meters Centerline goodness [0,1] 0.9582497314606514 Centerline is valid? [True, True] Translation: X:23.38, Y:0.52, Z:-1.26 [[ 9.99187489e-01 -3.44527689e-02 -2.09133534e-02 2.33779089e+01] [ 3.44469017e-02 9.99406324e-01 -6.40834080e-04 5.23865068e-01] [ 2.09230161e-02 -8.00868324e-05 9.99781087e-01 -1.26361094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.717719421 meters Centerline goodness [0,1] 0.959723633407844 Centerline is valid? [True, True] Translation: X:23.41, Y:0.52, Z:-1.26 [[ 9.98926481e-01 -4.13830808e-02 -2.08164823e-02 2.34070625e+01] [ 4.13786313e-02 9.99143330e-01 -6.44612472e-04 5.17871668e-01] [ 2.08253255e-02 -2.17437080e-04 9.99783106e-01 -1.26131060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.747719421 meters Centerline goodness [0,1] 0.9560379312445428 Centerline is valid? [True, True] Translation: X:23.44, Y:0.51, Z:-1.26 [[ 9.98686418e-01 -4.70456773e-02 -2.03012986e-02 2.34353839e+01] [ 4.70425720e-02 9.98892686e-01 -6.30762527e-04 5.13889370e-01] [ 2.03084933e-02 -3.25091329e-04 9.99793708e-01 -1.26246522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.777719421 meters Centerline goodness [0,1] 0.9442879435786231 Centerline is valid? [True, False] Translation: X:23.44, Y:0.52, Z:-1.26 [[ 9.98553173e-01 -4.97036151e-02 -2.05210161e-02 2.34366146e+01] [ 4.96621364e-02 9.98762880e-01 -2.52627965e-03 5.17022460e-01] [ 2.06211943e-02 1.50350706e-03 9.99786230e-01 -1.26327519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.807719421 meters Centerline goodness [0,1] 0.9488890697485147 Centerline is valid? [False, False] Translation: X:23.44, Y:0.52, Z:-1.26 [[ 9.98526107e-01 -5.01412611e-02 -2.07717944e-02 2.34369921e+01] [ 5.00957219e-02 9.98740752e-01 -2.70725791e-03 5.17058679e-01] [ 2.08813829e-02 1.66268966e-03 9.99780578e-01 -1.26311551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.837719421 meters Centerline goodness [0,1] 0.9456342668863262 Centerline is valid? [False, False] Translation: X:23.44, Y:0.52, Z:-1.26 [[ 9.98516224e-01 -5.02746536e-02 -2.09239140e-02 2.34364585e+01] [ 5.02224582e-02 9.98733512e-01 -3.01291964e-03 5.17285196e-01] [ 2.10488875e-02 1.95759875e-03 9.99776531e-01 -1.26201636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.867719421 meters Centerline goodness [0,1] 0.9468085106382979 Centerline is valid? [False, False] Translation: X:23.44, Y:0.52, Z:-1.26 [[ 9.98673128e-01 -4.68663786e-02 -2.13430601e-02 2.34371257e+01] [ 4.68694003e-02 9.98900961e-01 -3.58897778e-04 5.20998782e-01] [ 2.13364235e-02 -6.41914864e-04 9.99772147e-01 -1.26236679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89771942099999 meters Centerline goodness [0,1] 0.9483207286329999 Centerline is valid? [False, False] Translation: X:23.44, Y:0.52, Z:-1.26 [[ 9.98829356e-01 -4.33190785e-02 -2.15261378e-02 2.34375761e+01] [ 4.33926880e-02 9.99053697e-01 2.96407246e-03 5.23148352e-01] [ 2.13773666e-02 -3.89467957e-03 9.99763892e-01 -1.26292905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92771942099999 meters Centerline goodness [0,1] 0.9503744748218961 Centerline is valid? [False, True] Translation: X:23.44, Y:0.53, Z:-1.26 [[ 9.98968901e-01 -3.97209760e-02 -2.19858882e-02 2.34394517e+01] [ 3.98501431e-02 9.99190705e-01 5.46822085e-03 5.30196662e-01] [ 2.17508921e-02 -6.33872337e-03 9.99743327e-01 -1.26458047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.957719421 meters Centerline goodness [0,1] 0.9504243512322507 Centerline is valid? [True, True] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.98978996e-01 -3.92118736e-02 -2.24364574e-02 2.34671142e+01] [ 3.92125554e-02 9.99230808e-01 -4.09732646e-04 5.36309944e-01] [ 2.24352658e-02 -4.70476521e-04 9.99748187e-01 -1.26617030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.987719421 meters Centerline goodness [0,1] 0.9476991276409704 Centerline is valid? [True, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.98968218e-01 -3.92792902e-02 -2.27955273e-02 2.34682963e+01] [ 3.92753573e-02 9.99228233e-01 -6.20388378e-04 5.36507008e-01] [ 2.28023029e-02 -2.75554205e-04 9.99739956e-01 -1.26679074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.017719421 meters Centerline goodness [0,1] 0.94410253285398 Centerline is valid? [False, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.98958266e-01 -3.93737149e-02 -2.30671330e-02 2.34694024e+01] [ 3.93672557e-02 9.99224539e-01 -7.34230233e-04 5.36812813e-01] [ 2.30781548e-02 -1.74624364e-04 9.99733649e-01 -1.26748439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.047719421 meters Centerline goodness [0,1] 0.9426057983381078 Centerline is valid? [False, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.99065909e-01 -3.64297423e-02 -2.32418462e-02 2.34699670e+01] [ 3.65050235e-02 9.99329483e-01 2.82288172e-03 5.36444134e-01] [ 2.31234253e-02 -3.66868903e-03 9.99725886e-01 -1.26794969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.077719421 meters Centerline goodness [0,1] 0.9422885369869697 Centerline is valid? [False, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.99164434e-01 -3.35081088e-02 -2.34017327e-02 2.34695590e+01] [ 3.36536928e-02 9.99416403e-01 5.85509299e-03 5.37992097e-01] [ 2.31918824e-02 -6.63775539e-03 9.99708996e-01 -1.26728056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.107719421 meters Centerline goodness [0,1] 0.9440851879806613 Centerline is valid? [False, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.99275192e-01 -2.98755958e-02 -2.35910953e-02 2.34694657e+01] [ 3.00955113e-02 9.99506305e-01 9.02253523e-03 5.40610909e-01] [ 2.33098949e-02 -9.72598170e-03 9.99680976e-01 -1.26703603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.137719421 meters Centerline goodness [0,1] 0.9463984557553591 Centerline is valid? [False, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.99276140e-01 -2.95653217e-02 -2.39392689e-02 2.34698806e+01] [ 2.97757371e-02 9.99520622e-01 8.48124924e-03 5.43601924e-01] [ 2.36770421e-02 -9.18791938e-03 9.99677438e-01 -1.26685555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.167719421 meters Centerline goodness [0,1] 0.9510170110835938 Centerline is valid? [False, True] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.99281160e-01 -2.92610846e-02 -2.41029689e-02 2.34693559e+01] [ 2.94601254e-02 9.99534384e-01 7.94458512e-03 5.45052232e-01] [ 2.38592790e-02 -8.64895072e-03 9.99677913e-01 -1.26583105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.197719421 meters Centerline goodness [0,1] 0.9493879376957176 Centerline is valid? [True, False] Translation: X:23.47, Y:0.54, Z:-1.27 [[ 9.99279057e-01 -2.91283678e-02 -2.43496406e-02 2.34701670e+01] [ 2.93316659e-02 9.99537447e-01 8.03400470e-03 5.44503610e-01] [ 2.41043601e-02 -8.74242816e-03 9.99671221e-01 -1.26621749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.227719421 meters Centerline goodness [0,1] 0.9460003251768149 Centerline is valid? [False, False] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.99257470e-01 -2.97618955e-02 -2.44691325e-02 2.34714447e+01] [ 2.99477453e-02 9.99525070e-01 7.26415534e-03 5.45899910e-01] [ 2.42413163e-02 -7.99155683e-03 9.99674194e-01 -1.26745048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25771942099999 meters Centerline goodness [0,1] 0.9390360611675592 Centerline is valid? [False, False] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.99207181e-01 -3.12310343e-02 -2.46907417e-02 2.34718548e+01] [ 3.13769325e-02 9.99492249e-01 5.54375981e-03 5.51231675e-01] [ 2.45050675e-02 -6.31408434e-03 9.99679766e-01 -1.26748711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28771942099999 meters Centerline goodness [0,1] 0.932767982429382 Centerline is valid? [False, False] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.99180039e-01 -3.17673805e-02 -2.51014457e-02 2.34729711e+01] [ 3.19035901e-02 9.99478221e-01 5.04454713e-03 5.52412940e-01] [ 2.49280963e-02 -5.84123704e-03 9.99672181e-01 -1.26790214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31771942099999 meters Centerline goodness [0,1] 0.9106156595191683 Centerline is valid? [False, False] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.99010563e-01 -3.65804901e-02 -2.52935257e-02 2.34747212e+01] [ 3.66112748e-02 9.99329297e-01 7.54930373e-04 5.51328996e-01] [ 2.52489456e-02 -1.68021164e-03 9.99679783e-01 -1.26919763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.347719421 meters Centerline goodness [0,1] 0.9149308736994278 Centerline is valid? [False, False] Translation: X:23.48, Y:0.55, Z:-1.27 [[ 9.98978160e-01 -3.74236585e-02 -2.53398196e-02 2.34752844e+01] [ 3.74519942e-02 9.99298220e-01 6.44397285e-04 5.49838807e-01] [ 2.52979209e-02 -1.59276559e-03 9.99678688e-01 -1.26969391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.377719421 meters Centerline goodness [0,1] 0.8617079665806111 Centerline is valid? [False, False] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.98913124e-01 -3.90716399e-02 -2.54161060e-02 2.34749451e+01] [ 3.90656486e-02 9.99236378e-01 -7.32404326e-04 5.52358451e-01] [ 2.54253139e-02 -2.61288371e-04 9.99676690e-01 -1.26896142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.407719421 meters Centerline goodness [0,1] 0.845586287018731 Centerline is valid? [False, False] Translation: X:23.47, Y:0.55, Z:-1.27 [[ 9.98892391e-01 -3.94967998e-02 -2.55732959e-02 2.34746737e+01] [ 3.94748123e-02 9.99219635e-01 -1.36424530e-03 5.54402856e-01] [ 2.56072227e-02 3.53233198e-04 9.99672019e-01 -1.26831389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.437719421 meters Centerline goodness [0,1] 0.8349881989094164 Centerline is valid? [False, False] Translation: X:23.48, Y:0.56, Z:-1.27 [[ 9.98973710e-01 -3.71941879e-02 -2.58480175e-02 2.34754892e+01] [ 3.72371022e-02 9.99305761e-01 1.18074455e-03 5.56237209e-01] [ 2.57861560e-02 -2.14203803e-03 9.99665187e-01 -1.26885501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.467719421 meters Centerline goodness [0,1] 0.8065768347458488 Centerline is valid? [False, False] Translation: X:23.48, Y:0.56, Z:-1.27 [[ 9.99054280e-01 -3.48404865e-02 -2.60132083e-02 2.34766784e+01] [ 3.49519140e-02 9.99381614e-01 3.84103755e-03 5.56886607e-01] [ 2.58632985e-02 -4.74661642e-03 9.99654220e-01 -1.26999458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.497719421 meters Centerline goodness [0,1] 0.8736328522057328 Centerline is valid? [False, False] Translation: X:23.48, Y:0.56, Z:-1.27 [[ 9.99145281e-01 -3.22634109e-02 -2.58414499e-02 2.34755133e+01] [ 3.24213198e-02 9.99457951e-01 5.71508804e-03 5.60977733e-01] [ 2.56430543e-02 -6.54801716e-03 9.99649717e-01 -1.26924150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.527719421 meters Centerline goodness [0,1] 0.8177795818956769 Centerline is valid? [False, False] Translation: X:23.48, Y:0.56, Z:-1.27 [[ 9.99145539e-01 -3.18983720e-02 -2.62809024e-02 2.34761701e+01] [ 3.20478036e-02 9.99472368e-01 5.28439236e-03 5.62818322e-01] [ 2.60984722e-02 -6.12212225e-03 9.99640630e-01 -1.26905619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.557719421 meters Centerline goodness [0,1] 0.9152938783811267 Centerline is valid? [False, False] Translation: X:23.48, Y:0.57, Z:-1.27 [[ 9.99266388e-01 -2.76682896e-02 -2.64792553e-02 2.34767158e+01] [ 2.78954820e-02 9.99576805e-01 8.24936393e-03 5.66016031e-01] [ 2.62398036e-02 -8.98196369e-03 9.99615325e-01 -1.26948157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.587719421 meters Centerline goodness [0,1] 0.9355745721271393 Centerline is valid? [False, False] Translation: X:23.48, Y:0.57, Z:-1.27 [[ 9.99356775e-01 -2.38258629e-02 -2.68023156e-02 2.34776948e+01] [ 2.41353186e-02 9.99645036e-01 1.12821799e-02 5.69078894e-01] [ 2.65239941e-02 -1.19218054e-02 9.99577085e-01 -1.27016895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.617719421 meters Centerline goodness [0,1] 0.950451639094692 Centerline is valid? [False, True] Translation: X:23.48, Y:0.58, Z:-1.27 [[ 9.99539779e-01 -1.32948781e-02 -2.72667745e-02 2.34784462e+01] [ 1.38382064e-02 9.99707487e-01 1.98354446e-02 5.78005254e-01] [ 2.69950888e-02 -2.02036391e-02 9.99431377e-01 -1.27048106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64771942099999 meters Centerline goodness [0,1] 0.9572540175941163 Centerline is valid? [True, True] Translation: X:23.51, Y:0.59, Z:-1.27 [[ 9.99625284e-01 -8.01284671e-03 -2.61741627e-02 2.35089678e+01] [ 8.02611983e-03 9.99967709e-01 4.02088670e-04 5.94122023e-01] [ 2.61700957e-02 -6.12014967e-04 9.99657317e-01 -1.26904993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67771942099999 meters Centerline goodness [0,1] 0.9494410620838508 Centerline is valid? [True, False] Translation: X:23.51, Y:0.60, Z:-1.27 [[ 9.99644439e-01 3.07732658e-05 -2.66644791e-02 2.35102610e+01] [ 1.29374342e-04 9.99981966e-01 6.00428203e-03 6.00055650e-01] [ 2.66641830e-02 -6.00559684e-03 9.99626407e-01 -1.26940243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.707719421 meters Centerline goodness [0,1] 0.954444783094585 Centerline is valid? [False, True] Translation: X:23.51, Y:0.60, Z:-1.27 [[ 9.99625238e-01 2.89480864e-03 -2.72213743e-02 2.35135903e+01] [-2.67879508e-03 9.99964662e-01 7.96856079e-03 6.02151135e-01] [ 2.72434799e-02 -7.89265399e-03 9.99597668e-01 -1.27195108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.737719421 meters Centerline goodness [0,1] 0.9520701155034976 Centerline is valid? [True, True] Translation: X:23.54, Y:0.62, Z:-1.28 [[ 9.99534903e-01 7.98551304e-03 -2.94314474e-02 2.35425515e+01] [-7.97935122e-03 9.99968111e-01 3.26805148e-04 6.16655979e-01] [ 2.94331186e-02 -9.18092956e-05 9.99566748e-01 -1.27536259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.767719421 meters Centerline goodness [0,1] 0.9520701155034976 Centerline is valid? [True, True] Translation: X:23.57, Y:0.62, Z:-1.28 [[ 9.99535904e-01 7.85905215e-03 -2.94314796e-02 2.35700568e+01] [-7.85292111e-03 9.99969113e-01 3.23898185e-04 6.16515356e-01] [ 2.94331161e-02 -9.26247776e-05 9.99566748e-01 -1.27549525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.797719421 meters Centerline goodness [0,1] 0.949039281797132 Centerline is valid? [True, False] Translation: X:23.57, Y:0.63, Z:-1.27 [[ 9.99460344e-01 1.42055653e-02 -2.96179354e-02 2.35696785e+01] [-1.40575611e-02 9.99887669e-01 5.19937553e-03 6.26600005e-01] [ 2.96884685e-02 -4.78021372e-03 9.99547770e-01 -1.27426160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.827719421 meters Centerline goodness [0,1] 0.957579082099104 Centerline is valid? [False, True] Translation: X:23.57, Y:0.63, Z:-1.27 [[ 9.99394894e-01 1.77771422e-02 -2.98968055e-02 2.35701331e+01] [-1.75444813e-02 9.99813865e-01 8.02655255e-03 6.29983985e-01] [ 3.00339299e-02 -7.49717169e-03 9.99520763e-01 -1.27398816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.857719421 meters Centerline goodness [0,1] 0.9585943219718539 Centerline is valid? [True, True] Translation: X:23.60, Y:0.64, Z:-1.27 [[ 9.99212586e-01 2.44555849e-02 -3.12431119e-02 2.35985390e+01] [-2.44557397e-02 9.99700842e-01 3.77231720e-04 6.38034372e-01] [ 3.12429907e-02 3.87138730e-04 9.99511744e-01 -1.27328998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.887719421 meters Centerline goodness [0,1] 0.9596236690238154 Centerline is valid? [True, True] Translation: X:23.63, Y:0.64, Z:-1.28 [[ 9.99215985e-01 2.59968916e-02 -2.98592839e-02 2.36261755e+01] [-2.59978185e-02 9.99661936e-01 3.57246231e-04 6.38765791e-01] [ 2.98584768e-02 4.19310098e-04 9.99554048e-01 -1.27575420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.917719421 meters Centerline goodness [0,1] 0.9624020463681027 Centerline is valid? [True, True] Translation: X:23.65, Y:0.64, Z:-1.27 [[ 9.99266942e-01 2.56546178e-02 -2.84151391e-02 2.36548048e+01] [-2.56553878e-02 9.99670789e-01 3.37536374e-04 6.36494148e-01] [ 2.84144439e-02 3.91712472e-04 9.99596151e-01 -1.27337867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.947719421 meters Centerline goodness [0,1] 0.9601242563904737 Centerline is valid? [True, True] Translation: X:23.68, Y:0.64, Z:-1.27 [[ 9.99259109e-01 2.49753550e-02 -2.92824837e-02 2.36835523e+01] [-2.49759553e-02 9.99687993e-01 3.45313576e-04 6.36477708e-01] [ 2.92819716e-02 3.86300267e-04 9.99571116e-01 -1.27454255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.977719421 meters Centerline goodness [0,1] 0.9514290367233939 Centerline is valid? [True, True] Translation: X:23.71, Y:0.63, Z:-1.28 [[ 9.99258333e-01 2.12190300e-02 -3.21331152e-02 2.37109662e+01] [-2.12179227e-02 9.99774804e-01 3.75485176e-04 6.33760495e-01] [ 3.21338464e-02 3.06591266e-04 9.99483528e-01 -1.28160644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00771942099999 meters Centerline goodness [0,1] 0.9548215410242347 Centerline is valid? [True, True] Translation: X:23.74, Y:0.63, Z:-1.28 [[ 9.99365429e-01 1.80672301e-02 -3.06971519e-02 2.37402503e+01] [-1.80647916e-02 9.99836755e-01 3.56790631e-04 6.28413933e-01] [ 3.06985870e-02 1.97973431e-04 9.99528668e-01 -1.27785000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03771942099999 meters Centerline goodness [0,1] 0.9552229700876426 Centerline is valid? [True, True] Translation: X:23.77, Y:0.61, Z:-1.28 [[ 9.99586052e-01 1.02921114e-02 -2.68662699e-02 2.37682772e+01] [-1.02874966e-02 9.99947034e-01 3.09982953e-04 6.14097423e-01] [ 2.68680373e-02 -3.34679743e-05 9.99638989e-01 -1.27575747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06771942099999 meters Centerline goodness [0,1] 0.9603174603174603 Centerline is valid? [True, True] Translation: X:23.80, Y:0.61, Z:-1.27 [[ 9.99683426e-01 5.72248051e-03 -2.45010271e-02 2.37967251e+01] [-5.71732081e-03 9.99983617e-01 2.80637512e-04 6.05832582e-01] [ 2.45022317e-02 -1.40468437e-04 9.99699765e-01 -1.27033793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.097719421 meters Centerline goodness [0,1] 0.9624524811449249 Centerline is valid? [True, True] Translation: X:23.82, Y:0.60, Z:-1.27 [[ 9.99704993e-01 -2.77269732e-03 -2.41296115e-02 2.38249576e+01] [ 2.78011182e-03 9.99996098e-01 2.73737003e-04 5.95679229e-01] [ 2.41287584e-02 -3.40739267e-04 9.99708801e-01 -1.26851824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.127719421 meters Centerline goodness [0,1] 0.952342175444311 Centerline is valid? [True, True] Translation: X:23.85, Y:0.59, Z:-1.28 [[ 9.99675491e-01 -6.35038024e-03 -2.46695190e-02 2.38525007e+01] [ 6.35912032e-03 9.99979743e-01 2.75851608e-04 5.88846980e-01] [ 2.46672675e-02 -4.32638532e-04 9.99695623e-01 -1.27508949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.157719421 meters Centerline goodness [0,1] 0.9528096738136368 Centerline is valid? [True, True] Translation: X:23.88, Y:0.59, Z:-1.27 [[ 9.99525203e-01 -1.15755414e-02 -2.85547836e-02 2.38829531e+01] [ 1.15893896e-02 9.99932790e-01 3.19509542e-04 5.88548042e-01] [ 2.85491659e-02 -6.50290351e-04 9.99592178e-01 -1.27346152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.187719421 meters Centerline goodness [0,1] 0.9488327405045177 Centerline is valid? [True, False] Translation: X:23.88, Y:0.59, Z:-1.27 [[ 9.99517209e-01 -1.16916249e-02 -2.87863552e-02 2.38837947e+01] [ 1.17132575e-02 9.99931228e-01 5.82971819e-04 5.87262871e-01] [ 2.87775596e-02 -9.19872356e-04 9.99585417e-01 -1.27393978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.217719421 meters Centerline goodness [0,1] 0.9427919484964551 Centerline is valid? [False, False] Translation: X:23.89, Y:0.58, Z:-1.28 [[ 9.99460593e-01 -1.45613317e-02 -2.94362060e-02 2.38862763e+01] [ 1.45081239e-02 9.99892711e-01 -2.02034728e-03 5.84437967e-01] [ 2.94624667e-02 1.59219337e-03 9.99564619e-01 -1.27525630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.247719421 meters Centerline goodness [0,1] 0.9414325528408976 Centerline is valid? [False, False] Translation: X:23.89, Y:0.58, Z:-1.28 [[ 9.99452754e-01 -1.45216057e-02 -2.97206223e-02 2.38874545e+01] [ 1.44758780e-02 9.99893682e-01 -1.75318313e-03 5.83592565e-01] [ 2.97429215e-02 1.32199161e-03 9.99556707e-01 -1.27600685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.277719421 meters Centerline goodness [0,1] 0.9423550230864675 Centerline is valid? [False, False] Translation: X:23.89, Y:0.59, Z:-1.28 [[ 9.99482020e-01 -1.16571736e-02 -2.99967066e-02 2.38879555e+01] [ 1.17004176e-02 9.99930746e-01 1.26649777e-03 5.85322915e-01] [ 2.99798654e-02 -1.61681574e-03 9.99549195e-01 -1.27606057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.307719421 meters Centerline goodness [0,1] 0.9454560234108275 Centerline is valid? [False, False] Translation: X:23.89, Y:0.59, Z:-1.27 [[ 9.99466595e-01 -1.19672492e-02 -3.03860106e-02 2.38873175e+01] [ 1.19831438e-02 9.99928141e-01 3.41036517e-04 5.87674171e-01] [ 3.03797458e-02 -7.04974542e-04 9.99538180e-01 -1.27427982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.337719421 meters Centerline goodness [0,1] 0.9450185775485758 Centerline is valid? [False, False] Translation: X:23.89, Y:0.59, Z:-1.27 [[ 9.99456197e-01 -1.18629920e-02 -3.07665395e-02 2.38880898e+01] [ 1.18841115e-02 9.99929255e-01 5.03669556e-04 5.87145925e-01] [ 3.07583879e-02 -8.69028645e-04 9.99526471e-01 -1.27428951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.367719421 meters Centerline goodness [0,1] 0.9452815226011102 Centerline is valid? [False, False] Translation: X:23.89, Y:0.59, Z:-1.27 [[ 9.99456840e-01 -1.15572903e-02 -3.08618614e-02 2.38883719e+01] [ 1.15912292e-02 9.99932395e-01 9.21019643e-04 5.86200438e-01] [ 3.08491305e-02 -1.27824629e-03 9.99523235e-01 -1.27439168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39771942099999 meters Centerline goodness [0,1] 0.9549628245236257 Centerline is valid? [False, True] Translation: X:23.89, Y:0.59, Z:-1.27 [[ 9.99451436e-01 -1.15174110e-02 -3.10511816e-02 2.38885128e+01] [ 1.15415725e-02 9.99933214e-01 5.98992353e-04 5.87231295e-01] [ 3.10422090e-02 -9.57043233e-04 9.99517616e-01 -1.27406030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42771942099999 meters Centerline goodness [0,1] 0.9566137135650794 Centerline is valid? [True, True] Translation: X:23.92, Y:0.59, Z:-1.27 [[ 9.99514195e-01 -9.97850757e-03 -2.95263273e-02 2.39162260e+01] [ 9.99514876e-03 9.99949961e-01 4.16062975e-04 5.90016607e-01] [ 2.95206981e-02 -7.10980882e-04 9.99563916e-01 -1.27305916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.457719421 meters Centerline goodness [0,1] 0.9588115588115588 Centerline is valid? [True, True] Translation: X:23.95, Y:0.60, Z:-1.27 [[ 9.99557785e-01 -2.10111545e-03 -2.96617447e-02 2.39455152e+01] [ 2.11439816e-03 9.99997678e-01 4.16447932e-04 6.01749695e-01] [ 2.96608008e-02 -4.78980511e-04 9.99559907e-01 -1.27395914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.487719421 meters Centerline goodness [0,1] 0.9589489300302803 Centerline is valid? [True, True] Translation: X:23.97, Y:0.61, Z:-1.28 [[ 9.99509232e-01 3.39317022e-03 -3.11413257e-02 2.39744260e+01] [-3.38145633e-03 9.99994191e-01 4.28809289e-04 6.09807120e-01] [ 3.11425998e-02 -3.23295810e-04 9.99514899e-01 -1.27527918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.517719421 meters Centerline goodness [0,1] 0.9604169201443808 Centerline is valid? [True, True] Translation: X:24.00, Y:0.63, Z:-1.28 [[ 9.99396332e-01 1.69283778e-02 -3.03381285e-02 2.40028226e+01] [-1.69236151e-02 9.99856700e-01 4.13771145e-04 6.25889473e-01] [ 3.03407856e-02 9.99094469e-05 9.99539607e-01 -1.27649961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.547719421 meters Centerline goodness [0,1] 0.9636204652676102 Centerline is valid? [True, True] Translation: X:24.03, Y:0.64, Z:-1.28 [[ 9.99196128e-01 2.74224882e-02 -2.92421702e-02 2.40306926e+01] [-2.74226841e-02 9.99623850e-01 3.94411255e-04 6.35512497e-01] [ 2.92419865e-02 4.07804598e-04 9.99572278e-01 -1.27664762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.577719421 meters Centerline goodness [0,1] 0.9625751247835388 Centerline is valid? [True, True] Translation: X:24.06, Y:0.64, Z:-1.28 [[ 9.99076011e-01 3.05582812e-02 -3.02211019e-02 2.40590982e+01] [-3.05600680e-02 9.99532851e-01 4.02866445e-04 6.39625665e-01] [ 3.02192950e-02 5.21064727e-04 9.99543157e-01 -1.27802374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.607719421 meters Centerline goodness [0,1] 0.956985750005082 Centerline is valid? [True, True] Translation: X:24.09, Y:0.65, Z:-1.28 [[ 9.98887348e-01 3.36683160e-02 -3.30228636e-02 2.40890377e+01] [-3.36722114e-02 9.99432834e-01 4.38318518e-04 6.45439152e-01] [ 3.30188916e-02 6.74122020e-04 9.99454500e-01 -1.28066394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.637719421 meters Centerline goodness [0,1] 0.9529471648172656 Centerline is valid? [True, True] Translation: X:24.12, Y:0.64, Z:-1.28 [[ 9.98809863e-01 3.31702782e-02 -3.57573889e-02 2.41168468e+01] [-3.31746537e-02 9.99449459e-01 4.71098769e-04 6.43738982e-01] [ 3.57533295e-02 7.15700898e-04 9.99360389e-01 -1.28344741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.667719421 meters Centerline goodness [0,1] 0.9539034516444155 Centerline is valid? [True, True] Translation: X:24.15, Y:0.64, Z:-1.28 [[ 9.98770869e-01 3.25735489e-02 -3.73592724e-02 2.41455815e+01] [-3.25780342e-02 9.99469075e-01 4.88855487e-04 6.38164712e-01] [ 3.73553612e-02 7.28837036e-04 9.99301779e-01 -1.28335962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.697719421 meters Centerline goodness [0,1] 0.9499410113502299 Centerline is valid? [True, False] Translation: X:24.15, Y:0.63, Z:-1.29 [[ 9.98826641e-01 3.02460065e-02 -3.78222199e-02 2.41480588e+01] [-3.03259682e-02 9.99538872e-01 -1.54210084e-03 6.34663822e-01] [ 3.77581367e-02 2.68728684e-03 9.99283294e-01 -1.28538032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.727719421 meters Centerline goodness [0,1] 0.9493658000285033 Centerline is valid? [False, False] Translation: X:24.15, Y:0.63, Z:-1.28 [[ 9.98797538e-01 3.11391732e-02 -3.78659557e-02 2.41473760e+01] [-3.11747483e-02 9.99513888e-01 -3.49276957e-04 6.31517111e-01] [ 3.78366724e-02 1.52931860e-03 9.99282766e-01 -1.28440819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75771942099999 meters Centerline goodness [0,1] 0.9538035736090195 Centerline is valid? [False, True] Translation: X:24.15, Y:0.63, Z:-1.28 [[ 9.98768065e-01 3.17457161e-02 -3.81387200e-02 2.41474246e+01] [-3.17527123e-02 9.99495666e-01 4.22422135e-04 6.29788143e-01] [ 3.81328955e-02 7.89106067e-04 9.99272365e-01 -1.28382261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78771942099999 meters Centerline goodness [0,1] 0.9507196877287143 Centerline is valid? [True, True] Translation: X:24.18, Y:0.63, Z:-1.28 [[ 9.98782938e-01 3.31958093e-02 -3.64785044e-02 2.41753662e+01] [-3.32082047e-02 9.99448420e-01 2.66210538e-04 6.26420599e-01] [ 3.64672207e-02 9.45499097e-04 9.99334402e-01 -1.28289690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81771942099999 meters Centerline goodness [0,1] 0.9508729607065461 Centerline is valid? [True, True] Translation: X:24.20, Y:0.62, Z:-1.28 [[ 9.98779896e-01 3.18634555e-02 -3.77284929e-02 2.42042474e+01] [-3.18758921e-02 9.99491798e-01 2.72003519e-04 6.21385969e-01] [ 3.77179861e-02 9.30957721e-04 9.99287990e-01 -1.28311373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.847719421 meters Centerline goodness [0,1] 0.9550088517184543 Centerline is valid? [True, True] Translation: X:24.23, Y:0.61, Z:-1.28 [[ 9.99059978e-01 2.43981569e-02 -3.58314163e-02 2.42340337e+01] [-2.44046139e-02 9.99702130e-01 2.57216432e-04 6.06805878e-01] [ 3.58270189e-02 6.17477238e-04 9.99357816e-01 -1.28319675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.877719421 meters Centerline goodness [0,1] 0.9571384897584836 Centerline is valid? [True, True] Translation: X:24.26, Y:0.60, Z:-1.28 [[ 9.99221425e-01 1.96392224e-02 -3.42176020e-02 2.42627741e+01] [-1.96424052e-02 9.99807040e-01 2.43170115e-04 5.98284234e-01] [ 3.42157750e-02 4.29135214e-04 9.99414377e-01 -1.28118658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.907719421 meters Centerline goodness [0,1] 0.9607461476074615 Centerline is valid? [True, True] Translation: X:24.29, Y:0.58, Z:-1.28 [[ 9.99511254e-01 1.12139545e-02 -2.91804820e-02 2.42919718e+01] [-1.12127187e-02 9.99937114e-01 2.05987281e-04 5.81895835e-01] [ 2.91809569e-02 1.21305931e-04 9.99574138e-01 -1.27682489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.937719421 meters Centerline goodness [0,1] 0.9605569384574909 Centerline is valid? [True, True] Translation: X:24.32, Y:0.57, Z:-1.28 [[ 9.99543229e-01 7.39660033e-03 -2.93022862e-02 2.43205376e+01] [-7.39377629e-03 9.99972645e-01 2.04726709e-04 5.73415346e-01] [ 2.93029989e-02 1.20213531e-05 9.99570575e-01 -1.27620598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.967719421 meters Centerline goodness [0,1] 0.9552540297898389 Centerline is valid? [True, True] Translation: X:24.35, Y:0.56, Z:-1.28 [[ 9.99486128e-01 5.09232240e-04 -3.20502691e-02 2.43485551e+01] [-5.02413558e-04 9.99999849e-01 2.20802555e-04 5.58849285e-01] [ 3.20503768e-02 -2.04586601e-04 9.99486234e-01 -1.27859873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.997719421 meters Centerline goodness [0,1] 0.9540552639075408 Centerline is valid? [True, True] Translation: X:24.38, Y:0.55, Z:-1.28 [[ 9.99472479e-01 -2.73732046e-03 -3.23615544e-02 2.43777261e+01] [ 2.74588670e-03 9.99996206e-01 2.20264856e-04 5.53844830e-01] [ 3.23608287e-02 -3.09009824e-04 9.99476203e-01 -1.27985129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.027719421 meters Centerline goodness [0,1] 0.9550811063847109 Centerline is valid? [True, True] Translation: X:24.41, Y:0.55, Z:-1.28 [[ 9.99412118e-01 -6.16234996e-03 -3.37260111e-02 2.44066958e+01] [ 6.17330508e-03 9.99980921e-01 2.20705511e-04 5.52535493e-01] [ 3.37240076e-02 -4.28776718e-04 9.99431092e-01 -1.27890061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.057719421 meters Centerline goodness [0,1] 0.9543891770928695 Centerline is valid? [True, True] Translation: X:24.43, Y:0.55, Z:-1.28 [[ 9.99409041e-01 -6.12550447e-03 -3.38237735e-02 2.44347091e+01] [ 6.13611414e-03 9.99981152e-01 2.09879791e-04 5.52608770e-01] [ 3.38218504e-02 -4.17302296e-04 9.99427790e-01 -1.27905383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.087719421 meters Centerline goodness [0,1] 0.9545805403209425 Centerline is valid? [True, True] Translation: X:24.46, Y:0.56, Z:-1.28 [[ 9.99402949e-01 -7.43138644e-04 -3.45426178e-02 2.44623510e+01] [ 7.50759168e-04 9.99999697e-01 2.07642275e-04 5.57121203e-01] [ 3.45424530e-02 -2.33451489e-04 9.99403204e-01 -1.27792298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.117719421 meters Centerline goodness [0,1] 0.9472139567113683 Centerline is valid? [True, False] Translation: X:24.46, Y:0.56, Z:-1.28 [[ 9.99384113e-01 4.75343333e-03 -3.47677860e-02 2.44632876e+01] [-4.59420912e-03 9.99978597e-01 4.65810477e-03 5.57520872e-01] [ 3.47891839e-02 -4.49550543e-03 9.99384562e-01 -1.27841961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14771942099999 meters Centerline goodness [0,1] 0.9528215556685308 Centerline is valid? [False, True] Translation: X:24.46, Y:0.56, Z:-1.28 [[ 9.99350536e-01 6.48583716e-03 -3.54462955e-02 2.44648383e+01] [-6.29360294e-03 9.99964892e-01 5.53214344e-03 5.57646857e-01] [ 3.54809316e-02 -5.30546560e-03 9.99356271e-01 -1.27872950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17771942099999 meters Centerline goodness [0,1] 0.9489926349747397 Centerline is valid? [True, False] Translation: X:24.47, Y:0.56, Z:-1.28 [[ 9.99317893e-01 8.38265749e-03 -3.59649800e-02 2.44661149e+01] [-8.14851128e-03 9.99944675e-01 6.65204317e-03 5.57441352e-01] [ 3.60187521e-02 -6.35444472e-03 9.99330911e-01 -1.27903416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.207719421 meters Centerline goodness [0,1] 0.9499724562871075 Centerline is valid? [False, False] Translation: X:24.47, Y:0.56, Z:-1.28 [[ 9.99251934e-01 1.45060930e-02 -3.58489162e-02 2.44663475e+01] [-1.40956140e-02 9.99832471e-01 1.16765923e-02 5.57813650e-01] [ 3.60122922e-02 -1.11625450e-02 9.99289003e-01 -1.27933648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.237719421 meters Centerline goodness [0,1] 0.9346868338239772 Centerline is valid? [False, False] Translation: X:24.47, Y:0.56, Z:-1.28 [[ 9.99089442e-01 2.29278964e-02 -3.59805389e-02 2.44673117e+01] [-2.22206694e-02 9.99554336e-01 1.99341658e-02 5.58004235e-01] [ 3.64215522e-02 -1.91165029e-02 9.99153657e-01 -1.27981140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.267719421 meters Centerline goodness [0,1] 0.9231366301039687 Centerline is valid? [False, False] Translation: X:24.47, Y:0.56, Z:-1.28 [[ 9.99066828e-01 2.35543437e-02 -3.62031251e-02 2.44676622e+01] [-2.28361058e-02 9.99536616e-01 2.01262512e-02 5.58596924e-01] [ 3.66604097e-02 -1.92807316e-02 9.99141766e-01 -1.27969420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.297719421 meters Centerline goodness [0,1] 0.8875386157654617 Centerline is valid? [False, False] Translation: X:24.47, Y:0.56, Z:-1.28 [[ 9.99020751e-01 2.49503219e-02 -3.65379242e-02 2.44692659e+01] [-2.41921008e-02 9.99485713e-01 2.10488010e-02 5.57539013e-01] [ 3.70443076e-02 -2.01442598e-02 9.99110568e-01 -1.28081949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.327719421 meters Centerline goodness [0,1] 0.8670471919274284 Centerline is valid? [False, False] Translation: X:24.47, Y:0.56, Z:-1.28 [[ 9.98999046e-01 2.53170817e-02 -3.68775095e-02 2.44703614e+01] [-2.45407874e-02 9.99470751e-01 2.13533783e-02 5.56364909e-01] [ 3.73985974e-02 -2.04270015e-02 9.99091629e-01 -1.28133016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.357719421 meters Centerline goodness [0,1] 0.8347732619453233 Centerline is valid? [False, False] Translation: X:24.48, Y:0.55, Z:-1.28 [[ 9.99169487e-01 2.45490384e-02 -3.25219955e-02 2.44759982e+01] [-2.42618802e-02 9.99663349e-01 9.19511763e-03 5.54420934e-01] [ 3.27367782e-02 -8.39843621e-03 9.99428722e-01 -1.28030089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.387719421 meters Centerline goodness [0,1] 0.8240454286412114 Centerline is valid? [False, False] Translation: X:24.47, Y:0.55, Z:-1.28 [[ 9.99189337e-01 2.38913960e-02 -3.24017105e-02 2.44735393e+01] [-2.36178930e-02 9.99682348e-01 8.79768220e-03 5.51642535e-01] [ 3.26016069e-02 -8.02529010e-03 9.99436206e-01 -1.27780037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.417719421 meters Centerline goodness [0,1] 0.8267181781211874 Centerline is valid? [False, False] Translation: X:24.47, Y:0.55, Z:-1.28 [[ 9.99251639e-01 2.04748862e-02 -3.28167853e-02 2.44741397e+01] [-2.03155859e-02 9.99780196e-01 5.18037598e-03 5.51809697e-01] [ 3.29156397e-02 -4.50980697e-03 9.99447959e-01 -1.27777145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.447719421 meters Centerline goodness [0,1] 0.8459298774280246 Centerline is valid? [False, False] Translation: X:24.47, Y:0.55, Z:-1.28 [[ 9.99316301e-01 1.70289255e-02 -3.28168718e-02 2.44736056e+01] [-1.69346478e-02 9.99851641e-01 3.14866917e-03 5.46475160e-01] [ 3.28656216e-02 -2.59077426e-03 9.99456422e-01 -1.27712010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.477719421 meters Centerline goodness [0,1] 0.9081953169617362 Centerline is valid? [False, False] Translation: X:24.47, Y:0.54, Z:-1.28 [[ 9.99362198e-01 1.37432295e-02 -3.29593948e-02 2.44736714e+01] [-1.37361095e-02 9.99905557e-01 4.42453887e-04 5.43168124e-01] [ 3.29623627e-02 1.05621663e-05 9.99456594e-01 -1.27698192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50771942099999 meters Centerline goodness [0,1] 0.87661183202207 Centerline is valid? [False, False] Translation: X:24.47, Y:0.54, Z:-1.28 [[ 9.99397073e-01 1.04020560e-02 -3.31253218e-02 2.44745128e+01] [-1.04808869e-02 9.99942638e-01 -2.20702381e-03 5.39877672e-01] [ 3.31004641e-02 2.55287589e-03 9.99448769e-01 -1.27766894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53771942099999 meters Centerline goodness [0,1] 0.9430379746835443 Centerline is valid? [False, False] Translation: X:24.48, Y:0.53, Z:-1.28 [[ 9.99425145e-01 2.83154544e-03 -3.37840387e-02 2.44786204e+01] [-3.09734023e-03 9.99964644e-01 -7.81772671e-03 5.33603738e-01] [ 3.37607080e-02 7.91787331e-03 9.99398580e-01 -1.28128290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56771942099999 meters Centerline goodness [0,1] 0.9490011798689939 Centerline is valid? [False, False] Translation: X:24.48, Y:0.53, Z:-1.28 [[ 9.99415256e-01 -8.83192097e-04 -3.41813681e-02 2.44805252e+01] [ 5.24099270e-04 9.99944599e-01 -1.05130479e-02 5.30361441e-01] [ 3.41887594e-02 1.04889861e-02 9.99360350e-01 -1.28259656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.597719421 meters Centerline goodness [0,1] 0.947794357469015 Centerline is valid? [False, False] Translation: X:24.48, Y:0.52, Z:-1.28 [[ 9.99369000e-01 -8.74449157e-03 -3.44258107e-02 2.44804020e+01] [ 8.18278431e-03 9.99831638e-01 -1.64236761e-02 5.24190586e-01] [ 3.45636314e-02 1.61316138e-02 9.99272298e-01 -1.28169715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.627719421 meters Centerline goodness [0,1] 0.9450672417651726 Centerline is valid? [False, False] Translation: X:24.48, Y:0.52, Z:-1.28 [[ 9.99262263e-01 -1.64466203e-02 -3.47050071e-02 2.44808853e+01] [ 1.56727668e-02 9.99625032e-01 -2.24535037e-02 5.18209757e-01] [ 3.50612780e-02 2.18930154e-02 9.99145336e-01 -1.28133981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.657719421 meters Centerline goodness [0,1] 0.9489482776140636 Centerline is valid? [False, False] Translation: X:24.48, Y:0.52, Z:-1.28 [[ 9.99182456e-01 -2.02975460e-02 -3.49632640e-02 2.44819282e+01] [ 1.94027730e-02 9.99480260e-01 -2.57437707e-02 5.16208479e-01] [ 3.54676276e-02 2.50443397e-02 9.99056970e-01 -1.28180426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.687719421 meters Centerline goodness [0,1] 0.9489482776140636 Centerline is valid? [False, False] Translation: X:24.48, Y:0.52, Z:-1.28 [[ 9.99182456e-01 -2.02975460e-02 -3.49632640e-02 2.44819282e+01] [ 1.94027730e-02 9.99480260e-01 -2.57437707e-02 5.16208479e-01] [ 3.54676276e-02 2.50443397e-02 9.99056970e-01 -1.28180426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.717719421 meters Centerline goodness [0,1] 0.9455922583806297 Centerline is valid? [False, False] Translation: X:24.48, Y:0.51, Z:-1.28 [[ 9.99171741e-01 -2.06073015e-02 -3.50880415e-02 2.44827081e+01] [ 1.97268080e-02 9.99486316e-01 -2.52578007e-02 5.14754523e-01] [ 3.55905124e-02 2.45447057e-02 9.99064999e-01 -1.28233767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.747719421 meters Centerline goodness [0,1] 0.9467183041174072 Centerline is valid? [False, False] Translation: X:24.48, Y:0.52, Z:-1.28 [[ 9.99231463e-01 -1.64829922e-02 -3.55639499e-02 2.44832874e+01] [ 1.57399858e-02 9.99654054e-01 -2.10719277e-02 5.15011275e-01] [ 3.58989751e-02 2.04959570e-02 9.99145224e-01 -1.28204616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.777719421 meters Centerline goodness [0,1] 0.9532599837000815 Centerline is valid? [False, True] Translation: X:24.49, Y:0.51, Z:-1.28 [[ 9.99622523e-01 -8.52716614e-03 -2.61170187e-02 2.44879133e+01] [ 8.32191042e-03 9.99933708e-01 -7.95771391e-03 5.13919659e-01] [ 2.61831441e-02 7.73736656e-03 9.99627219e-01 -1.28385291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.807719421 meters Centerline goodness [0,1] 0.9544549628245236 Centerline is valid? [True, True] Translation: X:24.52, Y:0.52, Z:-1.28 [[ 9.99670530e-01 -3.55127440e-03 -2.54208671e-02 2.45165970e+01] [ 3.53821429e-03 9.99993584e-01 -5.58716686e-04 5.16368380e-01] [ 2.54226882e-02 4.68588130e-04 9.99676681e-01 -1.28245659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.837719421 meters Centerline goodness [0,1] 0.9523056332887212 Centerline is valid? [True, True] Translation: X:24.54, Y:0.52, Z:-1.28 [[ 9.99701947e-01 5.64218725e-03 -2.37525321e-02 2.45446392e+01] [-5.65621249e-03 9.99983867e-01 -5.23329885e-04 5.23815503e-01] [ 2.37491962e-02 6.57523274e-04 9.99717732e-01 -1.28099214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.867719421 meters Centerline goodness [0,1] 0.932579222476315 Centerline is valid? [True, False] Translation: X:24.55, Y:0.53, Z:-1.28 [[ 9.99622868e-01 1.32995645e-02 -2.40259036e-02 2.45471786e+01] [-1.31441831e-02 9.99891739e-01 6.61364052e-03 5.25285275e-01] [ 2.41112611e-02 -6.29534543e-03 9.99689460e-01 -1.28322256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89771942099999 meters Centerline goodness [0,1] 0.9023070061628284 Centerline is valid? [False, False] Translation: X:24.55, Y:0.53, Z:-1.28 [[ 9.99554492e-01 1.74165662e-02 -2.42379899e-02 2.45483853e+01] [-1.71655698e-02 9.99797260e-01 1.05253282e-02 5.26112180e-01] [ 2.44163909e-02 -1.01045802e-02 9.99650808e-01 -1.28402375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92771942099999 meters Centerline goodness [0,1] 0.8624105668684645 Centerline is valid? [False, False] Translation: X:24.55, Y:0.52, Z:-1.28 [[ 9.99527932e-01 1.85588466e-02 -2.44843421e-02 2.45486606e+01] [-1.82841277e-02 9.99767875e-01 1.13967652e-02 5.24833371e-01] [ 2.46901695e-02 -1.09437104e-02 9.99635249e-01 -1.28376788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.957719421 meters Centerline goodness [0,1] 0.8534477499644142 Centerline is valid? [False, False] Translation: X:24.55, Y:0.52, Z:-1.28 [[ 9.99576026e-01 1.51027445e-02 -2.48932968e-02 2.45495464e+01] [-1.49078322e-02 9.99856892e-01 7.99699494e-03 5.22893684e-01] [ 2.50105110e-02 -7.62249933e-03 9.99658127e-01 -1.28403838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.987719421 meters Centerline goodness [0,1] 0.8708911132316813 Centerline is valid? [False, False] Translation: X:24.55, Y:0.52, Z:-1.28 [[ 9.99615681e-01 1.14651245e-02 -2.52396632e-02 2.45506665e+01] [-1.13503847e-02 9.99924609e-01 4.68459439e-03 5.20451924e-01] [ 2.52914698e-02 -4.39631413e-03 9.99670453e-01 -1.28466912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.017719421 meters Centerline goodness [0,1] 0.930448254071794 Centerline is valid? [False, False] Translation: X:24.55, Y:0.52, Z:-1.29 [[ 9.99662918e-01 6.96072991e-03 -2.50119580e-02 2.45507813e+01] [-6.92352796e-03 9.99974794e-01 1.57365895e-03 5.16934066e-01] [ 2.50222813e-02 -1.39995751e-03 9.99685913e-01 -1.28529228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.047719421 meters Centerline goodness [0,1] 0.9447016774298364 Centerline is valid? [False, False] Translation: X:24.56, Y:0.51, Z:-1.29 [[ 9.99795473e-01 1.75242522e-03 -2.01479985e-02 2.45587581e+01] [-1.61297966e-03 9.99974650e-01 6.93523188e-03 5.14432560e-01] [ 2.01596412e-02 -6.90131513e-03 9.99772955e-01 -1.28663488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.077719421 meters Centerline goodness [0,1] 0.9473139237422341 Centerline is valid? [False, False] Translation: X:24.56, Y:0.51, Z:-1.29 [[ 9.99790817e-01 -1.93034354e-03 -2.03616411e-02 2.45594129e+01] [ 2.00131772e-03 9.99991991e-01 3.46587992e-03 5.12992792e-01] [ 2.03547877e-02 -3.50590503e-03 9.99786673e-01 -1.28687011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.107719421 meters Centerline goodness [0,1] 0.9440251572327044 Centerline is valid? [False, False] Translation: X:24.56, Y:0.51, Z:-1.29 [[ 9.99754215e-01 -7.39393297e-03 -2.09006944e-02 2.45619420e+01] [ 7.36665602e-03 9.99971911e-01 -1.38176633e-03 5.06908849e-01] [ 2.09103241e-02 1.22745848e-03 9.99780602e-01 -1.28848159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.137719421 meters Centerline goodness [0,1] 0.9434502650768825 Centerline is valid? [False, False] Translation: X:24.56, Y:0.50, Z:-1.29 [[ 9.99748960e-01 -7.19297002e-03 -2.12197627e-02 2.45622829e+01] [ 7.18667738e-03 9.99974106e-01 -3.72790648e-04 5.03529448e-01] [ 2.12218947e-02 2.20197475e-04 9.99774766e-01 -1.28807004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.167719421 meters Centerline goodness [0,1] 0.9447696355367012 Centerline is valid? [False, False] Translation: X:24.56, Y:0.50, Z:-1.29 [[ 9.99743236e-01 -7.27696463e-03 -2.14594357e-02 2.45626294e+01] [ 7.27759812e-03 9.99973517e-01 -4.85764907e-05 5.03105482e-01] [ 2.14592209e-02 -1.07609131e-04 9.99769719e-01 -1.28787973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.197719421 meters Centerline goodness [0,1] 0.9436075704905369 Centerline is valid? [False, False] Translation: X:24.57, Y:0.50, Z:-1.29 [[ 9.99742250e-01 -6.25712020e-03 -2.18238773e-02 2.45650706e+01] [ 6.28202367e-03 9.99979692e-01 1.07274009e-03 5.04222750e-01] [ 2.18167218e-02 -1.20956171e-03 9.99761255e-01 -1.28975626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.227719421 meters Centerline goodness [0,1] 0.9438486318965869 Centerline is valid? [False, False] Translation: X:24.56, Y:0.50, Z:-1.29 [[ 9.99739330e-01 -6.49254842e-03 -2.18887705e-02 2.45646962e+01] [ 6.52285939e-03 9.99977863e-01 1.31365870e-03 5.03264441e-01] [ 2.18797570e-02 -1.45609364e-03 9.99759549e-01 -1.28907902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25771942099999 meters Centerline goodness [0,1] 0.9417878144397256 Centerline is valid? [False, False] Translation: X:24.57, Y:0.50, Z:-1.29 [[ 9.99734375e-01 -6.63457425e-03 -2.20717286e-02 2.45650867e+01] [ 6.67866010e-03 9.99975846e-01 1.92427516e-03 5.00113654e-01] [ 2.20584288e-02 -2.07117359e-03 9.99754538e-01 -1.28898487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28771942099999 meters Centerline goodness [0,1] 0.9384788157223073 Centerline is valid? [False, False] Translation: X:24.57, Y:0.50, Z:-1.29 [[ 9.99649233e-01 -1.39863216e-02 -2.24898757e-02 2.45671555e+01] [ 1.38849336e-02 9.99892750e-01 -4.65802387e-03 4.96548799e-01] [ 2.25526123e-02 4.34411955e-03 9.99736219e-01 -1.29030233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31771942099999 meters Centerline goodness [0,1] 0.9434881918668678 Centerline is valid? [False, False] Translation: X:24.57, Y:0.50, Z:-1.29 [[ 9.99621800e-01 -2.23443020e-02 -1.60308653e-02 2.45655586e+01] [ 2.23914597e-02 9.99745447e-01 2.76822711e-03 4.95016333e-01] [ 1.59649305e-02 -3.12613464e-03 9.99867665e-01 -1.29061099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.347719421 meters Centerline goodness [0,1] 0.9515229253196514 Centerline is valid? [False, True] Translation: X:24.57, Y:0.49, Z:-1.29 [[ 9.99591309e-01 -2.34913194e-02 -1.62902965e-02 2.45659250e+01] [ 2.35370086e-02 9.99719537e-01 2.61863137e-03 4.94196527e-01] [ 1.62242126e-02 -3.00098600e-03 9.99863875e-01 -1.29017718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.377719421 meters Centerline goodness [0,1] 0.9535039746274422 Centerline is valid? [True, True] Translation: X:24.59, Y:0.48, Z:-1.29 [[ 9.99369885e-01 -3.31646570e-02 -1.26466684e-02 2.45935321e+01] [ 3.31642449e-02 9.99449886e-01 -2.42360907e-04 4.83583224e-01] [ 1.26477491e-02 -1.77209015e-04 9.99919998e-01 -1.28807617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.407719421 meters Centerline goodness [0,1] 0.9499095730629331 Centerline is valid? [True, False] Translation: X:24.59, Y:0.48, Z:-1.29 [[ 9.99350151e-01 -3.37404905e-02 -1.26828472e-02 2.45926583e+01] [ 3.37462109e-02 9.99430406e-01 2.37236885e-04 4.80915049e-01] [ 1.26676186e-02 -6.65080752e-04 9.99919541e-01 -1.28658677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.437719421 meters Centerline goodness [0,1] 0.9457718339721113 Centerline is valid? [False, False] Translation: X:24.59, Y:0.48, Z:-1.29 [[ 9.99280362e-01 -3.58161503e-02 -1.24884916e-02 2.45922961e+01] [ 3.58143300e-02 9.99358393e-01 -3.69444844e-04 4.79783236e-01] [ 1.24937110e-02 -7.80879813e-05 9.99921947e-01 -1.28611026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.467719421 meters Centerline goodness [0,1] 0.9485657159179011 Centerline is valid? [False, False] Translation: X:24.59, Y:0.48, Z:-1.29 [[ 9.99251332e-01 -3.64975938e-02 -1.28336318e-02 2.45940256e+01] [ 3.64907019e-02 9.99333695e-01 -7.70849390e-04 4.80286286e-01] [ 1.28532149e-02 3.01964046e-04 9.99917348e-01 -1.28736830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.497719421 meters Centerline goodness [0,1] 0.9306251272653228 Centerline is valid? [False, False] Translation: X:24.60, Y:0.48, Z:-1.29 [[ 9.99174297e-01 -3.84324342e-02 -1.31784851e-02 2.45971788e+01] [ 3.84024792e-02 9.99259178e-01 -2.51868726e-03 4.82076381e-01] [ 1.32655215e-02 2.01052107e-03 9.99909988e-01 -1.29028787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.527719421 meters Centerline goodness [0,1] 0.935177429569552 Centerline is valid? [False, False] Translation: X:24.60, Y:0.49, Z:-1.29 [[ 9.99131489e-01 -3.94226693e-02 -1.34951845e-02 2.45991255e+01] [ 3.93703540e-02 9.99216191e-01 -4.12065940e-03 4.85721841e-01] [ 1.36470542e-02 3.58577037e-03 9.99900445e-01 -1.29192295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.557719421 meters Centerline goodness [0,1] 0.9235143066764491 Centerline is valid? [False, False] Translation: X:24.60, Y:0.49, Z:-1.29 [[ 9.99224813e-01 -3.67684912e-02 -1.40659899e-02 2.46003942e+01] [ 3.67566844e-02 9.99323643e-01 -1.09707449e-03 4.86454123e-01] [ 1.40968140e-02 5.79204902e-04 9.99900467e-01 -1.29233211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.587719421 meters Centerline goodness [0,1] 0.902344867028882 Centerline is valid? [False, False] Translation: X:24.60, Y:0.49, Z:-1.29 [[ 9.99236145e-01 -3.65398779e-02 -1.38551263e-02 2.45980598e+01] [ 3.65268081e-02 9.99331959e-01 -1.19528362e-03 4.93039467e-01] [ 1.38895460e-02 6.88287061e-04 9.99903299e-01 -1.29011109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.617719421 meters Centerline goodness [0,1] 0.8924520203568582 Centerline is valid? [False, False] Translation: X:24.60, Y:0.50, Z:-1.29 [[ 9.99252503e-01 -3.58993075e-02 -1.43413742e-02 2.45996678e+01] [ 3.58914291e-02 9.99355370e-01 -8.06435376e-04 4.99393239e-01] [ 1.43610798e-02 2.91100153e-04 9.99896832e-01 -1.29111725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64771942099999 meters Centerline goodness [0,1] 0.8366817754910367 Centerline is valid? [False, False] Translation: X:24.60, Y:0.50, Z:-1.29 [[ 9.99222784e-01 -3.65772467e-02 -1.46946276e-02 2.46029731e+01] [ 3.65571387e-02 9.99330227e-01 -1.63477106e-03 5.01830295e-01] [ 1.47445809e-02 1.09630695e-03 9.99890692e-01 -1.29410707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67771942099999 meters Centerline goodness [0,1] 0.8375161072590047 Centerline is valid? [False, False] Translation: X:24.61, Y:0.50, Z:-1.30 [[ 9.99173163e-01 -3.77743189e-02 -1.50363495e-02 2.46050611e+01] [ 3.77311329e-02 9.99282976e-01 -3.14560580e-03 5.04795715e-01] [ 1.51443912e-02 2.57566640e-03 9.99882000e-01 -1.29577706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.707719421 meters Centerline goodness [0,1] 0.783676461604252 Centerline is valid? [False, False] Translation: X:24.60, Y:0.51, Z:-1.30 [[ 9.99102770e-01 -3.95780915e-02 -1.50741270e-02 2.46049514e+01] [ 3.95021242e-02 9.99205406e-01 -5.30453877e-03 5.14792848e-01] [ 1.52720927e-02 4.70431934e-03 9.99872308e-01 -1.29553586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.737719421 meters Centerline goodness [0,1] 0.802440120984223 Centerline is valid? [False, False] Translation: X:24.60, Y:0.52, Z:-1.29 [[ 9.99169491e-01 -3.78813196e-02 -1.50111472e-02 2.46033037e+01] [ 3.78291451e-02 9.99277205e-01 -3.74464787e-03 5.19121082e-01] [ 1.51421495e-02 3.17367904e-03 9.99880314e-01 -1.29389594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.767719421 meters Centerline goodness [0,1] 0.773879500367377 Centerline is valid? [False, False] Translation: X:24.60, Y:0.53, Z:-1.29 [[ 9.99198703e-01 -3.71450088e-02 -1.49063520e-02 2.46011948e+01] [ 3.70883168e-02 9.99303736e-01 -4.06189604e-03 5.28205525e-01] [ 1.50468524e-02 3.50578975e-03 9.99880644e-01 -1.29172611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.797719421 meters Centerline goodness [0,1] 0.7700324934093556 Centerline is valid? [False, False] Translation: X:24.60, Y:0.54, Z:-1.29 [[ 9.99343954e-01 -3.31317013e-02 -1.46271260e-02 2.45994364e+01] [ 3.31204378e-02 9.99450856e-01 -1.01167877e-03 5.36705658e-01] [ 1.46526122e-02 5.26558242e-04 9.99892506e-01 -1.29060732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.827719421 meters Centerline goodness [0,1] 0.771858537182995 Centerline is valid? [False, False] Translation: X:24.60, Y:0.54, Z:-1.29 [[ 9.99416079e-01 -3.06781494e-02 -1.50450019e-02 2.46012468e+01] [ 3.06964192e-02 9.99528269e-01 9.84868976e-04 5.40098853e-01] [ 1.50076907e-02 -1.44612157e-03 9.99886333e-01 -1.29200825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.857719421 meters Centerline goodness [0,1] 0.7408338956710222 Centerline is valid? [False, False] Translation: X:24.60, Y:0.55, Z:-1.29 [[ 9.99498357e-01 -2.77482798e-02 -1.52665581e-02 2.46038406e+01] [ 2.77948883e-02 9.99609587e-01 2.84927868e-03 5.48514225e-01] [ 1.51815352e-02 -3.27218164e-03 9.99879400e-01 -1.29486618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.887719421 meters Centerline goodness [0,1] 0.7691679761637518 Centerline is valid? [False, False] Translation: X:24.60, Y:0.55, Z:-1.29 [[ 9.99553523e-01 -2.55567566e-02 -1.54792646e-02 2.46038590e+01] [ 2.56289846e-02 9.99661459e-01 4.48582161e-03 5.53045950e-01] [ 1.53593812e-02 -4.88053663e-03 9.99870126e-01 -1.29455423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.917719421 meters Centerline goodness [0,1] 0.7703011041844925 Centerline is valid? [False, False] Translation: X:24.60, Y:0.56, Z:-1.29 [[ 9.99573805e-01 -2.47102206e-02 -1.55438975e-02 2.46019175e+01] [ 2.47673898e-02 9.99687128e-01 3.49620769e-03 5.64135130e-01] [ 1.54526422e-02 -3.87969940e-03 9.99873074e-01 -1.29215714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.947719421 meters Centerline goodness [0,1] 0.7699436596717564 Centerline is valid? [False, False] Translation: X:24.60, Y:0.57, Z:-1.29 [[ 9.99618577e-01 -2.29587370e-02 -1.53491615e-02 2.46005458e+01] [ 2.30338480e-02 9.99723474e-01 4.73472166e-03 5.69096822e-01] [ 1.52362138e-02 -5.08646598e-03 9.99870985e-01 -1.29107086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.977719421 meters Centerline goodness [0,1] 0.7681313079824651 Centerline is valid? [False, False] Translation: X:24.60, Y:0.58, Z:-1.29 [[ 9.99578419e-01 -2.52492974e-02 -1.43337764e-02 2.45965045e+01] [ 2.52628422e-02 9.99680551e-01 7.64645450e-04 5.82796360e-01] [ 1.43098907e-02 -1.12643502e-03 9.99896974e-01 -1.28835423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00771942099999 meters Centerline goodness [0,1] 0.7300684764000978 Centerline is valid? [False, False] Translation: X:24.60, Y:0.59, Z:-1.29 [[ 9.99615287e-01 -2.37367579e-02 -1.43473102e-02 2.45968858e+01] [ 2.37670467e-02 9.99715633e-01 1.94428343e-03 5.87316311e-01] [ 1.42970793e-02 -2.28452863e-03 9.99895182e-01 -1.28882543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03771942099999 meters Centerline goodness [0,1] 0.7091347135448569 Centerline is valid? [False, False] Translation: X:24.60, Y:0.60, Z:-1.29 [[ 9.99614101e-01 -2.38423089e-02 -1.42545991e-02 2.45990354e+01] [ 2.38495133e-02 9.99715504e-01 3.35607088e-04 5.99304702e-01] [ 1.42425420e-02 -6.75442827e-04 9.99898342e-01 -1.29171689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06771942099999 meters Centerline goodness [0,1] 0.7491110475334124 Centerline is valid? [False, False] Translation: X:24.60, Y:0.61, Z:-1.29 [[ 9.99659566e-01 -2.18432694e-02 -1.42696502e-02 2.46002096e+01] [ 2.18656129e-02 9.99759922e-01 1.41164988e-03 6.05803217e-01] [ 1.42353894e-02 -1.72318396e-03 9.99897187e-01 -1.29312811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.097719421 meters Centerline goodness [0,1] 0.6936592508236059 Centerline is valid? [False, False] Translation: X:24.60, Y:0.62, Z:-1.29 [[ 9.99699156e-01 -1.95321899e-02 -1.48354654e-02 2.46018091e+01] [ 1.95712179e-02 9.99805364e-01 2.49010087e-03 6.22760158e-01] [ 1.47839407e-02 -2.77969986e-03 9.99886848e-01 -1.29381277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.127719421 meters Centerline goodness [0,1] 0.7490729799111691 Centerline is valid? [False, False] Translation: X:24.60, Y:0.63, Z:-1.29 [[ 9.99741431e-01 -1.70689906e-02 -1.50239783e-02 2.46020486e+01] [ 1.71240378e-02 9.99847096e-01 3.54296815e-03 6.31141894e-01] [ 1.49612062e-02 -3.79932322e-03 9.99880857e-01 -1.29368209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.157719421 meters Centerline goodness [0,1] 0.7545302424291894 Centerline is valid? [False, False] Translation: X:24.60, Y:0.65, Z:-1.29 [[ 9.99811855e-01 -1.21741946e-02 -1.51010926e-02 2.46026008e+01] [ 1.22348188e-02 9.99917434e-01 3.92869025e-03 6.48897871e-01] [ 1.50520171e-02 -4.11271022e-03 9.99878254e-01 -1.29389902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.187719421 meters Centerline goodness [0,1] 0.7917889758643183 Centerline is valid? [False, False] Translation: X:24.60, Y:0.66, Z:-1.29 [[ 9.99866583e-01 -6.65764563e-03 -1.49161322e-02 2.46023573e+01] [ 6.73216762e-03 9.99965080e-01 4.95143734e-03 6.63447489e-01] [ 1.48826464e-02 -5.05119463e-03 9.99876489e-01 -1.29302180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.217719421 meters Centerline goodness [0,1] 0.8111254058690192 Centerline is valid? [False, False] Translation: X:24.60, Y:0.67, Z:-1.29 [[ 9.99878890e-01 -3.67013043e-03 -1.51240232e-02 2.46024918e+01] [ 3.77062444e-03 9.99970969e-01 6.62151170e-03 6.68854897e-01] [ 1.50992823e-02 -6.67773678e-03 9.99863700e-01 -1.29258860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.247719421 meters Centerline goodness [0,1] 0.8829030746347725 Centerline is valid? [False, False] Translation: X:24.60, Y:0.68, Z:-1.29 [[ 9.99881624e-01 2.63161888e-03 -1.51595774e-02 2.46025278e+01] [-2.47587998e-03 9.99944064e-01 1.02829240e-02 6.79085709e-01] [ 1.51857902e-02 -1.02441735e-02 9.99832210e-01 -1.29214420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.277719421 meters Centerline goodness [0,1] 0.8921668155607894 Centerline is valid? [False, False] Translation: X:24.60, Y:0.68, Z:-1.29 [[ 9.99864619e-01 5.79015772e-03 -1.54018638e-02 2.46031195e+01] [-5.60166048e-03 9.99909230e-01 1.22537129e-02 6.84884263e-01] [ 1.54714167e-02 -1.21657779e-02 9.99806296e-01 -1.29209056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.307719421 meters Centerline goodness [0,1] 0.9240209090537836 Centerline is valid? [False, False] Translation: X:24.61, Y:0.70, Z:-1.29 [[ 9.99779507e-01 1.37100740e-02 -1.59050466e-02 2.46066242e+01] [-1.34181780e-02 9.99742201e-01 1.83162096e-02 6.95208899e-01] [ 1.61520629e-02 -1.80987542e-02 9.99705730e-01 -1.29478326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.337719421 meters Centerline goodness [0,1] 0.9405528826551415 Centerline is valid? [False, False] Translation: X:24.61, Y:0.70, Z:-1.30 [[ 9.99728906e-01 1.65339733e-02 -1.63933640e-02 2.46091666e+01] [-1.61989890e-02 9.99661463e-01 2.03605763e-02 6.98433812e-01] [ 1.67244555e-02 -2.00895007e-02 9.99658294e-01 -1.29644039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.367719421 meters Centerline goodness [0,1] 0.9470406252544167 Centerline is valid? [False, False] Translation: X:24.61, Y:0.70, Z:-1.30 [[ 9.99655097e-01 2.04413043e-02 -1.64875639e-02 2.46099582e+01] [-2.00640500e-02 9.99540265e-01 2.27308831e-02 7.02751033e-01] [ 1.69446329e-02 -2.23922359e-02 9.99605656e-01 -1.29680576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39771942099999 meters Centerline goodness [0,1] 0.9507596558667399 Centerline is valid? [False, True] Translation: X:24.61, Y:0.71, Z:-1.30 [[ 9.99573220e-01 2.41028728e-02 -1.65054473e-02 2.46105573e+01] [-2.36923903e-02 9.99415868e-01 2.46291227e-02 7.08787578e-01] [ 1.70894386e-02 -2.42275580e-02 9.99560392e-01 -1.29701794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42771942099999 meters Centerline goodness [0,1] 0.9492254035201557 Centerline is valid? [True, False] Translation: X:24.61, Y:0.71, Z:-1.30 [[ 9.99559905e-01 2.43597189e-02 -1.69292777e-02 2.46115540e+01] [-2.39557292e-02 9.99432768e-01 2.36699355e-02 7.12718881e-01] [ 1.74962678e-02 -2.32539653e-02 9.99576477e-01 -1.29690667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.457719421 meters Centerline goodness [0,1] 0.9522504415616054 Centerline is valid? [False, True] Translation: X:24.61, Y:0.72, Z:-1.30 [[ 9.99549174e-01 2.46040706e-02 -1.72072500e-02 2.46123602e+01] [-2.42111549e-02 9.99449532e-01 2.26815443e-02 7.16776669e-01] [ 1.77558362e-02 -2.22547114e-02 9.99594647e-01 -1.29693395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.487719421 meters Centerline goodness [0,1] 0.9508917664304911 Centerline is valid? [True, True] Translation: X:24.64, Y:0.74, Z:-1.29 [[ 9.99282068e-01 3.12747108e-02 -2.13832050e-02 2.46417614e+01] [-3.12610047e-02 9.99510780e-01 9.75023438e-04 7.36214595e-01] [ 2.14032375e-02 -3.05862963e-04 9.99770878e-01 -1.29377260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.517719421 meters Centerline goodness [0,1] 0.9472691504248889 Centerline is valid? [True, False] Translation: X:24.64, Y:0.74, Z:-1.29 [[ 9.99257639e-01 3.16802505e-02 -2.19210469e-02 2.46436797e+01] [-3.16778247e-02 9.99498027e-01 4.57986391e-04 7.38605928e-01] [ 2.19245522e-02 2.36764682e-04 9.99759600e-01 -1.29455082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.547719421 meters Centerline goodness [0,1] 0.9478449244855 Centerline is valid? [False, False] Translation: X:24.64, Y:0.74, Z:-1.29 [[ 9.99236171e-01 3.22699920e-02 -2.20391038e-02 2.46436777e+01] [-3.22763077e-02 9.99478982e-01 6.91778235e-05 7.39609772e-01] [ 2.20298534e-02 6.42215911e-04 9.99757107e-01 -1.29391997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.577719421 meters Centerline goodness [0,1] 0.9478449244855 Centerline is valid? [False, False] Translation: X:24.64, Y:0.74, Z:-1.29 [[ 9.99236171e-01 3.22699920e-02 -2.20391038e-02 2.46436777e+01] [-3.22763077e-02 9.99478982e-01 6.91778235e-05 7.39609772e-01] [ 2.20298534e-02 6.42215911e-04 9.99757107e-01 -1.29391997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.607719421 meters Centerline goodness [0,1] 0.9489402306318012 Centerline is valid? [False, False] Translation: X:24.65, Y:0.74, Z:-1.30 [[ 9.99414920e-01 2.98521885e-02 -1.66932464e-02 2.46540619e+01] [-2.97323966e-02 9.99530658e-01 7.37884561e-03 7.36704764e-01] [ 1.69056862e-02 -6.87819817e-03 9.99833430e-01 -1.29652274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.637719421 meters Centerline goodness [0,1] 0.950473712031879 Centerline is valid? [False, True] Translation: X:24.65, Y:0.74, Z:-1.30 [[ 9.99516728e-01 2.59847927e-02 -1.70616868e-02 2.46536621e+01] [-2.59376299e-02 9.99659122e-01 2.97977822e-03 7.38398433e-01] [ 1.71332997e-02 -2.53579846e-03 9.99849999e-01 -1.29512110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.667719421 meters Centerline goodness [0,1] 0.9502180380649631 Centerline is valid? [True, True] Translation: X:24.68, Y:0.74, Z:-1.29 [[ 9.99561849e-01 2.39329099e-02 -1.74162244e-02 2.46808905e+01] [-2.39259951e-02 9.99713549e-01 6.05320599e-04 7.35331808e-01] [ 1.74257226e-02 -1.88354878e-04 9.99848143e-01 -1.29409619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.697719421 meters Centerline goodness [0,1] 0.9477479679765324 Centerline is valid? [True, False] Translation: X:24.68, Y:0.73, Z:-1.30 [[ 9.99615935e-01 2.11390717e-02 -1.79199073e-02 2.46832819e+01] [-2.11653750e-02 9.99775170e-01 -1.27942040e-03 7.29231863e-01] [ 1.78888326e-02 1.65821057e-03 9.99838607e-01 -1.29615181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.727719421 meters Centerline goodness [0,1] 0.948023723443149 Centerline is valid? [False, False] Translation: X:24.68, Y:0.73, Z:-1.30 [[ 9.99662585e-01 1.83792887e-02 -1.83553459e-02 2.46839672e+01] [-1.84505531e-02 9.99822851e-01 -3.72070082e-03 7.25878862e-01] [ 1.82837104e-02 4.05811168e-03 9.99824603e-01 -1.29608714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75771942099999 meters Centerline goodness [0,1] 0.9527499643126619 Centerline is valid? [False, True] Translation: X:24.68, Y:0.72, Z:-1.29 [[ 9.99705778e-01 1.59738691e-02 -1.82535695e-02 2.46815246e+01] [-1.60671372e-02 9.99858541e-01 -4.97438909e-03 7.20341542e-01] [ 1.81715272e-02 5.26620812e-03 9.99821015e-01 -1.29364527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78771942099999 meters Centerline goodness [0,1] 0.9536908646003263 Centerline is valid? [True, True] Translation: X:24.71, Y:0.72, Z:-1.29 [[ 9.99729604e-01 1.45960514e-02 -1.81017670e-02 2.47097544e+01] [-1.45881144e-02 9.99893425e-01 5.70443488e-04 7.15033191e-01] [ 1.81081640e-02 -3.06218596e-04 9.99835987e-01 -1.29345772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81771942099999 meters Centerline goodness [0,1] 0.9540990954282454 Centerline is valid? [True, True] Translation: X:24.74, Y:0.71, Z:-1.29 [[ 9.99752119e-01 1.35953741e-02 -1.76313759e-02 2.47388632e+01] [-1.35877147e-02 9.99907529e-01 5.54143349e-04 7.11626664e-01] [ 1.76372793e-02 -3.14435882e-04 9.99844402e-01 -1.29317430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.847719421 meters Centerline goodness [0,1] 0.9497769902853302 Centerline is valid? [True, False] Translation: X:24.74, Y:0.71, Z:-1.29 [[ 9.99779968e-01 1.09295377e-02 -1.79042211e-02 2.47400003e+01] [-1.09556374e-02 9.99939060e-01 -1.36029872e-03 7.07212935e-01] [ 1.78882626e-02 1.55615157e-03 9.99838781e-01 -1.29404638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.877719421 meters Centerline goodness [0,1] 0.9516674820613177 Centerline is valid? [False, True] Translation: X:24.74, Y:0.71, Z:-1.30 [[ 9.99795186e-01 8.80283564e-03 -1.82235084e-02 2.47417673e+01] [-8.87012904e-03 9.99954125e-01 -3.61513840e-03 7.05256132e-01] [ 1.81908489e-02 3.77604284e-03 9.99827402e-01 -1.29532777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.907719421 meters Centerline goodness [0,1] 0.950272756879987 Centerline is valid? [True, True] Translation: X:24.77, Y:0.70, Z:-1.30 [[ 9.99798883e-01 9.60801471e-03 -1.76034201e-02 2.47691018e+01] [-9.60106431e-03 9.99953794e-01 4.79304044e-04 6.97075769e-01] [ 1.76072119e-02 -3.10196079e-04 9.99844933e-01 -1.29846551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.937719421 meters Centerline goodness [0,1] 0.9488282923048683 Centerline is valid? [True, False] Translation: X:24.77, Y:0.70, Z:-1.30 [[ 9.99795371e-01 9.65780832e-03 -1.77748072e-02 2.47688984e+01] [-9.65261311e-03 9.99953341e-01 3.78051864e-04 6.97177700e-01] [ 1.77776290e-02 -2.06401167e-04 9.99841944e-01 -1.29772763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.967719421 meters Centerline goodness [0,1] 0.9538505384443132 Centerline is valid? [False, True] Translation: X:24.77, Y:0.70, Z:-1.30 [[ 9.99785765e-01 1.03340352e-02 -1.79340883e-02 2.47687897e+01] [-1.03326847e-02 9.99946602e-01 1.67968853e-04 6.98876628e-01] [ 1.79348665e-02 1.73744105e-05 9.99839157e-01 -1.29687253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.997719421 meters Centerline goodness [0,1] 0.9536031992165184 Centerline is valid? [True, True] Translation: X:24.80, Y:0.70, Z:-1.30 [[ 9.99749715e-01 1.25741438e-02 -1.85040313e-02 2.47972239e+01] [-1.25684888e-02 9.99920924e-01 4.21880038e-04 6.99935831e-01] [ 1.85078729e-02 -1.89206738e-04 9.99828697e-01 -1.29574380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.027719421 meters Centerline goodness [0,1] 0.9533145447861782 Centerline is valid? [True, True] Translation: X:24.83, Y:0.70, Z:-1.30 [[ 9.99693778e-01 1.58909463e-02 -1.89691196e-02 2.48262873e+01] [-1.58856302e-02 9.99873723e-01 4.30907542e-04 6.97603621e-01] [ 1.89735718e-02 -1.29439170e-04 9.99819977e-01 -1.29806941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.057719421 meters Centerline goodness [0,1] 0.9519387755102041 Centerline is valid? [True, True] Translation: X:24.85, Y:0.69, Z:-1.30 [[ 9.99697207e-01 1.62335919e-02 -1.84923159e-02 2.48535718e+01] [-1.62286378e-02 9.99868220e-01 4.17943562e-04 6.94364953e-01] [ 1.84966637e-02 -1.17711915e-04 9.99828915e-01 -1.30021040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.087719421 meters Centerline goodness [0,1] 0.9539755755593035 Centerline is valid? [True, True] Translation: X:24.88, Y:0.69, Z:-1.30 [[ 9.99737884e-01 1.49602132e-02 -1.73307383e-02 2.48825340e+01] [-1.49556932e-02 9.99888081e-01 3.90391573e-04 6.88944700e-01] [ 1.73346390e-02 -1.31096040e-04 9.99849735e-01 -1.29900440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.117719421 meters Centerline goodness [0,1] 0.9530130293159609 Centerline is valid? [True, True] Translation: X:24.91, Y:0.69, Z:-1.30 [[ 9.99733398e-01 1.37752985e-02 -1.85303650e-02 2.49111594e+01] [-1.37699548e-02 9.99905103e-01 4.15940952e-04 6.85892031e-01] [ 1.85343362e-02 -1.60667773e-04 9.99828212e-01 -1.29980566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14771942099999 meters Centerline goodness [0,1] 0.9491237756374864 Centerline is valid? [True, False] Translation: X:24.91, Y:0.68, Z:-1.30 [[ 9.99764287e-01 1.07901497e-02 -1.88399575e-02 2.49124323e+01] [-1.08345413e-02 9.99938760e-01 -2.25576554e-03 6.83873830e-01] [ 1.88144637e-02 2.45935613e-03 9.99819968e-01 -1.30073085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17771942099999 meters Centerline goodness [0,1] 0.9485659577935305 Centerline is valid? [False, False] Translation: X:24.91, Y:0.68, Z:-1.30 [[ 9.99753555e-01 1.10316846e-02 -1.92647899e-02 2.49141471e+01] [-1.10612788e-02 9.99937799e-01 -1.43029789e-03 6.81591541e-01] [ 1.92478131e-02 1.64303861e-03 9.99813394e-01 -1.30192143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.207719421 meters Centerline goodness [0,1] 0.946499460515869 Centerline is valid? [False, False] Translation: X:24.92, Y:0.68, Z:-1.30 [[ 9.99772460e-01 8.59863946e-03 -1.95215481e-02 2.49153729e+01] [-8.66253333e-03 9.99957389e-01 -3.19079188e-03 6.77252202e-01] [ 1.94932798e-02 3.35917191e-03 9.99804345e-01 -1.30291353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.237719421 meters Centerline goodness [0,1] 0.949200587323599 Centerline is valid? [False, False] Translation: X:24.91, Y:0.67, Z:-1.30 [[ 9.99774380e-01 8.25615744e-03 -1.95709994e-02 2.49144808e+01] [-8.31638278e-03 9.99960924e-01 -2.99788549e-03 6.74955844e-01] [ 1.95454837e-02 3.15996903e-03 9.99803975e-01 -1.30179276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.267719421 meters Centerline goodness [0,1] 0.9486164394743286 Centerline is valid? [False, False] Translation: X:24.91, Y:0.67, Z:-1.30 [[ 9.99776164e-01 7.99390091e-03 -1.95887565e-02 2.49136622e+01] [-8.03887567e-03 9.99965227e-01 -2.21827927e-03 6.70601877e-01] [ 1.95703427e-02 2.37525432e-03 9.99805661e-01 -1.30087868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.297719421 meters Centerline goodness [0,1] 0.951980400163332 Centerline is valid? [False, True] Translation: X:24.91, Y:0.67, Z:-1.30 [[ 9.99774830e-01 8.01083675e-03 -1.96498448e-02 2.49138172e+01] [-8.04900554e-03 9.99965869e-01 -1.86412726e-03 6.69484817e-01] [ 1.96342409e-02 2.02186922e-03 9.99805185e-01 -1.30092823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.327719421 meters Centerline goodness [0,1] 0.9498288229540267 Centerline is valid? [True, False] Translation: X:24.91, Y:0.67, Z:-1.30 [[ 9.99768016e-01 8.26713697e-03 -1.98889273e-02 2.49147731e+01] [-8.29401800e-03 9.99964798e-01 -1.26944820e-03 6.68431422e-01] [ 1.98777325e-02 1.43411283e-03 9.99801390e-01 -1.30159360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.357719421 meters Centerline goodness [0,1] 0.9528709401361098 Centerline is valid? [False, True] Translation: X:24.92, Y:0.67, Z:-1.30 [[ 9.99760684e-01 8.47399811e-03 -2.01684218e-02 2.49156908e+01] [-8.50005897e-03 9.99963146e-01 -1.20678585e-03 6.68627505e-01] [ 2.01574522e-02 1.37792982e-03 9.99795868e-01 -1.30196689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.387719421 meters Centerline goodness [0,1] 0.9523266237470459 Centerline is valid? [True, True] Translation: X:24.94, Y:0.67, Z:-1.30 [[ 9.99738282e-01 1.24938272e-02 -1.91643470e-02 2.49436201e+01] [-1.24882109e-02 9.99921934e-01 4.12709527e-04 6.70162754e-01] [ 1.91680073e-02 -1.73273106e-04 9.99816262e-01 -1.30310349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.417719421 meters Centerline goodness [0,1] 0.9551797298951406 Centerline is valid? [True, True] Translation: X:24.97, Y:0.67, Z:-1.30 [[ 9.99718124e-01 1.53039145e-02 -1.81510851e-02 2.49726280e+01] [-1.52993564e-02 9.99882882e-01 3.89964318e-04 6.71926283e-01] [ 1.81549272e-02 -1.12154478e-04 9.99835179e-01 -1.30098071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.447719421 meters Centerline goodness [0,1] 0.9538546390489031 Centerline is valid? [True, True] Translation: X:25.00, Y:0.68, Z:-1.30 [[ 9.99588235e-01 2.11490065e-02 -1.93927841e-02 2.50012100e+01] [-2.11449343e-02 9.99776335e-01 4.15029876e-04 6.76916230e-01] [ 1.93972241e-02 -4.79983531e-06 9.99811856e-01 -1.30180699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.477719421 meters Centerline goodness [0,1] 0.9556072383050779 Centerline is valid? [True, True] Translation: X:25.03, Y:0.68, Z:-1.30 [[ 9.99441173e-01 2.77548955e-02 -1.86281298e-02 2.50297154e+01] [-2.77523396e-02 9.99614751e-01 3.95749268e-04 6.83319221e-01] [ 1.86319373e-02 1.21446071e-04 9.99826403e-01 -1.30281151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50771942099999 meters Centerline goodness [0,1] 0.9573165755325227 Centerline is valid? [True, True] Translation: X:25.06, Y:0.69, Z:-1.30 [[ 9.99377561e-01 3.07226801e-02 -1.73380151e-02 2.50590733e+01] [-3.07209322e-02 9.99527933e-01 3.67207411e-04 6.85267189e-01] [ 1.73411120e-02 1.65661140e-04 9.99849618e-01 -1.30081544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53771942099999 meters Centerline goodness [0,1] 0.9589627545715859 Centerline is valid? [True, True] Translation: X:25.09, Y:0.69, Z:-1.30 [[ 9.99219764e-01 3.69226253e-02 -1.40207736e-02 2.50867334e+01] [-3.69221190e-02 9.99318103e-01 2.95048058e-04 6.89839855e-01] [ 1.40221068e-02 2.22858819e-04 9.99901661e-01 -1.29873200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56771942099999 meters Centerline goodness [0,1] 0.9577097182007259 Centerline is valid? [True, True] Translation: X:25.12, Y:0.69, Z:-1.30 [[ 9.99127463e-01 3.94781900e-02 -1.36302945e-02 2.51156772e+01] [-3.94779618e-02 9.99220401e-01 2.85908305e-04 6.90850058e-01] [ 1.36309555e-02 2.52437409e-04 9.99907062e-01 -1.29870642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.597719421 meters Centerline goodness [0,1] 0.9595938920047489 Centerline is valid? [True, True] Translation: X:25.14, Y:0.69, Z:-1.30 [[ 9.99043462e-01 4.13651342e-02 -1.41804774e-02 2.51448664e+01] [-4.13650948e-02 9.99144054e-01 2.96207328e-04 6.88541462e-01] [ 1.41805924e-02 2.90652799e-04 9.99899408e-01 -1.29818136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.627719421 meters Centerline goodness [0,1] 0.9541448720819001 Centerline is valid? [True, True] Translation: X:25.17, Y:0.69, Z:-1.30 [[ 9.98855674e-01 4.52596583e-02 -1.54565493e-02 2.51735713e+01] [-4.52600878e-02 9.98975185e-01 3.22191461e-04 6.86660813e-01] [ 1.54552914e-02 3.77742009e-04 9.99880488e-01 -1.30290229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.657719421 meters Centerline goodness [0,1] 0.9466034240579769 Centerline is valid? [True, False] Translation: X:25.17, Y:0.68, Z:-1.30 [[ 9.98814785e-01 4.60490902e-02 -1.57641201e-02 2.51746649e+01] [-4.60314024e-02 9.98938892e-01 1.48323625e-03 6.84152056e-01] [ 1.58156944e-02 -7.55833743e-04 9.99874638e-01 -1.30353518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.687719421 meters Centerline goodness [0,1] 0.9524265710034447 Centerline is valid? [False, True] Translation: X:25.18, Y:0.68, Z:-1.30 [[ 9.98779940e-01 4.67045710e-02 -1.60410050e-02 2.51753245e+01] [-4.66760565e-02 9.98907770e-01 2.14761494e-03 6.83250266e-01] [ 1.61237880e-02 -1.39626386e-03 9.99869028e-01 -1.30362279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.717719421 meters Centerline goodness [0,1] 0.9268412138032365 Centerline is valid? [True, False] Translation: X:25.18, Y:0.68, Z:-1.30 [[ 9.98705177e-01 4.82257196e-02 -1.61940962e-02 2.51753251e+01] [-4.81771321e-02 9.98833098e-01 3.37738146e-03 6.82232334e-01] [ 1.63380759e-02 -2.59282324e-03 9.99863163e-01 -1.30304845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.747719421 meters Centerline goodness [0,1] 0.912457161397603 Centerline is valid? [False, False] Translation: X:25.18, Y:0.68, Z:-1.30 [[ 9.98689338e-01 4.83542352e-02 -1.67771686e-02 2.51763731e+01] [-4.83071420e-02 9.98827399e-01 3.20121175e-03 6.75401870e-01] [ 1.69122878e-02 -2.38655898e-03 9.99854129e-01 -1.30319096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.777719421 meters Centerline goodness [0,1] 0.9011138941495103 Centerline is valid? [False, False] Translation: X:25.18, Y:0.67, Z:-1.30 [[ 9.98815906e-01 4.55749091e-02 -1.70210024e-02 2.51767095e+01] [-4.55747202e-02 9.98960853e-01 3.99190803e-04 6.72247779e-01] [ 1.70215081e-02 3.77009296e-04 9.99855053e-01 -1.30343226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.807719421 meters Centerline goodness [0,1] 0.8566893885441041 Centerline is valid? [False, False] Translation: X:25.18, Y:0.67, Z:-1.30 [[ 9.98913156e-01 4.33164798e-02 -1.72101392e-02 2.51780676e+01] [-4.33477641e-02 9.99058993e-01 -1.44874638e-03 6.68266373e-01] [ 1.71311898e-02 2.19319288e-03 9.99850845e-01 -1.30496370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.837719421 meters Centerline goodness [0,1] 0.8965151823925005 Centerline is valid? [False, False] Translation: X:25.18, Y:0.67, Z:-1.31 [[ 9.98906811e-01 4.33827222e-02 -1.74104296e-02 2.51784891e+01] [-4.34104264e-02 9.99056583e-01 -1.21630302e-03 6.67897503e-01] [ 1.73412377e-02 1.97076754e-03 9.99847687e-01 -1.30501162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.867719421 meters Centerline goodness [0,1] 0.8668279886939017 Centerline is valid? [False, False] Translation: X:25.18, Y:0.66, Z:-1.31 [[ 9.98854206e-01 4.44503872e-02 -1.77324321e-02 2.51798251e+01] [-4.44522861e-02 9.99011467e-01 2.87247162e-04 6.64699644e-01] [ 1.77276713e-02 5.01329110e-04 9.99842727e-01 -1.30593525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89771942099999 meters Centerline goodness [0,1] 0.858020672255229 Centerline is valid? [False, False] Translation: X:25.18, Y:0.66, Z:-1.31 [[ 9.98966102e-01 4.17193036e-02 -1.80617322e-02 2.51808148e+01] [-4.17750946e-02 9.99123330e-01 -2.72254396e-03 6.62897554e-01] [ 1.79323154e-02 3.47425970e-03 9.99833167e-01 -1.30665339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92771942099999 meters Centerline goodness [0,1] 0.8401816256719336 Centerline is valid? [False, False] Translation: X:25.18, Y:0.66, Z:-1.31 [[ 9.99119105e-01 3.77229901e-02 -1.83845134e-02 2.51824479e+01] [-3.78436836e-02 9.99264052e-01 -6.26175348e-03 6.55143319e-01] [ 1.81347713e-02 6.95197524e-03 9.99811382e-01 -1.30845696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.957719421 meters Centerline goodness [0,1] 0.8130765001730773 Centerline is valid? [False, False] Translation: X:25.18, Y:0.65, Z:-1.31 [[ 9.99209548e-01 3.50062374e-02 -1.88372655e-02 2.51833391e+01] [-3.51697624e-02 9.99345876e-01 -8.42072378e-03 6.51252430e-01] [ 1.85301657e-02 9.07656976e-03 9.99787102e-01 -1.30881586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.987719421 meters Centerline goodness [0,1] 0.8850377628087365 Centerline is valid? [False, False] Translation: X:25.18, Y:0.64, Z:-1.31 [[ 9.99315402e-01 3.17846168e-02 -1.89331771e-02 2.51816365e+01] [-3.19646027e-02 9.99445912e-01 -9.28077395e-03 6.42622468e-01] [ 1.86277006e-02 9.87961184e-03 9.99777676e-01 -1.30696703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.017719421 meters Centerline goodness [0,1] 0.9299756561585828 Centerline is valid? [False, False] Translation: X:25.18, Y:0.63, Z:-1.31 [[ 9.99504556e-01 2.50326979e-02 -1.90789737e-02 2.51801503e+01] [-2.52906011e-02 9.99590350e-01 -1.33984033e-02 6.34311128e-01] [ 1.87357598e-02 1.38742839e-02 9.99728201e-01 -1.30535749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.047719421 meters Centerline goodness [0,1] 0.9399893677925901 Centerline is valid? [False, False] Translation: X:25.18, Y:0.63, Z:-1.31 [[ 9.99578901e-01 2.15187548e-02 -1.94669947e-02 2.51808401e+01] [-2.18207759e-02 9.99642705e-01 -1.54374614e-02 6.28856877e-01] [ 1.91278443e-02 1.58557457e-02 9.99691313e-01 -1.30567355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.077719421 meters Centerline goodness [0,1] 0.9433095932902067 Centerline is valid? [False, False] Translation: X:25.18, Y:0.62, Z:-1.31 [[ 9.99645085e-01 1.78524648e-02 -1.97735684e-02 2.51811364e+01] [-1.82004586e-02 9.99680125e-01 -1.75610567e-02 6.23015745e-01] [ 1.94537352e-02 1.79147121e-02 9.99650246e-01 -1.30562003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.107719421 meters Centerline goodness [0,1] 0.943981878290682 Centerline is valid? [False, False] Translation: X:25.18, Y:0.61, Z:-1.30 [[ 9.99745764e-01 1.05617626e-02 -1.99212467e-02 2.51799307e+01] [-1.10062817e-02 9.99689895e-01 -2.23377662e-02 6.13877449e-01] [ 1.96791429e-02 2.25513459e-02 9.99551984e-01 -1.30419783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.137719421 meters Centerline goodness [0,1] 0.9475616471883987 Centerline is valid? [False, False] Translation: X:25.18, Y:0.61, Z:-1.30 [[ 9.99769609e-01 7.08867711e-03 -2.02602945e-02 2.51806211e+01] [-7.59443433e-03 9.99658703e-01 -2.49960272e-02 6.10415612e-01] [ 2.00761910e-02 2.51441338e-02 9.99482226e-01 -1.30436007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.167719421 meters Centerline goodness [0,1] 0.939000081360345 Centerline is valid? [False, False] Translation: X:25.18, Y:0.60, Z:-1.31 [[ 9.99784059e-01 6.60857430e-04 -2.07701519e-02 2.51831177e+01] [-1.28565100e-03 9.99546596e-01 -3.00823787e-02 6.04408669e-01] [ 2.07408545e-02 3.01025859e-02 9.99331602e-01 -1.30639027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.197719421 meters Centerline goodness [0,1] 0.9416862544711293 Centerline is valid? [False, False] Translation: X:25.18, Y:0.60, Z:-1.31 [[ 9.99778583e-01 -3.14389198e-03 -2.08062643e-02 2.51833543e+01] [ 2.46820936e-03 9.99471243e-01 -3.24213306e-02 5.99628211e-01] [ 2.08971920e-02 3.23627977e-02 9.99257703e-01 -1.30665435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.227719421 meters Centerline goodness [0,1] 0.9445226581787762 Centerline is valid? [False, False] Translation: X:25.19, Y:0.60, Z:-1.31 [[ 9.99812097e-01 -4.44419645e-03 -1.88684647e-02 2.51904396e+01] [ 4.02531448e-03 9.99745882e-01 -2.21803414e-02 5.96315126e-01] [ 1.89622436e-02 2.21002222e-02 9.99575917e-01 -1.30548523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25771942099999 meters Centerline goodness [0,1] 0.9445337130072206 Centerline is valid? [False, False] Translation: X:25.19, Y:0.59, Z:-1.31 [[ 9.99796200e-01 -5.73910497e-03 -1.93551344e-02 2.51911175e+01] [ 5.30764345e-03 9.99737903e-01 -2.22700091e-02 5.93889114e-01] [ 1.94778714e-02 2.21627404e-02 9.99564618e-01 -1.30522016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28771942099999 meters Centerline goodness [0,1] 0.9447610876182305 Centerline is valid? [False, False] Translation: X:25.19, Y:0.59, Z:-1.30 [[ 9.99792557e-01 -5.86466825e-03 -1.95050862e-02 2.51911570e+01] [ 5.43887104e-03 9.99747297e-01 -2.18119236e-02 5.91936847e-01] [ 1.96280769e-02 2.17013133e-02 9.99571804e-01 -1.30490807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31771942099999 meters Centerline goodness [0,1] 0.9483318691646067 Centerline is valid? [False, False] Translation: X:25.19, Y:0.59, Z:-1.30 [[ 9.99774027e-01 -8.76652013e-03 -1.93660463e-02 2.51892218e+01] [ 8.29252793e-03 9.99667354e-01 -2.44216052e-02 5.89632342e-01] [ 1.95736968e-02 2.42554930e-02 9.99514153e-01 -1.30289625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.347719421 meters Centerline goodness [0,1] 0.9521979145369045 Centerline is valid? [False, True] Translation: X:25.19, Y:0.59, Z:-1.30 [[ 9.99771456e-01 -8.80330022e-03 -1.94817237e-02 2.51891318e+01] [ 8.33013602e-03 9.99671537e-01 -2.42368928e-02 5.88971516e-01] [ 1.96886893e-02 2.40690682e-02 9.99516401e-01 -1.30249578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.377719421 meters Centerline goodness [0,1] 0.9527448056060637 Centerline is valid? [True, True] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99739778e-01 -1.14383258e-02 -1.97368019e-02 2.52181815e+01] [ 1.14427715e-02 9.99934523e-01 1.12328563e-04 5.81477653e-01] [ 1.97342248e-02 -3.38143048e-04 9.99805204e-01 -1.30321176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.407719421 meters Centerline goodness [0,1] 0.946321986595775 Centerline is valid? [True, False] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99733207e-01 -1.14542168e-02 -2.00578286e-02 2.52191832e+01] [ 1.14594523e-02 9.99934328e-01 1.46100149e-04 5.81861142e-01] [ 2.00548379e-02 -3.75912901e-04 9.99798811e-01 -1.30364995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.437719421 meters Centerline goodness [0,1] 0.950607716779509 Centerline is valid? [False, True] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99733932e-01 -1.12749492e-02 -2.01231370e-02 2.52194825e+01] [ 1.12872998e-02 9.99936171e-01 5.00272333e-04 5.81178115e-01] [ 2.01162120e-02 -7.27275107e-04 9.99797384e-01 -1.30381736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.467719421 meters Centerline goodness [0,1] 0.9433827723901882 Centerline is valid? [True, False] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99731338e-01 -1.15086505e-02 -2.01196870e-02 2.52198802e+01] [ 1.15245958e-02 9.99933361e-01 6.76751486e-04 5.80312451e-01] [ 2.01105578e-02 -9.08440929e-04 9.99797350e-01 -1.30426926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.497719421 meters Centerline goodness [0,1] 0.9433827723901882 Centerline is valid? [False, False] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99731338e-01 -1.15086505e-02 -2.01196870e-02 2.52198802e+01] [ 1.15245958e-02 9.99933361e-01 6.76751486e-04 5.80312451e-01] [ 2.01105578e-02 -9.08440929e-04 9.99797350e-01 -1.30426926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.527719421 meters Centerline goodness [0,1] 0.9480847081799133 Centerline is valid? [False, False] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99725024e-01 -1.15304300e-02 -2.04187630e-02 2.52208326e+01] [ 1.15451016e-02 9.99933173e-01 6.00800306e-04 5.80895110e-01] [ 2.04104710e-02 -8.36371795e-04 9.99791335e-01 -1.30468491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.557719421 meters Centerline goodness [0,1] 0.9402793614595211 Centerline is valid? [False, False] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99719010e-01 -1.15040209e-02 -2.07257906e-02 2.52210543e+01] [ 1.15169413e-02 9.99933551e-01 5.04139784e-04 5.81725132e-01] [ 2.07186137e-02 -7.42695839e-04 9.99785071e-01 -1.30422358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.587719421 meters Centerline goodness [0,1] 0.9464176362522964 Centerline is valid? [False, False] Translation: X:25.22, Y:0.58, Z:-1.30 [[ 9.99716556e-01 -1.14398273e-02 -2.08791395e-02 2.52212718e+01] [ 1.14517552e-02 9.99934324e-01 4.51802955e-04 5.82176467e-01] [ 2.08725997e-02 -6.90777688e-04 9.99781905e-01 -1.30411500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.617719421 meters Centerline goodness [0,1] 0.9483901130173185 Centerline is valid? [False, False] Translation: X:25.23, Y:0.59, Z:-1.31 [[ 9.99799066e-01 -9.00948644e-03 -1.79068774e-02 2.52302743e+01] [ 8.87615323e-03 9.99932393e-01 -7.51150654e-03 5.85544545e-01] [ 1.79733416e-02 7.35105303e-03 9.99811443e-01 -1.30502232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64771942099999 meters Centerline goodness [0,1] 0.949810798714245 Centerline is valid? [False, False] Translation: X:25.23, Y:0.59, Z:-1.30 [[ 9.99822031e-01 -5.70794512e-03 -1.79812325e-02 2.52301679e+01] [ 5.62810652e-03 9.99974093e-01 -4.48758760e-03 5.88093387e-01] [ 1.80063816e-02 4.38558866e-03 9.99828254e-01 -1.30475249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67771942099999 meters Centerline goodness [0,1] 0.9458416690482995 Centerline is valid? [False, False] Translation: X:25.23, Y:0.59, Z:-1.31 [[ 9.99831942e-01 -2.37962422e-03 -1.81775780e-02 2.52323552e+01] [ 2.34687800e-03 9.99995585e-01 -1.82258225e-03 5.90489087e-01] [ 1.81818348e-02 1.77961539e-03 9.99833113e-01 -1.30692280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.707719421 meters Centerline goodness [0,1] 0.9445392144916941 Centerline is valid? [False, False] Translation: X:25.23, Y:0.59, Z:-1.31 [[ 9.99825271e-01 -1.19797685e-03 -1.86545454e-02 2.52346891e+01] [ 1.17249193e-03 9.99998365e-01 -1.37702782e-03 5.92121934e-01] [ 1.86561645e-02 1.35491491e-03 9.99825041e-01 -1.30854346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.737719421 meters Centerline goodness [0,1] 0.9446269357109338 Centerline is valid? [False, False] Translation: X:25.23, Y:0.59, Z:-1.31 [[ 9.99822990e-01 2.44793044e-03 -1.86546855e-02 2.52343214e+01] [-2.41271675e-03 9.99995265e-01 1.90993207e-03 5.93657129e-01] [ 1.86592726e-02 -1.86458552e-03 9.99824162e-01 -1.30802688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.767719421 meters Centerline goodness [0,1] 0.949450415489953 Centerline is valid? [False, False] Translation: X:25.24, Y:0.60, Z:-1.31 [[ 9.99818338e-01 1.18797106e-02 -1.49051587e-02 2.52394544e+01] [-1.19009451e-02 9.99928288e-01 -1.33674797e-03 6.00967160e-01] [ 1.48882096e-02 1.51389061e-03 9.99888018e-01 -1.30596261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.797719421 meters Centerline goodness [0,1] 0.9474721612614809 Centerline is valid? [False, False] Translation: X:25.24, Y:0.60, Z:-1.30 [[ 9.99756951e-01 1.60592893e-02 -1.51042746e-02 2.52392888e+01] [-1.60371160e-02 9.99870136e-01 1.58800192e-03 6.04976855e-01] [ 1.51278153e-02 -1.34538695e-03 9.99884663e-01 -1.30499268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.827719421 meters Centerline goodness [0,1] 0.9508400873772533 Centerline is valid? [False, True] Translation: X:25.24, Y:0.61, Z:-1.30 [[ 9.99577485e-01 2.49214573e-02 -1.49590384e-02 2.52392025e+01] [-2.47982873e-02 9.99657489e-01 8.36362783e-03 6.10258067e-01] [ 1.51623486e-02 -7.98913554e-03 9.99853128e-01 -1.30461902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.857719421 meters Centerline goodness [0,1] 0.9453514139915018 Centerline is valid? [True, False] Translation: X:25.24, Y:0.61, Z:-1.31 [[ 9.99457847e-01 2.92435884e-02 -1.51269647e-02 2.52418886e+01] [-2.90687976e-02 9.99509538e-01 1.16485811e-02 6.11160756e-01] [ 1.54601918e-02 -1.12025431e-02 9.99817726e-01 -1.30720289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.887719421 meters Centerline goodness [0,1] 0.9427805736262838 Centerline is valid? [False, False] Translation: X:25.24, Y:0.61, Z:-1.31 [[ 9.99526501e-01 2.67277239e-02 -1.52447737e-02 2.52419414e+01] [-2.66039209e-02 9.99611870e-01 8.26683671e-03 6.11556847e-01] [ 1.54598105e-02 -7.85735161e-03 9.99849617e-01 -1.30708495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.917719421 meters Centerline goodness [0,1] 0.9461763867974441 Centerline is valid? [False, False] Translation: X:25.25, Y:0.61, Z:-1.31 [[ 9.99540959e-01 2.87530191e-02 -9.54648255e-03 2.52476688e+01] [-2.87551484e-02 9.99586482e-01 -8.58250423e-05 6.12088354e-01] [ 9.54006718e-03 3.60296167e-04 9.99954428e-01 -1.30693294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.947719421 meters Centerline goodness [0,1] 0.9439473791722842 Centerline is valid? [False, False] Translation: X:25.25, Y:0.61, Z:-1.31 [[ 9.99542598e-01 2.86663248e-02 -9.63516947e-03 2.52469071e+01] [-2.86705593e-02 9.99588870e-01 -3.01621094e-04 6.13137039e-01] [ 9.62256179e-03 5.77728829e-04 9.99953535e-01 -1.30569543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.977719421 meters Centerline goodness [0,1] 0.9477085420969754 Centerline is valid? [False, False] Translation: X:25.25, Y:0.61, Z:-1.30 [[ 9.99541313e-01 2.86958119e-02 -9.68057149e-03 2.52462942e+01] [-2.87008391e-02 9.99587974e-01 -3.80753205e-04 6.13721558e-01] [ 9.66565681e-03 6.58419083e-04 9.99953070e-01 -1.30474718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00771942099999 meters Centerline goodness [0,1] 0.9363682864450128 Centerline is valid? [False, False] Translation: X:25.25, Y:0.61, Z:-1.30 [[ 9.99605830e-01 2.63096701e-02 -9.79722539e-03 2.52462235e+01] [-2.63414175e-02 9.99648118e-01 -3.12560866e-03 6.11796740e-01] [ 9.71154419e-03 3.38244944e-03 9.99947121e-01 -1.30453388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03771942099999 meters Centerline goodness [0,1] 0.9008522901465449 Centerline is valid? [False, False] Translation: X:25.25, Y:0.61, Z:-1.31 [[ 9.99640942e-01 2.47086875e-02 -1.03666831e-02 2.52496352e+01] [-2.47577149e-02 9.99682769e-01 -4.62794005e-03 6.07298907e-01] [ 1.02490442e-02 4.88293374e-03 9.99935555e-01 -1.30759939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06771942099999 meters Centerline goodness [0,1] 0.9076894768048087 Centerline is valid? [False, False] Translation: X:25.25, Y:0.61, Z:-1.31 [[ 9.99658600e-01 2.38270036e-02 -1.07218336e-02 2.52522136e+01] [-2.38871669e-02 9.99699429e-01 -5.51864083e-03 6.05632956e-01] [ 1.05871182e-02 5.77287099e-03 9.99927291e-01 -1.30987772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.097719421 meters Centerline goodness [0,1] 0.8732944666052982 Centerline is valid? [False, False] Translation: X:25.25, Y:0.60, Z:-1.31 [[ 9.99630729e-01 2.48706866e-02 -1.09477709e-02 2.52538624e+01] [-2.49147690e-02 9.99681937e-01 -3.90879359e-03 6.02039491e-01] [ 1.08470745e-02 4.18011137e-03 9.99932432e-01 -1.31141093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.127719421 meters Centerline goodness [0,1] 0.8730705707236507 Centerline is valid? [False, False] Translation: X:25.25, Y:0.60, Z:-1.31 [[ 9.99617029e-01 2.52437632e-02 -1.13378798e-02 2.52545862e+01] [-2.52837800e-02 9.99674532e-01 -3.40009982e-03 6.01505695e-01] [ 1.12483584e-02 3.68546214e-03 9.99929943e-01 -1.31140285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.157719421 meters Centerline goodness [0,1] 0.9038665903703098 Centerline is valid? [False, False] Translation: X:25.25, Y:0.60, Z:-1.31 [[ 9.99610061e-01 2.54652785e-02 -1.14562497e-02 2.52542059e+01] [-2.55010813e-02 9.99670323e-01 -2.99000964e-03 6.00730821e-01] [ 1.13763314e-02 3.28099047e-03 9.99929905e-01 -1.31059531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.187719421 meters Centerline goodness [0,1] 0.9028289527552608 Centerline is valid? [False, False] Translation: X:25.25, Y:0.60, Z:-1.31 [[ 9.99668451e-01 2.30429669e-02 -1.14895530e-02 2.52527990e+01] [-2.30972203e-02 9.99722586e-01 -4.61183852e-03 5.95106112e-01] [ 1.13800952e-02 4.87568621e-03 9.99923358e-01 -1.30897013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.217719421 meters Centerline goodness [0,1] 0.9054495023658019 Centerline is valid? [False, False] Translation: X:25.25, Y:0.59, Z:-1.31 [[ 9.99773374e-01 1.77321745e-02 -1.17801000e-02 2.52531957e+01] [-1.78353504e-02 9.99802982e-01 -8.71193463e-03 5.85247293e-01] [ 1.16232976e-02 8.92006249e-03 9.99892660e-01 -1.30911352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.247719421 meters Centerline goodness [0,1] 0.9210542445602207 Centerline is valid? [False, False] Translation: X:25.25, Y:0.58, Z:-1.31 [[ 9.99779813e-01 1.74301995e-02 -1.16838718e-02 2.52528910e+01] [-1.75207327e-02 9.99816916e-01 -7.69150545e-03 5.80835125e-01] [ 1.15476682e-02 7.89452188e-03 9.99902159e-01 -1.30892932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.277719421 meters Centerline goodness [0,1] 0.9419352205237055 Centerline is valid? [False, False] Translation: X:25.25, Y:0.58, Z:-1.31 [[ 9.99894449e-01 1.01562878e-02 -1.03894258e-02 2.52540466e+01] [-1.01439295e-02 9.99947778e-01 1.24151452e-03 5.76718928e-01] [ 1.04014925e-02 -1.13599387e-03 9.99945258e-01 -1.30920843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.307719421 meters Centerline goodness [0,1] 0.9434736455313764 Centerline is valid? [False, False] Translation: X:25.25, Y:0.58, Z:-1.31 [[ 9.99924005e-01 6.50133921e-03 -1.04745375e-02 2.52545004e+01] [-6.52564427e-03 9.99976090e-01 -2.28789030e-03 5.76586989e-01] [ 1.04594127e-02 2.35606954e-03 9.99942523e-01 -1.30961216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.337719421 meters Centerline goodness [0,1] 0.9536925985404427 Centerline is valid? [False, True] Translation: X:25.26, Y:0.57, Z:-1.31 [[ 9.99940122e-01 -4.83915466e-04 -1.09324063e-02 2.52556247e+01] [ 3.97424539e-04 9.99968619e-01 -7.91221409e-03 5.70546548e-01] [ 1.09358920e-02 7.90739552e-03 9.99908936e-01 -1.30994668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.367719421 meters Centerline goodness [0,1] 0.9516338279412957 Centerline is valid? [True, True] Translation: X:25.28, Y:0.56, Z:-1.31 [[ 9.99939727e-01 -4.54522472e-03 -9.99412919e-03 2.52841040e+01] [ 4.54308504e-03 9.99989652e-01 -2.36785927e-04 5.61258068e-01] [ 9.99510202e-03 1.91367476e-04 9.99950029e-01 -1.31278993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39771942099999 meters Centerline goodness [0,1] 0.9534323236861992 Centerline is valid? [True, True] Translation: X:25.31, Y:0.55, Z:-1.31 [[ 9.99854334e-01 -1.30749806e-02 -1.09706382e-02 2.53135102e+01] [ 1.30729071e-02 9.99914512e-01 -2.60704450e-04 5.45827115e-01] [ 1.09731091e-02 1.17248341e-04 9.99939787e-01 -1.31058964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42771942099999 meters Centerline goodness [0,1] 0.9514847855309788 Centerline is valid? [True, True] Translation: X:25.34, Y:0.54, Z:-1.31 [[ 9.99803348e-01 -1.63967062e-02 -1.11540466e-02 2.53426531e+01] [ 1.63946766e-02 9.99865561e-01 -2.73371571e-04 5.42445833e-01] [ 1.11570294e-02 9.04508253e-05 9.99937754e-01 -1.31173924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.457719421 meters Centerline goodness [0,1] 0.9532105220161752 Centerline is valid? [True, True] Translation: X:25.37, Y:0.54, Z:-1.31 [[ 9.99794579e-01 -1.72987398e-02 -1.05618841e-02 2.53717330e+01] [ 1.72969302e-02 9.99850362e-01 -2.62665047e-04 5.40474666e-01] [ 1.05648474e-02 7.99229184e-05 9.99944187e-01 -1.31029934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.487719421 meters Centerline goodness [0,1] 0.9548847644299409 Centerline is valid? [True, True] Translation: X:25.40, Y:0.54, Z:-1.31 [[ 9.99834972e-01 -1.60737488e-02 -8.46544799e-03 2.53999252e+01] [ 1.60725092e-02 9.99870806e-01 -2.14453124e-04 5.43851388e-01] [ 8.46780137e-03 7.83567431e-05 9.99964144e-01 -1.31053743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.517719421 meters Centerline goodness [0,1] 0.9577353120552958 Centerline is valid? [True, True] Translation: X:25.43, Y:0.55, Z:-1.31 [[ 9.99913943e-01 -1.11657669e-02 -6.88717399e-03 2.54283650e+01] [ 1.11648073e-02 9.99937656e-01 -1.77771928e-04 5.48947248e-01] [ 6.88872957e-03 1.00862659e-04 9.99976267e-01 -1.30954267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.547719421 meters Centerline goodness [0,1] 0.9542166710813179 Centerline is valid? [True, True] Translation: X:25.46, Y:0.55, Z:-1.31 [[ 9.99929868e-01 -8.46005231e-03 -8.28770827e-03 2.54556522e+01] [ 8.45860517e-03 9.99964203e-01 -2.09650543e-04 5.51173485e-01] [ 8.28918526e-03 1.39533388e-04 9.99965634e-01 -1.31348159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.577719421 meters Centerline goodness [0,1] 0.951907603935388 Centerline is valid? [True, True] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99938954e-01 -1.50450293e-03 -1.09464862e-02 2.54857903e+01] [ 1.50159568e-03 9.99998835e-01 -2.73801082e-04 5.57266884e-01] [ 1.09468853e-02 2.57347171e-04 9.99940048e-01 -1.31847266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.607719421 meters Centerline goodness [0,1] 0.9488307667237025 Centerline is valid? [True, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99936130e-01 2.25425208e-03 -1.10749574e-02 2.54866111e+01] [-2.21885493e-03 9.99992395e-01 3.20739162e-03 5.58997252e-01] [ 1.10821034e-02 -3.18261304e-03 9.99933527e-01 -1.31915468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.637719421 meters Centerline goodness [0,1] 0.9373093039339327 Centerline is valid? [False, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99914014e-01 6.83188388e-03 -1.11932744e-02 2.54864262e+01] [-6.75681313e-03 9.99954519e-01 6.73091835e-03 5.62099538e-01] [ 1.12387501e-02 -6.65470872e-03 9.99914699e-01 -1.31861129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.667719421 meters Centerline goodness [0,1] 0.9231884353880393 Centerline is valid? [False, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99906316e-01 7.46585596e-03 -1.14725563e-02 2.54868457e+01] [-7.38436968e-03 9.99947325e-01 7.12873502e-03 5.60901178e-01] [ 1.15251741e-02 -7.04334957e-03 9.99908777e-01 -1.31844883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.697719421 meters Centerline goodness [0,1] 0.8858416809186416 Centerline is valid? [False, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99890816e-01 9.03175841e-03 -1.16954508e-02 2.54875519e+01] [-8.93293381e-03 9.99924188e-01 8.47468099e-03 5.56807759e-01] [ 1.17711054e-02 -8.36928100e-03 9.99895693e-01 -1.31869065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.727719421 meters Centerline goodness [0,1] 0.8673575340513467 Centerline is valid? [False, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99884663e-01 9.40449405e-03 -1.19254323e-02 2.54878743e+01] [-9.30039404e-03 9.99918424e-01 8.75486120e-03 5.56131192e-01] [ 1.20067945e-02 -8.64294022e-03 9.99890562e-01 -1.31851092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75771942099999 meters Centerline goodness [0,1] 0.8525745811197385 Centerline is valid? [False, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99879585e-01 9.80207003e-03 -1.20306204e-02 2.54880348e+01] [-9.69446182e-03 9.99912770e-01 8.97048784e-03 5.56336958e-01] [ 1.21175003e-02 -8.85277726e-03 9.99887391e-01 -1.31844982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78771942099999 meters Centerline goodness [0,1] 0.8320977596741344 Centerline is valid? [False, False] Translation: X:25.49, Y:0.56, Z:-1.32 [[ 9.99870035e-01 1.06227087e-02 -1.21273044e-02 2.54879619e+01] [-1.05086027e-02 9.99900277e-01 9.43428448e-03 5.57869627e-01] [ 1.22263127e-02 -9.30561733e-03 9.99881954e-01 -1.31818325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81771942099999 meters Centerline goodness [0,1] 0.8331600301751381 Centerline is valid? [False, False] Translation: X:25.49, Y:0.55, Z:-1.32 [[ 9.99897679e-01 7.76916653e-03 -1.20113243e-02 2.54863757e+01] [-7.68592863e-03 9.99946236e-01 6.96065105e-03 5.54514272e-01] [ 1.20647569e-02 -6.86762065e-03 9.99903634e-01 -1.31654015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.847719421 meters Centerline goodness [0,1] 0.8742802303262955 Centerline is valid? [False, False] Translation: X:25.49, Y:0.55, Z:-1.32 [[ 9.99916862e-01 4.18960831e-03 -1.21949397e-02 2.54869869e+01] [-4.14634786e-03 9.99985029e-01 3.57053394e-03 5.52182090e-01] [ 1.22097163e-02 -3.51967263e-03 9.99919264e-01 -1.31690445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.877719421 meters Centerline goodness [0,1] 0.866501980319301 Centerline is valid? [False, False] Translation: X:25.49, Y:0.55, Z:-1.32 [[ 9.99919465e-01 -2.25463905e-03 -1.24892174e-02 2.54884764e+01] [ 2.23139100e-03 9.99995752e-01 -1.87507133e-03 5.45935392e-01] [ 1.24933920e-02 1.84705199e-03 9.99920249e-01 -1.31792168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.907719421 meters Centerline goodness [0,1] 0.8912009754115018 Centerline is valid? [False, False] Translation: X:25.49, Y:0.54, Z:-1.32 [[ 9.99912451e-01 -2.85968949e-03 -1.29194388e-02 2.54893417e+01] [ 2.84266198e-03 9.99995067e-01 -1.33614711e-03 5.42477833e-01] [ 1.29231961e-02 1.29930453e-03 9.99915648e-01 -1.31778882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.937719421 meters Centerline goodness [0,1] 0.9267055179721249 Centerline is valid? [False, False] Translation: X:25.49, Y:0.54, Z:-1.32 [[ 9.99895896e-01 -6.43787747e-03 -1.29132284e-02 2.54886699e+01] [ 6.39116053e-03 9.99972894e-01 -3.65576937e-03 5.38619249e-01] [ 1.29364138e-02 3.57285827e-03 9.99909938e-01 -1.31680537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.967719421 meters Centerline goodness [0,1] 0.9369429862043707 Centerline is valid? [False, False] Translation: X:25.49, Y:0.53, Z:-1.32 [[ 9.99861252e-01 -1.01211706e-02 -1.32302242e-02 2.54901462e+01] [ 1.00500925e-02 9.99934765e-01 -5.42789538e-03 5.32389954e-01] [ 1.32842978e-02 5.29417729e-03 9.99897744e-01 -1.31769136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.997719421 meters Centerline goodness [0,1] 0.9354773133842902 Centerline is valid? [False, False] Translation: X:25.49, Y:0.53, Z:-1.32 [[ 9.99820842e-01 -1.32855966e-02 -1.34824635e-02 2.54914374e+01] [ 1.31788190e-02 9.99881329e-01 -7.97792591e-03 5.29327643e-01] [ 1.35868550e-02 7.79881365e-03 9.99877280e-01 -1.31847771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.027719421 meters Centerline goodness [0,1] 0.9430010766011904 Centerline is valid? [False, False] Translation: X:25.49, Y:0.53, Z:-1.32 [[ 9.99816923e-01 -1.33655968e-02 -1.36923867e-02 2.54918873e+01] [ 1.32731361e-02 9.99888639e-01 -6.82148456e-03 5.25194766e-01] [ 1.37820351e-02 6.63849479e-03 9.99882986e-01 -1.31833915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.057719421 meters Centerline goodness [0,1] 0.9477838741917719 Centerline is valid? [False, False] Translation: X:25.49, Y:0.52, Z:-1.32 [[ 9.99762245e-01 -1.69906518e-02 -1.36664297e-02 2.54909267e+01] [ 1.68720595e-02 9.99819399e-01 -8.74663048e-03 5.19120556e-01] [ 1.38125725e-02 8.51397011e-03 9.99868354e-01 -1.31680617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.087719421 meters Centerline goodness [0,1] 0.9462801499348109 Centerline is valid? [False, False] Translation: X:25.49, Y:0.52, Z:-1.32 [[ 9.99755042e-01 -1.72271805e-02 -1.38953275e-02 2.54916700e+01] [ 1.71205498e-02 9.99823345e-01 -7.75665376e-03 5.15006501e-01] [ 1.40264981e-02 7.51685806e-03 9.99873369e-01 -1.31698440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.117719421 meters Centerline goodness [0,1] 0.9371555700698044 Centerline is valid? [False, False] Translation: X:25.49, Y:0.51, Z:-1.32 [[ 9.99676261e-01 -2.12275410e-02 -1.40273064e-02 2.54924697e+01] [ 2.10746085e-02 9.99717810e-01 -1.09618309e-02 5.12666216e-01] [ 1.42560407e-02 1.06626622e-02 9.99841524e-01 -1.31743733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14771942099999 meters Centerline goodness [0,1] 0.9458775510204082 Centerline is valid? [False, False] Translation: X:25.49, Y:0.51, Z:-1.32 [[ 9.99666034e-01 -2.14506453e-02 -1.44114346e-02 2.54931527e+01] [ 2.12991298e-02 9.99717101e-01 -1.05860611e-02 5.11687389e-01] [ 1.46344355e-02 1.02755747e-02 9.99840110e-01 -1.31725437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17771942099999 meters Centerline goodness [0,1] 0.9465787539805667 Centerline is valid? [False, False] Translation: X:25.49, Y:0.51, Z:-1.32 [[ 9.99570418e-01 -2.54062910e-02 -1.46116645e-02 2.54930338e+01] [ 2.52039172e-02 9.99586087e-01 -1.38714505e-02 5.09632067e-01] [ 1.49580386e-02 1.34972204e-02 9.99797020e-01 -1.31632301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.207719421 meters Centerline goodness [0,1] 0.9503782457575138 Centerline is valid? [False, True] Translation: X:25.49, Y:0.51, Z:-1.32 [[ 9.99460711e-01 -2.95242337e-02 -1.43738370e-02 2.54920207e+01] [ 2.92785767e-02 9.99426529e-01 -1.70111365e-02 5.06838605e-01] [ 1.48678348e-02 1.65811171e-02 9.99751976e-01 -1.31520574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.237719421 meters Centerline goodness [0,1] 0.9498399363823583 Centerline is valid? [True, False] Translation: X:25.49, Y:0.51, Z:-1.32 [[ 9.99442011e-01 -3.00869048e-02 -1.45067400e-02 2.54923843e+01] [ 2.98386412e-02 9.99409528e-01 -1.70367543e-02 5.06423662e-01] [ 1.50107574e-02 1.65943865e-02 9.99749620e-01 -1.31521729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.267719421 meters Centerline goodness [0,1] 0.9517675683412051 Centerline is valid? [False, True] Translation: X:25.49, Y:0.51, Z:-1.31 [[ 9.99424955e-01 -3.05130354e-02 -1.47889512e-02 2.54927476e+01] [ 3.02577302e-02 9.99394302e-01 -1.71900640e-02 5.06927989e-01] [ 1.53045146e-02 1.67326989e-02 9.99742861e-01 -1.31493576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.297719421 meters Centerline goodness [0,1] 0.9536163361796653 Centerline is valid? [True, True] Translation: X:25.52, Y:0.50, Z:-1.31 [[ 9.99350938e-01 -3.39445223e-02 -1.20611991e-02 2.55213256e+01] [ 3.39439201e-02 9.99423707e-01 -2.54695776e-04 5.01367125e-01] [ 1.20628938e-02 -1.54873914e-04 9.99927229e-01 -1.31081658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.327719421 meters Centerline goodness [0,1] 0.9570897417663911 Centerline is valid? [True, True] Translation: X:25.55, Y:0.50, Z:-1.31 [[ 9.99326976e-01 -3.46943237e-02 -1.19121534e-02 2.55490674e+01] [ 3.46937719e-02 9.99397958e-01 -2.53026871e-04 5.03184927e-01] [ 1.19137604e-02 -1.60420955e-04 9.99929016e-01 -1.30915380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.357719421 meters Centerline goodness [0,1] 0.9499603344114237 Centerline is valid? [True, False] Translation: X:25.55, Y:0.50, Z:-1.31 [[ 9.99425976e-01 -3.15880302e-02 -1.22439759e-02 2.55506551e+01] [ 3.16274331e-02 9.99495111e-01 3.03793868e-03 5.03158502e-01] [ 1.21418315e-02 -3.42344035e-03 9.99920425e-01 -1.31042765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.387719421 meters Centerline goodness [0,1] 0.9499603344114237 Centerline is valid? [False, False] Translation: X:25.55, Y:0.50, Z:-1.31 [[ 9.99425976e-01 -3.15880302e-02 -1.22439759e-02 2.55506551e+01] [ 3.16274331e-02 9.99495111e-01 3.03793868e-03 5.03158502e-01] [ 1.21418315e-02 -3.42344035e-03 9.99920425e-01 -1.31042765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.417719421 meters Centerline goodness [0,1] 0.9497067926372373 Centerline is valid? [False, False] Translation: X:25.55, Y:0.51, Z:-1.31 [[ 9.99520224e-01 -2.82047388e-02 -1.27990043e-02 2.55533280e+01] [ 2.82794579e-02 9.99583834e-01 5.69490851e-03 5.06165137e-01] [ 1.26330544e-02 -6.05412513e-03 9.99901872e-01 -1.31272939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.447719421 meters Centerline goodness [0,1] 0.9477057478772044 Centerline is valid? [False, False] Translation: X:25.55, Y:0.51, Z:-1.31 [[ 9.99609087e-01 -2.46898409e-02 -1.31181007e-02 2.55539321e+01] [ 2.48109357e-02 9.99650287e-01 9.14996771e-03 5.06764359e-01] [ 1.28876019e-02 -9.47186322e-03 9.99872089e-01 -1.31289717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.477719421 meters Centerline goodness [0,1] 0.9435798062213157 Centerline is valid? [False, False] Translation: X:25.55, Y:0.51, Z:-1.31 [[ 9.99700262e-01 -2.04246174e-02 -1.34989144e-02 2.55545743e+01] [ 2.05953908e-02 9.99708046e-01 1.26353331e-02 5.09334624e-01] [ 1.32369015e-02 -1.29095612e-02 9.99829049e-01 -1.31316723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50771942099999 meters Centerline goodness [0,1] 0.9472201237315474 Centerline is valid? [False, False] Translation: X:25.56, Y:0.51, Z:-1.31 [[ 9.99765676e-01 -1.66170400e-02 -1.38732434e-02 2.55555708e+01] [ 1.68381956e-02 9.99730529e-01 1.59795258e-02 5.11399548e-01] [ 1.36039725e-02 -1.62093818e-02 9.99776069e-01 -1.31372065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53771942099999 meters Centerline goodness [0,1] 0.9364705882352942 Centerline is valid? [False, False] Translation: X:25.56, Y:0.52, Z:-1.31 [[ 9.99860247e-01 -8.60896428e-03 -1.43308327e-02 2.55568633e+01] [ 8.93203506e-03 9.99703905e-01 2.26345239e-02 5.15787542e-01] [ 1.41317296e-02 -2.27593641e-02 9.99641088e-01 -1.31469614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56771942099999 meters Centerline goodness [0,1] 0.9431774255894859 Centerline is valid? [False, False] Translation: X:25.56, Y:0.52, Z:-1.31 [[ 9.99918863e-01 -4.72111541e-03 -1.18312833e-02 2.55645656e+01] [ 4.88690865e-03 9.99889722e-01 1.40236147e-02 5.18692346e-01] [ 1.17637715e-02 -1.40802952e-02 9.99831665e-01 -1.31454976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.597719421 meters Centerline goodness [0,1] 0.9456298435815552 Centerline is valid? [False, False] Translation: X:25.57, Y:0.52, Z:-1.31 [[ 9.99944476e-01 1.61316320e-03 -1.04135715e-02 2.55678579e+01] [-1.53527087e-03 9.99970819e-01 7.48355156e-03 5.22447800e-01] [ 1.04253398e-02 -7.46714839e-03 9.99917774e-01 -1.30961167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.627719421 meters Centerline goodness [0,1] 0.9466171852697688 Centerline is valid? [False, False] Translation: X:25.57, Y:0.52, Z:-1.31 [[ 9.99943605e-01 2.05530394e-03 -1.04193045e-02 2.55669189e+01] [-1.98025316e-03 9.99972059e-01 7.20825728e-03 5.24190834e-01] [ 1.04338285e-02 -7.18721791e-03 9.99919736e-01 -1.30845305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.657719421 meters Centerline goodness [0,1] 0.9469905006000692 Centerline is valid? [False, False] Translation: X:25.57, Y:0.53, Z:-1.31 [[ 9.99941581e-01 2.88737533e-03 -1.04162205e-02 2.55662691e+01] [-2.81260581e-03 9.99970227e-01 7.18570251e-03 5.26006394e-01] [ 1.04366582e-02 -7.15598600e-03 9.99919931e-01 -1.30769947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.687719421 meters Centerline goodness [0,1] 0.9346978557504874 Centerline is valid? [False, False] Translation: X:25.57, Y:0.53, Z:-1.31 [[ 9.99937719e-01 3.59123675e-03 -1.05669630e-02 2.55676814e+01] [-3.51704914e-03 9.99969098e-01 7.03094000e-03 5.28460344e-01] [ 1.05918862e-02 -6.99333758e-03 9.99919449e-01 -1.30922831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.717719421 meters Centerline goodness [0,1] 0.9401709401709402 Centerline is valid? [False, False] Translation: X:25.57, Y:0.53, Z:-1.31 [[ 9.99934791e-01 3.73265789e-03 -1.07926077e-02 2.55678257e+01] [-3.65849445e-03 9.99969617e-01 6.88328549e-03 5.29119306e-01] [ 1.08179727e-02 -6.84335195e-03 9.99918067e-01 -1.30887823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.747719421 meters Centerline goodness [0,1] 0.9337618610345884 Centerline is valid? [False, False] Translation: X:25.57, Y:0.53, Z:-1.31 [[ 9.99930728e-01 4.87475405e-03 -1.07133703e-02 2.55659134e+01] [-4.78846041e-03 9.99956007e-01 8.06570501e-03 5.26916811e-01] [ 1.07522173e-02 -8.01384573e-03 9.99910080e-01 -1.30659356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.777719421 meters Centerline goodness [0,1] 0.9321210636951774 Centerline is valid? [False, False] Translation: X:25.57, Y:0.53, Z:-1.31 [[ 9.99940392e-01 1.77610659e-03 -1.07729715e-02 2.55656744e+01] [-1.72851063e-03 9.99988712e-01 4.42579334e-03 5.26587713e-01] [ 1.07807105e-02 -4.40690833e-03 9.99932175e-01 -1.30619325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.807719421 meters Centerline goodness [0,1] 0.9229282386213351 Centerline is valid? [False, False] Translation: X:25.57, Y:0.52, Z:-1.31 [[ 9.99940139e-01 3.94445482e-04 -1.09344970e-02 2.55673304e+01] [-3.62695247e-04 9.99995713e-01 2.90550684e-03 5.23601522e-01] [ 1.09355962e-02 -2.90136702e-03 9.99935995e-01 -1.30778870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.837719421 meters Centerline goodness [0,1] 0.9167840591249669 Centerline is valid? [False, False] Translation: X:25.57, Y:0.52, Z:-1.31 [[ 9.99940115e-01 5.84202999e-04 -1.09281720e-02 2.55679252e+01] [-5.49708112e-04 9.99994858e-01 3.15924779e-03 5.23052749e-01] [ 1.09299615e-02 -3.15305130e-03 9.99935295e-01 -1.30852196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.867719421 meters Centerline goodness [0,1] 0.9214557039578483 Centerline is valid? [False, False] Translation: X:25.57, Y:0.52, Z:-1.31 [[ 9.99938472e-01 3.14792109e-04 -1.10884544e-02 2.55691479e+01] [-2.74998670e-04 9.99993518e-01 3.59006913e-03 5.21359844e-01] [ 1.10895126e-02 -3.58679893e-03 9.99932076e-01 -1.30968019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89771942099999 meters Centerline goodness [0,1] 0.9286107654965631 Centerline is valid? [False, False] Translation: X:25.57, Y:0.52, Z:-1.31 [[ 9.99934559e-01 -2.37516716e-04 -1.14376963e-02 2.55706081e+01] [ 2.80359912e-04 9.99992951e-01 3.74433127e-03 5.19469562e-01] [ 1.14367263e-02 -3.74729291e-03 9.99927577e-01 -1.31058052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92771942099999 meters Centerline goodness [0,1] 0.9351371234724323 Centerline is valid? [False, False] Translation: X:25.57, Y:0.51, Z:-1.31 [[ 9.99926370e-01 -3.75755189e-03 -1.15384298e-02 2.55704445e+01] [ 3.77975989e-03 9.99991045e-01 1.90349506e-03 5.12884287e-01] [ 1.15311740e-02 -1.94696740e-03 9.99931618e-01 -1.30978148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.957719421 meters Centerline goodness [0,1] 0.9417885780743098 Centerline is valid? [False, False] Translation: X:25.57, Y:0.51, Z:-1.31 [[ 9.99910026e-01 -6.74154847e-03 -1.15970869e-02 2.55696264e+01] [ 6.73601245e-03 9.99977179e-01 -5.16357431e-04 5.09532169e-01] [ 1.16003033e-02 4.38192850e-04 9.99932618e-01 -1.30851415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.987719421 meters Centerline goodness [0,1] 0.946764645846091 Centerline is valid? [False, False] Translation: X:25.57, Y:0.50, Z:-1.31 [[ 9.99883082e-01 -1.02035495e-02 -1.13890507e-02 2.55674813e+01] [ 1.01780102e-02 9.99945562e-01 -2.29815794e-03 5.02803150e-01] [ 1.14118800e-02 2.18197137e-03 9.99932502e-01 -1.30581669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.017719421 meters Centerline goodness [0,1] 0.9483043416195933 Centerline is valid? [False, False] Translation: X:25.57, Y:0.50, Z:-1.31 [[ 9.99877081e-01 -1.04515205e-02 -1.16870803e-02 2.55685984e+01] [ 1.04346850e-02 9.99944431e-01 -1.50057308e-03 5.00131133e-01] [ 1.17021142e-02 1.37843763e-03 9.99930578e-01 -1.30634425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.047719421 meters Centerline goodness [0,1] 0.9452930365529917 Centerline is valid? [False, False] Translation: X:25.57, Y:0.50, Z:-1.31 [[ 9.99811636e-01 -1.51315468e-02 -1.21544094e-02 2.55723777e+01] [ 1.50743493e-02 9.99874932e-01 -4.78381679e-03 4.97621354e-01] [ 1.22252759e-02 4.59969588e-03 9.99914689e-01 -1.30964052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.077719421 meters Centerline goodness [0,1] 0.9451525922294399 Centerline is valid? [False, False] Translation: X:25.57, Y:0.49, Z:-1.31 [[ 9.99799068e-01 -1.57794068e-02 -1.23626074e-02 2.55730694e+01] [ 1.57286903e-02 9.99867522e-01 -4.18896319e-03 4.94800754e-01] [ 1.24270690e-02 3.99367387e-03 9.99914806e-01 -1.30979987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.107719421 meters Centerline goodness [0,1] 0.9469534926358247 Centerline is valid? [False, False] Translation: X:25.57, Y:0.49, Z:-1.31 [[ 9.99719684e-01 -2.01277627e-02 -1.24669955e-02 2.55723288e+01] [ 2.00412937e-02 9.99774491e-01 -7.02237246e-03 4.90379512e-01] [ 1.26055287e-02 6.77054926e-03 9.99897625e-01 -1.30810547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.137719421 meters Centerline goodness [0,1] 0.9494970106311343 Centerline is valid? [False, False] Translation: X:25.57, Y:0.49, Z:-1.31 [[ 9.99711448e-01 -2.04093697e-02 -1.26680244e-02 2.55721435e+01] [ 2.03299591e-02 9.99773057e-01 -6.36603541e-03 4.87035702e-01] [ 1.27950762e-02 6.10665806e-03 9.99899492e-01 -1.30718134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.167719421 meters Centerline goodness [0,1] 0.9512796981747731 Centerline is valid? [False, True] Translation: X:25.57, Y:0.48, Z:-1.31 [[ 9.99687290e-01 -2.15149744e-02 -1.27447201e-02 2.55723153e+01] [ 2.14357839e-02 9.99750264e-01 -6.31795905e-03 4.84958925e-01] [ 1.28774680e-02 6.04279030e-03 9.99898823e-01 -1.30688261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.197719421 meters Centerline goodness [0,1] 0.9522527483734117 Centerline is valid? [True, True] Translation: X:25.60, Y:0.49, Z:-1.31 [[ 9.99667325e-01 -2.28568170e-02 -1.19501468e-02 2.56007020e+01] [ 2.28554198e-02 9.99738749e-01 -2.53491655e-04 4.85451327e-01] [ 1.19528188e-02 -1.97182968e-05 9.99928562e-01 -1.30701157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.227719421 meters Centerline goodness [0,1] 0.9535907790336655 Centerline is valid? [True, True] Translation: X:25.63, Y:0.49, Z:-1.31 [[ 9.99692064e-01 -2.27772292e-02 -9.84762153e-03 2.56293844e+01] [ 2.27762387e-02 9.99740565e-01 -2.12734070e-04 4.91696492e-01] [ 9.84991221e-03 -1.16232171e-05 9.99951488e-01 -1.30681655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25771942099999 meters Centerline goodness [0,1] 0.9523887068210963 Centerline is valid? [True, True] Translation: X:25.66, Y:0.49, Z:-1.31 [[ 9.99695478e-01 -2.24356082e-02 -1.02759369e-02 2.56585699e+01] [ 2.24344820e-02 9.99748290e-01 -2.24865806e-04 4.93940228e-01] [ 1.02783954e-02 -5.73799208e-06 9.99947176e-01 -1.30789977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28771942099999 meters Centerline goodness [0,1] 0.9499695059971539 Centerline is valid? [True, False] Translation: X:25.66, Y:0.49, Z:-1.31 [[ 9.99735291e-01 -2.03104556e-02 -1.08089106e-02 2.56614555e+01] [ 2.03321031e-02 9.99791482e-01 1.89663333e-03 4.94382644e-01] [ 1.07681352e-02 -2.11589916e-03 9.99939783e-01 -1.31015833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31771942099999 meters Centerline goodness [0,1] 0.9488937872479386 Centerline is valid? [False, False] Translation: X:25.66, Y:0.50, Z:-1.31 [[ 9.99732937e-01 -2.03010491e-02 -1.10418192e-02 2.56624309e+01] [ 2.03209026e-02 9.99792083e-01 1.68880430e-03 4.95152769e-01] [ 1.10052389e-02 -1.91273302e-03 9.99937611e-01 -1.31084310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.347719421 meters Centerline goodness [0,1] 0.9435320584926884 Centerline is valid? [False, False] Translation: X:25.67, Y:0.50, Z:-1.31 [[ 9.99759637e-01 -1.86716763e-02 -1.14906905e-02 2.56651837e+01] [ 1.87133923e-02 9.99818645e-01 3.53366440e-03 4.96140437e-01] [ 1.14226272e-02 -3.74784484e-03 9.99927736e-01 -1.31311595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.377719421 meters Centerline goodness [0,1] 0.9439558191859276 Centerline is valid? [False, False] Translation: X:25.67, Y:0.50, Z:-1.31 [[ 9.99775703e-01 -1.74967975e-02 -1.19333735e-02 2.56671662e+01] [ 1.75516168e-02 9.99835811e-01 4.50462149e-03 4.97182415e-01] [ 1.18525977e-02 -4.71306111e-03 9.99918648e-01 -1.31447942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.407719421 meters Centerline goodness [0,1] 0.9450087708562803 Centerline is valid? [False, False] Translation: X:25.67, Y:0.50, Z:-1.31 [[ 9.99884442e-01 -1.10810632e-02 -1.04073265e-02 2.56724542e+01] [ 1.10719632e-02 9.99938270e-01 -9.31599618e-04 5.01574885e-01] [ 1.04170072e-02 8.16262429e-04 9.99945408e-01 -1.31175545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.437719421 meters Centerline goodness [0,1] 0.9467769945857595 Centerline is valid? [False, False] Translation: X:25.67, Y:0.50, Z:-1.31 [[ 9.99925843e-01 -6.83486687e-03 -1.00793159e-02 2.56693112e+01] [ 6.86140255e-03 9.99973079e-01 2.60046026e-03 5.04901819e-01] [ 1.00612708e-02 -2.66942567e-03 9.99945821e-01 -1.30867335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.467719421 meters Centerline goodness [0,1] 0.9448575095231305 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99927107e-01 -6.28308427e-03 -1.03103650e-02 2.56697682e+01] [ 6.30754785e-03 9.99977365e-01 2.34191729e-03 5.07223641e-01] [ 1.02954171e-02 -2.40677970e-03 9.99944104e-01 -1.30877844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.497719421 meters Centerline goodness [0,1] 0.9460227853797223 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99942520e-01 -2.37332040e-03 -1.04557957e-02 2.56704974e+01] [ 2.43184724e-03 9.99981428e-01 5.58839690e-03 5.08792146e-01] [ 1.04423384e-02 -5.61350258e-03 9.99929721e-01 -1.30941631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.527719421 meters Centerline goodness [0,1] 0.9436841566942825 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99942301e-01 -2.10485440e-03 -1.05339559e-02 2.56706575e+01] [ 2.15966728e-03 9.99984175e-01 5.19477943e-03 5.10012857e-01] [ 1.05228550e-02 -5.21722954e-03 9.99931023e-01 -1.30945480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.557719421 meters Centerline goodness [0,1] 0.9473985251159275 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99944694e-01 -1.05533959e-03 -1.04640308e-02 2.56702142e+01] [ 1.10775504e-03 9.99986863e-01 5.00457651e-03 5.12538762e-01] [ 1.04586118e-02 -5.01589131e-03 9.99932727e-01 -1.30912731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.587719421 meters Centerline goodness [0,1] 0.9442697271687632 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99944872e-01 -9.26316994e-04 -1.04592132e-02 2.56698195e+01] [ 9.73901440e-04 9.99989196e-01 4.54534811e-03 5.14562998e-01] [ 1.04548897e-02 -4.55528378e-03 9.99934970e-01 -1.30867594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.617719421 meters Centerline goodness [0,1] 0.9448902285039306 Centerline is valid? [False, False] Translation: X:25.67, Y:0.52, Z:-1.31 [[ 9.99943598e-01 -7.41230404e-04 -1.05949226e-02 2.56696263e+01] [ 7.87121193e-04 9.99990325e-01 4.32788106e-03 5.15762243e-01] [ 1.05916121e-02 -4.33597645e-03 9.99934506e-01 -1.30811347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64771942099999 meters Centerline goodness [0,1] 0.9469301110385369 Centerline is valid? [False, False] Translation: X:25.67, Y:0.52, Z:-1.31 [[ 9.99944160e-01 1.02261847e-04 -1.05672006e-02 2.56688064e+01] [-5.04645448e-05 9.99987985e-01 4.90185559e-03 5.15562870e-01] [ 1.05675749e-02 -4.90104860e-03 9.99932151e-01 -1.30712243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67771942099999 meters Centerline goodness [0,1] 0.9414314495614481 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99938931e-01 7.70457564e-04 -1.10245266e-02 2.56728613e+01] [-7.10726995e-04 9.99985054e-01 5.42086377e-03 5.14071442e-01] [ 1.10285384e-02 -5.41269729e-03 9.99924534e-01 -1.31094434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.707719421 meters Centerline goodness [0,1] 0.9383635732799968 Centerline is valid? [False, False] Translation: X:25.67, Y:0.51, Z:-1.31 [[ 9.99937648e-01 8.45332115e-04 -1.11349095e-02 2.56739328e+01] [-7.83474248e-04 9.99984244e-01 5.55850042e-03 5.13342453e-01] [ 1.11394328e-02 -5.54942992e-03 9.99922555e-01 -1.31200304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.737719421 meters Centerline goodness [0,1] 0.9386088483289439 Centerline is valid? [False, False] Translation: X:25.68, Y:0.51, Z:-1.31 [[ 9.99935699e-01 -8.36945348e-04 -1.13091363e-02 2.56759075e+01] [ 8.81792894e-04 9.99991766e-01 3.96119883e-03 5.10739140e-01] [ 1.13057279e-02 -3.97091644e-03 9.99928204e-01 -1.31398199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.767719421 meters Centerline goodness [0,1] 0.9386770364639534 Centerline is valid? [False, False] Translation: X:25.68, Y:0.51, Z:-1.32 [[ 9.99931437e-01 -1.97964882e-03 -1.15413170e-02 2.56776943e+01] [ 2.01715565e-03 9.99992720e-01 3.23905306e-03 5.07730617e-01] [ 1.15348208e-02 -3.26211162e-03 9.99928151e-01 -1.31538914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.797719421 meters Centerline goodness [0,1] 0.9407672592652861 Centerline is valid? [False, False] Translation: X:25.68, Y:0.50, Z:-1.31 [[ 9.99920805e-01 -4.88068963e-03 -1.16001224e-02 2.56771617e+01] [ 4.90399342e-03 9.99986012e-01 1.98133116e-03 5.00647506e-01] [ 1.15902899e-02 -2.03806117e-03 9.99930753e-01 -1.31429671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.827719421 meters Centerline goodness [0,1] 0.9413344728649045 Centerline is valid? [False, False] Translation: X:25.68, Y:0.50, Z:-1.31 [[ 9.99918835e-01 -5.02081137e-03 -1.17096236e-02 2.56770913e+01] [ 5.05488025e-03 9.99983072e-01 2.88169740e-03 4.97555581e-01] [ 1.16949569e-02 -2.94065425e-03 9.99927288e-01 -1.31377686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.857719421 meters Centerline goodness [0,1] 0.9443187608274738 Centerline is valid? [False, False] Translation: X:25.68, Y:0.50, Z:-1.31 [[ 9.99892130e-01 -8.90690161e-03 -1.16788802e-02 2.56775630e+01] [ 8.90642156e-03 9.99960333e-01 -9.31148720e-05 4.95166502e-01] [ 1.16792463e-02 -1.09122031e-05 9.99931795e-01 -1.31430611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.887719421 meters Centerline goodness [0,1] 0.9468345147885603 Centerline is valid? [False, False] Translation: X:25.68, Y:0.49, Z:-1.31 [[ 9.99891651e-01 -8.86938139e-03 -1.17482065e-02 2.56773614e+01] [ 8.87963901e-03 9.99960238e-01 8.21247631e-04 4.92600692e-01] [ 1.17404554e-02 -9.25478482e-04 9.99930650e-01 -1.31372067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.917719421 meters Centerline goodness [0,1] 0.9539098173515982 Centerline is valid? [False, True] Translation: X:25.67, Y:0.49, Z:-1.31 [[ 9.99859535e-01 -1.22278591e-02 -1.14625631e-02 2.56746754e+01] [ 1.22150021e-02 9.99924685e-01 -1.19099430e-03 4.87405173e-01] [ 1.14762631e-02 1.05081177e-03 9.99933593e-01 -1.31049449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.947719421 meters Centerline goodness [0,1] 0.9526688652742152 Centerline is valid? [True, True] Translation: X:25.70, Y:0.48, Z:-1.31 [[ 9.99815914e-01 -1.59799189e-02 -1.06198429e-02 2.57030480e+01] [ 1.59776878e-02 9.99872305e-01 -2.94906443e-04 4.83544638e-01] [ 1.06231994e-02 1.25171621e-04 9.99943564e-01 -1.31175455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.977719421 meters Centerline goodness [0,1] 0.9542166710813179 Centerline is valid? [True, True] Translation: X:25.73, Y:0.48, Z:-1.31 [[ 9.99665231e-01 -2.30245324e-02 -1.18024130e-02 2.57324095e+01] [ 2.30222310e-02 9.99734899e-01 -3.30836319e-04 4.76332305e-01] [ 1.18069015e-02 5.90076868e-05 9.99930294e-01 -1.31188216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00771942099999 meters Centerline goodness [0,1] 0.9539413428856369 Centerline is valid? [True, True] Translation: X:25.76, Y:0.47, Z:-1.31 [[ 9.99601529e-01 -2.58396544e-02 -1.13619996e-02 2.57612816e+01] [ 2.58376623e-02 9.99666100e-01 -3.22101687e-04 4.74950204e-01] [ 1.13665288e-02 2.84058289e-05 9.99935399e-01 -1.31302790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03771942099999 meters Centerline goodness [0,1] 0.9509416272623512 Centerline is valid? [True, True] Translation: X:25.79, Y:0.47, Z:-1.32 [[ 9.99479984e-01 -2.92068729e-02 -1.36645260e-02 2.57896192e+01] [ 2.92043410e-02 9.99573388e-01 -3.84831064e-04 4.69496455e-01] [ 1.36699362e-02 -1.44325299e-05 9.99906562e-01 -1.31513400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06771942099999 meters Centerline goodness [0,1] 0.9507782576807107 Centerline is valid? [True, True] Translation: X:25.82, Y:0.47, Z:-1.32 [[ 9.99452275e-01 -3.00409623e-02 -1.38813077e-02 2.58176226e+01] [ 3.00383142e-02 9.99548668e-01 -3.99264972e-04 4.68478380e-01] [ 1.38870369e-02 -1.79247975e-05 9.99903570e-01 -1.31548305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.097719421 meters Centerline goodness [0,1] 0.9517225886821737 Centerline is valid? [True, True] Translation: X:25.85, Y:0.47, Z:-1.31 [[ 9.99514066e-01 -2.87540503e-02 -1.20347628e-02 2.58456165e+01] [ 2.87519866e-02 9.99586517e-01 -3.44489377e-04 4.70921946e-01] [ 1.20396921e-02 -1.70136262e-06 9.99927520e-01 -1.31406716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.127719421 meters Centerline goodness [0,1] 0.9544373284537969 Centerline is valid? [True, True] Translation: X:25.87, Y:0.48, Z:-1.31 [[ 9.99692831e-01 -2.22053479e-02 -1.10075533e-02 2.58737077e+01] [ 2.22032108e-02 9.99753428e-01 -3.16335163e-04 4.78989531e-01] [ 1.10118635e-02 7.18349680e-05 9.99939365e-01 -1.31321216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.157719421 meters Centerline goodness [0,1] 0.9533682969467822 Centerline is valid? [True, True] Translation: X:25.90, Y:0.48, Z:-1.31 [[ 9.99757440e-01 -1.91032365e-02 -1.09602424e-02 2.59027135e+01] [ 1.91008656e-02 9.99817510e-01 -3.20956941e-04 4.83564563e-01] [ 1.09643736e-02 1.11528972e-04 9.99939883e-01 -1.31455864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.187719421 meters Centerline goodness [0,1] 0.9535523020220327 Centerline is valid? [True, True] Translation: X:25.93, Y:0.49, Z:-1.31 [[ 9.99878360e-01 -1.16219657e-02 -1.04016863e-02 2.59311263e+01] [ 1.16193916e-02 9.99932445e-01 -3.07866855e-04 4.90883587e-01] [ 1.04045616e-02 1.86968139e-04 9.99945854e-01 -1.31350029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.217719421 meters Centerline goodness [0,1] 0.9527912695348223 Centerline is valid? [True, True] Translation: X:25.96, Y:0.50, Z:-1.31 [[ 9.99926461e-01 -7.33244075e-03 -9.65960901e-03 2.59591616e+01] [ 7.33003631e-03 9.99973095e-01 -2.84297698e-04 4.96362552e-01] [ 9.66143371e-03 2.13471507e-04 9.99953304e-01 -1.31393784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.247719421 meters Centerline goodness [0,1] 0.9497924128948225 Centerline is valid? [True, False] Translation: X:25.96, Y:0.50, Z:-1.31 [[ 9.99949715e-01 -2.24976387e-03 -9.77270405e-03 2.59598884e+01] [ 2.28602078e-03 9.99990540e-01 3.70043314e-03 4.98392193e-01] [ 9.76428650e-03 -3.72258767e-03 9.99945399e-01 -1.31478481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.277719421 meters Centerline goodness [0,1] 0.9372799609271658 Centerline is valid? [False, False] Translation: X:25.96, Y:0.50, Z:-1.32 [[ 9.99950179e-01 -1.46763667e-03 -9.87346524e-03 2.59611024e+01] [ 1.50292624e-03 9.99992506e-01 3.56771331e-03 5.00157185e-01] [ 9.86815515e-03 -3.58237465e-03 9.99944892e-01 -1.31615930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.307719421 meters Centerline goodness [0,1] 0.9372799609271658 Centerline is valid? [False, False] Translation: X:25.96, Y:0.50, Z:-1.32 [[ 9.99950179e-01 -1.46763667e-03 -9.87346524e-03 2.59611024e+01] [ 1.50292624e-03 9.99992506e-01 3.56771331e-03 5.00157185e-01] [ 9.86815515e-03 -3.58237465e-03 9.99944892e-01 -1.31615930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.337719421 meters Centerline goodness [0,1] 0.9104114257891747 Centerline is valid? [False, False] Translation: X:25.96, Y:0.50, Z:-1.32 [[ 9.99945066e-01 2.72053362e-03 -1.01224378e-02 2.59633042e+01] [-2.64409826e-03 9.99967951e-01 7.55681760e-03 4.98235273e-01] [ 1.01426720e-02 -7.52963775e-03 9.99920212e-01 -1.31813136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.367719421 meters Centerline goodness [0,1] 0.9176098705006628 Centerline is valid? [False, False] Translation: X:25.96, Y:0.50, Z:-1.32 [[ 9.99943688e-01 3.21720488e-03 -1.01128775e-02 2.59631250e+01] [-3.13827880e-03 9.99964571e-01 7.81071629e-03 4.97582915e-01] [ 1.01376478e-02 -7.77853942e-03 9.99918358e-01 -1.31791598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39771942099999 meters Centerline goodness [0,1] 0.9014806378132119 Centerline is valid? [False, False] Translation: X:25.96, Y:0.50, Z:-1.32 [[ 9.99939495e-01 4.13362295e-03 -1.01940612e-02 2.59626855e+01] [-4.04891901e-03 9.99957226e-01 8.31583241e-03 4.96644567e-01] [ 1.02279997e-02 -8.27405434e-03 9.99913460e-01 -1.31720342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42771942099999 meters Centerline goodness [0,1] 0.8610969361719499 Centerline is valid? [False, False] Translation: X:25.96, Y:0.50, Z:-1.32 [[ 9.99937379e-01 4.43711401e-03 -1.02737168e-02 2.59625892e+01] [-4.34746813e-03 9.99952427e-01 8.73170229e-03 4.95396390e-01] [ 1.03119716e-02 -8.68649085e-03 9.99909100e-01 -1.31685062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.457719421 meters Centerline goodness [0,1] 0.842294928436183 Centerline is valid? [False, False] Translation: X:25.96, Y:0.49, Z:-1.32 [[ 9.99935515e-01 4.62319104e-03 -1.03726507e-02 2.59635738e+01] [-4.52629502e-03 9.99946085e-01 9.34559998e-03 4.93410179e-01] [ 1.04152979e-02 -9.29804765e-03 9.99902529e-01 -1.31778291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.487719421 meters Centerline goodness [0,1] 0.8492737680539428 Centerline is valid? [False, False] Translation: X:25.96, Y:0.49, Z:-1.32 [[ 9.99946486e-01 1.22100178e-03 -1.02729568e-02 2.59637411e+01] [-1.16438287e-03 9.99984111e-01 5.51562911e-03 4.94126319e-01] [ 1.02795282e-02 -5.50337229e-03 9.99932020e-01 -1.31839402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.517719421 meters Centerline goodness [0,1] 0.9127601258755457 Centerline is valid? [False, False] Translation: X:25.96, Y:0.49, Z:-1.32 [[ 9.99943098e-01 -2.43111710e-03 -1.03870125e-02 2.59635706e+01] [ 2.46545705e-03 9.99991534e-01 3.29452257e-03 4.88860798e-01] [ 1.03789152e-02 -3.31994384e-03 9.99940626e-01 -1.31765542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.547719421 meters Centerline goodness [0,1] 0.9403142851334594 Centerline is valid? [False, False] Translation: X:25.96, Y:0.48, Z:-1.32 [[ 9.99862107e-01 -1.28728658e-02 -1.04908092e-02 2.59631771e+01] [ 1.28129745e-02 9.99901342e-01 -5.75628934e-03 4.81483147e-01] [ 1.05638741e-02 5.62107712e-03 9.99928401e-01 -1.31658127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.577719421 meters Centerline goodness [0,1] 0.9512259693711307 Centerline is valid? [False, True] Translation: X:25.96, Y:0.48, Z:-1.32 [[ 9.99804308e-01 -1.66466981e-02 -1.06879654e-02 2.59635017e+01] [ 1.65586506e-02 9.99828659e-01 -8.27432140e-03 4.76844620e-01] [ 1.08238743e-02 8.09572389e-03 9.99908647e-01 -1.31617923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.607719421 meters Centerline goodness [0,1] 0.9498564125542271 Centerline is valid? [True, False] Translation: X:25.96, Y:0.47, Z:-1.32 [[ 9.99730425e-01 -2.04983503e-02 -1.09039099e-02 2.59640921e+01] [ 2.03780090e-02 9.99731442e-01 -1.10354662e-02 4.73133359e-01] [ 1.11271904e-02 1.08102913e-02 9.99879654e-01 -1.31611258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.637719421 meters Centerline goodness [0,1] 0.9489378169745606 Centerline is valid? [False, False] Translation: X:25.97, Y:0.47, Z:-1.32 [[ 9.99588092e-01 -2.64645385e-02 -1.11029160e-02 2.59663107e+01] [ 2.62929074e-02 9.99536739e-01 -1.53294269e-02 4.69451005e-01] [ 1.15034587e-02 1.50311847e-02 9.99820851e-01 -1.31773593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.667719421 meters Centerline goodness [0,1] 0.9448355852189484 Centerline is valid? [False, False] Translation: X:25.97, Y:0.47, Z:-1.32 [[ 9.99576339e-01 -2.67609086e-02 -1.14454000e-02 2.59673265e+01] [ 2.65910593e-02 9.99537669e-01 -1.47432625e-02 4.67133907e-01] [ 1.18346516e-02 1.44326710e-02 9.99825804e-01 -1.31799358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.697719421 meters Centerline goodness [0,1] 0.9470708307817922 Centerline is valid? [False, False] Translation: X:25.97, Y:0.46, Z:-1.32 [[ 9.99473146e-01 -3.02927759e-02 -1.16524293e-02 2.59673025e+01] [ 3.00892288e-02 9.99398116e-01 -1.72639567e-02 4.63084378e-01] [ 1.21683891e-02 1.69042485e-02 9.99783065e-01 -1.31705683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.727719421 meters Centerline goodness [0,1] 0.9427697328166429 Centerline is valid? [False, False] Translation: X:25.97, Y:0.46, Z:-1.32 [[ 9.99479978e-01 -2.99727546e-02 -1.18915107e-02 2.59675289e+01] [ 2.97800446e-02 9.99427374e-01 -1.60646650e-02 4.59676724e-01] [ 1.23662036e-02 1.57021813e-02 9.99800239e-01 -1.31660631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75771942099999 meters Centerline goodness [0,1] 0.9479343058247476 Centerline is valid? [False, False] Translation: X:25.97, Y:0.46, Z:-1.32 [[ 9.99479837e-01 -2.98801879e-02 -1.21338361e-02 2.59682560e+01] [ 2.96947254e-02 9.99443625e-01 -1.51876094e-02 4.57214928e-01] [ 1.25808937e-02 1.48193984e-02 9.99811035e-01 -1.31678776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78771942099999 meters Centerline goodness [0,1] 0.9425715565327145 Centerline is valid? [False, False] Translation: X:25.97, Y:0.46, Z:-1.32 [[ 9.99580239e-01 -2.61885735e-02 -1.23897023e-02 2.59690492e+01] [ 2.60515531e-02 9.99599036e-01 -1.10943046e-02 4.57214129e-01] [ 1.26752785e-02 1.07668766e-02 9.99861696e-01 -1.31722324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81771942099999 meters Centerline goodness [0,1] 0.9467188870530159 Centerline is valid? [False, False] Translation: X:25.97, Y:0.46, Z:-1.32 [[ 9.99664811e-01 -2.25111062e-02 -1.27872981e-02 2.59697498e+01] [ 2.24240703e-02 9.99724672e-01 -6.90953128e-03 4.56091567e-01] [ 1.29393186e-02 6.62047202e-03 9.99894366e-01 -1.31717199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.847719421 meters Centerline goodness [0,1] 0.9461186655232962 Centerline is valid? [False, False] Translation: X:25.97, Y:0.45, Z:-1.32 [[ 9.99742018e-01 -1.84980504e-02 -1.31802742e-02 2.59704917e+01] [ 1.84688520e-02 9.99826713e-01 -2.33361115e-03 4.53738546e-01] [ 1.32211575e-02 2.08958459e-03 9.99910413e-01 -1.31711176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.877719421 meters Centerline goodness [0,1] 0.9428571428571428 Centerline is valid? [False, False] Translation: X:25.97, Y:0.45, Z:-1.32 [[ 9.99815020e-01 -1.35739685e-02 -1.36261861e-02 2.59710757e+01] [ 1.36043389e-02 9.99905170e-01 2.13861230e-03 4.52539541e-01] [ 1.35958644e-02 -2.32359196e-03 9.99904872e-01 -1.31696321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.907719421 meters Centerline goodness [0,1] 0.9515994380077784 Centerline is valid? [False, True] Translation: X:25.97, Y:0.45, Z:-1.31 [[ 9.99940203e-01 -5.68941401e-03 -9.33917448e-03 2.59735716e+01] [ 5.66399183e-03 9.99980188e-01 -2.74629750e-03 4.53986775e-01] [ 9.35461427e-03 2.69323628e-03 9.99952618e-01 -1.31393595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.937719421 meters Centerline goodness [0,1] 0.9558617040760261 Centerline is valid? [True, True] Translation: X:26.00, Y:0.46, Z:-1.31 [[ 9.99978054e-01 -3.63881554e-03 -5.53635693e-03 2.60021293e+01] [ 3.63798539e-03 9.99993370e-01 -1.60009347e-04 4.56040829e-01] [ 5.53690246e-03 1.39864649e-04 9.99984661e-01 -1.30960594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.967719421 meters Centerline goodness [0,1] 0.9580976026700313 Centerline is valid? [True, True] Translation: X:26.03, Y:0.46, Z:-1.31 [[ 9.99994567e-01 -3.17045444e-03 -9.02287797e-04 2.60305020e+01] [ 3.17042755e-03 9.99994974e-01 -3.12219807e-05 4.59133477e-01] [ 9.02382249e-04 2.83611730e-05 9.99999592e-01 -1.30857508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.997719421 meters Centerline goodness [0,1] 0.9580201649862512 Centerline is valid? [True, True] Translation: X:26.06, Y:0.46, Z:-1.31 [[ 9.99995044e-01 -3.10977756e-03 -4.90806734e-04 2.60601876e+01] [ 3.10977076e-03 9.99995165e-01 -1.46300979e-05 4.59387481e-01] [ 4.90849857e-04 1.31037290e-05 9.99999879e-01 -1.30925066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.027719421 meters Centerline goodness [0,1] 0.9595262804468592 Centerline is valid? [True, True] Translation: X:26.09, Y:0.45, Z:-1.31 [[ 9.99989995e-01 -3.94597353e-03 -2.10716369e-03 2.60896971e+01] [ 3.94585531e-03 9.99992213e-01 -6.02595777e-05 4.54528498e-01] [ 2.10738506e-03 5.19444118e-05 9.99997778e-01 -1.31018536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.057719421 meters Centerline goodness [0,1] 0.9545704453358855 Centerline is valid? [True, True] Translation: X:26.12, Y:0.46, Z:-1.32 [[ 9.99981115e-01 -4.34869990e-03 -4.34266438e-03 2.61180874e+01] [ 4.34820252e-03 9.99990539e-01 -1.23966449e-04 4.56458540e-01] [ 4.34316239e-03 1.05081324e-04 9.99990563e-01 -1.31609432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.087719421 meters Centerline goodness [0,1] 0.9517471559110243 Centerline is valid? [True, True] Translation: X:26.15, Y:0.46, Z:-1.32 [[ 9.99971307e-01 -4.12699272e-03 -6.35239163e-03 2.61465207e+01] [ 4.12588935e-03 9.99991471e-01 -1.86788819e-04 4.57019278e-01] [ 6.35310832e-03 1.60574195e-04 9.99979806e-01 -1.32015958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.117719421 meters Centerline goodness [0,1] 0.9517635066258919 Centerline is valid? [True, True] Translation: X:26.18, Y:0.45, Z:-1.32 [[ 9.99953897e-01 -1.96634291e-03 -9.39884619e-03 2.61765412e+01] [ 1.96389715e-03 9.99998035e-01 -2.69441716e-04 4.54026806e-01] [ 9.39935754e-03 2.50970927e-04 9.99955794e-01 -1.32070735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14771942099999 meters Centerline goodness [0,1] 0.948363028499205 Centerline is valid? [True, False] Translation: X:26.18, Y:0.45, Z:-1.32 [[ 9.99956284e-01 -7.31323346e-04 -9.32179481e-03 2.61765224e+01] [ 7.42169502e-04 9.99999052e-01 1.16012043e-03 4.50885649e-01] [ 9.32093755e-03 -1.16698807e-03 9.99955878e-01 -1.32081516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17771942099999 meters Centerline goodness [0,1] 0.9500356597045339 Centerline is valid? [False, True] Translation: X:26.18, Y:0.45, Z:-1.32 [[ 9.99956065e-01 -4.09226907e-04 -9.36482664e-03 2.61766613e+01] [ 4.24447727e-04 9.99998592e-01 1.62338802e-03 4.50026891e-01] [ 9.36414913e-03 -1.62729158e-03 9.99954831e-01 -1.32080412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.207719421 meters Centerline goodness [0,1] 0.9472977372619241 Centerline is valid? [True, False] Translation: X:26.18, Y:0.45, Z:-1.32 [[ 9.99954521e-01 3.23809679e-05 -9.53699180e-03 2.61779362e+01] [-8.58056654e-06 9.99996886e-01 2.49561825e-03 4.47205291e-01] [ 9.53704291e-03 -2.49542292e-03 9.99951408e-01 -1.32188557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.237719421 meters Centerline goodness [0,1] 0.9471201740297233 Centerline is valid? [False, False] Translation: X:26.18, Y:0.44, Z:-1.32 [[ 9.99952162e-01 1.45802392e-04 -9.78017136e-03 2.61789026e+01] [-1.16816015e-04 9.99995600e-01 2.96429604e-03 4.44811930e-01] [ 9.78056052e-03 -2.96301176e-03 9.99947779e-01 -1.32232803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.267719421 meters Centerline goodness [0,1] 0.9469533758790293 Centerline is valid? [False, False] Translation: X:26.18, Y:0.44, Z:-1.32 [[ 9.99951872e-01 -8.96095898e-04 -9.76986772e-03 2.61787744e+01] [ 9.17836183e-04 9.99997112e-01 2.22098181e-03 4.39642888e-01] [ 9.76784930e-03 -2.22984205e-03 9.99949807e-01 -1.32213244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.297719421 meters Centerline goodness [0,1] 0.9488608525232729 Centerline is valid? [False, False] Translation: X:26.18, Y:0.44, Z:-1.32 [[ 9.99950879e-01 -2.68008660e-03 -9.54235158e-03 2.61778931e+01] [ 2.68603527e-03 9.99996206e-01 6.10634581e-04 4.36079297e-01] [ 9.54067882e-03 -6.36235679e-04 9.99954284e-01 -1.32164896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.327719421 meters Centerline goodness [0,1] 0.9490266133452427 Centerline is valid? [False, False] Translation: X:26.18, Y:0.44, Z:-1.32 [[ 9.99947893e-01 -2.86677351e-03 -9.79754751e-03 2.61795922e+01] [ 2.87414087e-03 9.99995597e-01 7.37962156e-04 4.35093372e-01] [ 9.79538880e-03 -7.66083235e-04 9.99951731e-01 -1.32295849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.357719421 meters Centerline goodness [0,1] 0.9448160535117057 Centerline is valid? [False, False] Translation: X:26.18, Y:0.43, Z:-1.32 [[ 9.99945742e-01 -2.83196093e-03 -1.00246057e-02 2.61804946e+01] [ 2.84397535e-03 9.99995254e-01 1.18444129e-03 4.34078680e-01] [ 1.00212038e-02 -1.21288676e-03 9.99949051e-01 -1.32344927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.387719421 meters Centerline goodness [0,1] 0.9448271645198109 Centerline is valid? [False, False] Translation: X:26.18, Y:0.43, Z:-1.32 [[ 9.99926352e-01 -6.40208840e-03 -1.03103342e-02 2.61809148e+01] [ 6.38438607e-03 9.99978090e-01 -1.74894914e-03 4.31507472e-01] [ 1.03213052e-02 1.68299518e-03 9.99945318e-01 -1.32312119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.417719421 meters Centerline goodness [0,1] 0.9506069740915757 Centerline is valid? [False, True] Translation: X:26.18, Y:0.43, Z:-1.32 [[ 9.99923842e-01 -6.37718695e-03 -1.05661093e-02 2.61807205e+01] [ 6.37156716e-03 9.99979541e-01 -5.65445921e-04 4.26768990e-01] [ 1.05694990e-02 4.98080183e-04 9.99944017e-01 -1.32182443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.447719421 meters Centerline goodness [0,1] 0.9541217178913087 Centerline is valid? [True, True] Translation: X:26.21, Y:0.42, Z:-1.32 [[ 9.99909954e-01 -1.20538462e-02 -5.89825856e-03 2.62097594e+01] [ 1.20530586e-02 9.99927345e-01 -1.69059735e-04 4.18570891e-01] [ 5.89986785e-03 9.79524557e-05 9.99982591e-01 -1.31815715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.477719421 meters Centerline goodness [0,1] 0.9603825691426715 Centerline is valid? [True, True] Translation: X:26.24, Y:0.41, Z:-1.31 [[ 9.99886152e-01 -1.46339939e-02 -3.67818241e-03 2.62386449e+01] [ 1.46336794e-02 9.99892916e-01 -1.12382109e-04 4.14899720e-01] [ 3.67943313e-03 5.85439718e-05 9.99993229e-01 -1.31327389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50771942099999 meters Centerline goodness [0,1] 0.9587752692331182 Centerline is valid? [True, True] Translation: X:26.27, Y:0.42, Z:-1.32 [[ 9.99826141e-01 -1.82327338e-02 -3.90571693e-03 2.62677897e+01] [ 1.82324026e-02 9.99833769e-01 -1.20382035e-04 4.15274609e-01] [ 3.90726257e-03 4.91505017e-05 9.99992365e-01 -1.31596741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53771942099999 meters Centerline goodness [0,1] 0.9549481659504266 Centerline is valid? [True, True] Translation: X:26.30, Y:0.41, Z:-1.32 [[ 9.99736126e-01 -2.21422160e-02 -6.11555413e-03 2.62955871e+01] [ 2.21415202e-02 9.99754830e-01 -1.81452584e-04 4.12988717e-01] [ 6.11807254e-03 4.59970381e-05 9.99981283e-01 -1.32022679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56771942099999 meters Centerline goodness [0,1] 0.9535101658313979 Centerline is valid? [True, True] Translation: X:26.32, Y:0.41, Z:-1.32 [[ 9.99659002e-01 -2.51799379e-02 -6.91742694e-03 2.63234835e+01] [ 2.51790715e-02 9.99682934e-01 -2.12331181e-04 4.11040199e-01] [ 6.92058014e-03 3.80843896e-05 9.99976052e-01 -1.32152353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.597719421 meters Centerline goodness [0,1] 0.9508491182233834 Centerline is valid? [True, True] Translation: X:26.35, Y:0.40, Z:-1.32 [[ 9.99441927e-01 -3.23938569e-02 -8.15301552e-03 2.63527533e+01] [ 3.23928909e-02 9.99475181e-01 -2.50534726e-04 4.02695576e-01] [ 8.15685245e-03 -1.37048332e-05 9.99966732e-01 -1.32111782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.627719421 meters Centerline goodness [0,1] 0.9485692109724463 Centerline is valid? [True, False] Translation: X:26.35, Y:0.40, Z:-1.32 [[ 9.99406169e-01 -3.33958377e-02 -8.48689734e-03 2.63538961e+01] [ 3.33943368e-02 9.99442203e-01 -3.18526659e-04 4.00919679e-01] [ 8.49280084e-03 3.49231994e-05 9.99963935e-01 -1.32132382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.657719421 meters Centerline goodness [0,1] 0.9472146753007987 Centerline is valid? [False, False] Translation: X:26.36, Y:0.40, Z:-1.32 [[ 9.99196183e-01 -3.91772783e-02 -8.49288948e-03 2.63553804e+01] [ 3.91322647e-02 9.99219431e-01 -5.40313296e-03 4.03143671e-01] [ 8.69794024e-03 5.06644383e-03 9.99949337e-01 -1.32244529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.687719421 meters Centerline goodness [0,1] 0.9465281038812552 Centerline is valid? [False, False] Translation: X:26.36, Y:0.40, Z:-1.32 [[ 9.99154222e-01 -4.01814248e-02 -8.73462161e-03 2.63563639e+01] [ 4.01305030e-02 9.99176856e-01 -5.92906438e-03 4.04212351e-01] [ 8.96567001e-03 5.57352495e-03 9.99944275e-01 -1.32281547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.717719421 meters Centerline goodness [0,1] 0.935762048438392 Centerline is valid? [False, False] Translation: X:26.36, Y:0.41, Z:-1.32 [[ 9.99061606e-01 -4.24373004e-02 -8.65922191e-03 2.63566299e+01] [ 4.23718156e-02 9.99072923e-01 -7.61079398e-03 4.06932422e-01] [ 8.97417570e-03 7.23674511e-03 9.99933545e-01 -1.32270049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.747719421 meters Centerline goodness [0,1] 0.9373668080615372 Centerline is valid? [False, False] Translation: X:26.37, Y:0.41, Z:-1.33 [[ 9.99122181e-01 -4.17827290e-02 -3.01178630e-03 2.63675273e+01] [ 4.17305704e-02 9.99005737e-01 -1.56875043e-02 4.09899042e-01] [ 3.66425853e-03 1.55480499e-02 9.99872408e-01 -1.32549570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.777719421 meters Centerline goodness [0,1] 0.9370902724052282 Centerline is valid? [False, False] Translation: X:26.37, Y:0.42, Z:-1.32 [[ 9.99203147e-01 -3.97850249e-02 -3.19731309e-03 2.63671170e+01] [ 3.97343584e-02 9.99103666e-01 -1.45960965e-02 4.16193710e-01] [ 3.77515329e-03 1.44574224e-02 9.99888359e-01 -1.32471091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.807719421 meters Centerline goodness [0,1] 0.9357074618371038 Centerline is valid? [False, False] Translation: X:26.37, Y:0.42, Z:-1.33 [[ 9.99316966e-01 -3.67657285e-02 -3.72600209e-03 2.63683755e+01] [ 3.67186029e-02 9.99253445e-01 -1.20123598e-02 4.19715468e-01] [ 4.16486358e-03 1.18673414e-02 9.99920907e-01 -1.32519691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.837719421 meters Centerline goodness [0,1] 0.93921636686608 Centerline is valid? [False, False] Translation: X:26.37, Y:0.43, Z:-1.33 [[ 9.99592852e-01 -2.82022654e-02 -4.33166536e-03 2.63701562e+01] [ 2.81840881e-02 9.99593919e-01 -4.20162689e-03 4.28159761e-01] [ 4.44840175e-03 4.07783217e-03 9.99981791e-01 -1.32641782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.867719421 meters Centerline goodness [0,1] 0.9380892970363855 Centerline is valid? [False, False] Translation: X:26.37, Y:0.43, Z:-1.33 [[ 9.99753800e-01 -2.16510491e-02 -4.85505128e-03 2.63708998e+01] [ 2.16607630e-02 9.99763462e-01 1.95717988e-03 4.32232430e-01] [ 4.81152788e-03 -2.06186213e-03 9.99986299e-01 -1.32637201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89771942099999 meters Centerline goodness [0,1] 0.9466993163962861 Centerline is valid? [False, False] Translation: X:26.37, Y:0.44, Z:-1.33 [[ 9.99857831e-01 -1.58581270e-02 -5.73037112e-03 2.63718302e+01] [ 1.58916393e-02 9.99856602e-01 5.85075738e-03 4.42891389e-01] [ 5.63676735e-03 -5.94099058e-03 9.99966465e-01 -1.32579058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92771942099999 meters Centerline goodness [0,1] 0.948081356208817 Centerline is valid? [False, False] Translation: X:26.37, Y:0.45, Z:-1.33 [[ 9.99893983e-01 -1.32335281e-02 -6.07422019e-03 2.63729136e+01] [ 1.32807780e-02 9.99881341e-01 7.80546595e-03 4.46512994e-01] [ 5.97020557e-03 -7.88530881e-03 9.99951088e-01 -1.32630133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.957719421 meters Centerline goodness [0,1] 0.9485708452429563 Centerline is valid? [False, False] Translation: X:26.37, Y:0.45, Z:-1.33 [[ 9.99922943e-01 -1.05904448e-02 -6.47687145e-03 2.63739013e+01] [ 1.06470762e-02 9.99904836e-01 8.77256096e-03 4.53500836e-01] [ 6.38334977e-03 -8.84084472e-03 9.99940544e-01 -1.32676661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.987719421 meters Centerline goodness [0,1] 0.9495892533175694 Centerline is valid? [False, False] Translation: X:26.38, Y:0.46, Z:-1.33 [[ 9.99946264e-01 -7.77954644e-03 -6.85177676e-03 2.63756724e+01] [ 7.85453208e-03 9.99908804e-01 1.09859155e-02 4.56807523e-01] [ 6.76568646e-03 -1.10391426e-02 9.99916178e-01 -1.32799050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.017719421 meters Centerline goodness [0,1] 0.9497527321570304 Centerline is valid? [False, False] Translation: X:26.38, Y:0.47, Z:-1.33 [[ 9.99970851e-01 -1.15945229e-03 -7.54666922e-03 2.63789244e+01] [ 1.27675472e-03 9.99878161e-01 1.55573901e-02 4.66149290e-01] [ 7.52771169e-03 -1.55665719e-02 9.99850497e-01 -1.33064954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.047719421 meters Centerline goodness [0,1] 0.9490785150111232 Centerline is valid? [False, False] Translation: X:26.38, Y:0.47, Z:-1.33 [[ 9.99966238e-01 2.26271214e-03 -7.89957767e-03 2.63801488e+01] [-2.11962395e-03 9.99834387e-01 1.80750198e-02 4.69951197e-01] [ 7.93916796e-03 -1.80576654e-02 9.99805426e-01 -1.33126597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.077719421 meters Centerline goodness [0,1] 0.9477037700512988 Centerline is valid? [False, False] Translation: X:26.38, Y:0.47, Z:-1.33 [[ 9.99923825e-01 8.86838642e-03 -8.58462974e-03 2.63813014e+01] [-8.66626695e-03 9.99690910e-01 2.33019360e-02 4.74677042e-01] [ 8.78862689e-03 -2.32257643e-02 9.99691614e-01 -1.33101236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.107719421 meters Centerline goodness [0,1] 0.9461161079313164 Centerline is valid? [False, False] Translation: X:26.38, Y:0.48, Z:-1.33 [[ 9.99916815e-01 9.24209821e-03 -8.99706456e-03 2.63825032e+01] [-9.03826703e-03 9.99707374e-01 2.24382686e-02 4.78037930e-01] [ 9.20180847e-03 -2.23550842e-02 9.99707746e-01 -1.33157759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.137719421 meters Centerline goodness [0,1] 0.9459117442952198 Centerline is valid? [False, False] Translation: X:26.39, Y:0.48, Z:-1.33 [[ 9.99827671e-01 1.59905704e-02 -9.43023324e-03 2.63852834e+01] [-1.57193462e-02 9.99479652e-01 2.81660525e-02 4.81763013e-01] [ 9.87571748e-03 -2.80129616e-02 9.99558775e-01 -1.33371672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.167719421 meters Centerline goodness [0,1] 0.9442766165904637 Centerline is valid? [False, False] Translation: X:26.39, Y:0.49, Z:-1.34 [[ 9.99692188e-01 2.27793407e-02 -9.83014262e-03 2.63884804e+01] [-2.24365241e-02 9.99180850e-01 3.36783614e-02 4.86608086e-01] [ 1.05892611e-02 -3.34474406e-02 9.99384379e-01 -1.33645718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.197719421 meters Centerline goodness [0,1] 0.9442766165904637 Centerline is valid? [False, False] Translation: X:26.39, Y:0.49, Z:-1.34 [[ 9.99692188e-01 2.27793407e-02 -9.83014262e-03 2.63884804e+01] [-2.24365241e-02 9.99180850e-01 3.36783614e-02 4.86608086e-01] [ 1.05892611e-02 -3.34474406e-02 9.99384379e-01 -1.33645718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.227719421 meters Centerline goodness [0,1] 0.9446469665804533 Centerline is valid? [False, False] Translation: X:26.39, Y:0.49, Z:-1.34 [[ 9.99592286e-01 2.66996313e-02 -1.01188681e-02 2.63899414e+01] [-2.63086381e-02 9.98969592e-01 3.69812216e-02 4.88542914e-01] [ 1.10958265e-02 -3.66999302e-02 9.99264729e-01 -1.33725987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25771942099999 meters Centerline goodness [0,1] 0.9436342216444589 Centerline is valid? [False, False] Translation: X:26.40, Y:0.49, Z:-1.33 [[ 9.99377415e-01 3.21374673e-02 -1.45590643e-02 2.63973513e+01] [-3.16011108e-02 9.98863418e-01 3.56825176e-02 4.90151241e-01] [ 1.56892624e-02 -3.52002196e-02 9.99257120e-01 -1.33429745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28771942099999 meters Centerline goodness [0,1] 0.9432355338223308 Centerline is valid? [False, False] Translation: X:26.40, Y:0.49, Z:-1.33 [[ 9.99080172e-01 4.02818849e-02 -1.47030665e-02 2.64042833e+01] [-3.98141047e-02 9.98731362e-01 3.08302430e-02 4.93561640e-01] [ 1.59263139e-02 -3.02164950e-02 9.99416488e-01 -1.33152822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31771942099999 meters Centerline goodness [0,1] 0.9426456231695411 Centerline is valid? [False, False] Translation: X:26.41, Y:0.50, Z:-1.33 [[ 9.99027417e-01 4.14204073e-02 -1.51185620e-02 2.64057914e+01] [-4.09393358e-02 9.98685215e-01 3.08514455e-02 4.95976762e-01] [ 1.63765638e-02 -3.02024960e-02 9.99409634e-01 -1.33228554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.347719421 meters Centerline goodness [0,1] 0.9396197904968043 Centerline is valid? [False, False] Translation: X:26.41, Y:0.50, Z:-1.33 [[ 9.98818472e-01 4.60700824e-02 -1.54663409e-02 2.64074226e+01] [-4.55111641e-02 9.98359962e-01 3.47292429e-02 4.96630977e-01] [ 1.70409546e-02 -3.39843182e-02 9.99277075e-01 -1.33295613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.377719421 meters Centerline goodness [0,1] 0.938794227947171 Centerline is valid? [False, False] Translation: X:26.41, Y:0.49, Z:-1.33 [[ 9.98868810e-01 4.56249818e-02 -1.33963266e-02 2.64125044e+01] [-4.53297583e-02 9.98739155e-01 2.15711398e-02 4.94798434e-01] [ 1.43636188e-02 -2.09394865e-02 9.99677560e-01 -1.32998366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.407719421 meters Centerline goodness [0,1] 0.9436146149613841 Centerline is valid? [False, False] Translation: X:26.41, Y:0.49, Z:-1.33 [[ 9.98995542e-01 4.26476981e-02 -1.37506793e-02 2.64119653e+01] [-4.23901999e-02 9.98929774e-01 1.85034288e-02 4.93013670e-01] [ 1.45250916e-02 -1.79019488e-02 9.99734236e-01 -1.32871123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.437719421 meters Centerline goodness [0,1] 0.9487101360958765 Centerline is valid? [False, False] Translation: X:26.41, Y:0.49, Z:-1.33 [[ 9.99097136e-01 4.01492458e-02 -1.38906944e-02 2.64102849e+01] [-3.99136860e-02 9.99061232e-01 1.68390172e-02 4.87823881e-01] [ 1.45537281e-02 -1.62693850e-02 9.99761720e-01 -1.32632565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.467719421 meters Centerline goodness [0,1] 0.9488147426530281 Centerline is valid? [False, False] Translation: X:26.41, Y:0.49, Z:-1.33 [[ 9.99197021e-01 3.74234672e-02 -1.43107301e-02 2.64109722e+01] [-3.72237404e-02 9.99209204e-01 1.39770930e-02 4.86502009e-01] [ 1.48224845e-02 -1.34331708e-02 9.99799902e-01 -1.32644375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.497719421 meters Centerline goodness [0,1] 0.9432397829577093 Centerline is valid? [False, False] Translation: X:26.41, Y:0.48, Z:-1.33 [[ 9.99237851e-01 3.60840330e-02 -1.48882649e-02 2.64133222e+01] [-3.58924525e-02 9.99271872e-01 1.29405347e-02 4.82013910e-01] [ 1.53443710e-02 -1.23962958e-02 9.99805422e-01 -1.32806097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.527719421 meters Centerline goodness [0,1] 0.9413651683112032 Centerline is valid? [False, False] Translation: X:26.42, Y:0.48, Z:-1.33 [[ 9.99247825e-01 3.55342519e-02 -1.55274319e-02 2.64160050e+01] [-3.53404056e-02 9.99296087e-01 1.25851729e-02 4.78490071e-01] [ 1.59637067e-02 -1.20269609e-02 9.99800236e-01 -1.32975332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.557719421 meters Centerline goodness [0,1] 0.9340428995889128 Centerline is valid? [False, False] Translation: X:26.42, Y:0.47, Z:-1.33 [[ 9.99279218e-01 3.42210865e-02 -1.64305309e-02 2.64193881e+01] [-3.40371114e-02 9.99356127e-01 1.13492644e-02 4.71018750e-01] [ 1.68083359e-02 -1.07818362e-02 9.99800596e-01 -1.33183619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.587719421 meters Centerline goodness [0,1] 0.9352899215326608 Centerline is valid? [False, False] Translation: X:26.42, Y:0.47, Z:-1.33 [[ 9.99229482e-01 3.53205605e-02 -1.71143220e-02 2.64226104e+01] [-3.51045418e-02 9.99302153e-01 1.27623512e-02 4.66450615e-01] [ 1.75531522e-02 -1.21517271e-02 9.99772085e-01 -1.33393565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61771942099999 meters Centerline goodness [0,1] 0.932104178988803 Centerline is valid? [False, False] Translation: X:26.42, Y:0.46, Z:-1.34 [[ 9.99214139e-01 3.55661330e-02 -1.74972645e-02 2.64243275e+01] [-3.53368697e-02 9.99287723e-01 1.32420794e-02 4.64955925e-01] [ 1.79557712e-02 -1.26133744e-02 9.99759218e-01 -1.33500874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64771942099999 meters Centerline goodness [0,1] 0.931250127314579 Centerline is valid? [False, False] Translation: X:26.43, Y:0.46, Z:-1.34 [[ 9.99196137e-01 3.59005472e-02 -1.78390341e-02 2.64256429e+01] [-3.56558521e-02 9.99268141e-01 1.38507145e-02 4.62834319e-01] [ 1.83232267e-02 -1.32035144e-02 9.99744931e-01 -1.33570883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67771942099999 meters Centerline goodness [0,1] 0.9292698360856518 Centerline is valid? [False, False] Translation: X:26.42, Y:0.46, Z:-1.33 [[ 9.99256420e-01 3.40188715e-02 -1.81472951e-02 2.64239684e+01] [-3.37949204e-02 9.99350516e-01 1.25079597e-02 4.56185535e-01] [ 1.85610154e-02 -1.18853726e-02 9.99757084e-01 -1.33302853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.707719421 meters Centerline goodness [0,1] 0.9357523098574313 Centerline is valid? [False, False] Translation: X:26.42, Y:0.45, Z:-1.33 [[ 9.99345634e-01 3.10867882e-02 -1.84909610e-02 2.64236632e+01] [-3.09070142e-02 9.99472938e-01 9.92992141e-03 4.52753592e-01] [ 1.87899045e-02 -9.35192321e-03 9.99779716e-01 -1.33198552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.737719421 meters Centerline goodness [0,1] 0.9456076283221749 Centerline is valid? [False, False] Translation: X:26.43, Y:0.45, Z:-1.33 [[ 9.99471750e-01 2.62823609e-02 -1.91169929e-02 2.64253467e+01] [-2.61629086e-02 9.99636742e-01 6.47201948e-03 4.46849625e-01] [ 1.92801484e-02 -5.96844449e-03 9.99796306e-01 -1.33253483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.767719421 meters Centerline goodness [0,1] 0.9509327257562504 Centerline is valid? [False, True] Translation: X:26.43, Y:0.44, Z:-1.33 [[ 9.99630149e-01 1.91957646e-02 -1.92636175e-02 2.64261862e+01] [-1.91815122e-02 9.99815591e-01 9.24370692e-04 4.41951974e-01] [ 1.92778091e-02 -5.54523498e-04 9.99814012e-01 -1.33337823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.797719421 meters Centerline goodness [0,1] 0.9510711451996826 Centerline is valid? [True, True] Translation: X:26.45, Y:0.43, Z:-1.33 [[ 9.99713599e-01 1.52043260e-02 -1.84810160e-02 2.64548428e+01] [-1.52095825e-02 9.99884317e-01 -1.43894195e-04 4.33700935e-01] [ 1.84766902e-02 4.24941520e-04 9.99829201e-01 -1.33265326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.827719421 meters Centerline goodness [0,1] 0.9516010755316548 Centerline is valid? [True, True] Translation: X:26.48, Y:0.43, Z:-1.33 [[ 9.99787247e-01 1.09568285e-02 -1.74759402e-02 2.64840291e+01] [-1.09609068e-02 9.99939918e-01 -1.37598520e-04 4.25257895e-01] [ 1.74733826e-02 3.29121398e-04 9.99847275e-01 -1.33075538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.857719421 meters Centerline goodness [0,1] 0.9549479855866126 Centerline is valid? [True, True] Translation: X:26.51, Y:0.41, Z:-1.33 [[ 9.99901485e-01 1.30695412e-03 -1.39754354e-02 2.65135640e+01] [-1.30862398e-03 9.99999138e-01 -1.10340916e-04 4.09072795e-01] [ 1.39752791e-02 1.28618635e-04 9.99902333e-01 -1.32656708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.887719421 meters Centerline goodness [0,1] 0.9546175752644427 Centerline is valid? [True, True] Translation: X:26.54, Y:0.40, Z:-1.32 [[ 9.99904659e-01 -2.73818389e-03 -1.35341966e-02 2.65423654e+01] [ 2.73696538e-03 9.99996249e-01 -1.08553444e-04 4.02610668e-01] [ 1.35344430e-02 7.15004675e-05 9.99908403e-01 -1.32339531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.917719421 meters Centerline goodness [0,1] 0.950079303753711 Centerline is valid? [True, True] Translation: X:26.57, Y:0.40, Z:-1.33 [[ 9.99867916e-01 -8.49420238e-03 -1.38563736e-02 2.65705599e+01] [ 8.49345413e-03 9.99963924e-01 -1.12847422e-04 3.95089089e-01] [ 1.38568322e-02 -4.85595631e-06 9.99903989e-01 -1.32757551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.947719421 meters Centerline goodness [0,1] 0.9482126862633335 Centerline is valid? [True, False] Translation: X:26.57, Y:0.39, Z:-1.33 [[ 9.99863022e-01 -8.62436968e-03 -1.41265082e-02 2.65714719e+01] [ 8.63300033e-03 9.99962584e-01 5.50087320e-04 3.93028400e-01] [ 1.41212355e-02 -6.71966120e-04 9.99900065e-01 -1.32785893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.977719421 meters Centerline goodness [0,1] 0.9499062525474851 Centerline is valid? [False, False] Translation: X:26.57, Y:0.39, Z:-1.33 [[ 9.99861344e-01 -8.87900764e-03 -1.40874216e-02 2.65711676e+01] [ 8.89988279e-03 9.99959387e-01 1.41982883e-03 3.90352996e-01] [ 1.40742428e-02 -1.54500836e-03 9.99899759e-01 -1.32711644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00771942099999 meters Centerline goodness [0,1] 0.949265306122449 Centerline is valid? [False, False] Translation: X:26.57, Y:0.39, Z:-1.33 [[ 9.99860907e-01 -8.01530528e-03 -1.46260760e-02 2.65727884e+01] [ 8.04461968e-03 9.99965747e-01 1.94652304e-03 3.90202064e-01] [ 1.46099730e-02 -2.06391351e-03 9.99891139e-01 -1.32782679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03771942099999 meters Centerline goodness [0,1] 0.9450038729666925 Centerline is valid? [False, False] Translation: X:26.58, Y:0.39, Z:-1.33 [[ 9.99863922e-01 -6.49722455e-03 -1.51632602e-02 2.65760027e+01] [ 6.54678820e-03 9.99973381e-01 3.22132083e-03 3.90162724e-01] [ 1.51419269e-02 -3.32015313e-03 9.99879842e-01 -1.33031856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06771942099999 meters Centerline goodness [0,1] 0.9418284806128894 Centerline is valid? [False, False] Translation: X:26.58, Y:0.39, Z:-1.33 [[ 9.99857254e-01 -3.62072180e-03 -1.65034164e-02 2.65818919e+01] [ 3.70765582e-03 9.99979397e-01 5.24008877e-03 3.91174700e-01] [ 1.64841035e-02 -5.30052976e-03 9.99850078e-01 -1.33482931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.097719421 meters Centerline goodness [0,1] 0.9385209081999346 Centerline is valid? [False, False] Translation: X:26.58, Y:0.39, Z:-1.34 [[ 9.99852732e-01 -3.24307537e-03 -1.68522249e-02 2.65836033e+01] [ 3.32915828e-03 9.99981542e-01 5.08256288e-03 3.92302930e-01] [ 1.68354307e-02 -5.13791811e-03 9.99845073e-01 -1.33613111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.127719421 meters Centerline goodness [0,1] 0.9366928748930623 Centerline is valid? [False, False] Translation: X:26.59, Y:0.39, Z:-1.34 [[ 9.99840865e-01 -2.34324252e-03 -1.76848764e-02 2.65863094e+01] [ 2.43726388e-03 9.99983002e-01 5.29680483e-03 3.93662198e-01] [ 1.76721641e-02 -5.33906463e-03 9.99829580e-01 -1.33746245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.157719421 meters Centerline goodness [0,1] 0.9386710706057455 Centerline is valid? [False, False] Translation: X:26.59, Y:0.39, Z:-1.34 [[ 9.99836296e-01 -2.13582688e-03 -1.79671700e-02 2.65862859e+01] [ 2.22849097e-03 9.99984312e-01 5.13897153e-03 3.94399465e-01] [ 1.79559122e-02 -5.17816993e-03 9.99825371e-01 -1.33663091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.187719421 meters Centerline goodness [0,1] 0.9465345323300911 Centerline is valid? [False, False] Translation: X:26.59, Y:0.40, Z:-1.33 [[ 9.99867645e-01 3.26219536e-03 -1.59389592e-02 2.65896899e+01] [-3.28586154e-03 9.99993537e-01 -1.45883819e-03 3.96484572e-01] [ 1.59340972e-02 1.51101832e-03 9.99871902e-01 -1.33239100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.217719421 meters Centerline goodness [0,1] 0.9478950156905898 Centerline is valid? [False, False] Translation: X:26.59, Y:0.40, Z:-1.33 [[ 9.99858642e-01 3.92639625e-03 -1.63487024e-02 2.65905945e+01] [-3.95208857e-03 9.99991005e-01 -1.53950932e-03 3.98161741e-01] [ 1.63425106e-02 1.60390321e-03 9.99865166e-01 -1.33244582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.247719421 meters Centerline goodness [0,1] 0.9514784235571644 Centerline is valid? [False, True] Translation: X:26.59, Y:0.40, Z:-1.33 [[ 9.99821924e-01 8.66504580e-03 -1.67641640e-02 2.65918648e+01] [-8.64337199e-03 9.99961714e-01 1.36488986e-03 4.02538799e-01] [ 1.67753490e-02 -1.21974790e-03 9.99858540e-01 -1.33291866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.277719421 meters Centerline goodness [0,1] 0.9535153625313053 Centerline is valid? [True, True] Translation: X:26.62, Y:0.41, Z:-1.33 [[ 9.99804926e-01 1.32361448e-02 -1.46599296e-02 2.66211427e+01] [-1.32382940e-02 9.99912369e-01 -4.95655919e-05 4.09705561e-01] [ 1.46579889e-02 2.43628381e-04 9.99892536e-01 -1.33204788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.307719421 meters Centerline goodness [0,1] 0.9588990974876006 Centerline is valid? [True, True] Translation: X:26.65, Y:0.42, Z:-1.33 [[ 9.99710944e-01 2.17184119e-02 -1.03120779e-02 2.66488443e+01] [-2.17199523e-02 9.99764093e-01 -3.73915910e-05 4.19881624e-01] [ 1.03088331e-02 2.61358622e-04 9.99946828e-01 -1.32722973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.337719421 meters Centerline goodness [0,1] 0.9595721794897815 Centerline is valid? [True, True] Translation: X:26.68, Y:0.42, Z:-1.33 [[ 9.99652451e-01 2.44706606e-02 -9.80635837e-03 2.66793553e+01] [-2.44721690e-02 9.99700511e-01 -3.38424735e-05 4.22004346e-01] [ 9.80259332e-03 2.73813571e-04 9.99951916e-01 -1.32511698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36771942099999 meters Centerline goodness [0,1] 0.957368987869059 Centerline is valid? [True, True] Translation: X:26.71, Y:0.43, Z:-1.33 [[ 9.99561011e-01 2.78254154e-02 -1.01750477e-02 2.67091976e+01] [-2.78272180e-02 9.99612747e-01 -3.56036984e-05 4.27421135e-01] [ 1.01701167e-02 3.18731340e-04 9.99948232e-01 -1.32802579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39771942099999 meters Centerline goodness [0,1] 0.95425382406257 Centerline is valid? [True, True] Translation: X:26.74, Y:0.43, Z:-1.33 [[ 9.99514606e-01 2.93104887e-02 -1.05568674e-02 2.67397186e+01] [-2.93125038e-02 9.99570296e-01 -3.61671620e-05 4.31851366e-01] [ 1.05512710e-02 3.45597822e-04 9.99944274e-01 -1.33068072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42771942099999 meters Centerline goodness [0,1] 0.9500274574409665 Centerline is valid? [True, True] Translation: X:26.77, Y:0.44, Z:-1.33 [[ 9.99365069e-01 3.34372579e-02 -1.23048291e-02 2.67700654e+01] [-3.34403118e-02 9.99440715e-01 -4.24677928e-05 4.38396036e-01] [ 1.22965272e-02 4.53918151e-04 9.99924292e-01 -1.33326768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.457719421 meters Centerline goodness [0,1] 0.9441019066805039 Centerline is valid? [True, False] Translation: X:26.77, Y:0.44, Z:-1.33 [[ 9.99296901e-01 3.50437649e-02 -1.33280733e-02 2.67730165e+01] [-3.50365652e-02 9.99385732e-01 7.73376907e-04 4.36279155e-01] [ 1.33469883e-02 -3.05863239e-04 9.99910878e-01 -1.33450905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.487719421 meters Centerline goodness [0,1] 0.9278767903645834 Centerline is valid? [False, False] Translation: X:26.77, Y:0.43, Z:-1.34 [[ 9.99274003e-01 3.55258577e-02 -1.37615276e-02 2.67744653e+01] [-3.55118474e-02 9.99368460e-01 1.26117770e-03 4.33823448e-01] [ 1.37976411e-02 -7.71564816e-04 9.99904510e-01 -1.33518740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.517719421 meters Centerline goodness [0,1] 0.9212463897815564 Centerline is valid? [False, False] Translation: X:26.78, Y:0.43, Z:-1.34 [[ 9.99253623e-01 3.58288786e-02 -1.44391190e-02 2.67773059e+01] [-3.58068474e-02 9.99357141e-01 1.78152740e-03 4.29857618e-01] [ 1.44936668e-02 -1.26317838e-03 9.99894163e-01 -1.33698865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.547719421 meters Centerline goodness [0,1] 0.8888843623327155 Centerline is valid? [False, False] Translation: X:26.78, Y:0.43, Z:-1.34 [[ 9.99254337e-01 3.55928869e-02 -1.49638376e-02 2.67797444e+01] [-3.55696006e-02 9.99365545e-01 1.81952732e-03 4.28596321e-01] [ 1.50191060e-02 -1.28591284e-03 9.99886380e-01 -1.33866310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.577719421 meters Centerline goodness [0,1] 0.9246409782454145 Centerline is valid? [False, False] Translation: X:26.78, Y:0.43, Z:-1.34 [[ 9.99254206e-01 3.52938038e-02 -1.56645702e-02 2.67827779e+01] [-3.52690753e-02 9.99376136e-01 1.85217323e-03 4.27612133e-01] [ 1.57201679e-02 -1.29831699e-03 9.99875588e-01 -1.34061077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.607719421 meters Centerline goodness [0,1] 0.9231316436657792 Centerline is valid? [False, False] Translation: X:26.79, Y:0.42, Z:-1.34 [[ 9.99246124e-01 3.51902266e-02 -1.63960755e-02 2.67856011e+01] [-3.51540785e-02 9.99378808e-01 2.48779531e-03 4.24908489e-01] [ 1.64734365e-02 -1.90953090e-03 9.99862480e-01 -1.34222450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.637719421 meters Centerline goodness [0,1] 0.9256074006302735 Centerline is valid? [False, False] Translation: X:26.79, Y:0.42, Z:-1.34 [[ 9.99323452e-01 3.26606764e-02 -1.69091150e-02 2.67851509e+01] [-3.26646741e-02 9.99466366e-01 3.97853418e-05 4.21218768e-01] [ 1.69013912e-02 5.12572307e-04 9.99857030e-01 -1.34055453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.667719421 meters Centerline goodness [0,1] 0.9266878281040166 Centerline is valid? [False, False] Translation: X:26.78, Y:0.42, Z:-1.34 [[ 9.99408178e-01 2.98654900e-02 -1.70688590e-02 2.67839119e+01] [-2.99187229e-02 9.99548209e-01 -2.87185331e-03 4.19033960e-01] [ 1.69753781e-02 3.38083215e-03 9.99850192e-01 -1.33881449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.697719421 meters Centerline goodness [0,1] 0.9372023930649953 Centerline is valid? [False, False] Translation: X:26.78, Y:0.41, Z:-1.33 [[ 9.99457985e-01 2.81420048e-02 -1.70810662e-02 2.67808194e+01] [-2.82109892e-02 9.99594725e-01 -3.81117257e-03 4.14093905e-01] [ 1.69668897e-02 4.29098063e-03 9.99846844e-01 -1.33462150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.727719421 meters Centerline goodness [0,1] 0.9393840837483484 Centerline is valid? [False, False] Translation: X:26.78, Y:0.41, Z:-1.33 [[ 9.99456466e-01 2.77735645e-02 -1.77595260e-02 2.67821954e+01] [-2.78436256e-02 9.99605407e-01 -3.70991828e-03 4.12386326e-01] [ 1.76494805e-02 4.20239140e-03 9.99835404e-01 -1.33459319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75771942099999 meters Centerline goodness [0,1] 0.9494844731865048 Centerline is valid? [False, False] Translation: X:26.79, Y:0.41, Z:-1.34 [[ 9.99532033e-01 2.41773508e-02 -1.87395603e-02 2.67854958e+01] [-2.42915678e-02 9.99687556e-01 -5.89145992e-03 4.09536317e-01] [ 1.85912653e-02 6.34391621e-03 9.99807041e-01 -1.33629908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78771942099999 meters Centerline goodness [0,1] 0.9555740974398632 Centerline is valid? [False, True] Translation: X:26.79, Y:0.41, Z:-1.34 [[ 9.99573131e-01 2.20901979e-02 -1.91201154e-02 2.67876765e+01] [-2.22314609e-02 9.99726870e-01 -7.20741175e-03 4.07553885e-01] [ 1.89556799e-02 7.62940322e-03 9.99791215e-01 -1.33782561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81771942099999 meters Centerline goodness [0,1] 0.9559014267185474 Centerline is valid? [True, True] Translation: X:26.82, Y:0.39, Z:-1.34 [[ 9.99735523e-01 1.31926946e-02 -1.88371111e-02 2.68181208e+01] [-1.31974707e-02 9.99912901e-01 -1.29253261e-04 3.93728317e-01] [ 1.88337652e-02 3.77821298e-04 9.99822558e-01 -1.33669717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.847719421 meters Centerline goodness [0,1] 0.9547588561673068 Centerline is valid? [True, True] Translation: X:26.85, Y:0.39, Z:-1.34 [[ 9.99795013e-01 7.80890355e-03 -1.86802846e-02 2.68470571e+01] [-7.81268760e-03 9.99969472e-01 -1.29599000e-04 3.86414147e-01] [ 1.86787023e-02 2.75515662e-04 9.99825500e-01 -1.33738158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.877719421 meters Centerline goodness [0,1] 0.9522238514173998 Centerline is valid? [True, True] Translation: X:26.87, Y:0.37, Z:-1.34 [[ 9.99811939e-01 -3.20446491e-03 -1.91263618e-02 2.68749846e+01] [ 3.20246852e-03 9.99994863e-01 -1.35006610e-04 3.71518261e-01] [ 1.91266961e-02 7.37296489e-05 9.99817065e-01 -1.33640197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.907719421 meters Centerline goodness [0,1] 0.9520440731028034 Centerline is valid? [True, True] Translation: X:26.90, Y:0.37, Z:-1.34 [[ 9.99815463e-01 -6.98536683e-03 -1.78953987e-02 2.69037380e+01] [ 6.98419978e-03 9.99975602e-01 -1.27712463e-04 3.66133722e-01] [ 1.78958542e-02 2.70385615e-06 9.99839856e-01 -1.33564460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.937719421 meters Centerline goodness [0,1] 0.9503560570507458 Centerline is valid? [True, True] Translation: X:26.93, Y:0.36, Z:-1.34 [[ 9.99735752e-01 -1.43184071e-02 -1.79835729e-02 2.69321485e+01] [ 1.43183784e-02 9.99897478e-01 -1.30361551e-04 3.59119431e-01] [ 1.79835958e-02 -1.27168499e-04 9.99838274e-01 -1.33799995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.967719421 meters Centerline goodness [0,1] 0.9463484292125663 Centerline is valid? [True, False] Translation: X:26.94, Y:0.36, Z:-1.34 [[ 9.99733972e-01 -1.37061667e-02 -1.85506447e-02 2.69358252e+01] [ 1.37288661e-02 9.99905153e-01 1.09684046e-03 3.58409389e-01] [ 1.85338517e-02 -1.35122799e-03 9.99827320e-01 -1.34081061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.997719421 meters Centerline goodness [0,1] 0.9403964037597058 Centerline is valid? [False, False] Translation: X:26.94, Y:0.36, Z:-1.34 [[ 9.99736361e-01 -1.21256968e-02 -1.94980934e-02 2.69392032e+01] [ 1.21855910e-02 9.99921384e-01 2.95592432e-03 3.57018073e-01] [ 1.94607179e-02 -3.19274081e-03 9.99805525e-01 -1.34253868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.027719421 meters Centerline goodness [0,1] 0.9403219553995878 Centerline is valid? [False, False] Translation: X:26.95, Y:0.36, Z:-1.34 [[ 9.99844242e-01 -8.72993471e-03 -1.53388608e-02 2.69484834e+01] [ 8.66866847e-03 9.99954200e-01 -4.05614357e-03 3.55895360e-01] [ 1.53735681e-02 3.92254429e-03 9.99874126e-01 -1.34441806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.057719421 meters Centerline goodness [0,1] 0.9450634667972736 Centerline is valid? [False, False] Translation: X:26.96, Y:0.36, Z:-1.35 [[ 9.99958711e-01 -1.94261214e-03 -8.87705564e-03 2.69569632e+01] [ 1.88278512e-03 9.99975494e-01 -6.74290556e-03 3.55201649e-01] [ 8.88993695e-03 6.72591356e-03 9.99937864e-01 -1.34533882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.087719421 meters Centerline goodness [0,1] 0.9483731638245421 Centerline is valid? [False, False] Translation: X:26.96, Y:0.36, Z:-1.35 [[ 9.99955297e-01 2.18974830e-03 -9.19831203e-03 2.69575659e+01] [-2.21897054e-03 9.99992520e-01 -3.16790921e-03 3.56762614e-01] [ 9.19130630e-03 3.18817838e-03 9.99952677e-01 -1.34518280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11771942099999 meters Centerline goodness [0,1] 0.9483731638245421 Centerline is valid? [False, False] Translation: X:26.96, Y:0.36, Z:-1.35 [[ 9.99955297e-01 2.18974830e-03 -9.19831203e-03 2.69575659e+01] [-2.21897054e-03 9.99992520e-01 -3.16790921e-03 3.56762614e-01] [ 9.19130630e-03 3.18817838e-03 9.99952677e-01 -1.34518280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14771942099999 meters Centerline goodness [0,1] 0.9546335393590764 Centerline is valid? [False, True] Translation: X:26.96, Y:0.36, Z:-1.34 [[ 9.99863264e-01 1.35522872e-02 -9.47572565e-03 2.69570995e+01] [-1.34875795e-02 9.99885509e-01 6.85967007e-03 3.61981470e-01] [ 9.56760498e-03 -6.73092750e-03 9.99931575e-01 -1.34352386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17771942099999 meters Centerline goodness [0,1] 0.9562143439282803 Centerline is valid? [True, True] Translation: X:26.99, Y:0.37, Z:-1.35 [[ 9.99758126e-01 1.97552922e-02 -9.66532554e-03 2.69865402e+01] [-1.97559640e-02 9.99804832e-01 2.59759066e-05 3.74291304e-01] [ 9.66395233e-03 1.64978199e-04 9.99953289e-01 -1.34561936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.207719421 meters Centerline goodness [0,1] 0.9498405217073319 Centerline is valid? [True, False] Translation: X:26.99, Y:0.38, Z:-1.35 [[ 9.99557626e-01 2.78339658e-02 -1.04796562e-02 2.69902300e+01] [-2.77672317e-02 9.99593539e-01 6.46054022e-03 3.77319397e-01] [ 1.06552191e-02 -6.16669120e-03 9.99924216e-01 -1.34796188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.237719421 meters Centerline goodness [0,1] 0.9482681336593317 Centerline is valid? [False, False] Translation: X:26.99, Y:0.38, Z:-1.35 [[ 9.99407788e-01 3.26085225e-02 -1.09889631e-02 2.69922329e+01] [-3.25027159e-02 9.99424835e-01 9.67333058e-03 3.79670025e-01] [ 1.12980757e-02 -9.31043077e-03 9.99892829e-01 -1.34905519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.267719421 meters Centerline goodness [0,1] 0.9446333665926816 Centerline is valid? [False, False] Translation: X:26.99, Y:0.38, Z:-1.35 [[ 9.99390405e-01 3.30110840e-02 -1.13616216e-02 2.69931056e+01] [-3.29077681e-02 9.99416386e-01 9.16335709e-03 3.81776783e-01] [ 1.16574832e-02 -8.78388554e-03 9.99893468e-01 -1.34919381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.297719421 meters Centerline goodness [0,1] 0.9374251071348783 Centerline is valid? [False, False] Translation: X:26.99, Y:0.38, Z:-1.35 [[ 9.99371217e-01 3.34151745e-02 -1.18573514e-02 2.69938183e+01] [-3.33110757e-02 9.99405664e-01 8.87081459e-03 3.83463663e-01] [ 1.21467239e-02 -8.47025565e-03 9.99890350e-01 -1.34886333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.327719421 meters Centerline goodness [0,1] 0.9319942261166568 Centerline is valid? [False, False] Translation: X:26.99, Y:0.38, Z:-1.35 [[ 9.99345282e-01 3.39535684e-02 -1.24964886e-02 2.69946210e+01] [-3.38406851e-02 9.99385477e-01 9.13649636e-03 3.82803993e-01] [ 1.27990259e-02 -8.70762480e-03 9.99880174e-01 -1.34823435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.357719421 meters Centerline goodness [0,1] 0.9337335911264882 Centerline is valid? [False, False] Translation: X:27.00, Y:0.38, Z:-1.35 [[ 9.99450229e-01 3.05636933e-02 -1.28491651e-02 2.69956456e+01] [-3.04981613e-02 9.99520953e-01 5.26552156e-03 3.83144877e-01] [ 1.30039436e-02 -4.87075082e-03 9.99903582e-01 -1.34901024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.387719421 meters Centerline goodness [0,1] 0.9359951234379762 Centerline is valid? [False, False] Translation: X:27.00, Y:0.38, Z:-1.35 [[ 9.99549650e-01 2.68555419e-02 -1.33894085e-02 2.69977894e+01] [-2.68344718e-02 9.99638357e-01 1.75084818e-03 3.82189538e-01] [ 1.34315863e-02 -1.39076198e-03 9.99908825e-01 -1.35057802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.417719421 meters Centerline goodness [0,1] 0.9407938999775735 Centerline is valid? [False, False] Translation: X:27.00, Y:0.38, Z:-1.35 [[ 9.99627535e-01 2.35745192e-02 -1.37489223e-02 2.69983747e+01] [-2.35980992e-02 9.99720316e-01 -1.55531971e-03 3.81475699e-01] [ 1.37084110e-02 1.87918884e-03 9.99904269e-01 -1.35062337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.447719421 meters Centerline goodness [0,1] 0.9433966103074325 Centerline is valid? [False, False] Translation: X:27.00, Y:0.38, Z:-1.35 [[ 9.99690516e-01 2.01108466e-02 -1.46432996e-02 2.69998964e+01] [-2.01700902e-02 9.99788920e-01 -3.90938208e-03 3.75530101e-01] [ 1.45615877e-02 4.20352886e-03 9.99885139e-01 -1.35046550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.477719421 meters Centerline goodness [0,1] 0.9508383990861246 Centerline is valid? [False, True] Translation: X:27.00, Y:0.37, Z:-1.35 [[ 9.99742957e-01 1.69139539e-02 -1.50976198e-02 2.70007345e+01] [-1.70057685e-02 9.99837545e-01 -5.97386551e-03 3.69794858e-01] [ 1.49941254e-02 6.22907660e-03 9.99868179e-01 -1.35051156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50771942099999 meters Centerline goodness [0,1] 0.9444263164334952 Centerline is valid? [True, False] Translation: X:27.00, Y:0.37, Z:-1.35 [[ 9.99738235e-01 1.68538832e-02 -1.54728428e-02 2.70020778e+01] [-1.69399117e-02 9.99841679e-01 -5.44583518e-03 3.67460114e-01] [ 1.53786097e-02 5.70651824e-03 9.99865458e-01 -1.35113833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53771942099999 meters Centerline goodness [0,1] 0.9462415970666124 Centerline is valid? [False, False] Translation: X:27.00, Y:0.36, Z:-1.35 [[ 9.99739697e-01 1.64398921e-02 -1.58198867e-02 2.70032808e+01] [-1.65125562e-02 9.99853650e-01 -4.47359941e-03 3.62467338e-01] [ 1.57440260e-02 4.73366169e-03 9.99864850e-01 -1.35147752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56771942099999 meters Centerline goodness [0,1] 0.9477018987857551 Centerline is valid? [False, False] Translation: X:27.00, Y:0.36, Z:-1.35 [[ 9.99738060e-01 1.62902295e-02 -1.60760777e-02 2.70036553e+01] [-1.63521052e-02 9.99859357e-01 -3.72500830e-03 3.59225438e-01] [ 1.60131355e-02 3.98691029e-03 9.99863833e-01 -1.35109920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.597719421 meters Centerline goodness [0,1] 0.9472174178451521 Centerline is valid? [False, False] Translation: X:27.00, Y:0.35, Z:-1.35 [[ 9.99769874e-01 1.35896256e-02 -1.65988142e-02 2.70036650e+01] [-1.36669977e-02 9.99896219e-01 -4.55678745e-03 3.51153365e-01] [ 1.65351665e-02 4.78259477e-03 9.99851847e-01 -1.34967512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.627719421 meters Centerline goodness [0,1] 0.9488312428734321 Centerline is valid? [False, False] Translation: X:27.00, Y:0.35, Z:-1.35 [[ 9.99798938e-01 1.07471601e-02 -1.69287625e-02 2.70041676e+01] [-1.08631195e-02 9.99918057e-01 -6.77284452e-03 3.47118234e-01] [ 1.68545865e-02 6.95538193e-03 9.99833759e-01 -1.34955713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.657719421 meters Centerline goodness [0,1] 0.9543014032946919 Centerline is valid? [False, True] Translation: X:27.00, Y:0.34, Z:-1.35 [[ 9.99815620e-01 8.52392515e-03 -1.72066301e-02 2.70043715e+01] [-8.66236820e-03 9.99930579e-01 -7.98748062e-03 3.41625895e-01] [ 1.71373509e-02 8.13505806e-03 9.99820050e-01 -1.34902654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.687719421 meters Centerline goodness [0,1] 0.9548507918413874 Centerline is valid? [True, True] Translation: X:27.03, Y:0.34, Z:-1.35 [[ 9.99823916e-01 9.03321480e-03 -1.64480606e-02 2.70336773e+01] [-9.03594519e-03 9.99959171e-01 -9.16894746e-05 3.40047001e-01] [ 1.64465608e-02 2.40297103e-04 9.99864717e-01 -1.34822086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.717719421 meters Centerline goodness [0,1] 0.9510711451996826 Centerline is valid? [True, True] Translation: X:27.06, Y:0.34, Z:-1.35 [[ 9.99721436e-01 1.45705632e-02 -1.85674392e-02 2.70618154e+01] [-1.45750274e-02 9.99893773e-01 -1.05124124e-04 3.44872594e-01] [ 1.85639352e-02 3.75715776e-04 9.99827605e-01 -1.35154981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.747719421 meters Centerline goodness [0,1] 0.9496123242231221 Centerline is valid? [True, False] Translation: X:27.06, Y:0.34, Z:-1.35 [[ 9.99698150e-01 1.53937777e-02 -1.91478472e-02 2.70634993e+01] [-1.53860964e-02 9.99881477e-01 5.48417705e-04 3.42986191e-01] [ 1.91540199e-02 -2.53641542e-04 9.99816513e-01 -1.35224037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.777719421 meters Centerline goodness [0,1] 0.9463828750152321 Centerline is valid? [False, False] Translation: X:27.06, Y:0.34, Z:-1.35 [[ 9.99654384e-01 1.75414889e-02 -1.95808338e-02 2.70641981e+01] [-1.74982475e-02 9.99844067e-01 2.37752056e-03 3.38544450e-01] [ 1.96194857e-02 -2.03406858e-03 9.99805450e-01 -1.35208611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.807719421 meters Centerline goodness [0,1] 0.9435723290902436 Centerline is valid? [False, False] Translation: X:27.06, Y:0.34, Z:-1.35 [[ 9.99632638e-01 1.83670529e-02 -1.99309106e-02 2.70645711e+01] [-1.83067667e-02 9.99827287e-01 3.20302567e-03 3.36225416e-01] [ 1.99862984e-02 -2.83697846e-03 9.99796229e-01 -1.35169690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.837719421 meters Centerline goodness [0,1] 0.9363133715493759 Centerline is valid? [False, False] Translation: X:27.07, Y:0.33, Z:-1.35 [[ 9.99601735e-01 1.96706185e-02 -2.02345548e-02 2.70650008e+01] [-1.95829958e-02 9.99798020e-01 4.51944125e-03 3.33369108e-01] [ 2.03193680e-02 -4.12138811e-03 9.99785046e-01 -1.35145886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86771942099999 meters Centerline goodness [0,1] 0.9321040420075711 Centerline is valid? [False, False] Translation: X:27.07, Y:0.33, Z:-1.35 [[ 9.99584025e-01 2.03497508e-02 -2.04368323e-02 2.70651739e+01] [-2.02466308e-02 9.99781284e-01 5.24011286e-03 3.32212925e-01] [ 2.05389974e-02 -4.82415611e-03 9.99777414e-01 -1.35115978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89771942099999 meters Centerline goodness [0,1] 0.9345262301748678 Centerline is valid? [False, False] Translation: X:27.07, Y:0.33, Z:-1.35 [[ 9.99551406e-01 2.14766215e-02 -2.08744109e-02 2.70660017e+01] [-2.13340306e-02 9.99747689e-01 7.02977775e-03 3.27239584e-01] [ 2.10201200e-02 -6.58128891e-03 9.99757391e-01 -1.35098400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92771942099999 meters Centerline goodness [0,1] 0.9254894777547116 Centerline is valid? [False, False] Translation: X:27.07, Y:0.32, Z:-1.35 [[ 9.99520802e-01 2.22891639e-02 -2.14792659e-02 2.70689405e+01] [-2.21139157e-02 9.99720485e-01 8.36224939e-03 3.21545048e-01] [ 2.16596496e-02 -7.88325154e-03 9.99734322e-01 -1.35307981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.957719421 meters Centerline goodness [0,1] 0.9179465214464908 Centerline is valid? [False, False] Translation: X:27.07, Y:0.32, Z:-1.35 [[ 9.99504709e-01 2.27012746e-02 -2.17942423e-02 2.70701334e+01] [-2.25129604e-02 9.99707402e-01 8.84739766e-03 3.19730048e-01] [ 2.19887125e-02 -8.35236271e-03 9.99723329e-01 -1.35375076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.987719421 meters Centerline goodness [0,1] 0.9105033803046347 Centerline is valid? [False, False] Translation: X:27.07, Y:0.32, Z:-1.35 [[ 9.99484755e-01 2.31410134e-02 -2.22422758e-02 2.70713342e+01] [-2.29356031e-02 9.99692315e-01 9.44632096e-03 3.17576284e-01] [ 2.24540297e-02 -8.93131378e-03 9.99707981e-01 -1.35408748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.017719421 meters Centerline goodness [0,1] 0.887171875317704 Centerline is valid? [False, False] Translation: X:27.07, Y:0.31, Z:-1.35 [[ 9.99525491e-01 2.09203897e-02 -2.26081780e-02 2.70715236e+01] [-2.07598537e-02 9.99757750e-01 7.31234358e-03 3.13169173e-01] [ 2.27556783e-02 -6.83953134e-03 9.99717660e-01 -1.35365133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.047719421 meters Centerline goodness [0,1] 0.8908636151046221 Centerline is valid? [False, False] Translation: X:27.07, Y:0.31, Z:-1.35 [[ 9.99575964e-01 1.80054061e-02 -2.28844420e-02 2.70721514e+01] [-1.79097884e-02 9.99830029e-01 4.37640930e-03 3.11319479e-01] [ 2.29593513e-02 -3.96469803e-03 9.99728538e-01 -1.35399158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.077719421 meters Centerline goodness [0,1] 0.8954520525685036 Centerline is valid? [False, False] Translation: X:27.07, Y:0.31, Z:-1.36 [[ 9.99574211e-01 1.73521052e-02 -2.34585168e-02 2.70742769e+01] [-1.72638626e-02 9.99843131e-01 3.95896260e-03 3.10927255e-01] [ 2.35235332e-02 -3.55229230e-03 9.99716972e-01 -1.35510481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.107719421 meters Centerline goodness [0,1] 0.9163177364933534 Centerline is valid? [False, False] Translation: X:27.07, Y:0.31, Z:-1.35 [[ 9.99628137e-01 1.36317558e-02 -2.36170261e-02 2.70736019e+01] [-1.36090302e-02 9.99906763e-01 1.12272089e-03 3.07228337e-01] [ 2.36301288e-02 -8.00898571e-04 9.99720449e-01 -1.35376686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.137719421 meters Centerline goodness [0,1] 0.9205619827989346 Centerline is valid? [False, False] Translation: X:27.07, Y:0.30, Z:-1.35 [[ 9.99660242e-01 1.04958358e-02 -2.38587015e-02 2.70735707e+01] [-1.05370568e-02 9.99943199e-01 -1.60264824e-03 3.04215521e-01] [ 2.38405252e-02 1.85350422e-03 9.99714056e-01 -1.35316569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.167719421 meters Centerline goodness [0,1] 0.9444591593488315 Centerline is valid? [False, False] Translation: X:27.08, Y:0.30, Z:-1.35 [[ 9.99684613e-01 6.76560076e-03 -2.41847492e-02 2.70750565e+01] [-6.86847765e-03 9.99967703e-01 -4.17325654e-03 2.99586624e-01] [ 2.41557336e-02 4.33805276e-03 9.99698796e-01 -1.35407643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.197719421 meters Centerline goodness [0,1] 0.9448193162879558 Centerline is valid? [False, False] Translation: X:27.08, Y:0.30, Z:-1.36 [[ 9.99675271e-01 6.01638369e-03 -2.47619697e-02 2.70776999e+01] [-6.12501236e-03 9.99971939e-01 -4.31341015e-03 2.98876826e-01] [ 2.47353237e-02 4.46367684e-03 9.99684070e-01 -1.35570340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.227719421 meters Centerline goodness [0,1] 0.9533800008139677 Centerline is valid? [False, True] Translation: X:27.08, Y:0.30, Z:-1.36 [[ 9.99681442e-01 3.56067049e-03 -2.49867276e-02 2.70796269e+01] [-3.69579709e-03 9.99978785e-01 -5.36384023e-03 2.97010089e-01] [ 2.49670986e-02 5.45447741e-03 9.99673393e-01 -1.35691585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25771942099999 meters Centerline goodness [0,1] 0.9544011074016774 Centerline is valid? [True, True] Translation: X:27.11, Y:0.29, Z:-1.35 [[ 9.99703607e-01 -8.74811243e-05 -2.43452432e-02 2.71083160e+01] [ 7.49760332e-05 9.99999865e-01 -5.14568764e-04 2.90599245e-01] [ 2.43452849e-02 5.12590940e-04 9.99703478e-01 -1.35437096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28771942099999 meters Centerline goodness [0,1] 0.9496721746767703 Centerline is valid? [True, False] Translation: X:27.11, Y:0.29, Z:-1.35 [[ 9.99656266e-01 -7.58068532e-03 -2.50974903e-02 2.71089090e+01] [ 7.40266060e-03 9.99946832e-01 -7.17865477e-03 2.86808390e-01] [ 2.51505751e-02 6.99039901e-03 9.99659233e-01 -1.35315750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31771942099999 meters Centerline goodness [0,1] 0.9481960392404805 Centerline is valid? [False, False] Translation: X:27.11, Y:0.28, Z:-1.35 [[ 9.99629378e-01 -8.50485125e-03 -2.58606554e-02 2.71110557e+01] [ 8.32174425e-03 9.99939597e-01 -7.17992235e-03 2.83629111e-01] [ 2.59201575e-02 6.96205555e-03 9.99639773e-01 -1.35360155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.347719421 meters Centerline goodness [0,1] 0.94278413736713 Centerline is valid? [False, False] Translation: X:27.12, Y:0.28, Z:-1.36 [[ 9.99590866e-01 -1.03449570e-02 -2.66661444e-02 2.71151065e+01] [ 1.01357915e-02 9.99916892e-01 -7.96712754e-03 2.82676896e-01] [ 2.67463479e-02 7.69358544e-03 9.99612646e-01 -1.35636117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.377719421 meters Centerline goodness [0,1] 0.9410419261951927 Centerline is valid? [False, False] Translation: X:27.12, Y:0.28, Z:-1.36 [[ 9.99599178e-01 -7.68172577e-03 -2.72483744e-02 2.71176057e+01] [ 7.55860869e-03 9.99960768e-01 -4.61845391e-03 2.82548006e-01] [ 2.72827830e-02 4.41064293e-03 9.99618025e-01 -1.35763031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.407719421 meters Centerline goodness [0,1] 0.9512080646477838 Centerline is valid? [False, True] Translation: X:27.12, Y:0.28, Z:-1.36 [[ 9.99886923e-01 -5.73816258e-03 -1.39001953e-02 2.71187025e+01] [ 5.70622339e-03 9.99980990e-01 -2.33632369e-03 2.83771584e-01] [ 1.39133372e-02 2.25674189e-03 9.99900658e-01 -1.36032966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.437719421 meters Centerline goodness [0,1] 0.952178966902543 Centerline is valid? [True, True] Translation: X:27.15, Y:0.28, Z:-1.36 [[ 9.99918429e-01 -6.00254193e-03 -1.12740552e-02 2.71464413e+01] [ 6.00173697e-03 9.99981984e-01 -1.05230904e-04 2.83770414e-01] [ 1.12744837e-02 3.75584061e-05 9.99936440e-01 -1.35847595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.467719421 meters Centerline goodness [0,1] 0.949127640036731 Centerline is valid? [True, False] Translation: X:27.15, Y:0.28, Z:-1.36 [[ 9.99918479e-01 -5.20163969e-03 -1.16610107e-02 2.71454295e+01] [ 5.20549741e-03 9.99986406e-01 3.00495197e-04 2.84294971e-01] [ 1.16592891e-02 -3.61172062e-04 9.99931963e-01 -1.35628531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.497719421 meters Centerline goodness [0,1] 0.9498056137922611 Centerline is valid? [False, False] Translation: X:27.15, Y:0.29, Z:-1.36 [[ 9.99917088e-01 -3.50169447e-03 -1.23917785e-02 2.71492245e+01] [ 3.52343357e-03 9.99992291e-01 1.73291973e-03 2.87614526e-01] [ 1.23856148e-02 -1.77643766e-03 9.99921717e-01 -1.35902039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.527719421 meters Centerline goodness [0,1] 0.9495776027425213 Centerline is valid? [False, False] Translation: X:27.15, Y:0.29, Z:-1.36 [[ 9.99914384e-01 -3.44847708e-03 -1.26226891e-02 2.71498722e+01] [ 3.46616637e-03 9.99993041e-01 1.37977925e-03 2.89892054e-01] [ 1.26178431e-02 -1.42341346e-03 9.99919379e-01 -1.35933004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.557719421 meters Centerline goodness [0,1] 0.9485539714867617 Centerline is valid? [False, False] Translation: X:27.15, Y:0.29, Z:-1.36 [[ 9.99910956e-01 -3.21555685e-03 -1.29514427e-02 2.71514680e+01] [ 3.23347934e-03 9.99993843e-01 1.36311944e-03 2.94505461e-01] [ 1.29469798e-02 -1.40487629e-03 9.99915197e-01 -1.36003169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.587719421 meters Centerline goodness [0,1] 0.9475757885066858 Centerline is valid? [False, False] Translation: X:27.15, Y:0.30, Z:-1.36 [[ 9.99907833e-01 -3.20825926e-03 -1.31921125e-02 2.71513567e+01] [ 3.22221955e-03 9.99994271e-01 1.03711156e-03 2.96189287e-01] [ 1.31887096e-02 -1.07952385e-03 9.99912442e-01 -1.35925165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61771942099999 meters Centerline goodness [0,1] 0.9502575692790096 Centerline is valid? [False, True] Translation: X:27.15, Y:0.30, Z:-1.36 [[ 9.99903415e-01 -3.66397483e-03 -1.34065320e-02 2.71509716e+01] [ 3.66520216e-03 9.99993281e-01 6.69781616e-05 2.98735145e-01] [ 1.34061965e-02 -1.16109343e-04 9.99910126e-01 -1.35796979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64771942099999 meters Centerline goodness [0,1] 0.9498255422473423 Centerline is valid? [True, False] Translation: X:27.15, Y:0.30, Z:-1.36 [[ 9.99899412e-01 -3.60160328e-03 -1.37183821e-02 2.71511121e+01] [ 3.60012223e-03 9.99993511e-01 -1.32654258e-04 2.99936437e-01] [ 1.37187709e-02 8.32530626e-05 9.99905890e-01 -1.35740883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67771942099999 meters Centerline goodness [0,1] 0.9509060820887899 Centerline is valid? [False, True] Translation: X:27.15, Y:0.30, Z:-1.36 [[ 9.99903032e-01 -1.51049867e-03 -1.38435696e-02 2.71518607e+01] [ 1.53458256e-03 9.99997327e-01 1.72925889e-03 3.03829254e-01] [ 1.38409205e-02 -1.75033531e-03 9.99902678e-01 -1.35776549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.707719421 meters Centerline goodness [0,1] 0.9502415557412806 Centerline is valid? [True, True] Translation: X:27.18, Y:0.31, Z:-1.36 [[ 9.99892443e-01 -2.16386694e-03 -1.45058967e-02 2.71808691e+01] [ 2.16403866e-03 9.99997658e-01 -3.85869954e-06 3.07771481e-01] [ 1.45058711e-02 -2.75330368e-05 9.99894784e-01 -1.36029454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.737719421 meters Centerline goodness [0,1] 0.9458760788145253 Centerline is valid? [True, False] Translation: X:27.18, Y:0.31, Z:-1.36 [[ 9.99883822e-01 -7.52188257e-04 -1.52241833e-02 2.71844893e+01] [ 7.68504343e-04 9.99999137e-01 1.06589971e-03 3.11755326e-01] [ 1.52233684e-02 -1.07747573e-03 9.99883537e-01 -1.36285313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.767719421 meters Centerline goodness [0,1] 0.9452991799951287 Centerline is valid? [False, False] Translation: X:27.19, Y:0.31, Z:-1.36 [[ 9.99873830e-01 -9.02338432e-04 -1.58590767e-02 2.71862781e+01] [ 9.04983152e-04 9.99999578e-01 1.59588081e-04 3.13962127e-01] [ 1.58589260e-02 -1.73920143e-04 9.99874224e-01 -1.36359709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.797719421 meters Centerline goodness [0,1] 0.9456966587257956 Centerline is valid? [False, False] Translation: X:27.19, Y:0.32, Z:-1.36 [[ 9.99871140e-01 -5.21640814e-04 -1.60446490e-02 2.71863696e+01] [ 5.22612577e-04 9.99999862e-01 5.63734099e-05 3.15396880e-01] [ 1.60446173e-02 -6.47512810e-05 9.99871275e-01 -1.36328974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.827719421 meters Centerline goodness [0,1] 0.9425937608107283 Centerline is valid? [False, False] Translation: X:27.19, Y:0.32, Z:-1.36 [[ 9.99859513e-01 1.94736684e-03 -1.66481700e-02 2.71879404e+01] [-1.92253558e-03 9.99997016e-01 1.50740495e-03 3.21791944e-01] [ 1.66510558e-02 -1.47518648e-03 9.99860273e-01 -1.36367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.857719421 meters Centerline goodness [0,1] 0.9427691805818909 Centerline is valid? [False, False] Translation: X:27.19, Y:0.33, Z:-1.36 [[ 9.99855732e-01 2.13950898e-03 -1.68504549e-02 2.71882221e+01] [-2.12645142e-03 9.99997425e-01 7.92787087e-04 3.25483556e-01] [ 1.68521077e-02 -7.56841039e-04 9.99857707e-01 -1.36355661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.887719421 meters Centerline goodness [0,1] 0.9487007031488841 Centerline is valid? [False, False] Translation: X:27.19, Y:0.33, Z:-1.36 [[ 9.99832802e-01 5.72456158e-03 -1.73665342e-02 2.71886832e+01] [-5.66975054e-03 9.99978795e-01 3.20372586e-03 3.29344065e-01] [ 1.73845058e-02 -3.10472629e-03 9.99844058e-01 -1.36276840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.917719421 meters Centerline goodness [0,1] 0.9455366955672243 Centerline is valid? [False, False] Translation: X:27.19, Y:0.33, Z:-1.36 [[ 9.99823866e-01 5.81781076e-03 -1.78434652e-02 2.71898483e+01] [-5.77829350e-03 9.99980739e-01 2.26542105e-03 3.31962364e-01] [ 1.78563013e-02 -2.16191725e-03 9.99838226e-01 -1.36313774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.947719421 meters Centerline goodness [0,1] 0.950784956527051 Centerline is valid? [False, True] Translation: X:27.19, Y:0.34, Z:-1.36 [[ 9.99788421e-01 1.00993982e-02 -1.79196680e-02 2.71893803e+01] [-1.00141990e-02 9.99938153e-01 4.83788696e-03 3.36639712e-01] [ 1.79674195e-02 -4.65741225e-03 9.99827725e-01 -1.36221590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.977719421 meters Centerline goodness [0,1] 0.9553549646255184 Centerline is valid? [True, True] Translation: X:27.22, Y:0.35, Z:-1.36 [[ 9.99700912e-01 1.96557340e-02 -1.45512160e-02 2.72192267e+01] [-1.96590401e-02 9.99806739e-01 -8.41914828e-05 3.54572320e-01] [ 1.45467489e-02 3.70229240e-04 9.99894122e-01 -1.36012631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00771942099999 meters Centerline goodness [0,1] 0.9553549646255184 Centerline is valid? [True, True] Translation: X:27.25, Y:0.35, Z:-1.36 [[ 9.99701691e-01 1.96161213e-02 -1.45512126e-02 2.72484162e+01] [-1.96194317e-02 9.99807517e-01 -8.47680060e-05 3.54794285e-01] [ 1.45467489e-02 3.70229241e-04 9.99894122e-01 -1.36049504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03771942099999 meters Centerline goodness [0,1] 0.9506524704301622 Centerline is valid? [True, True] Translation: X:27.28, Y:0.36, Z:-1.36 [[ 9.99601194e-01 2.46035782e-02 -1.38606376e-02 2.72778995e+01] [-2.46070688e-02 9.99697197e-01 -8.13287413e-05 3.62902885e-01] [ 1.38544396e-02 4.22365971e-04 9.99903933e-01 -1.35967848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06771942099999 meters Centerline goodness [0,1] 0.929936435084584 Centerline is valid? [True, False] Translation: X:27.28, Y:0.37, Z:-1.36 [[ 9.99466135e-01 2.92845460e-02 -1.44865556e-02 2.72785788e+01] [-2.92465609e-02 9.99568230e-01 2.82707815e-03 3.67581635e-01] [ 1.45630905e-02 -2.40188694e-03 9.99891068e-01 -1.35880943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.097719421 meters Centerline goodness [0,1] 0.9191740412979351 Centerline is valid? [False, False] Translation: X:27.28, Y:0.37, Z:-1.36 [[ 9.99453650e-01 2.94482057e-02 -1.50068400e-02 2.72801795e+01] [-2.94210494e-02 9.99565052e-01 2.02721620e-03 3.69798412e-01] [ 1.50600107e-02 -1.58459165e-03 9.99885336e-01 -1.35963323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.127719421 meters Centerline goodness [0,1] 0.8439024390243902 Centerline is valid? [False, False] Translation: X:27.28, Y:0.37, Z:-1.36 [[ 9.99355585e-01 3.22039442e-02 -1.58530886e-02 2.72841484e+01] [-3.21418455e-02 9.99474675e-01 4.15653323e-03 3.69634941e-01] [ 1.59786173e-02 -3.64430717e-03 9.99865692e-01 -1.36226332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.157719421 meters Centerline goodness [0,1] 0.8677526284749761 Centerline is valid? [False, False] Translation: X:27.29, Y:0.37, Z:-1.36 [[ 9.99349305e-01 3.22230340e-02 -1.62062623e-02 2.72855433e+01] [-3.21637427e-02 9.99474980e-01 3.90604459e-03 3.69735505e-01] [ 1.63236183e-02 -3.38224889e-03 9.99861040e-01 -1.36305565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.187719421 meters Centerline goodness [0,1] 0.8589917841566082 Centerline is valid? [False, False] Translation: X:27.29, Y:0.37, Z:-1.36 [[ 9.99335532e-01 3.25955318e-02 -1.63103212e-02 2.72863231e+01] [-3.25367108e-02 9.99463092e-01 3.85889685e-03 3.70612605e-01] [ 1.64273468e-02 -3.32564853e-03 9.99859531e-01 -1.36377725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.217719421 meters Centerline goodness [0,1] 0.8792037461231275 Centerline is valid? [False, False] Translation: X:27.29, Y:0.37, Z:-1.36 [[ 9.99415846e-01 2.97765256e-02 -1.67727441e-02 2.72875899e+01] [-2.97691787e-02 9.99556563e-01 6.87581090e-04 3.70099111e-01] [ 1.67857802e-02 -1.87868621e-04 9.99859091e-01 -1.36458601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.247719421 meters Centerline goodness [0,1] 0.8594669435790931 Centerline is valid? [False, False] Translation: X:27.29, Y:0.37, Z:-1.36 [[ 9.99499054e-01 2.65719740e-02 -1.71922080e-02 2.72883031e+01] [-2.66183383e-02 9.99642609e-01 -2.47359261e-03 3.68286420e-01] [ 1.71203354e-02 2.92998148e-03 9.99849143e-01 -1.36472055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.277719421 meters Centerline goodness [0,1] 0.9055310319575256 Centerline is valid? [False, False] Translation: X:27.29, Y:0.36, Z:-1.37 [[ 9.99572695e-01 2.32435975e-02 -1.77246305e-02 2.72897723e+01] [-2.33324179e-02 9.99716138e-01 -4.82087665e-03 3.62697140e-01] [ 1.76075447e-02 5.23237515e-03 9.99831284e-01 -1.36533778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.307719421 meters Centerline goodness [0,1] 0.914246759325207 Centerline is valid? [False, False] Translation: X:27.29, Y:0.36, Z:-1.37 [[ 9.99641306e-01 1.97852581e-02 -1.80500081e-02 2.72904161e+01] [-1.99325448e-02 9.99769185e-01 -8.01682551e-03 3.61043847e-01] [ 1.78872269e-02 8.37373252e-03 9.99804945e-01 -1.36548259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.337719421 meters Centerline goodness [0,1] 0.9338687976515676 Centerline is valid? [False, False] Translation: X:27.29, Y:0.36, Z:-1.37 [[ 9.99714746e-01 1.52636104e-02 -1.83697560e-02 2.72916783e+01] [-1.54637958e-02 9.99822043e-01 -1.08052923e-02 3.55888635e-01] [ 1.82015592e-02 1.10862762e-02 9.99772873e-01 -1.36607522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36771942099999 meters Centerline goodness [0,1] 0.9408810913009006 Centerline is valid? [False, False] Translation: X:27.29, Y:0.35, Z:-1.37 [[ 9.99721282e-01 1.40179205e-02 -1.89961900e-02 2.72939549e+01] [-1.42250662e-02 9.99840343e-01 -1.08136937e-02 3.52502709e-01] [ 1.88415716e-02 1.10809018e-02 9.99761076e-01 -1.36702096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39771942099999 meters Centerline goodness [0,1] 0.9455544252288911 Centerline is valid? [False, False] Translation: X:27.29, Y:0.35, Z:-1.37 [[ 9.99794344e-01 6.33120016e-03 -1.92661671e-02 2.72940167e+01] [-6.65992454e-03 9.99832522e-01 -1.70462063e-02 3.47854587e-01] [ 1.91550175e-02 1.71710119e-02 9.99669066e-01 -1.36633203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42771942099999 meters Centerline goodness [0,1] 0.9465545196595054 Centerline is valid? [False, False] Translation: X:27.29, Y:0.34, Z:-1.37 [[ 9.99788426e-01 5.52060072e-03 -1.98147957e-02 2.72947720e+01] [-5.84505017e-03 9.99849184e-01 -1.63537077e-02 3.43728719e-01] [ 1.97215250e-02 1.64660662e-02 9.99669911e-01 -1.36539280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.457719421 meters Centerline goodness [0,1] 0.9506792735518617 Centerline is valid? [False, True] Translation: X:27.29, Y:0.34, Z:-1.36 [[ 9.99796421e-01 1.94986899e-03 -2.00827092e-02 2.72943540e+01] [-2.32439265e-03 9.99823509e-01 -1.86426339e-02 3.39307990e-01] [ 2.00428141e-02 1.86855187e-02 9.99624498e-01 -1.36391049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.487719421 meters Centerline goodness [0,1] 0.9507922929650903 Centerline is valid? [True, True] Translation: X:27.32, Y:0.33, Z:-1.36 [[ 9.99783225e-01 -1.03191764e-03 -2.07951612e-02 2.73222018e+01] [ 1.02959751e-03 9.99999462e-01 -1.22277014e-04 3.28478535e-01] [ 2.07952762e-02 1.00839861e-04 9.99783750e-01 -1.35730879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.517719421 meters Centerline goodness [0,1] 0.9487633948580043 Centerline is valid? [True, False] Translation: X:27.32, Y:0.33, Z:-1.36 [[ 9.99775279e-01 -6.77983839e-04 -2.11880028e-02 2.73233705e+01] [ 6.85289628e-04 9.99999708e-01 3.37548963e-04 3.27301828e-01] [ 2.11877678e-02 -3.51993028e-04 9.99775452e-01 -1.35769202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.547719421 meters Centerline goodness [0,1] 0.9479843953185956 Centerline is valid? [False, False] Translation: X:27.33, Y:0.33, Z:-1.36 [[ 9.99756529e-01 1.27838882e-03 -2.20283512e-02 2.73263805e+01] [-1.23459740e-03 9.99997235e-01 2.00144224e-03 3.25605884e-01] [ 2.20308489e-02 -1.97375880e-03 9.99755343e-01 -1.35922258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.577719421 meters Centerline goodness [0,1] 0.9467825308315356 Centerline is valid? [False, False] Translation: X:27.33, Y:0.33, Z:-1.36 [[ 9.99750577e-01 1.80434286e-03 -2.22604815e-02 2.73269563e+01] [-1.75640481e-03 9.99996097e-01 2.17286836e-03 3.25938705e-01] [ 2.22643152e-02 -2.13322798e-03 9.99749844e-01 -1.35939316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.607719421 meters Centerline goodness [0,1] 0.9468239231130247 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99747006e-01 1.97664348e-03 -2.24057226e-02 2.73274093e+01] [-1.92204004e-03 9.99995131e-01 2.45830414e-03 3.24827420e-01] [ 2.24104727e-02 -2.41461750e-03 9.99745938e-01 -1.35948790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.637719421 meters Centerline goodness [0,1] 0.9474263581694017 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99734774e-01 1.74874866e-03 -2.29635191e-02 2.73286320e+01] [-1.68568376e-03 9.99994756e-01 2.76537846e-03 3.22860483e-01] [ 2.29682347e-02 -2.72593578e-03 9.99732479e-01 -1.35938369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.667719421 meters Centerline goodness [0,1] 0.9483299389002037 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99729137e-01 -1.79049156e-03 -2.32044573e-02 2.73285579e+01] [ 1.79519801e-03 9.99998372e-01 1.81995842e-04 3.19712177e-01] [ 2.32040937e-02 -2.23603141e-04 9.99730724e-01 -1.35838852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.697719421 meters Centerline goodness [0,1] 0.947390984811367 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99720064e-01 -2.34749638e-03 -2.35432155e-02 2.73292193e+01] [ 2.35904609e-03 9.99997110e-01 4.62813362e-04 3.18140747e-01] [ 2.35420610e-02 -5.18223334e-04 9.99722713e-01 -1.35803745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.727719421 meters Centerline goodness [0,1] 0.9450863512023844 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99686182e-01 -6.90405452e-03 -2.40805068e-02 2.73305050e+01] [ 6.82321678e-03 9.99970813e-01 -3.43753070e-03 3.17758784e-01] [ 2.41035368e-02 3.27214543e-03 9.99704113e-01 -1.35806581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75771942099999 meters Centerline goodness [0,1] 0.9461489911843151 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99665132e-01 -7.61201228e-03 -2.47321909e-02 2.73317384e+01] [ 7.52861527e-03 9.99965662e-01 -3.46336987e-03 3.16738331e-01] [ 2.47577048e-02 3.27601094e-03 9.99688113e-01 -1.35765395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78771942099999 meters Centerline goodness [0,1] 0.947879084367802 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99654346e-01 -8.15396696e-03 -2.49940231e-02 2.73313669e+01] [ 8.06701799e-03 9.99961061e-01 -3.57764952e-03 3.17022802e-01] [ 2.50222219e-02 3.37478565e-03 9.99681199e-01 -1.35607455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81771942099999 meters Centerline goodness [0,1] 0.9442128170188533 Centerline is valid? [False, False] Translation: X:27.33, Y:0.32, Z:-1.36 [[ 9.99641540e-01 -8.38169242e-03 -2.54271086e-02 2.73324121e+01] [ 8.28724125e-03 9.99958373e-01 -3.81769350e-03 3.18031497e-01] [ 2.54580489e-02 3.60560442e-03 9.99669389e-01 -1.35617973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.847719421 meters Centerline goodness [0,1] 0.9397551086934377 Centerline is valid? [False, False] Translation: X:27.34, Y:0.32, Z:-1.36 [[ 9.99641252e-01 -7.17355712e-03 -2.58051924e-02 2.73355009e+01] [ 7.12062037e-03 9.99972352e-01 -2.14270561e-03 3.20933668e-01] [ 2.58198498e-02 1.95818794e-03 9.99664694e-01 -1.35857130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.877719421 meters Centerline goodness [0,1] 0.9339499898353324 Centerline is valid? [False, False] Translation: X:27.34, Y:0.32, Z:-1.36 [[ 9.99623966e-01 -7.69473190e-03 -2.63195436e-02 2.73372587e+01] [ 7.61804349e-03 9.99966444e-01 -3.01277442e-03 3.23240242e-01] [ 2.63418429e-02 2.81113809e-03 9.99649041e-01 -1.35945086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.907719421 meters Centerline goodness [0,1] 0.9383979811958159 Centerline is valid? [False, False] Translation: X:27.34, Y:0.33, Z:-1.36 [[ 9.99617659e-01 -5.70508687e-03 -2.70552891e-02 2.73385334e+01] [ 5.66804642e-03 9.99982892e-01 -1.44555744e-03 3.26251453e-01] [ 2.70630733e-02 1.29165411e-03 9.99632893e-01 -1.35887822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.937719421 meters Centerline goodness [0,1] 0.9444455787174095 Centerline is valid? [False, False] Translation: X:27.34, Y:0.33, Z:-1.36 [[ 9.99614350e-01 -2.41091917e-03 -2.76647388e-02 2.73398211e+01] [ 2.42641181e-03 9.99996918e-01 5.26458344e-04 3.30329446e-01] [ 2.76633842e-02 -5.93381365e-04 9.99617119e-01 -1.35904022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.967719421 meters Centerline goodness [0,1] 0.9362286411716843 Centerline is valid? [False, False] Translation: X:27.34, Y:0.33, Z:-1.36 [[ 9.99594057e-01 3.86787532e-04 -2.84881044e-02 2.73430166e+01] [-3.08786082e-04 9.99996192e-01 2.74238417e-03 3.33175642e-01] [ 2.84890567e-02 -2.73247418e-03 9.99590370e-01 -1.36080878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.997719421 meters Centerline goodness [0,1] 0.9459029110358061 Centerline is valid? [False, False] Translation: X:27.35, Y:0.34, Z:-1.36 [[ 9.99551438e-01 6.86255032e-03 -2.91518057e-02 2.73462652e+01] [-6.65191359e-03 9.99951110e-01 7.31635691e-03 3.41998785e-01] [ 2.92005893e-02 -7.11915978e-03 9.99548220e-01 -1.36324217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.027719421 meters Centerline goodness [0,1] 0.9444727769731339 Centerline is valid? [False, False] Translation: X:27.36, Y:0.35, Z:-1.37 [[ 9.99585080e-01 1.14343259e-02 -2.64371692e-02 2.73562913e+01] [-1.14351647e-02 9.99934609e-01 1.19459386e-04 3.47152353e-01] [ 2.64368064e-02 1.82903565e-04 9.99650470e-01 -1.36532422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.057719421 meters Centerline goodness [0,1] 0.9412545703372347 Centerline is valid? [False, False] Translation: X:27.36, Y:0.35, Z:-1.36 [[ 9.99490739e-01 1.64144439e-02 -2.73647252e-02 2.73573402e+01] [-1.63512224e-02 9.99863103e-01 2.53250847e-03 3.51815106e-01] [ 2.74025488e-02 -2.08377205e-03 9.99622308e-01 -1.36452822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.087719421 meters Centerline goodness [0,1] 0.9439038818513759 Centerline is valid? [False, False] Translation: X:27.37, Y:0.35, Z:-1.37 [[ 9.99521366e-01 2.06891783e-02 -2.29999286e-02 2.73666964e+01] [-2.08009876e-02 9.99772903e-01 -4.63269512e-03 3.54292043e-01] [ 2.28988587e-02 5.10889899e-03 9.99724733e-01 -1.36646963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11771942099999 meters Centerline goodness [0,1] 0.9448254808181541 Centerline is valid? [False, False] Translation: X:27.38, Y:0.36, Z:-1.37 [[ 9.99390482e-01 2.96377477e-02 -1.84463659e-02 2.73775602e+01] [-2.97809053e-02 9.99528049e-01 -7.53498532e-03 3.60140638e-01] [ 1.82143401e-02 8.07974208e-03 9.99801458e-01 -1.36921969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14771942099999 meters Centerline goodness [0,1] 0.9476683832359706 Centerline is valid? [False, False] Translation: X:27.38, Y:0.37, Z:-1.37 [[ 9.98997601e-01 4.06491476e-02 -1.87467154e-02 2.73803314e+01] [-4.06191153e-02 9.99172741e-01 1.98016000e-03 3.66810072e-01] [ 1.88116988e-02 -1.21670010e-03 9.99822304e-01 -1.37071442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17771942099999 meters Centerline goodness [0,1] 0.9505307552820847 Centerline is valid? [False, True] Translation: X:27.38, Y:0.37, Z:-1.37 [[ 9.98828180e-01 4.44332392e-02 -1.91821080e-02 2.73818892e+01] [-4.43502783e-02 9.99004849e-01 4.72907718e-03 3.70760062e-01] [ 1.93731472e-02 -3.87280372e-03 9.99804822e-01 -1.37108401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.207719421 meters Centerline goodness [0,1] 0.9470626605242773 Centerline is valid? [True, False] Translation: X:27.38, Y:0.37, Z:-1.37 [[ 9.98594479e-01 4.92610182e-02 -1.95555015e-02 2.73813182e+01] [-4.91078318e-02 9.98759508e-01 8.23811932e-03 3.72528385e-01] [ 1.99370612e-02 -7.26621220e-03 9.99774833e-01 -1.36885783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.237719421 meters Centerline goodness [0,1] 0.948019953171129 Centerline is valid? [False, False] Translation: X:27.38, Y:0.37, Z:-1.37 [[ 9.98712760e-01 4.65433498e-02 -2.01628111e-02 2.73814730e+01] [-4.64635705e-02 9.98910261e-01 4.40756589e-03 3.72981968e-01] [ 2.03459818e-02 -3.46505610e-03 9.99786995e-01 -1.36807929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.267719421 meters Centerline goodness [0,1] 0.9532479712922562 Centerline is valid? [False, True] Translation: X:27.38, Y:0.37, Z:-1.37 [[ 9.98841391e-01 4.35193896e-02 -2.05411302e-02 2.73813253e+01] [-4.35224656e-02 9.99052404e-01 2.97487144e-04 3.74295088e-01] [ 2.05346119e-02 5.96858158e-04 9.99788964e-01 -1.36742099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.297719421 meters Centerline goodness [0,1] 0.9539823008849557 Centerline is valid? [True, True] Translation: X:27.41, Y:0.38, Z:-1.37 [[ 9.98912390e-01 4.21288804e-02 -1.99798336e-02 2.74114290e+01] [-4.21318573e-02 9.99112022e-01 2.72105424e-04 3.75664850e-01] [ 1.99735554e-02 5.69978018e-04 9.99800346e-01 -1.36915215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.327719421 meters Centerline goodness [0,1] 0.9503432308379707 Centerline is valid? [True, True] Translation: X:27.44, Y:0.38, Z:-1.37 [[ 9.98886277e-01 4.27663272e-02 -1.99310439e-02 2.74411070e+01] [-4.27694278e-02 9.99084933e-01 2.70862886e-04 3.80843016e-01] [ 1.99243895e-02 5.81878125e-04 9.99801320e-01 -1.37122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.357719421 meters Centerline goodness [0,1] 0.948929059080071 Centerline is valid? [True, False] Translation: X:27.44, Y:0.38, Z:-1.37 [[ 9.98862858e-01 4.31342243e-02 -2.03083534e-02 2.74414934e+01] [-4.31373706e-02 9.99069110e-01 2.83317952e-04 3.81123412e-01] [ 2.03016693e-02 5.93053190e-04 9.99793724e-01 -1.37068176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.387719421 meters Centerline goodness [0,1] 0.9438078762592856 Centerline is valid? [False, False] Translation: X:27.44, Y:0.38, Z:-1.37 [[ 9.98786920e-01 4.45875436e-02 -2.08959175e-02 2.74412242e+01] [-4.45678494e-02 9.99005368e-01 1.40746887e-03 3.77781912e-01] [ 2.09378893e-02 -4.74475396e-04 9.99780666e-01 -1.36885126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.417719421 meters Centerline goodness [0,1] 0.9435541346799976 Centerline is valid? [False, False] Translation: X:27.44, Y:0.38, Z:-1.37 [[ 9.98892775e-01 4.17742316e-02 -2.16365025e-02 2.74425872e+01] [-4.18211505e-02 9.99123632e-01 -1.72038145e-03 3.75526631e-01] [ 2.15456733e-02 2.62334002e-03 9.99764423e-01 -1.36931965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.447719421 meters Centerline goodness [0,1] 0.9511837034318223 Centerline is valid? [False, True] Translation: X:27.45, Y:0.37, Z:-1.37 [[ 9.98908939e-01 4.09481163e-02 -2.24540312e-02 2.74453005e+01] [-4.10060012e-02 9.99156644e-01 -2.12338921e-03 3.73803262e-01] [ 2.23481456e-02 3.04182249e-03 9.99745621e-01 -1.37064187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.477719421 meters Centerline goodness [0,1] 0.9493683781581093 Centerline is valid? [True, False] Translation: X:27.45, Y:0.37, Z:-1.37 [[ 9.99048249e-01 3.70021748e-02 -2.30961986e-02 2.74481307e+01] [-3.71112234e-02 9.99301844e-01 -4.31072259e-03 3.69252612e-01] [ 2.29205678e-02 5.16374804e-03 9.99723954e-01 -1.37261654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50771942099999 meters Centerline goodness [0,1] 0.9531969517910265 Centerline is valid? [False, True] Translation: X:27.45, Y:0.37, Z:-1.37 [[ 9.99164198e-01 3.33622027e-02 -2.36192285e-02 2.74494834e+01] [-3.35389004e-02 9.99412017e-01 -7.12479957e-03 3.66431951e-01] [ 2.33676418e-02 7.91100760e-03 9.99695638e-01 -1.37321432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53771942099999 meters Centerline goodness [0,1] 0.9456887240416556 Centerline is valid? [True, False] Translation: X:27.45, Y:0.36, Z:-1.37 [[ 9.99359660e-01 2.57707355e-02 -2.48221408e-02 2.74522357e+01] [-2.60860904e-02 9.99581975e-01 -1.24656371e-02 3.60029100e-01] [ 2.44905159e-02 1.31051674e-02 9.99614160e-01 -1.37407618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56771942099999 meters Centerline goodness [0,1] 0.9412460970184282 Centerline is valid? [False, False] Translation: X:27.45, Y:0.36, Z:-1.37 [[ 9.99429577e-01 2.22413098e-02 -2.54134777e-02 2.74530251e+01] [-2.26300791e-02 9.99629656e-01 -1.51139301e-02 3.56705908e-01] [ 2.50679124e-02 1.56804178e-02 9.99562767e-01 -1.37374271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.597719421 meters Centerline goodness [0,1] 0.9432780396237579 Centerline is valid? [False, False] Translation: X:27.45, Y:0.35, Z:-1.37 [[ 9.99506357e-01 1.78381375e-02 -2.58620105e-02 2.74532282e+01] [-1.83005453e-02 9.99674877e-01 -1.77547486e-02 3.52267574e-01] [ 2.55368905e-02 1.82192730e-02 9.99507842e-01 -1.37263005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.627719421 meters Centerline goodness [0,1] 0.9382597699273885 Centerline is valid? [False, False] Translation: X:27.46, Y:0.35, Z:-1.37 [[ 9.99491095e-01 1.76391967e-02 -2.65783772e-02 2.74551180e+01] [-1.81022528e-02 9.99686744e-01 -1.72835710e-02 3.50523923e-01] [ 2.62651831e-02 1.77559038e-02 9.99497308e-01 -1.37304034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.657719421 meters Centerline goodness [0,1] 0.9388178361562391 Centerline is valid? [False, False] Translation: X:27.46, Y:0.35, Z:-1.37 [[ 9.99438980e-01 1.95508329e-02 -2.71935629e-02 2.74579704e+01] [-1.99619698e-02 9.99689252e-01 -1.49304879e-02 3.49918993e-01] [ 2.68932090e-02 1.54649487e-02 9.99518680e-01 -1.37457416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.687719421 meters Centerline goodness [0,1] 0.9398787779841228 Centerline is valid? [False, False] Translation: X:27.46, Y:0.35, Z:-1.37 [[ 9.99341987e-01 2.37288753e-02 -2.74323264e-02 2.74579155e+01] [-2.40487480e-02 9.99645902e-01 -1.13898717e-02 3.52052827e-01] [ 2.71523438e-02 1.20420901e-02 9.99558772e-01 -1.37350046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.717719421 meters Centerline goodness [0,1] 0.943775672048477 Centerline is valid? [False, False] Translation: X:27.46, Y:0.35, Z:-1.37 [[ 9.99240245e-01 2.72627371e-02 -2.78509745e-02 2.74586514e+01] [-2.74927256e-02 9.99590719e-01 -7.90847753e-03 3.52281910e-01] [ 2.76239689e-02 8.66816822e-03 9.99580802e-01 -1.37288268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.747719421 meters Centerline goodness [0,1] 0.9456537261062037 Centerline is valid? [False, False] Translation: X:27.46, Y:0.35, Z:-1.37 [[ 9.99210346e-01 2.80583989e-02 -2.81320072e-02 2.74583000e+01] [-2.82877325e-02 9.99569488e-01 -7.78741360e-03 3.52956337e-01] [ 2.79013937e-02 8.57705494e-03 9.99573882e-01 -1.37174953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.777719421 meters Centerline goodness [0,1] 0.9491940420322383 Centerline is valid? [False, False] Translation: X:27.46, Y:0.35, Z:-1.37 [[ 9.99065840e-01 3.24817524e-02 -2.85023306e-02 2.74586211e+01] [-3.26197960e-02 9.99458185e-01 -4.39159275e-03 3.54766700e-01] [ 2.83442410e-02 5.31723051e-03 9.99584079e-01 -1.37081165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.807719421 meters Centerline goodness [0,1] 0.9528929329198629 Centerline is valid? [False, True] Translation: X:27.46, Y:0.36, Z:-1.37 [[ 9.98886669e-01 3.72374584e-02 -2.89619534e-02 2.74601159e+01] [-3.72947860e-02 9.99303268e-01 -1.44157078e-03 3.58736602e-01] [ 2.88880943e-02 2.52009569e-03 9.99579475e-01 -1.37124060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.837719421 meters Centerline goodness [0,1] 0.9527491584208916 Centerline is valid? [True, True] Translation: X:27.49, Y:0.36, Z:-1.37 [[ 9.98737122e-01 4.08383827e-02 -2.92640906e-02 2.74894127e+01] [-4.08346576e-02 9.99165654e-01 7.25152255e-04 3.64063786e-01] [ 2.92692883e-02 4.70752645e-04 9.99571452e-01 -1.37212554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86771942099999 meters Centerline goodness [0,1] 0.9529551213929535 Centerline is valid? [True, True] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98293078e-01 4.98117641e-02 -3.04912727e-02 2.75197225e+01] [-4.98119212e-02 9.98758330e-01 7.54913016e-04 3.73771985e-01] [ 3.04910161e-02 7.65204431e-04 9.99534748e-01 -1.37312922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89771942099999 meters Centerline goodness [0,1] 0.9489189299238568 Centerline is valid? [True, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98228486e-01 5.07137631e-02 -3.11127650e-02 2.75210412e+01] [-5.07054229e-02 9.98713093e-01 1.05749755e-03 3.73503831e-01] [ 3.11263555e-02 5.21961733e-04 9.99515321e-01 -1.37321089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92771942099999 meters Centerline goodness [0,1] 0.9489189299238568 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98228486e-01 5.07137631e-02 -3.11127650e-02 2.75210412e+01] [-5.07054229e-02 9.98713093e-01 1.05749755e-03 3.73503831e-01] [ 3.11263555e-02 5.21961733e-04 9.99515321e-01 -1.37321089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.957719421 meters Centerline goodness [0,1] 0.94049072265625 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98122944e-01 5.24338156e-02 -3.16430742e-02 2.75224351e+01] [-5.23954730e-02 9.98624330e-01 2.04026097e-03 3.72103517e-01] [ 3.17065224e-02 -3.78477441e-04 9.99497150e-01 -1.37378625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.987719421 meters Centerline goodness [0,1] 0.9416485503565696 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98087720e-01 5.28301405e-02 -3.20917442e-02 2.75236436e+01] [-5.27863136e-02 9.98603381e-01 2.21195583e-03 3.71941216e-01] [ 3.21637821e-02 -5.13721075e-04 9.99482480e-01 -1.37404738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.017719421 meters Centerline goodness [0,1] 0.9449700281368512 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98046600e-01 5.35071857e-02 -3.22484956e-02 2.75231453e+01] [-5.34389403e-02 9.98566687e-01 2.97503756e-03 3.70929046e-01] [ 3.23614593e-02 -1.24590069e-03 9.99475454e-01 -1.37283323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.047719421 meters Centerline goodness [0,1] 0.9388333095621345 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98188547e-01 5.05209115e-02 -3.26689688e-02 2.75233425e+01] [-5.05619190e-02 9.98720836e-01 -4.29812808e-04 3.70880537e-01] [ 3.26054653e-02 2.08083998e-03 9.99466134e-01 -1.37253604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.077719421 meters Centerline goodness [0,1] 0.9318455110567614 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98312510e-01 4.76917182e-02 -3.31305441e-02 2.75233927e+01] [-4.78263727e-02 9.98850268e-01 -3.28339644e-03 3.68665027e-01] [ 3.29358621e-02 4.86236949e-03 9.99445640e-01 -1.37193521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.107719421 meters Centerline goodness [0,1] 0.9468585268556774 Centerline is valid? [False, False] Translation: X:27.52, Y:0.37, Z:-1.37 [[ 9.98301731e-01 4.76555156e-02 -3.35053197e-02 2.75245266e+01] [-4.77844082e-02 9.98852997e-01 -3.05631665e-03 3.66637165e-01] [ 3.33212387e-02 4.65215808e-03 9.99433866e-01 -1.37228693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.137719421 meters Centerline goodness [0,1] 0.9502383183281052 Centerline is valid? [False, True] Translation: X:27.53, Y:0.37, Z:-1.37 [[ 9.98286644e-01 4.76876405e-02 -3.39067285e-02 2.75257141e+01] [-4.78183104e-02 9.98851385e-01 -3.05293092e-03 3.66271509e-01] [ 3.37221956e-02 4.66906263e-03 9.99420339e-01 -1.37268067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.167719421 meters Centerline goodness [0,1] 0.9419903554642196 Centerline is valid? [True, False] Translation: X:27.53, Y:0.37, Z:-1.37 [[ 9.98245369e-01 4.80579250e-02 -3.45921906e-02 2.75284256e+01] [-4.81987232e-02 9.98832487e-01 -3.24742143e-03 3.66073795e-01] [ 3.43957395e-02 4.90902283e-03 9.99396235e-01 -1.37442882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.197719421 meters Centerline goodness [0,1] 0.9357982988075373 Centerline is valid? [False, False] Translation: X:27.53, Y:0.37, Z:-1.38 [[ 9.98238548e-01 4.78498722e-02 -3.50740777e-02 2.75305065e+01] [-4.80114727e-02 9.98839635e-01 -3.77925577e-03 3.66590453e-01] [ 3.48525420e-02 5.45655692e-03 9.99377569e-01 -1.37571938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.227719421 meters Centerline goodness [0,1] 0.9219539926501938 Centerline is valid? [False, False] Translation: X:27.53, Y:0.36, Z:-1.38 [[ 9.98184823e-01 4.83831373e-02 -3.58626576e-02 2.75329749e+01] [-4.85346604e-02 9.98815827e-01 -3.36612296e-03 3.64114743e-01] [ 3.56573264e-02 5.10059476e-03 9.99351059e-01 -1.37687039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25771942099999 meters Centerline goodness [0,1] 0.9142729361061983 Centerline is valid? [False, False] Translation: X:27.53, Y:0.36, Z:-1.38 [[ 9.98151680e-01 4.86714470e-02 -3.63911185e-02 2.75344986e+01] [-4.88074633e-02 9.98804116e-01 -2.85811054e-03 3.61271565e-01] [ 3.62084906e-02 4.62898602e-03 9.99333537e-01 -1.37737227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28771942099999 meters Centerline goodness [0,1] 0.8856327695129407 Centerline is valid? [False, False] Translation: X:27.54, Y:0.36, Z:-1.38 [[ 9.98066544e-01 5.00878213e-02 -3.68019570e-02 2.75354103e+01] [-5.01549459e-02 9.98741041e-01 -9.02419411e-04 3.55090798e-01] [ 3.67104246e-02 2.74647479e-03 9.99322171e-01 -1.37747008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31771942099999 meters Centerline goodness [0,1] 0.8766651729335561 Centerline is valid? [False, False] Translation: X:27.54, Y:0.35, Z:-1.38 [[ 9.98025663e-01 5.06274809e-02 -3.71703489e-02 2.75365882e+01] [-5.06680227e-02 9.98715540e-01 -1.48909215e-04 3.53511184e-01] [ 3.71150661e-02 2.03196330e-03 9.99308933e-01 -1.37795900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.347719421 meters Centerline goodness [0,1] 0.9218610139148833 Centerline is valid? [False, False] Translation: X:27.54, Y:0.35, Z:-1.38 [[ 9.97973872e-01 5.11044336e-02 -3.79010287e-02 2.75390833e+01] [-5.10946823e-02 9.98693061e-01 1.22649239e-03 3.49124777e-01] [ 3.79141736e-02 7.12533665e-04 9.99280745e-01 -1.37908162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.377719421 meters Centerline goodness [0,1] 0.8761693646790857 Centerline is valid? [False, False] Translation: X:27.54, Y:0.35, Z:-1.38 [[ 9.98103820e-01 4.81150676e-02 -3.83888645e-02 2.75396634e+01] [-4.82078733e-02 9.98836206e-01 -1.49498853e-03 3.46733899e-01] [ 3.82722563e-02 3.34279928e-03 9.99261758e-01 -1.37904633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.407719421 meters Centerline goodness [0,1] 0.9342145523529772 Centerline is valid? [False, False] Translation: X:27.54, Y:0.34, Z:-1.38 [[ 9.98358773e-01 4.19102287e-02 -3.90293962e-02 2.75403874e+01] [-4.21828616e-02 9.99090745e-01 -6.18785506e-03 3.38709065e-01] [ 3.87345741e-02 7.82407100e-03 9.99218903e-01 -1.37913709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.437719421 meters Centerline goodness [0,1] 0.9412817176317502 Centerline is valid? [False, False] Translation: X:27.54, Y:0.33, Z:-1.38 [[ 9.98469687e-01 3.85144702e-02 -3.96852590e-02 2.75416196e+01] [-3.88850082e-02 9.99206619e-01 -8.60743820e-03 3.33937598e-01] [ 3.93222626e-02 1.01374278e-02 9.99175156e-01 -1.37934736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.467719421 meters Centerline goodness [0,1] 0.9443301489010654 Centerline is valid? [False, False] Translation: X:27.54, Y:0.33, Z:-1.38 [[ 9.98698074e-01 3.13903445e-02 -4.02094875e-02 2.75421657e+01] [-3.19612078e-02 9.99396118e-01 -1.36338026e-02 3.26459266e-01] [ 3.97572360e-02 1.49011962e-02 9.99098252e-01 -1.37918868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.497719421 meters Centerline goodness [0,1] 0.9550577799479166 Centerline is valid? [False, True] Translation: X:27.54, Y:0.32, Z:-1.38 [[ 9.98707852e-01 3.05972083e-02 -4.05763188e-02 2.75428245e+01] [-3.11232959e-02 9.99438663e-01 -1.23975529e-02 3.22646808e-01] [ 4.01742113e-02 1.36444022e-02 9.99099526e-01 -1.37838199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.527719421 meters Centerline goodness [0,1] 0.9557595823769576 Centerline is valid? [True, True] Translation: X:27.57, Y:0.32, Z:-1.37 [[ 9.98827656e-01 2.87058113e-02 -3.89780730e-02 2.75712959e+01] [-2.87173306e-02 9.99587537e-01 2.64437052e-04 3.17543413e-01] [ 3.89695869e-02 8.55219167e-04 9.99240031e-01 -1.37372527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.557719421 meters Centerline goodness [0,1] 0.9542801358579592 Centerline is valid? [True, True] Translation: X:27.60, Y:0.31, Z:-1.37 [[ 9.98928188e-01 2.58739274e-02 -3.83798660e-02 2.75996275e+01] [-2.58831279e-02 9.99664943e-01 2.57220582e-04 3.12669904e-01] [ 3.83736618e-02 7.36446090e-04 9.99263188e-01 -1.37265944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.587719421 meters Centerline goodness [0,1] 0.9526168776887475 Centerline is valid? [True, True] Translation: X:27.63, Y:0.31, Z:-1.37 [[ 9.98918571e-01 2.44120424e-02 -3.95694415e-02 2.76282749e+01] [-2.44207826e-02 9.99701734e-01 2.62521015e-04 3.09298540e-01] [ 3.95640480e-02 7.04079613e-04 9.99216788e-01 -1.37303141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61771942099999 meters Centerline goodness [0,1] 0.9489804224836176 Centerline is valid? [True, False] Translation: X:27.63, Y:0.31, Z:-1.38 [[ 9.98942786e-01 2.19900457e-02 -4.03701308e-02 2.76321013e+01] [-2.20949300e-02 9.99753557e-01 -2.15368303e-03 3.08237141e-01] [ 4.03128223e-02 3.04338134e-03 9.99182473e-01 -1.37571996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64771942099999 meters Centerline goodness [0,1] 0.949675788099996 Centerline is valid? [False, False] Translation: X:27.63, Y:0.31, Z:-1.38 [[ 9.98935463e-01 2.16846843e-02 -4.07150539e-02 2.76335293e+01] [-2.18009575e-02 9.99759417e-01 -2.41390221e-03 3.08371297e-01] [ 4.06529138e-02 3.29895968e-03 9.99167883e-01 -1.37647151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67771942099999 meters Centerline goodness [0,1] 0.9454031174962354 Centerline is valid? [False, False] Translation: X:27.64, Y:0.31, Z:-1.38 [[ 9.98903322e-01 2.13418362e-02 -4.16734727e-02 2.76362833e+01] [-2.14714583e-02 9.99765909e-01 -2.66526263e-03 3.07989525e-01] [ 4.16068357e-02 3.55712992e-03 9.99127729e-01 -1.37740375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.707719421 meters Centerline goodness [0,1] 0.9461225320578058 Centerline is valid? [False, False] Translation: X:27.64, Y:0.31, Z:-1.38 [[ 9.98872370e-01 2.16378462e-02 -4.22586296e-02 2.76382018e+01] [-2.17590501e-02 9.99760339e-01 -2.41024096e-03 3.07331602e-01] [ 4.21963494e-02 3.32703074e-03 9.99103798e-01 -1.37826808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.737719421 meters Centerline goodness [0,1] 0.9450215921127678 Centerline is valid? [False, False] Translation: X:27.64, Y:0.31, Z:-1.38 [[ 9.98850877e-01 2.20711781e-02 -4.25416138e-02 2.76387651e+01] [-2.21785480e-02 9.99751917e-01 -2.05350847e-03 3.07003445e-01] [ 4.24857366e-02 2.99465996e-03 9.99092585e-01 -1.37813316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.767719421 meters Centerline goodness [0,1] 0.9510679769349468 Centerline is valid? [False, True] Translation: X:27.65, Y:0.31, Z:-1.38 [[ 9.98968167e-01 2.78611313e-02 -3.58658412e-02 2.76481429e+01] [-2.80471932e-02 9.99595574e-01 -4.69498835e-03 3.05204206e-01] [ 3.57205284e-02 5.69608009e-03 9.99345585e-01 -1.37961027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.797719421 meters Centerline goodness [0,1] 0.9504978720804741 Centerline is valid? [True, True] Translation: X:27.68, Y:0.31, Z:-1.38 [[ 9.98857200e-01 3.04446673e-02 -3.68431283e-02 2.76769056e+01] [-3.04567718e-02 9.99536058e-01 2.32795944e-04 3.05486519e-01] [ 3.68331226e-02 8.89592843e-04 9.99321034e-01 -1.38011439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.827719421 meters Centerline goodness [0,1] 0.9467894758244886 Centerline is valid? [True, False] Translation: X:27.68, Y:0.31, Z:-1.38 [[ 9.98786518e-01 3.17515807e-02 -3.76474250e-02 2.76791943e+01] [-3.17539122e-02 9.99495574e-01 5.36157095e-04 3.05686814e-01] [ 3.76454585e-02 6.59946550e-04 9.99290941e-01 -1.38135039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.857719421 meters Centerline goodness [0,1] 0.9456258521397611 Centerline is valid? [False, False] Translation: X:27.68, Y:0.31, Z:-1.38 [[ 9.98758143e-01 3.21962560e-02 -3.80206851e-02 2.76797832e+01] [-3.21947828e-02 9.99481402e-01 6.51159904e-04 3.05867208e-01] [ 3.80219325e-02 5.73716442e-04 9.99276740e-01 -1.38114577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.887719421 meters Centerline goodness [0,1] 0.9412004483847957 Centerline is valid? [False, False] Translation: X:27.68, Y:0.31, Z:-1.38 [[ 9.98689271e-01 3.46176606e-02 -3.77008986e-02 2.76768157e+01] [-3.45616880e-02 9.99400285e-01 2.13556982e-03 3.05931171e-01] [ 3.77522172e-02 -8.29763979e-04 9.99286786e-01 -1.37803942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.917719421 meters Centerline goodness [0,1] 0.9325088482974655 Centerline is valid? [False, False] Translation: X:27.69, Y:0.31, Z:-1.38 [[ 9.98796294e-01 3.81253731e-02 -3.08612850e-02 2.76861768e+01] [-3.82378534e-02 9.99263973e-01 -3.06255764e-03 3.06338829e-01] [ 3.07218091e-02 4.23894051e-03 9.99518985e-01 -1.38004890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.947719421 meters Centerline goodness [0,1] 0.9197894651276215 Centerline is valid? [False, False] Translation: X:27.69, Y:0.31, Z:-1.38 [[ 9.98776701e-01 3.86947742e-02 -3.07866182e-02 2.76853303e+01] [-3.88029132e-02 9.99242609e-01 -2.92264928e-03 3.07026927e-01] [ 3.06502094e-02 4.11368448e-03 9.99521707e-01 -1.37890710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.977719421 meters Centerline goodness [0,1] 0.8969571651563989 Centerline is valid? [False, False] Translation: X:27.69, Y:0.31, Z:-1.38 [[ 9.98739201e-01 3.92623060e-02 -3.12806517e-02 2.76862203e+01] [-3.93684658e-02 9.99220881e-01 -2.78492201e-03 3.06476580e-01] [ 3.11469378e-02 4.01288205e-03 9.99506761e-01 -1.37881736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00771942099999 meters Centerline goodness [0,1] 0.8995626080764927 Centerline is valid? [False, False] Translation: X:27.69, Y:0.31, Z:-1.38 [[ 9.98723908e-01 3.93236490e-02 -3.16892222e-02 2.76877377e+01] [-3.94358141e-02 9.99217833e-01 -2.92209814e-03 3.06019719e-01] [ 3.15495284e-02 4.16805955e-03 9.99493499e-01 -1.37965578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03771942099999 meters Centerline goodness [0,1] 0.8445789495064386 Centerline is valid? [False, False] Translation: X:27.69, Y:0.30, Z:-1.38 [[ 9.98570122e-01 4.23908436e-02 -3.25688261e-02 2.76922860e+01] [-4.24208158e-02 9.99099806e-01 -2.29533198e-04 3.04573505e-01] [ 3.25297777e-02 1.61080117e-03 9.99469469e-01 -1.38293974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06771942099999 meters Centerline goodness [0,1] 0.8121731728079776 Centerline is valid? [False, False] Translation: X:27.69, Y:0.31, Z:-1.38 [[ 9.98541919e-01 4.27423184e-02 -3.29716617e-02 2.76943133e+01] [-4.27824473e-02 9.99084281e-01 -5.12214986e-04 3.05671026e-01] [ 3.29195756e-02 1.92207651e-03 9.99456156e-01 -1.38452688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.097719421 meters Centerline goodness [0,1] 0.7392176326398314 Centerline is valid? [False, False] Translation: X:27.70, Y:0.30, Z:-1.39 [[ 9.98318827e-01 4.74030902e-02 -3.33536519e-02 2.76969426e+01] [-4.73044241e-02 9.98873512e-01 3.74154035e-03 3.04489041e-01] [ 3.34934400e-02 -2.15747488e-03 9.99436609e-01 -1.38638331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.127719421 meters Centerline goodness [0,1] 0.7409588401323939 Centerline is valid? [False, False] Translation: X:27.70, Y:0.30, Z:-1.39 [[ 9.98291065e-01 4.77732697e-02 -3.36550814e-02 2.76981802e+01] [-4.76610570e-02 9.98855032e-01 4.12904888e-03 3.02969960e-01] [ 3.38138056e-02 -2.51795585e-03 9.99424978e-01 -1.38709320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.157719421 meters Centerline goodness [0,1] 0.7237381735493564 Centerline is valid? [False, False] Translation: X:27.70, Y:0.30, Z:-1.39 [[ 9.98365124e-01 4.58367979e-02 -3.41477132e-02 2.76989586e+01] [-4.57774025e-02 9.98948488e-01 2.51957718e-03 2.97823119e-01] [ 3.42272958e-02 -9.52264371e-04 9.99413621e-01 -1.38739693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.187719421 meters Centerline goodness [0,1] 0.724091657686599 Centerline is valid? [False, False] Translation: X:27.70, Y:0.30, Z:-1.39 [[ 9.98497285e-01 4.27725748e-02 -3.42590033e-02 2.76987998e+01] [-4.28058309e-02 9.99083382e-01 -2.37522627e-04 2.95429674e-01] [ 3.42174414e-02 1.70365080e-03 9.99412960e-01 -1.38736095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.217719421 meters Centerline goodness [0,1] 0.8090200219307152 Centerline is valid? [False, False] Translation: X:27.70, Y:0.29, Z:-1.39 [[ 9.98624348e-01 3.95864442e-02 -3.43849654e-02 2.76990548e+01] [-3.96637218e-02 9.99211855e-01 -1.56795340e-03 2.88436005e-01] [ 3.42957954e-02 2.92963214e-03 9.99407432e-01 -1.38729804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.247719421 meters Centerline goodness [0,1] 0.8565804959214318 Centerline is valid? [False, False] Translation: X:27.70, Y:0.28, Z:-1.39 [[ 9.98767932e-01 3.57166051e-02 -3.44520152e-02 2.76984870e+01] [-3.58421659e-02 9.99352859e-01 -3.03362560e-03 2.80955825e-01] [ 3.43213691e-02 4.26472282e-03 9.99401749e-01 -1.38601558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.277719421 meters Centerline goodness [0,1] 0.8782698625136878 Centerline is valid? [False, False] Translation: X:27.70, Y:0.28, Z:-1.39 [[ 9.98871295e-01 3.23940518e-02 -3.47384725e-02 2.76982024e+01] [-3.26083965e-02 9.99452396e-01 -5.62139131e-03 2.77906097e-01] [ 3.45373499e-02 6.74781230e-03 9.99380627e-01 -1.38513792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.307719421 meters Centerline goodness [0,1] 0.917554763117677 Centerline is valid? [False, False] Translation: X:27.70, Y:0.27, Z:-1.38 [[ 9.99064614e-01 2.50412094e-02 -3.52538586e-02 2.76979554e+01] [-2.54538025e-02 9.99612090e-01 -1.13036606e-02 2.72164368e-01] [ 3.49571260e-02 1.21904321e-02 9.99314461e-01 -1.38391417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.337719421 meters Centerline goodness [0,1] 0.9351433492047412 Centerline is valid? [False, False] Translation: X:27.70, Y:0.27, Z:-1.38 [[ 9.99136176e-01 2.12422976e-02 -3.57164676e-02 2.76986702e+01] [-2.17657573e-02 9.99660372e-01 -1.43315542e-02 2.69386720e-01] [ 3.53999021e-02 1.50965703e-02 9.99259196e-01 -1.38378195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36771942099999 meters Centerline goodness [0,1] 0.9437799286805909 Centerline is valid? [False, False] Translation: X:27.70, Y:0.27, Z:-1.38 [[ 9.99271137e-01 1.35495635e-02 -3.56875832e-02 2.76972055e+01] [-1.42832792e-02 9.99690165e-01 -2.03853344e-02 2.65482407e-01] [ 3.54003136e-02 2.08802121e-02 9.99155060e-01 -1.38199798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39771942099999 meters Centerline goodness [0,1] 0.9533535406961369 Centerline is valid? [False, True] Translation: X:27.70, Y:0.26, Z:-1.38 [[ 9.99265134e-01 1.29121611e-02 -3.60897238e-02 2.76978313e+01] [-1.36362262e-02 9.99709192e-01 -1.98892951e-02 2.63401759e-01] [ 3.58224148e-02 2.03668067e-02 9.99150613e-01 -1.38130374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42771942099999 meters Centerline goodness [0,1] 0.9603768582906784 Centerline is valid? [True, True] Translation: X:27.73, Y:0.24, Z:-1.37 [[ 9.99321738e-01 6.03244388e-03 -3.63273018e-02 2.77272962e+01] [-6.05127365e-03 9.99981607e-01 -4.08408293e-04 2.43170402e-01] [ 3.63241699e-02 6.27957730e-04 9.99339862e-01 -1.37000535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.457719421 meters Centerline goodness [0,1] 0.9588495846175829 Centerline is valid? [True, True] Translation: X:27.76, Y:0.24, Z:-1.37 [[ 9.99262048e-01 3.63462960e-03 -3.82380618e-02 2.77562216e+01] [-3.65383743e-03 9.99993231e-01 -4.32450692e-04 2.41183106e-01] [ 3.82362312e-02 5.71847226e-04 9.99268564e-01 -1.36987418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.487719421 meters Centerline goodness [0,1] 0.9538339244221598 Centerline is valid? [True, True] Translation: X:27.78, Y:0.24, Z:-1.37 [[ 9.99196962e-01 2.16267966e-04 -4.00672592e-02 2.77837133e+01] [-2.34785535e-04 9.99999868e-01 -4.57457182e-04 2.40239280e-01] [ 4.00671550e-02 4.66497039e-04 9.99196880e-01 -1.37370277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.517719421 meters Centerline goodness [0,1] 0.9514980627624399 Centerline is valid? [True, True] Translation: X:27.81, Y:0.24, Z:-1.38 [[ 9.99125123e-01 -1.74981151e-03 -4.17842937e-02 2.78123270e+01] [ 1.73099058e-03 9.99998383e-01 -4.86606537e-04 2.39663467e-01] [ 4.17850776e-02 4.13852597e-04 9.99126537e-01 -1.37512142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.547719421 meters Centerline goodness [0,1] 0.9486959365546562 Centerline is valid? [True, False] Translation: X:27.81, Y:0.24, Z:-1.38 [[ 9.99111435e-01 -1.96502888e-03 -4.21008137e-02 2.78135645e+01] [ 1.92987970e-03 9.99997755e-01 -8.75507861e-04 2.41431828e-01] [ 4.21024395e-02 7.93480410e-04 9.99112984e-01 -1.37584420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.577719421 meters Centerline goodness [0,1] 0.9465963039181727 Centerline is valid? [False, False] Translation: X:27.82, Y:0.24, Z:-1.38 [[ 9.99087335e-01 1.33752258e-04 -4.27139183e-02 2.78164211e+01] [-6.94085401e-05 9.99998861e-01 1.50786711e-03 2.42487885e-01] [ 4.27140713e-02 -1.50352623e-03 9.99086206e-01 -1.37738636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.607719421 meters Centerline goodness [0,1] 0.9478538849975566 Centerline is valid? [False, False] Translation: X:27.82, Y:0.24, Z:-1.38 [[ 9.99067529e-01 9.33531205e-04 -4.31648103e-02 2.78158788e+01] [-8.26793011e-04 9.99996557e-01 2.49059220e-03 2.42341215e-01] [ 4.31669867e-02 -2.45258143e-03 9.99064861e-01 -1.37553315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.637719421 meters Centerline goodness [0,1] 0.9486573970399625 Centerline is valid? [False, False] Translation: X:27.82, Y:0.24, Z:-1.38 [[ 9.99491181e-01 -1.80062490e-04 -3.18958658e-02 2.78194432e+01] [ 2.29188385e-04 9.99998793e-01 1.53654699e-03 2.41649112e-01] [ 3.18955507e-02 -1.54307533e-03 9.99490016e-01 -1.37996150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.667719421 meters Centerline goodness [0,1] 0.9501554467315547 Centerline is valid? [False, True] Translation: X:27.82, Y:0.24, Z:-1.39 [[ 9.99803027e-01 -2.13252622e-05 -1.98470613e-02 2.78232507e+01] [ 3.80551387e-05 9.99999644e-01 8.42562435e-04 2.43251696e-01] [ 1.98470362e-02 -8.43151756e-04 9.99802673e-01 -1.38566713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.697719421 meters Centerline goodness [0,1] 0.9544437665243034 Centerline is valid? [True, True] Translation: X:27.85, Y:0.25, Z:-1.38 [[ 9.99815261e-01 1.68255962e-03 -1.91471351e-02 2.78513650e+01] [-1.68594330e-03 9.99998566e-01 -1.60579450e-04 2.48645314e-01] [ 1.91468375e-02 1.92830769e-04 9.99816664e-01 -1.38402179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.727719421 meters Centerline goodness [0,1] 0.9500386666123978 Centerline is valid? [True, True] Translation: X:27.88, Y:0.25, Z:-1.39 [[ 9.99801849e-01 4.27775870e-03 -1.94412605e-02 2.78786058e+01] [-4.28178630e-03 9.99990819e-01 -1.65546355e-04 2.54879298e-01] [ 1.94403739e-02 2.48756875e-04 9.99810987e-01 -1.38826941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75771942099999 meters Centerline goodness [0,1] 0.9515843097300051 Centerline is valid? [True, True] Translation: X:27.91, Y:0.27, Z:-1.39 [[ 9.99720750e-01 1.14825305e-02 -2.06536795e-02 2.79080915e+01] [-1.14885950e-02 9.99933989e-01 -1.74994392e-04 2.66844650e-01] [ 2.06503067e-02 4.12227284e-04 9.99786675e-01 -1.38804409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78771942099999 meters Centerline goodness [0,1] 0.9494618624239588 Centerline is valid? [True, False] Translation: X:27.91, Y:0.27, Z:-1.39 [[ 9.99700884e-01 1.25441973e-02 -2.09948729e-02 2.79081439e+01] [-1.25559365e-02 9.99921080e-01 -4.27412896e-04 2.70073461e-01] [ 2.09878544e-02 6.90895341e-04 9.99779492e-01 -1.38755496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81771942099999 meters Centerline goodness [0,1] 0.9494618624239588 Centerline is valid? [False, False] Translation: X:27.91, Y:0.27, Z:-1.39 [[ 9.99700884e-01 1.25441973e-02 -2.09948729e-02 2.79081439e+01] [-1.25559365e-02 9.99921080e-01 -4.27412896e-04 2.70073461e-01] [ 2.09878544e-02 6.90895341e-04 9.99779492e-01 -1.38755496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.847719421 meters Centerline goodness [0,1] 0.9393656716417911 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99687827e-01 1.94064474e-02 -1.57365300e-02 2.79162968e+01] [-1.95062259e-02 9.99790437e-01 -6.21204624e-03 2.75459725e-01] [ 1.56126784e-02 6.51706731e-03 9.99856876e-01 -1.38924780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.877719421 meters Centerline goodness [0,1] 0.9277181986528561 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99675355e-01 1.99237623e-02 -1.58816779e-02 2.79162273e+01] [-2.00285599e-02 9.99778492e-01 -6.46711839e-03 2.77734113e-01] [ 1.57493106e-02 6.78310601e-03 9.99852964e-01 -1.38889572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.907719421 meters Centerline goodness [0,1] 0.9338028742417457 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99660825e-01 2.08781654e-02 -1.55671637e-02 2.79170752e+01] [-2.09753653e-02 9.99761341e-01 -6.10697902e-03 2.80658581e-01] [ 1.54359459e-02 6.43143463e-03 9.99860174e-01 -1.39045998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.937719421 meters Centerline goodness [0,1] 0.9243099204654096 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99658528e-01 2.07100610e-02 -1.59348955e-02 2.79189374e+01] [-2.08234923e-02 9.99758762e-01 -6.98571611e-03 2.82980236e-01] [ 1.57863768e-02 7.31515086e-03 9.99848628e-01 -1.39203840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.967719421 meters Centerline goodness [0,1] 0.9256161344811445 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99654574e-01 2.06479389e-02 -1.62602638e-02 2.79192581e+01] [-2.07621303e-02 9.99760733e-01 -6.88550037e-03 2.82197543e-01] [ 1.61142019e-02 7.22071965e-03 9.99844085e-01 -1.39158010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.997719421 meters Centerline goodness [0,1] 0.9073356724197376 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99637471e-01 2.12577668e-02 -1.65237580e-02 2.79192826e+01] [-2.13619458e-02 9.99752867e-01 -6.15405437e-03 2.79469990e-01] [ 1.63888530e-02 6.50480297e-03 9.99844534e-01 -1.39093091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.027719421 meters Centerline goodness [0,1] 0.9104538334791188 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99628074e-01 2.16158642e-02 -1.66273226e-02 2.79198283e+01] [-2.17149121e-02 9.99747382e-01 -5.79962170e-03 2.78873798e-01] [ 1.64977584e-02 6.15852552e-03 9.99844936e-01 -1.39133160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.057719421 meters Centerline goodness [0,1] 0.9096828012777473 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99616042e-01 2.18813619e-02 -1.69992253e-02 2.79209254e+01] [-2.19727100e-02 9.99745018e-01 -5.20558187e-03 2.77672255e-01] [ 1.68809856e-02 5.57710220e-03 9.99841952e-01 -1.39174667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.087719421 meters Centerline goodness [0,1] 0.9046456260301569 Centerline is valid? [False, False] Translation: X:27.92, Y:0.28, Z:-1.39 [[ 9.99608806e-01 2.20175328e-02 -1.72471045e-02 2.79215861e+01] [-2.21005644e-02 9.99744992e-01 -4.63849841e-03 2.75677628e-01] [ 1.71405780e-02 5.01785460e-03 9.99840498e-01 -1.39185804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11771942099999 meters Centerline goodness [0,1] 0.9136028663328041 Centerline is valid? [False, False] Translation: X:27.92, Y:0.27, Z:-1.39 [[ 9.99667394e-01 1.92079275e-02 -1.72092106e-02 2.79204974e+01] [-1.93127512e-02 9.99795812e-01 -5.94578215e-03 2.68278147e-01] [ 1.70914905e-02 6.27616175e-03 9.99834232e-01 -1.39048099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14771942099999 meters Centerline goodness [0,1] 0.9392994681826518 Centerline is valid? [False, False] Translation: X:27.92, Y:0.26, Z:-1.39 [[ 9.99782915e-01 1.20376142e-02 -1.70064225e-02 2.79187191e+01] [-1.22257433e-02 9.99864735e-01 -1.10019207e-02 2.61684079e-01] [ 1.68716852e-02 1.12074486e-02 9.99794849e-01 -1.38841716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17771942099999 meters Centerline goodness [0,1] 0.9472484068652401 Centerline is valid? [False, False] Translation: X:27.92, Y:0.26, Z:-1.39 [[ 9.99794420e-01 1.09708476e-02 -1.70516301e-02 2.79188193e+01] [-1.11507619e-02 9.99882781e-01 -1.04921286e-02 2.58007632e-01] [ 1.69345238e-02 1.06801103e-02 9.99799558e-01 -1.38773923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.207719421 meters Centerline goodness [0,1] 0.9517694702781905 Centerline is valid? [False, True] Translation: X:27.92, Y:0.25, Z:-1.39 [[ 9.99803688e-01 9.45331013e-03 -1.74132422e-02 2.79206165e+01] [-9.63967440e-03 9.99896824e-01 -1.06497822e-02 2.54675633e-01] [ 1.73107698e-02 1.08155495e-02 9.99791659e-01 -1.38852468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.237719421 meters Centerline goodness [0,1] 0.9518687105794942 Centerline is valid? [True, True] Translation: X:27.95, Y:0.24, Z:-1.39 [[ 9.99848607e-01 -2.27453211e-03 -1.72507868e-02 2.79502563e+01] [ 2.26995738e-03 9.99997383e-01 -2.84765709e-04 2.37162078e-01] [ 1.72513893e-02 2.45564047e-04 9.99851154e-01 -1.38651201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.267719421 meters Centerline goodness [0,1] 0.9545092106070209 Centerline is valid? [True, True] Translation: X:27.98, Y:0.23, Z:-1.38 [[ 9.99837275e-01 -8.17497274e-03 -1.60808558e-02 2.79791514e+01] [ 8.17173424e-03 9.99966575e-01 -2.67087741e-04 2.29798639e-01] [ 1.60825017e-02 1.35635799e-04 9.99870659e-01 -1.38402862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.297719421 meters Centerline goodness [0,1] 0.9567610706392732 Centerline is valid? [True, True] Translation: X:28.01, Y:0.22, Z:-1.38 [[ 9.99684279e-01 -1.93125826e-02 -1.60737669e-02 2.80080562e+01] [ 1.93107641e-02 9.99813494e-01 -2.68349098e-04 2.16009230e-01] [ 1.60759516e-02 -4.21323475e-05 9.99870773e-01 -1.37983506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.327719421 meters Centerline goodness [0,1] 0.9565536803869151 Centerline is valid? [True, True] Translation: X:28.04, Y:0.21, Z:-1.38 [[ 9.99572394e-01 -2.44177215e-02 -1.60873835e-02 2.80372557e+01] [ 2.44164556e-02 9.99701836e-01 -2.75123466e-04 2.11333290e-01] [ 1.60893047e-02 -1.17791064e-04 9.99870552e-01 -1.37985507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.357719421 meters Centerline goodness [0,1] 0.9540143310805309 Centerline is valid? [True, True] Translation: X:28.06, Y:0.21, Z:-1.38 [[ 9.99394316e-01 -3.02079869e-02 -1.72765237e-02 2.80646631e+01] [ 3.02073581e-02 9.99543609e-01 -2.97411880e-04 2.09815753e-01] [ 1.72776231e-02 -2.24646396e-04 9.99850705e-01 -1.38305183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.387719421 meters Centerline goodness [0,1] 0.9492064138872476 Centerline is valid? [True, False] Translation: X:28.07, Y:0.21, Z:-1.38 [[ 9.99472302e-01 -2.72434497e-02 -1.76893142e-02 2.80664822e+01] [ 2.72871598e-02 9.99625139e-01 2.23429997e-03 2.13986355e-01] [ 1.76218131e-02 -2.71581208e-03 9.99841035e-01 -1.38454729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.417719421 meters Centerline goodness [0,1] 0.9508532143880182 Centerline is valid? [False, True] Translation: X:28.07, Y:0.21, Z:-1.38 [[ 9.99554763e-01 -2.37340840e-02 -1.80822599e-02 2.80669635e+01] [ 2.38421198e-02 9.99699012e-01 5.78268881e-03 2.14533053e-01] [ 1.79395705e-02 -6.21123355e-03 9.99819780e-01 -1.38420967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.447719421 meters Centerline goodness [0,1] 0.9495909749280891 Centerline is valid? [True, False] Translation: X:28.07, Y:0.22, Z:-1.38 [[ 9.99629339e-01 -1.97551216e-02 -1.87328297e-02 2.80675311e+01] [ 1.99230326e-02 9.99762616e-01 8.81959060e-03 2.17021884e-01] [ 1.85541507e-02 -9.18953630e-03 9.99785625e-01 -1.38370948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.477719421 meters Centerline goodness [0,1] 0.9489808397880146 Centerline is valid? [False, False] Translation: X:28.07, Y:0.22, Z:-1.38 [[ 9.99675674e-01 -1.65250854e-02 -1.93769856e-02 2.80692155e+01] [ 1.67548520e-02 9.99790515e-01 1.17559219e-02 2.18212303e-01] [ 1.91786588e-02 -1.20767677e-02 9.99743132e-01 -1.38427355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50771942099999 meters Centerline goodness [0,1] 0.9453489556800815 Centerline is valid? [False, False] Translation: X:28.07, Y:0.22, Z:-1.38 [[ 9.99717269e-01 -1.23179556e-02 -2.03383845e-02 2.80711062e+01] [ 1.26177063e-02 9.99812683e-01 1.46762223e-02 2.22304303e-01] [ 2.01537937e-02 -1.49286966e-02 9.99685430e-01 -1.38493511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53771942099999 meters Centerline goodness [0,1] 0.9440122511485451 Centerline is valid? [False, False] Translation: X:28.08, Y:0.22, Z:-1.39 [[ 9.99780508e-01 -6.57636772e-03 -1.98919120e-02 2.80799405e+01] [ 6.72872062e-03 9.99948467e-01 7.60182817e-03 2.24661668e-01] [ 1.98408945e-02 -7.73400675e-03 9.99773236e-01 -1.38549313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56771942099999 meters Centerline goodness [0,1] 0.9452351295611868 Centerline is valid? [False, False] Translation: X:28.09, Y:0.23, Z:-1.39 [[ 9.99864672e-01 2.79055437e-03 -1.62126888e-02 2.80873192e+01] [-2.74371786e-03 9.99992001e-01 2.91040527e-03 2.31196189e-01] [ 1.62206808e-02 -2.86552837e-03 9.99864330e-01 -1.38730242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.597719421 meters Centerline goodness [0,1] 0.9439218081857056 Centerline is valid? [False, False] Translation: X:28.09, Y:0.23, Z:-1.39 [[ 9.99843323e-01 6.61683029e-03 -1.64178690e-02 2.80873374e+01] [-6.51696790e-03 9.99959984e-01 6.12860673e-03 2.33906874e-01] [ 1.64577640e-02 -6.02065179e-03 9.99846435e-01 -1.38671724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.627719421 meters Centerline goodness [0,1] 0.9487781475205683 Centerline is valid? [False, False] Translation: X:28.09, Y:0.24, Z:-1.39 [[ 9.99801221e-01 1.12038991e-02 -1.64921753e-02 2.80861899e+01] [-1.10529261e-02 9.99896434e-01 9.21708486e-03 2.38771690e-01] [ 1.65937346e-02 -9.03296590e-03 9.99821511e-01 -1.38516272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.657719421 meters Centerline goodness [0,1] 0.9477262981642947 Centerline is valid? [False, False] Translation: X:28.09, Y:0.24, Z:-1.39 [[ 9.99798439e-01 1.11333672e-02 -1.67071841e-02 2.80863910e+01] [-1.09954591e-02 9.99904903e-01 8.32370409e-03 2.41206750e-01] [ 1.67982662e-02 -8.13832320e-03 9.99825778e-01 -1.38502218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.687719421 meters Centerline goodness [0,1] 0.9468041741398989 Centerline is valid? [False, False] Translation: X:28.10, Y:0.25, Z:-1.39 [[ 9.99817261e-01 1.47642863e-02 -1.21433209e-02 2.80961602e+01] [-1.47692937e-02 9.99890876e-01 -3.22772899e-04 2.47377226e-01] [ 1.21372303e-02 5.02062189e-04 9.99926215e-01 -1.38816479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.717719421 meters Centerline goodness [0,1] 0.9333428141887774 Centerline is valid? [False, False] Translation: X:28.10, Y:0.25, Z:-1.39 [[ 9.99818459e-01 1.45064105e-02 -1.23536982e-02 2.80967902e+01] [-1.45263189e-02 9.99893327e-01 -1.52332167e-03 2.51410438e-01] [ 1.23302824e-02 1.70249889e-03 9.99922530e-01 -1.38855227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.747719421 meters Centerline goodness [0,1] 0.9423382334975771 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99780547e-01 1.66908787e-02 -1.26598400e-02 2.80968570e+01] [-1.66968042e-02 9.99860533e-01 -3.62497011e-04 2.57859886e-01] [ 1.26520240e-02 5.73796329e-04 9.99919795e-01 -1.38786063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.777719421 meters Centerline goodness [0,1] 0.9360226209365718 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99784912e-01 1.60394754e-02 -1.31478041e-02 2.80978601e+01] [-1.60648322e-02 9.99869286e-01 -1.82525330e-03 2.60850551e-01] [ 1.31168094e-02 2.03607797e-03 9.99911898e-01 -1.38801831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.807719421 meters Centerline goodness [0,1] 0.9330245087035488 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99789288e-01 1.54716892e-02 -1.34909535e-02 2.80987752e+01] [-1.55071087e-02 9.99876570e-01 -2.52477155e-03 2.61553962e-01] [ 1.34502259e-02 2.73344524e-03 9.99905805e-01 -1.38829921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.837719421 meters Centerline goodness [0,1] 0.9346971209682349 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99800152e-01 1.43894218e-02 -1.38780509e-02 2.81011961e+01] [-1.44465517e-02 9.99887541e-01 -4.02513226e-03 2.63900551e-01] [ 1.38185709e-02 4.22481783e-03 9.99895594e-01 -1.39039994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86771942099999 meters Centerline goodness [0,1] 0.930805475445794 Centerline is valid? [False, False] Translation: X:28.10, Y:0.27, Z:-1.39 [[ 9.99800487e-01 1.40488534e-02 -1.41991662e-02 2.81022444e+01] [-1.41148619e-02 9.99889986e-01 -4.55928520e-03 2.65024836e-01] [ 1.41335513e-02 4.75879483e-03 9.99888792e-01 -1.39085463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89771942099999 meters Centerline goodness [0,1] 0.9284058088923239 Centerline is valid? [False, False] Translation: X:28.10, Y:0.27, Z:-1.39 [[ 9.99791719e-01 1.46712797e-02 -1.41870500e-02 2.81006617e+01] [-1.47297299e-02 9.99883413e-01 -4.02428807e-03 2.65111461e-01] [ 1.41263545e-02 4.23242130e-03 9.99891260e-01 -1.38891139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92771942099999 meters Centerline goodness [0,1] 0.9259236678453847 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99786444e-01 1.47110813e-02 -1.45138134e-02 2.81008895e+01] [-1.47683431e-02 9.99883545e-01 -3.84606404e-03 2.64233844e-01] [ 1.44555434e-02 4.05958766e-03 9.99887272e-01 -1.38830837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.957719421 meters Centerline goodness [0,1] 0.929091465279902 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99775773e-01 1.53792513e-02 -1.45561688e-02 2.81004766e+01] [-1.54229774e-02 9.99876864e-01 -2.89647438e-03 2.61703306e-01] [ 1.45098308e-02 3.12032437e-03 9.99889858e-01 -1.38765771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.987719421 meters Centerline goodness [0,1] 0.925542937244784 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99769644e-01 1.55558535e-02 -1.47876527e-02 2.81013544e+01] [-1.56004114e-02 9.99874093e-01 -2.90261126e-03 2.61989331e-01] [ 1.47406382e-02 3.13263609e-03 9.99886444e-01 -1.38821180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.017719421 meters Centerline goodness [0,1] 0.9070217227549421 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99749909e-01 1.69305332e-02 -1.46108526e-02 2.81007184e+01] [-1.69626307e-02 9.99853970e-01 -2.07569289e-03 2.62840968e-01] [ 1.45735763e-02 2.32301227e-03 9.99891101e-01 -1.38799252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.047719421 meters Centerline goodness [0,1] 0.893995808663452 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99729723e-01 1.79478070e-02 -1.47769462e-02 2.81003865e+01] [-1.79699009e-02 9.99837598e-01 -1.36373345e-03 2.61340616e-01] [ 1.47500704e-02 1.62890512e-03 9.99889885e-01 -1.38731089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.077719421 meters Centerline goodness [0,1] 0.873078174570894 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99722904e-01 1.81448860e-02 -1.49959105e-02 2.81007367e+01] [-1.81669316e-02 9.99834076e-01 -1.33518287e-03 2.61053294e-01] [ 1.49691956e-02 1.60724257e-03 9.99886664e-01 -1.38717389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.107719421 meters Centerline goodness [0,1] 0.8412250040643798 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99714201e-01 1.83719472e-02 -1.52966555e-02 2.81013033e+01] [-1.83964149e-02 9.99829705e-01 -1.46036400e-03 2.61645795e-01] [ 1.52672208e-02 1.74135025e-03 9.99881933e-01 -1.38716869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.137719421 meters Centerline goodness [0,1] 0.8083481853532081 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99694136e-01 1.92767930e-02 -1.54931824e-02 2.81018316e+01] [-1.92993814e-02 9.99812892e-01 -1.30975439e-03 2.62779898e-01] [ 1.54650356e-02 1.60836262e-03 9.99879116e-01 -1.38756372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.167719421 meters Centerline goodness [0,1] 0.7905431491679028 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99690668e-01 1.94458602e-02 -1.55056936e-02 2.81022363e+01] [-1.94716406e-02 9.99809264e-01 -1.51339692e-03 2.63635978e-01] [ 1.54733068e-02 1.81485007e-03 9.99878634e-01 -1.38804870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.197719421 meters Centerline goodness [0,1] 0.7699766236406139 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99676905e-01 2.02907302e-02 -1.53092267e-02 2.81015085e+01] [-2.03109471e-02 9.99793031e-01 -1.16622625e-03 2.63807992e-01] [ 1.52823946e-02 1.47679434e-03 9.99882127e-01 -1.38769548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.227719421 meters Centerline goodness [0,1] 0.7575455985700938 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99722183e-01 1.78312957e-02 -1.54143411e-02 2.81011507e+01] [-1.78942542e-02 9.99832058e-01 -3.95617292e-03 2.62409433e-01] [ 1.53412087e-02 4.23090196e-03 9.99873365e-01 -1.38731337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25771942099999 meters Centerline goodness [0,1] 0.7457840371775879 Centerline is valid? [False, False] Translation: X:28.10, Y:0.26, Z:-1.39 [[ 9.99732192e-01 1.68474497e-02 -1.58653006e-02 2.81031049e+01] [-1.69234594e-02 9.99845887e-01 -4.66892620e-03 2.60819448e-01] [ 1.57841961e-02 4.93617159e-03 9.99863237e-01 -1.38847625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28771942099999 meters Centerline goodness [0,1] 0.786177588906285 Centerline is valid? [False, False] Translation: X:28.11, Y:0.26, Z:-1.39 [[ 9.99774812e-01 1.38690570e-02 -1.60615943e-02 2.81053793e+01] [-1.39784762e-02 9.99879712e-01 -6.72035880e-03 2.56071539e-01] [ 1.59664573e-02 6.94336207e-03 9.99848419e-01 -1.39063383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31771942099999 meters Centerline goodness [0,1] 0.8020835452825198 Centerline is valid? [False, False] Translation: X:28.11, Y:0.25, Z:-1.39 [[ 9.99778592e-01 1.32687644e-02 -1.63311633e-02 2.81067195e+01] [-1.33745693e-02 9.99890160e-01 -6.38663616e-03 2.53661681e-01] [ 1.62446267e-02 6.60364438e-03 9.99846240e-01 -1.39136720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.347719421 meters Centerline goodness [0,1] 0.8483895987263746 Centerline is valid? [False, False] Translation: X:28.11, Y:0.25, Z:-1.39 [[ 9.99823122e-01 9.16935297e-03 -1.64209690e-02 2.81068266e+01] [-9.31586487e-03 9.99917282e-01 -8.86808770e-03 2.49536163e-01] [ 1.63382961e-02 9.01949466e-03 9.99825839e-01 -1.39095084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.377719421 meters Centerline goodness [0,1] 0.8449629750183091 Centerline is valid? [False, False] Translation: X:28.11, Y:0.25, Z:-1.39 [[ 9.99820361e-01 8.53944721e-03 -1.69211171e-02 2.81077036e+01] [-8.67650364e-03 9.99930012e-01 -8.04293499e-03 2.45204328e-01] [ 1.68512506e-02 8.18830630e-03 9.99824478e-01 -1.39037220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.407719421 meters Centerline goodness [0,1] 0.913701448153655 Centerline is valid? [False, False] Translation: X:28.11, Y:0.24, Z:-1.39 [[ 9.99857445e-01 1.26077588e-03 -1.68374453e-02 2.81064077e+01] [-1.49050224e-03 9.99905884e-01 -1.36382054e-02 2.39144327e-01] [ 1.68186659e-02 1.36613574e-02 9.99765222e-01 -1.38865811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.437719421 meters Centerline goodness [0,1] 0.9313281982312426 Centerline is valid? [False, False] Translation: X:28.11, Y:0.24, Z:-1.39 [[ 9.99852712e-01 3.53108371e-04 -1.71589518e-02 2.81074533e+01] [-5.79236984e-04 9.99913034e-01 -1.31752807e-02 2.35898051e-01] [ 1.71528073e-02 1.31832792e-02 9.99765964e-01 -1.38865240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.467719421 meters Centerline goodness [0,1] 0.9356578733105357 Centerline is valid? [False, False] Translation: X:28.11, Y:0.23, Z:-1.39 [[ 9.99840679e-01 -4.67976839e-03 -1.72254830e-02 2.81086062e+01] [ 4.38957120e-03 9.99848454e-01 -1.68463979e-02 2.33553210e-01] [ 1.73017097e-02 1.67681014e-02 9.99709699e-01 -1.38948395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.497719421 meters Centerline goodness [0,1] 0.9383882396058151 Centerline is valid? [False, False] Translation: X:28.11, Y:0.23, Z:-1.39 [[ 9.99770097e-01 -1.29406999e-02 -1.70965239e-02 2.81076806e+01] [ 1.25241594e-02 9.99627460e-01 -2.42504826e-02 2.32277005e-01] [ 1.74039730e-02 2.40307877e-02 9.99559715e-01 -1.38828685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.527719421 meters Centerline goodness [0,1] 0.9378941567851093 Centerline is valid? [False, False] Translation: X:28.11, Y:0.23, Z:-1.39 [[ 9.99747700e-01 -1.43617988e-02 -1.72706476e-02 2.81081295e+01] [ 1.39384465e-02 9.99605388e-01 -2.43882926e-02 2.30107262e-01] [ 1.76140922e-02 2.41414134e-02 9.99553368e-01 -1.38773709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.557719421 meters Centerline goodness [0,1] 0.944224821285922 Centerline is valid? [False, False] Translation: X:28.10, Y:0.23, Z:-1.39 [[ 9.99493832e-01 -2.56070968e-02 -1.88774243e-02 2.81006654e+01] [ 2.52071798e-02 9.99458979e-01 -2.11269340e-02 2.28652424e-01] [ 1.94082107e-02 2.06403936e-02 9.99598567e-01 -1.38665890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.587719421 meters Centerline goodness [0,1] 0.9448540675231306 Centerline is valid? [False, False] Translation: X:28.10, Y:0.23, Z:-1.39 [[ 9.99442511e-01 -2.73502672e-02 -1.91475924e-02 2.81018348e+01] [ 2.69323960e-02 9.99400577e-01 -2.17516303e-02 2.27996053e-01] [ 1.97310278e-02 2.12238135e-02 9.99580030e-01 -1.38679779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61771942099999 meters Centerline goodness [0,1] 0.9461227984344422 Centerline is valid? [False, False] Translation: X:28.10, Y:0.23, Z:-1.39 [[ 9.99270307e-01 -3.30930346e-02 -1.90710428e-02 2.81016119e+01] [ 3.25739449e-02 9.99106855e-01 -2.69152487e-02 2.30522478e-01] [ 1.99447169e-02 2.62743898e-02 9.99455784e-01 -1.38593697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64771942099999 meters Centerline goodness [0,1] 0.9432598114091363 Centerline is valid? [False, False] Translation: X:28.10, Y:0.23, Z:-1.39 [[ 9.99234516e-01 -3.40175697e-02 -1.93180684e-02 2.81018933e+01] [ 3.34825836e-02 9.99064386e-01 -2.73727763e-02 2.30706827e-01] [ 2.02311494e-02 2.67050041e-02 9.99438614e-01 -1.38534993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67771942099999 meters Centerline goodness [0,1] 0.941259226032704 Centerline is valid? [False, False] Translation: X:28.10, Y:0.23, Z:-1.39 [[ 9.99158310e-01 -3.61008557e-02 -1.94781747e-02 2.81031411e+01] [ 3.55266321e-02 9.98946069e-01 -2.90621782e-02 2.32386589e-01] [ 2.05068156e-02 2.83457229e-02 9.99387808e-01 -1.38599002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.707719421 meters Centerline goodness [0,1] 0.9344285627147592 Centerline is valid? [False, False] Translation: X:28.11, Y:0.23, Z:-1.39 [[ 9.99195534e-01 -3.47548147e-02 -2.00096977e-02 2.81057295e+01] [ 3.42071232e-02 9.99047491e-01 -2.70921471e-02 2.33390518e-01] [ 2.09322209e-02 2.63858782e-02 9.99432653e-01 -1.38744854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.737719421 meters Centerline goodness [0,1] 0.9344285627147592 Centerline is valid? [False, False] Translation: X:28.11, Y:0.23, Z:-1.39 [[ 9.99195534e-01 -3.47548147e-02 -2.00096977e-02 2.81057295e+01] [ 3.42071232e-02 9.99047491e-01 -2.70921471e-02 2.33390518e-01] [ 2.09322209e-02 2.63858782e-02 9.99432653e-01 -1.38744854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.767719421 meters Centerline goodness [0,1] 0.932579001019368 Centerline is valid? [False, False] Translation: X:28.11, Y:0.24, Z:-1.39 [[ 9.99225550e-01 -3.36219880e-02 -2.04416755e-02 2.81081203e+01] [ 3.30875889e-02 9.99115728e-01 -2.59417481e-02 2.39845680e-01] [ 2.12958126e-02 2.52452917e-02 9.99454433e-01 -1.38902333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.797719421 meters Centerline goodness [0,1] 0.9213916736427302 Centerline is valid? [False, False] Translation: X:28.11, Y:0.24, Z:-1.39 [[ 9.99292813e-01 -3.12485103e-02 -2.09142111e-02 2.81091331e+01] [ 3.07607137e-02 9.99256271e-01 -2.32525962e-02 2.41814463e-01] [ 2.16252656e-02 2.25928162e-02 9.99510837e-01 -1.38901254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.827719421 meters Centerline goodness [0,1] 0.900718070415908 Centerline is valid? [False, False] Translation: X:28.11, Y:0.25, Z:-1.39 [[ 9.99213015e-01 -3.37045128e-02 -2.09130912e-02 2.81077195e+01] [ 3.31567197e-02 9.99111666e-01 -2.60098377e-02 2.47365626e-01] [ 2.17711623e-02 2.52959589e-02 9.99442910e-01 -1.38699986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.857719421 meters Centerline goodness [0,1] 0.8996160287569952 Centerline is valid? [False, False] Translation: X:28.11, Y:0.25, Z:-1.39 [[ 9.99183326e-01 -3.44988755e-02 -2.10358930e-02 2.81069530e+01] [ 3.39275957e-02 9.99061271e-01 -2.69350331e-02 2.50355486e-01] [ 2.19453743e-02 2.61993387e-02 9.99415827e-01 -1.38549435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.887719421 meters Centerline goodness [0,1] 0.8398136279476693 Centerline is valid? [False, False] Translation: X:28.11, Y:0.26, Z:-1.38 [[ 9.99107002e-01 -3.66359909e-02 -2.10476497e-02 2.81063254e+01] [ 3.60039226e-02 9.98911322e-01 -2.96629256e-02 2.60057174e-01] [ 2.21114662e-02 2.88786387e-02 9.99338335e-01 -1.38425701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.917719421 meters Centerline goodness [0,1] 0.7881250382832758 Centerline is valid? [False, False] Translation: X:28.11, Y:0.26, Z:-1.38 [[ 9.99171058e-01 -3.46840558e-02 -2.13122948e-02 2.81075610e+01] [ 3.40871146e-02 9.99033211e-01 -2.77616911e-02 2.64464424e-01] [ 2.22545783e-02 2.70122036e-02 9.99387350e-01 -1.38497896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.947719421 meters Centerline goodness [0,1] 0.7685655428419915 Centerline is valid? [False, False] Translation: X:28.11, Y:0.28, Z:-1.39 [[ 9.99119745e-01 -3.55327327e-02 -2.22970899e-02 2.81114204e+01] [ 3.48907559e-02 9.98983274e-01 -2.85491286e-02 2.76133593e-01] [ 2.32888484e-02 2.77460357e-02 9.99343678e-01 -1.38638999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.977719421 meters Centerline goodness [0,1] 0.7778300151261192 Centerline is valid? [False, False] Translation: X:28.11, Y:0.28, Z:-1.39 [[ 9.99186380e-01 -3.33867877e-02 -2.26252178e-02 2.81121491e+01] [ 3.27825630e-02 9.99109265e-01 -2.65702857e-02 2.79984092e-01] [ 2.34921612e-02 2.58069549e-02 9.99390874e-01 -1.38640847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00771942099999 meters Centerline goodness [0,1] 0.7539894975582845 Centerline is valid? [False, False] Translation: X:28.11, Y:0.29, Z:-1.39 [[ 9.99185041e-01 -3.30248691e-02 -2.32080131e-02 2.81137776e+01] [ 3.23899252e-02 9.99104528e-01 -2.72219559e-02 2.92530493e-01] [ 2.40862325e-02 2.64480654e-02 9.99359972e-01 -1.38668291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03771942099999 meters Centerline goodness [0,1] 0.7505868903994938 Centerline is valid? [False, False] Translation: X:28.11, Y:0.30, Z:-1.39 [[ 9.99250417e-01 -3.06363509e-02 -2.36646837e-02 2.81146396e+01] [ 3.00287734e-02 9.99220724e-01 -2.56167537e-02 2.98982528e-01] [ 2.44310462e-02 2.48869304e-02 9.99391697e-01 -1.38662268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06771942099999 meters Centerline goodness [0,1] 0.6954523167443001 Centerline is valid? [False, False] Translation: X:28.12, Y:0.31, Z:-1.39 [[ 9.99378132e-01 -2.55856597e-02 -2.42636303e-02 2.81157126e+01] [ 2.50653532e-02 9.99454355e-01 -2.15109263e-02 3.14105182e-01] [ 2.48007622e-02 2.08893728e-02 9.99474140e-01 -1.38626246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.097719421 meters Centerline goodness [0,1] 0.7570338237400503 Centerline is valid? [False, False] Translation: X:28.12, Y:0.32, Z:-1.39 [[ 9.99497171e-01 -1.97357705e-02 -2.48174151e-02 2.81171073e+01] [ 1.93351991e-02 9.99680530e-01 -1.62784378e-02 3.19505812e-01] [ 2.51307542e-02 1.57904029e-02 9.99559457e-01 -1.38678434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.127719421 meters Centerline goodness [0,1] 0.7616224393834077 Centerline is valid? [False, False] Translation: X:28.12, Y:0.33, Z:-1.39 [[ 9.99566502e-01 -1.46357151e-02 -2.55461183e-02 2.81189020e+01] [ 1.43085853e-02 9.99813872e-01 -1.29416301e-02 3.31108758e-01] [ 2.57307735e-02 1.25704911e-02 9.99589871e-01 -1.38733377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.157719421 meters Centerline goodness [0,1] 0.7655972389568485 Centerline is valid? [False, False] Translation: X:28.12, Y:0.34, Z:-1.39 [[ 9.99599761e-01 -1.17079950e-02 -2.57534638e-02 2.81192504e+01] [ 1.14335512e-02 9.99876545e-01 -1.07781431e-02 3.35823098e-01] [ 2.58764749e-02 1.04793757e-02 9.99610219e-01 -1.38718320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.187719421 meters Centerline goodness [0,1] 0.7928313658327726 Centerline is valid? [False, False] Translation: X:28.13, Y:0.35, Z:-1.39 [[ 9.99786962e-01 -5.27416814e-03 -1.99553150e-02 2.81299279e+01] [ 5.00971151e-03 9.99899276e-01 -1.32793026e-02 3.47786544e-01] [ 2.00233423e-02 1.31765032e-02 9.99712681e-01 -1.38860075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.217719421 meters Centerline goodness [0,1] 0.7898549250208557 Centerline is valid? [False, False] Translation: X:28.13, Y:0.35, Z:-1.39 [[ 9.99791225e-01 3.02209613e-04 -2.04307628e-02 2.81312508e+01] [-4.68524607e-04 9.99966791e-01 -8.13612369e-03 3.52286580e-01] [ 2.04276256e-02 8.14399739e-03 9.99758164e-01 -1.38881141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.247719421 meters Centerline goodness [0,1] 0.8696901752955565 Centerline is valid? [False, False] Translation: X:28.13, Y:0.36, Z:-1.39 [[ 9.99739896e-01 9.91455932e-03 -2.05387915e-02 2.81309132e+01] [-9.92815498e-03 9.99950558e-01 -5.60086682e-04 3.62468316e-01] [ 2.05322230e-02 7.63853307e-04 9.99788900e-01 -1.38791658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.277719421 meters Centerline goodness [0,1] 0.9204789683758059 Centerline is valid? [False, False] Translation: X:28.13, Y:0.37, Z:-1.39 [[ 9.99695147e-01 1.34565547e-02 -2.07010571e-02 2.81311287e+01] [-1.34240676e-02 9.99908435e-01 1.70751207e-03 3.67472872e-01] [ 2.07221388e-02 -1.42909914e-03 9.99784252e-01 -1.38765779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.307719421 meters Centerline goodness [0,1] 0.940149116535594 Centerline is valid? [False, False] Translation: X:28.13, Y:0.38, Z:-1.39 [[ 9.99567720e-01 2.06020204e-02 -2.09745015e-02 2.81315387e+01] [-2.04711291e-02 9.99769727e-01 6.43621607e-03 3.76930769e-01] [ 2.11022707e-02 -6.00406210e-03 9.99759294e-01 -1.38722827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.337719421 meters Centerline goodness [0,1] 0.9436202386790911 Centerline is valid? [False, False] Translation: X:28.13, Y:0.38, Z:-1.39 [[ 9.99489348e-01 2.39988016e-02 -2.10974283e-02 2.81321582e+01] [-2.38222618e-02 9.99679393e-01 8.57974244e-03 3.82191271e-01] [ 2.12965678e-02 -8.07277271e-03 9.99740610e-01 -1.38741168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36771942099999 meters Centerline goodness [0,1] 0.9516405135520685 Centerline is valid? [False, True] Translation: X:28.14, Y:0.39, Z:-1.39 [[ 9.99308758e-01 3.22865808e-02 -1.84277542e-02 2.81375953e+01] [-3.22694633e-02 9.99478454e-01 1.22557284e-03 3.93719369e-01] [ 1.84577128e-02 -6.30071934e-04 9.99829443e-01 -1.38722013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39771942099999 meters Centerline goodness [0,1] 0.9526311485464284 Centerline is valid? [True, True] Translation: X:28.17, Y:0.40, Z:-1.39 [[ 9.99157303e-01 3.65102644e-02 -1.87532410e-02 2.81666605e+01] [-3.64979075e-02 9.99333228e-01 1.00086901e-03 4.00932090e-01] [ 1.87772789e-02 -3.15571524e-04 9.99823642e-01 -1.38694578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42771942099999 meters Centerline goodness [0,1] 0.9539550153959093 Centerline is valid? [True, True] Translation: X:28.20, Y:0.41, Z:-1.39 [[ 9.98928799e-01 4.25460218e-02 -1.81958853e-02 2.81958340e+01] [-4.25354181e-02 9.99094489e-01 9.69549683e-04 4.14926842e-01] [ 1.82206592e-02 -1.94541513e-04 9.99833971e-01 -1.38799696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.457719421 meters Centerline goodness [0,1] 0.9527134307698572 Centerline is valid? [True, True] Translation: X:28.22, Y:0.42, Z:-1.39 [[ 9.98843405e-01 4.44632935e-02 -1.82994042e-02 2.82247351e+01] [-4.44529189e-02 9.99011006e-01 9.73512410e-04 4.21257621e-01] [ 1.83245918e-02 -1.58924517e-04 9.99832078e-01 -1.38880001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.487719421 meters Centerline goodness [0,1] 0.949308943919319 Centerline is valid? [True, False] Translation: X:28.23, Y:0.43, Z:-1.39 [[ 9.98718323e-01 4.70863022e-02 -1.85631533e-02 2.82269190e+01] [-4.70592863e-02 9.98890311e-01 1.88973678e-03 4.29318929e-01] [ 1.86315347e-02 -1.01374601e-03 9.99825904e-01 -1.39039702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.517719421 meters Centerline goodness [0,1] 0.9485412219172512 Centerline is valid? [False, False] Translation: X:28.23, Y:0.43, Z:-1.39 [[ 9.98592243e-01 4.95709562e-02 -1.88746478e-02 2.82286703e+01] [-4.95169541e-02 9.98767772e-01 3.31805884e-03 4.34678427e-01] [ 1.90158693e-02 -2.37877275e-03 9.99816352e-01 -1.39126005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.547719421 meters Centerline goodness [0,1] 0.9460281184320607 Centerline is valid? [False, False] Translation: X:28.23, Y:0.44, Z:-1.39 [[ 9.98602470e-01 4.93039618e-02 -1.90322381e-02 2.82287908e+01] [-4.92676098e-02 9.98782791e-01 2.37448488e-03 4.37200386e-01] [ 1.91261434e-02 -1.43349358e-03 9.99816051e-01 -1.39097729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.577719421 meters Centerline goodness [0,1] 0.9522942908555537 Centerline is valid? [False, True] Translation: X:28.23, Y:0.44, Z:-1.39 [[ 9.98647264e-01 4.83551255e-02 -1.91160575e-02 2.82277115e+01] [-4.83505160e-02 9.98830182e-01 7.03506953e-04 4.40390772e-01] [ 1.91277134e-02 2.21715950e-04 9.99817024e-01 -1.38944706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.607719421 meters Centerline goodness [0,1] 0.9526727536409503 Centerline is valid? [True, True] Translation: X:28.26, Y:0.44, Z:-1.39 [[ 9.98725094e-01 4.67766169e-02 -1.89772160e-02 2.82563615e+01] [-4.67666535e-02 9.98905372e-01 9.68714652e-04 4.38542495e-01] [ 1.90017562e-02 -7.99787463e-05 9.99819447e-01 -1.39003269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.637719421 meters Centerline goodness [0,1] 0.9517294733198965 Centerline is valid? [True, True] Translation: X:28.28, Y:0.44, Z:-1.39 [[ 9.98803838e-01 4.51006336e-02 -1.88898551e-02 2.82837723e+01] [-4.50905063e-02 9.98982443e-01 9.61912413e-04 4.36205816e-01] [ 1.89140164e-02 -1.09008682e-04 9.99821108e-01 -1.39112186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.667719421 meters Centerline goodness [0,1] 0.9516811446090956 Centerline is valid? [True, True] Translation: X:28.31, Y:0.43, Z:-1.39 [[ 9.99026104e-01 3.91731366e-02 -2.03054081e-02 2.83131164e+01] [-3.91602086e-02 9.99232410e-01 1.03406318e-03 4.30059699e-01] [ 2.03303293e-02 -2.37892090e-04 9.99793289e-01 -1.39123364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.697719421 meters Centerline goodness [0,1] 0.949439576115753 Centerline is valid? [True, False] Translation: X:28.32, Y:0.43, Z:-1.39 [[ 9.99237643e-01 3.28897404e-02 -2.10332548e-02 2.83155128e+01] [-3.29882101e-02 9.99446266e-01 -4.35182779e-03 4.29332952e-01] [ 2.08784775e-02 5.04235957e-03 9.99769305e-01 -1.39283195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.727719421 meters Centerline goodness [0,1] 0.9467089125102208 Centerline is valid? [False, False] Translation: X:28.32, Y:0.43, Z:-1.39 [[ 9.99358744e-01 2.87316348e-02 -2.13680455e-02 2.83161115e+01] [-2.89138608e-02 9.99547709e-01 -8.26841773e-03 4.29012760e-01] [ 2.11208158e-02 8.88094825e-03 9.99737485e-01 -1.39301951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75771942099999 meters Centerline goodness [0,1] 0.9403882740421006 Centerline is valid? [False, False] Translation: X:28.32, Y:0.43, Z:-1.39 [[ 9.99481035e-01 2.37854212e-02 -2.17235953e-02 2.83169562e+01] [-2.40662966e-02 9.99628918e-01 -1.27608819e-02 4.29734936e-01] [ 2.14120111e-02 1.32770659e-02 9.99682572e-01 -1.39339846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78771942099999 meters Centerline goodness [0,1] 0.9306060729903143 Centerline is valid? [False, False] Translation: X:28.32, Y:0.43, Z:-1.39 [[ 9.99486426e-01 2.32876476e-02 -2.20129487e-02 2.83175875e+01] [-2.35777811e-02 9.99637299e-01 -1.30137523e-02 4.30272117e-01] [ 2.17019049e-02 1.35260852e-02 9.99672983e-01 -1.39340606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81771942099999 meters Centerline goodness [0,1] 0.9273731587561375 Centerline is valid? [False, False] Translation: X:28.32, Y:0.43, Z:-1.39 [[ 9.99500423e-01 2.24569309e-02 -2.22393862e-02 2.83170431e+01] [-2.27638486e-02 9.99647749e-01 -1.36449723e-02 4.30842536e-01] [ 2.19251282e-02 1.41444097e-02 9.99659554e-01 -1.39216384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.847719421 meters Centerline goodness [0,1] 0.9296714055520428 Centerline is valid? [False, False] Translation: X:28.32, Y:0.43, Z:-1.39 [[ 9.99432866e-01 2.48926149e-02 -2.26782668e-02 2.83187775e+01] [-2.51575707e-02 9.99617651e-01 -1.14737949e-02 4.32716825e-01] [ 2.23839831e-02 1.20378178e-02 9.99676972e-01 -1.39290254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.877719421 meters Centerline goodness [0,1] 0.9323253261797342 Centerline is valid? [False, False] Translation: X:28.32, Y:0.44, Z:-1.39 [[ 9.99337095e-01 2.82536887e-02 -2.29586637e-02 2.83206115e+01] [-2.84584524e-02 9.99557623e-01 -8.64149697e-03 4.35304477e-01] [ 2.27043532e-02 9.28913651e-03 9.99699067e-01 -1.39402228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.907719421 meters Centerline goodness [0,1] 0.9447405501439686 Centerline is valid? [False, False] Translation: X:28.32, Y:0.44, Z:-1.39 [[ 9.98949536e-01 3.97623469e-02 -2.27767488e-02 2.83205072e+01] [-3.97373467e-02 9.99208959e-01 1.54934851e-03 4.40268552e-01] [ 2.28203371e-02 -6.42633411e-04 9.99739376e-01 -1.39323847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.937719421 meters Centerline goodness [0,1] 0.9484739823153091 Centerline is valid? [False, False] Translation: X:28.32, Y:0.44, Z:-1.39 [[ 9.98764688e-01 4.41896430e-02 -2.27238368e-02 2.83198436e+01] [-4.40911648e-02 9.99015899e-01 4.81686102e-03 4.43235989e-01] [ 2.29143296e-02 -3.80899027e-03 9.99730176e-01 -1.39191665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.967719421 meters Centerline goodness [0,1] 0.95339389609064 Centerline is valid? [False, True] Translation: X:28.32, Y:0.45, Z:-1.39 [[ 9.98306791e-01 5.38100093e-02 -2.20915117e-02 2.83163787e+01] [-5.35385579e-02 9.98485008e-01 1.27008775e-02 4.45951462e-01] [ 2.27414776e-02 -1.14966245e-02 9.99675274e-01 -1.38791072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.997719421 meters Centerline goodness [0,1] 0.9517239973915879 Centerline is valid? [True, True] Translation: X:28.35, Y:0.45, Z:-1.39 [[ 9.97956818e-01 5.96524581e-02 -2.28861199e-02 2.83450001e+01] [-5.96391626e-02 9.98219201e-01 1.26365487e-03 4.54824713e-01] [ 2.29207444e-02 1.03836031e-04 9.99737280e-01 -1.38998739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.027719421 meters Centerline goodness [0,1] 0.9468466998449865 Centerline is valid? [True, False] Translation: X:28.35, Y:0.46, Z:-1.39 [[ 9.97396781e-01 6.84963030e-02 -2.25370314e-02 2.83460165e+01] [-6.82973742e-02 9.97619947e-01 9.48203897e-03 4.55401389e-01] [ 2.31328767e-02 -7.91813507e-03 9.99701042e-01 -1.39074404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.057719421 meters Centerline goodness [0,1] 0.9480905463724453 Centerline is valid? [False, False] Translation: X:28.35, Y:0.46, Z:-1.39 [[ 9.97332714e-01 6.93398014e-02 -2.27914186e-02 2.83466789e+01] [-6.91422195e-02 9.97563027e-01 9.34670718e-03 4.57788520e-01] [ 2.33839753e-02 -7.74592757e-03 9.99696549e-01 -1.39072720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.087719421 meters Centerline goodness [0,1] 0.9439444117109247 Centerline is valid? [False, False] Translation: X:28.35, Y:0.46, Z:-1.39 [[ 9.96996152e-01 7.40076924e-02 -2.28371446e-02 2.83476885e+01] [-7.37014639e-02 9.97182460e-01 1.39727116e-02 4.56607764e-01] [ 2.38068882e-02 -1.22476087e-02 9.99641550e-01 -1.39111342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11771942099999 meters Centerline goodness [0,1] 0.9420973140664544 Centerline is valid? [False, False] Translation: X:28.35, Y:0.46, Z:-1.39 [[ 9.97192848e-01 7.12083401e-02 -2.31472755e-02 2.83480550e+01] [-7.09834253e-02 9.97423294e-01 1.03983378e-02 4.56890659e-01] [ 2.38280801e-02 -8.72607521e-03 9.99677987e-01 -1.39131480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14771942099999 meters Centerline goodness [0,1] 0.943066378360736 Centerline is valid? [False, False] Translation: X:28.35, Y:0.45, Z:-1.39 [[ 9.97365000e-01 6.86273610e-02 -2.35232168e-02 2.83484834e+01] [-6.84655164e-02 9.97624391e-01 7.61883183e-03 4.54521683e-01] [ 2.39901952e-02 -5.98822702e-03 9.99694259e-01 -1.39153833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17771942099999 meters Centerline goodness [0,1] 0.9412557152188112 Centerline is valid? [False, False] Translation: X:28.35, Y:0.45, Z:-1.39 [[ 9.97577977e-01 6.53377283e-02 -2.38571023e-02 2.83488475e+01] [-6.52614029e-02 9.97860326e-01 3.96479681e-03 4.54815037e-01] [ 2.40651067e-02 -2.39824602e-03 9.99707517e-01 -1.39169908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.207719421 meters Centerline goodness [0,1] 0.9420103618488149 Centerline is valid? [False, False] Translation: X:28.35, Y:0.45, Z:-1.39 [[ 9.97825456e-01 6.12570663e-02 -2.43296405e-02 2.83489191e+01] [-6.12623187e-02 9.98121559e-01 5.30111252e-04 4.52708627e-01] [ 2.43164118e-02 9.61531687e-04 9.99703850e-01 -1.39127355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.237719421 meters Centerline goodness [0,1] 0.9398686411291968 Centerline is valid? [False, False] Translation: X:28.35, Y:0.45, Z:-1.39 [[ 9.98198726e-01 5.45212095e-02 -2.50348104e-02 2.83498519e+01] [-5.46704605e-02 9.98490301e-01 -5.31600197e-03 4.48534721e-01] [ 2.47071805e-02 6.67509101e-03 9.99672446e-01 -1.39175133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.267719421 meters Centerline goodness [0,1] 0.9342781402936379 Centerline is valid? [False, False] Translation: X:28.35, Y:0.45, Z:-1.39 [[ 9.98375559e-01 5.09971263e-02 -2.54074042e-02 2.83506963e+01] [-5.12215568e-02 9.98653141e-01 -8.26176433e-03 4.46224139e-01] [ 2.49518578e-02 9.54975038e-03 9.99643040e-01 -1.39231303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.297719421 meters Centerline goodness [0,1] 0.9402735933555899 Centerline is valid? [False, False] Translation: X:28.35, Y:0.44, Z:-1.39 [[ 9.98538406e-01 4.75115197e-02 -2.57625207e-02 2.83511818e+01] [-4.78121536e-02 9.98793759e-01 -1.11814466e-02 4.43762122e-01] [ 2.52001974e-02 1.23968655e-02 9.99605556e-01 -1.39249367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.327719421 meters Centerline goodness [0,1] 0.939574450723189 Centerline is valid? [False, False] Translation: X:28.35, Y:0.44, Z:-1.39 [[ 9.98863537e-01 4.00093069e-02 -2.59015242e-02 2.83489271e+01] [-4.04580967e-02 9.99035912e-01 -1.70408165e-02 4.37873118e-01] [ 2.51947616e-02 1.80693766e-02 9.99519245e-01 -1.39026792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.357719421 meters Centerline goodness [0,1] 0.9449647758276662 Centerline is valid? [False, False] Translation: X:28.35, Y:0.43, Z:-1.39 [[ 9.99280396e-01 3.11908010e-02 -2.15829388e-02 2.83487399e+01] [-3.14049740e-02 9.99460095e-01 -9.65642151e-03 4.31176912e-01] [ 2.12700945e-02 1.03272843e-02 9.99720426e-01 -1.39063544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.387719421 meters Centerline goodness [0,1] 0.942839106441037 Centerline is valid? [False, False] Translation: X:28.35, Y:0.43, Z:-1.39 [[ 9.99299827e-01 3.02981354e-02 -2.19517360e-02 2.83501010e+01] [-3.05126877e-02 9.99489179e-01 -9.50562862e-03 4.28979629e-01] [ 2.16525198e-02 1.01687795e-02 9.99713841e-01 -1.39147945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.417719421 meters Centerline goodness [0,1] 0.93811188096552 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99394002e-01 2.67531971e-02 -2.22687218e-02 2.83519791e+01] [-2.70218742e-02 9.99564568e-01 -1.18529964e-02 4.24479050e-01] [ 2.19419197e-02 1.24475561e-02 9.99681755e-01 -1.39330141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.447719421 meters Centerline goodness [0,1] 0.9402389623143337 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99404925e-01 2.63690837e-02 -2.22366097e-02 2.83517224e+01] [-2.66264202e-02 9.99580938e-01 -1.13570370e-02 4.21217065e-01] [ 2.19278165e-02 1.19423600e-02 9.99688227e-01 -1.39304357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.477719421 meters Centerline goodness [0,1] 0.9437503821305562 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99483725e-01 2.32043320e-02 -2.22225569e-02 2.83500016e+01] [-2.35138274e-02 9.99628695e-01 -1.37685209e-02 4.18124416e-01] [ 2.18948162e-02 1.42839499e-02 9.99658234e-01 -1.39122229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50771942099999 meters Centerline goodness [0,1] 0.9371782087547569 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99505483e-01 2.19718678e-02 -2.24950125e-02 2.83501198e+01] [-2.22859624e-02 9.99656269e-01 -1.38086701e-02 4.16832604e-01] [ 2.21838780e-02 1.43031645e-02 9.99651587e-01 -1.39065354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53771942099999 meters Centerline goodness [0,1] 0.9311505507955936 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99510906e-01 2.16581085e-02 -2.25582802e-02 2.83497041e+01] [-2.19711769e-02 9.99664403e-01 -1.37240434e-02 4.16478057e-01] [ 2.22534729e-02 1.42129630e-02 9.99651327e-01 -1.38994972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56771942099999 meters Centerline goodness [0,1] 0.9455909943714822 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99522837e-01 2.11828976e-02 -2.24807198e-02 2.83480964e+01] [-2.14954919e-02 9.99674310e-01 -1.37556315e-02 4.16091927e-01] [ 2.21820139e-02 1.42323020e-02 9.99652640e-01 -1.38798381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.597719421 meters Centerline goodness [0,1] 0.9276231524589831 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99516667e-01 2.13037887e-02 -2.26402488e-02 2.83484738e+01] [-2.16198074e-02 9.99670930e-01 -1.38063645e-02 4.16684575e-01] [ 2.23386707e-02 1.42891693e-02 9.99648340e-01 -1.38798814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.627719421 meters Centerline goodness [0,1] 0.9276231524589831 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99516667e-01 2.13037887e-02 -2.26402488e-02 2.83484738e+01] [-2.16198074e-02 9.99670930e-01 -1.38063645e-02 4.16684575e-01] [ 2.23386707e-02 1.42891693e-02 9.99648340e-01 -1.38798814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.657719421 meters Centerline goodness [0,1] 0.9450448800146547 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99504542e-01 2.17465375e-02 -2.27543249e-02 2.83487955e+01] [-2.20614987e-02 9.99662969e-01 -1.36835522e-02 4.17254237e-01] [ 2.24490861e-02 1.41787671e-02 9.99647438e-01 -1.38807431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.687719421 meters Centerline goodness [0,1] 0.945898671873411 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99422770e-01 2.52897822e-02 -2.26837650e-02 2.83493535e+01] [-2.55322717e-02 9.99619223e-01 -1.04648077e-02 4.18067208e-01] [ 2.24104749e-02 1.10379352e-02 9.99687919e-01 -1.38861825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.717719421 meters Centerline goodness [0,1] 0.9488339856490542 Centerline is valid? [False, False] Translation: X:28.35, Y:0.42, Z:-1.39 [[ 9.99319348e-01 2.90805342e-02 -2.26971880e-02 2.83496942e+01] [-2.92462205e-02 9.99547711e-01 -7.00230226e-03 4.19291899e-01] [ 2.24832916e-02 7.66134310e-03 9.99717863e-01 -1.38865326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.747719421 meters Centerline goodness [0,1] 0.9472353612787473 Centerline is valid? [False, False] Translation: X:28.35, Y:0.43, Z:-1.39 [[ 9.99066464e-01 3.68092162e-02 -2.26115350e-02 2.83507660e+01] [-3.68376089e-02 9.99320912e-01 -8.40284224e-04 4.25803862e-01] [ 2.25652496e-02 1.67245467e-03 9.99743973e-01 -1.38932420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.777719421 meters Centerline goodness [0,1] 0.9416576569225434 Centerline is valid? [False, False] Translation: X:28.35, Y:0.43, Z:-1.39 [[ 9.98740412e-01 4.45989884e-02 -2.29895386e-02 2.83537967e+01] [-4.44843704e-02 9.98995086e-01 5.47343725e-03 4.30410221e-01] [ 2.32105459e-02 -4.44386783e-03 9.99720722e-01 -1.39134813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.807719421 meters Centerline goodness [0,1] 0.9401217171098313 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98683118e-01 4.56882448e-02 -2.33369600e-02 2.83552726e+01] [-4.55780579e-02 9.98947078e-01 5.23211756e-03 4.32859282e-01] [ 2.35514342e-02 -4.16157417e-03 9.99713965e-01 -1.39221837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.837719421 meters Centerline goodness [0,1] 0.9358478269724247 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98444916e-01 5.04783559e-02 -2.36576880e-02 2.83569642e+01] [-5.02785511e-02 9.98694987e-01 8.96610328e-03 4.34027608e-01] [ 2.40794086e-02 -7.76268595e-03 9.99679910e-01 -1.39306869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86771942099999 meters Centerline goodness [0,1] 0.9371253822629969 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98430131e-01 5.06178923e-02 -2.39813000e-02 2.83574967e+01] [-5.04222719e-02 9.98690153e-01 8.69323285e-03 4.34502204e-01] [ 2.43899213e-02 -7.47039398e-03 9.99674610e-01 -1.39295922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89771942099999 meters Centerline goodness [0,1] 0.9408261170061389 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98407594e-01 5.10862238e-02 -2.39264306e-02 2.83566792e+01] [-5.08843750e-02 9.98664260e-01 8.97081262e-03 4.34188168e-01] [ 2.43527560e-02 -7.73904597e-03 9.99673472e-01 -1.39197828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92771942099999 meters Centerline goodness [0,1] 0.9449746647402373 Centerline is valid? [False, False] Translation: X:28.36, Y:0.44, Z:-1.39 [[ 9.98405298e-01 5.11017112e-02 -2.39890890e-02 2.83567635e+01] [-5.09031301e-02 9.98664672e-01 8.81729261e-03 4.35057491e-01] [ 2.44076344e-02 -7.58211193e-03 9.99673336e-01 -1.39186779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.957719421 meters Centerline goodness [0,1] 0.9430440169811704 Centerline is valid? [False, False] Translation: X:28.36, Y:0.44, Z:-1.39 [[ 9.98390975e-01 5.12893992e-02 -2.41838409e-02 2.83573605e+01] [-5.10960286e-02 9.98657166e-01 8.54753709e-03 4.36926151e-01] [ 2.45897641e-02 -7.29808566e-03 9.99670987e-01 -1.39203793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.987719421 meters Centerline goodness [0,1] 0.9439736633542645 Centerline is valid? [False, False] Translation: X:28.36, Y:0.44, Z:-1.39 [[ 9.98538379e-01 4.81901262e-02 -2.44707426e-02 2.83576420e+01] [-4.80898967e-02 9.98832102e-01 4.66833393e-03 4.37930857e-01] [ 2.46671308e-02 -3.48471512e-03 9.99689647e-01 -1.39210856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.017719421 meters Centerline goodness [0,1] 0.942403480594466 Centerline is valid? [False, False] Translation: X:28.36, Y:0.44, Z:-1.39 [[ 9.98691236e-01 4.47844986e-02 -2.47014977e-02 2.83576829e+01] [-4.47654878e-02 9.98996648e-01 1.32233394e-03 4.35674097e-01] [ 2.47359335e-02 -2.14828718e-04 9.99693997e-01 -1.39211602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.047719421 meters Centerline goodness [0,1] 0.9413155106365637 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98865388e-01 4.06500373e-02 -2.48094970e-02 2.83579072e+01] [-4.07172967e-02 9.99168259e-01 -2.21170864e-03 4.33365846e-01] [ 2.46989559e-02 3.21937486e-03 9.99689750e-01 -1.39254961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.077719421 meters Centerline goodness [0,1] 0.9415405355720325 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98987968e-01 3.72912496e-02 -2.51476209e-02 2.83584266e+01] [-3.74450067e-02 9.99282598e-01 -5.67108974e-03 4.33326987e-01] [ 2.49180979e-02 6.60700325e-03 9.99667663e-01 -1.39275905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.107719421 meters Centerline goodness [0,1] 0.9372341508089956 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.98996043e-01 3.67839730e-02 -2.55704095e-02 2.83592512e+01] [-3.69371785e-02 9.99302205e-01 -5.54507653e-03 4.31913602e-01] [ 2.53485966e-02 6.48400830e-03 9.99657645e-01 -1.39281733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.137719421 meters Centerline goodness [0,1] 0.939017217952098 Centerline is valid? [False, False] Translation: X:28.36, Y:0.43, Z:-1.39 [[ 9.99016794e-01 3.59574386e-02 -2.59327562e-02 2.83597672e+01] [-3.60992429e-02 9.99335598e-01 -5.02073595e-03 4.28314294e-01] [ 2.57349936e-02 5.95195239e-03 9.99651081e-01 -1.39264881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.167719421 meters Centerline goodness [0,1] 0.9347431901065542 Centerline is valid? [False, False] Translation: X:28.36, Y:0.42, Z:-1.39 [[ 9.99106146e-01 3.31687742e-02 -2.62057642e-02 2.83603377e+01] [-3.33727665e-02 9.99415686e-01 -7.38551061e-03 4.24990099e-01] [ 2.59454835e-02 8.25346789e-03 9.99629287e-01 -1.39302945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.197719421 meters Centerline goodness [0,1] 0.93472435307354 Centerline is valid? [False, False] Translation: X:28.36, Y:0.42, Z:-1.39 [[ 9.99098614e-01 3.33457644e-02 -2.62682176e-02 2.83605494e+01] [-3.35291097e-02 9.99416144e-01 -6.57036264e-03 4.21944278e-01] [ 2.60337870e-02 7.44519015e-03 9.99633338e-01 -1.39319399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.227719421 meters Centerline goodness [0,1] 0.937346838751838 Centerline is valid? [False, False] Translation: X:28.36, Y:0.42, Z:-1.39 [[ 9.99107537e-01 3.31870949e-02 -2.61294324e-02 2.83599313e+01] [-3.33423156e-02 9.99428707e-01 -5.52723168e-03 4.17566274e-01] [ 2.59310720e-02 6.39351461e-03 9.99643288e-01 -1.39278661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25771942099999 meters Centerline goodness [0,1] 0.9390321066274774 Centerline is valid? [False, False] Translation: X:28.36, Y:0.42, Z:-1.39 [[ 9.99118618e-01 3.28745922e-02 -2.61007454e-02 2.83597335e+01] [-3.30191850e-02 9.99441562e-01 -5.12815908e-03 4.15851739e-01] [ 2.59175836e-02 5.98546456e-03 9.99646164e-01 -1.39256705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28771942099999 meters Centerline goodness [0,1] 0.9336618341749471 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99240435e-01 2.85440179e-02 -2.65290778e-02 2.83605806e+01] [-2.87637012e-02 9.99554732e-01 -7.93639003e-03 4.11710897e-01] [ 2.62907288e-02 8.69343630e-03 9.99616537e-01 -1.39296598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31771942099999 meters Centerline goodness [0,1] 0.9345559884942574 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99341254e-01 2.44925468e-02 -2.67800972e-02 2.83612062e+01] [-2.48051864e-02 9.99627244e-01 -1.14050762e-02 4.10019955e-01] [ 2.64907754e-02 1.20618484e-02 9.99576286e-01 -1.39339406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.347719421 meters Centerline goodness [0,1] 0.9315292482524629 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99567034e-01 1.38196080e-02 -2.59762025e-02 2.83607331e+01] [-1.39397652e-02 9.99892933e-01 -4.45027677e-03 4.05873099e-01] [ 2.59119202e-02 4.81045211e-03 9.99652656e-01 -1.39430660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.377719421 meters Centerline goodness [0,1] 0.9325599444467138 Centerline is valid? [False, False] Translation: X:28.36, Y:0.40, Z:-1.39 [[ 9.99581710e-01 1.18253569e-02 -2.63925470e-02 2.83616100e+01] [-1.19669610e-02 9.99914800e-01 -5.21381865e-03 4.04134090e-01] [ 2.63286431e-02 5.52747634e-03 9.99638059e-01 -1.39441582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.407719421 meters Centerline goodness [0,1] 0.8960831662096345 Centerline is valid? [False, False] Translation: X:28.36, Y:0.40, Z:-1.39 [[ 9.99642178e-01 4.89101302e-03 -2.62981808e-02 2.83591673e+01] [-5.19116286e-03 9.99922030e-01 -1.13571992e-02 4.04847283e-01] [ 2.62405821e-02 1.14896535e-02 9.99589626e-01 -1.39173786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.437719421 meters Centerline goodness [0,1] 0.8406949412365866 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99647879e-01 -2.16084452e-04 -2.65343244e-02 2.83584253e+01] [-2.15329050e-04 9.99867859e-01 -1.62547619e-02 4.06136742e-01] [ 2.65343306e-02 1.62547519e-02 9.99515739e-01 -1.39018778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.467719421 meters Centerline goodness [0,1] 0.8564929609213303 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99647306e-01 -6.01223749e-04 -2.65499827e-02 2.83580756e+01] [ 1.61131283e-04 9.99862612e-01 -1.65750276e-02 4.06838956e-01] [ 2.65563003e-02 1.65649036e-02 9.99510063e-01 -1.38968844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.497719421 meters Centerline goodness [0,1] 0.7961887292367268 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99749914e-01 -1.00702755e-03 -2.23404255e-02 2.83640706e+01] [ 8.53836598e-04 9.99976067e-01 -6.86559821e-03 4.08778878e-01] [ 2.23468047e-02 6.84480615e-03 9.99726847e-01 -1.38928554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.527719421 meters Centerline goodness [0,1] 0.847053301771284 Centerline is valid? [False, False] Translation: X:28.36, Y:0.41, Z:-1.39 [[ 9.99750067e-01 1.86743918e-03 -2.22781362e-02 2.83640502e+01] [-1.94987193e-03 9.99991331e-01 -3.67901531e-03 4.09459313e-01] [ 2.22710728e-02 3.72153532e-03 9.99745042e-01 -1.38928554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.557719421 meters Centerline goodness [0,1] 0.8292727717923605 Centerline is valid? [False, False] Translation: X:28.37, Y:0.41, Z:-1.39 [[ 9.99736588e-01 3.37200556e-03 -2.27020860e-02 2.83666926e+01] [-3.43064565e-03 9.99990878e-01 -2.54457574e-03 4.14145613e-01] [ 2.26932986e-02 2.62178828e-03 9.99739036e-01 -1.39138362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.587719421 meters Centerline goodness [0,1] 0.7648367801073842 Centerline is valid? [False, False] Translation: X:28.37, Y:0.42, Z:-1.39 [[ 9.99730061e-01 3.02209677e-03 -2.30363344e-02 2.83681442e+01] [-3.10003129e-03 9.99989590e-01 -3.34815233e-03 4.16830408e-01] [ 2.30259761e-02 3.41866189e-03 9.99729022e-01 -1.39234282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61771942099999 meters Centerline goodness [0,1] 0.7948649754500818 Centerline is valid? [False, False] Translation: X:28.37, Y:0.42, Z:-1.39 [[ 9.99724884e-01 1.61844235e-03 -2.33994893e-02 2.83698050e+01] [-1.74642304e-03 9.99983624e-01 -5.44997904e-03 4.21862497e-01] [ 2.33902856e-02 5.48934508e-03 9.99711339e-01 -1.39342567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64771942099999 meters Centerline goodness [0,1] 0.7605134474327628 Centerline is valid? [False, False] Translation: X:28.37, Y:0.43, Z:-1.39 [[ 9.99719615e-01 6.65677318e-04 -2.36695683e-02 2.83705144e+01] [-8.29226712e-04 9.99975847e-01 -6.90054705e-03 4.25452503e-01] [ 2.36644030e-02 6.91823967e-03 9.99696021e-01 -1.39357272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67771942099999 meters Centerline goodness [0,1] 0.7491021141131335 Centerline is valid? [False, False] Translation: X:28.37, Y:0.43, Z:-1.39 [[ 9.99715595e-01 -1.46613794e-03 -2.38029195e-02 2.83696879e+01] [ 1.22701696e-03 9.99948671e-01 -1.00573668e-02 4.32813498e-01] [ 2.38164432e-02 1.00252999e-02 9.99666079e-01 -1.39212994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.707719421 meters Centerline goodness [0,1] 0.7368109673997307 Centerline is valid? [False, False] Translation: X:28.37, Y:0.44, Z:-1.39 [[ 9.99711073e-01 -3.31139736e-03 -2.38076547e-02 2.83685996e+01] [ 3.00089102e-03 9.99910130e-01 -1.30662085e-02 4.39500195e-01] [ 2.38487826e-02 1.29909891e-02 9.99631167e-01 -1.39062631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.737719421 meters Centerline goodness [0,1] 0.7234246352001305 Centerline is valid? [False, False] Translation: X:28.37, Y:0.44, Z:-1.39 [[ 9.99705089e-01 -1.91828834e-03 -2.42085762e-02 2.83698981e+01] [ 1.63736124e-03 9.99931157e-01 -1.16189369e-02 4.42715604e-01] [ 2.42291981e-02 1.15758722e-02 9.99639408e-01 -1.39117673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.767719421 meters Centerline goodness [0,1] 0.7185293698752773 Centerline is valid? [False, False] Translation: X:28.37, Y:0.45, Z:-1.39 [[ 9.99704617e-01 7.48794652e-04 -2.42923383e-02 2.83703277e+01] [-9.75296171e-04 9.99956153e-01 -9.31348240e-03 4.46466725e-01] [ 2.42842993e-02 9.33442358e-03 9.99661513e-01 -1.39135955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.797719421 meters Centerline goodness [0,1] 0.7108146639511201 Centerline is valid? [False, False] Translation: X:28.37, Y:0.46, Z:-1.39 [[ 9.99700135e-01 4.72505348e-03 -2.40273608e-02 2.83704942e+01] [-4.88114647e-03 9.99967337e-01 -6.44197413e-03 4.58096760e-01] [ 2.39961374e-02 6.55732348e-03 9.99690546e-01 -1.39170268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.827719421 meters Centerline goodness [0,1] 0.7235051168847022 Centerline is valid? [False, False] Translation: X:28.37, Y:0.47, Z:-1.39 [[ 9.99652588e-01 9.81694605e-03 -2.44608063e-02 2.83723333e+01] [-9.90770781e-03 9.99944466e-01 -3.59206810e-03 4.68649988e-01] [ 2.44241848e-02 3.83317069e-03 9.99694336e-01 -1.39246033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.857719421 meters Centerline goodness [0,1] 0.7309439986900279 Centerline is valid? [False, False] Translation: X:28.37, Y:0.47, Z:-1.39 [[ 9.99617203e-01 1.27269468e-02 -2.45656559e-02 2.83728190e+01] [-1.27729394e-02 9.99916950e-01 -1.71621975e-03 4.73124685e-01] [ 2.45417735e-02 2.02933842e-03 9.99696746e-01 -1.39258521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.887719421 meters Centerline goodness [0,1] 0.7307731715813849 Centerline is valid? [False, False] Translation: X:28.37, Y:0.48, Z:-1.39 [[ 9.99590667e-01 1.45426787e-02 -2.46375661e-02 2.83729465e+01] [-1.46115093e-02 9.99889824e-01 -2.61600030e-03 4.84801052e-01] [ 2.45968080e-02 2.97492151e-03 9.99693026e-01 -1.39183580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.917719421 meters Centerline goodness [0,1] 0.7408771822107612 Centerline is valid? [False, False] Translation: X:28.37, Y:0.49, Z:-1.39 [[ 9.99548564e-01 1.69471545e-02 -2.48085008e-02 2.83725192e+01] [-1.69824925e-02 9.99855050e-01 -1.21442214e-03 4.90511256e-01] [ 2.47843238e-02 1.63518408e-03 9.99691484e-01 -1.39063121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.947719421 meters Centerline goodness [0,1] 0.7423326709143431 Centerline is valid? [False, False] Translation: X:28.37, Y:0.50, Z:-1.39 [[ 9.99511405e-01 1.94893856e-02 -2.44359587e-02 2.83698926e+01] [-1.95044847e-02 9.99809697e-01 -3.79692323e-04 5.02927378e-01] [ 2.44239085e-02 8.56117590e-04 9.99701325e-01 -1.38758099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.977719421 meters Centerline goodness [0,1] 0.7376657337228544 Centerline is valid? [False, False] Translation: X:28.37, Y:0.51, Z:-1.39 [[ 9.99516580e-01 1.88916759e-02 -2.46923122e-02 2.83709086e+01] [-1.89468784e-02 9.99818484e-01 -2.00355010e-03 5.08991070e-01] [ 2.46499798e-02 2.47042378e-03 9.99693091e-01 -1.38794866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00771942099999 meters Centerline goodness [0,1] 0.7330389812146113 Centerline is valid? [False, False] Translation: X:28.37, Y:0.52, Z:-1.39 [[ 9.99494346e-01 2.00230208e-02 -2.47008413e-02 2.83721891e+01] [-2.00879247e-02 9.99795379e-01 -2.38224504e-03 5.17909730e-01] [ 2.46480873e-02 2.87722908e-03 9.99692049e-01 -1.38896956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03771942099999 meters Centerline goodness [0,1] 0.7368754082299152 Centerline is valid? [False, False] Translation: X:28.37, Y:0.52, Z:-1.39 [[ 9.99496619e-01 1.95973285e-02 -2.49490182e-02 2.83727671e+01] [-1.97027199e-02 9.99797939e-01 -3.98545940e-03 5.22873593e-01] [ 2.48658726e-02 4.47501672e-03 9.99680780e-01 -1.38884200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06771942099999 meters Centerline goodness [0,1] 0.7595220161635079 Centerline is valid? [False, False] Translation: X:28.37, Y:0.53, Z:-1.39 [[ 9.99431554e-01 2.25517923e-02 -2.50596250e-02 2.83733390e+01] [-2.26469450e-02 9.99737329e-01 -3.51971685e-03 5.32526017e-01] [ 2.49736666e-02 4.08524003e-03 9.99679762e-01 -1.38837594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.097719421 meters Centerline goodness [0,1] 0.8848576262204195 Centerline is valid? [False, False] Translation: X:28.38, Y:0.54, Z:-1.39 [[ 9.99227792e-01 2.98525614e-02 -2.55468886e-02 2.83773171e+01] [-2.98227446e-02 9.99554005e-01 1.54743009e-03 5.41212983e-01] [ 2.55816896e-02 -7.84356822e-04 9.99672427e-01 -1.39119135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.127719421 meters Centerline goodness [0,1] 0.8525550723750026 Centerline is valid? [False, False] Translation: X:28.38, Y:0.55, Z:-1.39 [[ 9.99117281e-01 3.31352921e-02 -2.58207489e-02 2.83795775e+01] [-3.30552855e-02 9.99447328e-01 3.51934589e-03 5.46212249e-01] [ 2.59230930e-02 -2.66272707e-03 9.99660394e-01 -1.39275508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.157719421 meters Centerline goodness [0,1] 0.9334148827726809 Centerline is valid? [False, False] Translation: X:28.38, Y:0.55, Z:-1.40 [[ 9.98699729e-01 4.40392918e-02 -2.56786279e-02 2.83826030e+01] [-4.37347858e-02 9.98967431e-01 1.23020403e-02 5.53831952e-01] [ 2.61938861e-02 -1.11629950e-02 9.99594552e-01 -1.39531744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.187719421 meters Centerline goodness [0,1] 0.937290354250184 Centerline is valid? [False, False] Translation: X:28.38, Y:0.56, Z:-1.40 [[ 9.98528272e-01 4.77946542e-02 -2.56312552e-02 2.83831781e+01] [-4.74203644e-02 9.98762127e-01 1.50174427e-02 5.57512744e-01] [ 2.63172805e-02 -1.37798976e-02 9.99558660e-01 -1.39559626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.217719421 meters Centerline goodness [0,1] 0.9412458323168252 Centerline is valid? [False, False] Translation: X:28.38, Y:0.56, Z:-1.39 [[ 9.98312067e-01 5.20688303e-02 -2.57265304e-02 2.83835962e+01] [-5.16300951e-02 9.98514092e-01 1.74339043e-02 5.62754760e-01] [ 2.65960662e-02 -1.60762138e-02 9.99516986e-01 -1.39496133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.247719421 meters Centerline goodness [0,1] 0.93966940464301 Centerline is valid? [False, False] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.98302887e-01 5.21141812e-02 -2.59895851e-02 2.83837778e+01] [-5.16980526e-02 9.98527523e-01 1.64346269e-02 5.66120541e-01] [ 2.68077932e-02 -1.50631245e-02 9.99527110e-01 -1.39436924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.277719421 meters Centerline goodness [0,1] 0.9385898717138137 Centerline is valid? [False, False] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.98060680e-01 5.66196530e-02 -2.58668683e-02 2.83839805e+01] [-5.61346880e-02 9.98240390e-01 1.91055083e-02 5.71640257e-01] [ 2.69031000e-02 -1.76164280e-02 9.99482809e-01 -1.39384094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.307719421 meters Centerline goodness [0,1] 0.9384218438909431 Centerline is valid? [False, False] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.97811272e-01 6.08674602e-02 -2.58421730e-02 2.83847518e+01] [-6.02840942e-02 9.97921205e-01 2.27837059e-02 5.72857018e-01] [ 2.71752387e-02 -2.11759666e-02 9.99406366e-01 -1.39422803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.337719421 meters Centerline goodness [0,1] 0.9420233779986152 Centerline is valid? [False, False] Translation: X:28.38, Y:0.58, Z:-1.39 [[ 9.97200689e-01 7.00742550e-02 -2.60841948e-02 2.83829109e+01] [-6.97643629e-02 9.97483823e-01 1.26078298e-02 5.76527034e-01] [ 2.69020466e-02 -1.07527893e-02 9.99580241e-01 -1.39315581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36771942099999 meters Centerline goodness [0,1] 0.9439321132808506 Centerline is valid? [False, False] Translation: X:28.38, Y:0.58, Z:-1.39 [[ 9.96857316e-01 7.49431507e-02 -2.56713136e-02 2.83824419e+01] [-7.45378510e-02 9.97083349e-01 1.63982888e-02 5.78265870e-01] [ 2.68253787e-02 -1.44332696e-02 9.99535932e-01 -1.39250826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39771942099999 meters Centerline goodness [0,1] 0.9495007366181044 Centerline is valid? [False, False] Translation: X:28.38, Y:0.58, Z:-1.39 [[ 9.96845831e-01 7.50963746e-02 -2.56695038e-02 2.83819754e+01] [-7.47037253e-02 9.97078544e-01 1.59288932e-02 5.79949920e-01] [ 2.67907136e-02 -1.39610433e-02 9.99543569e-01 -1.39173433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42771942099999 meters Centerline goodness [0,1] 0.9482551388351295 Centerline is valid? [False, False] Translation: X:28.38, Y:0.58, Z:-1.39 [[ 9.96800554e-01 7.56153286e-02 -2.59032396e-02 2.83819005e+01] [-7.52022086e-02 9.97030636e-01 1.65692017e-02 5.78268813e-01] [ 2.70792091e-02 -1.45682086e-02 9.99527130e-01 -1.39111952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.457719421 meters Centerline goodness [0,1] 0.9457153935633966 Centerline is valid? [False, False] Translation: X:28.38, Y:0.58, Z:-1.39 [[ 9.97033939e-01 7.23083465e-02 -2.63595899e-02 2.83824598e+01] [-7.19820184e-02 9.97319548e-01 1.31266121e-02 5.77168748e-01] [ 2.72380979e-02 -1.11902613e-02 9.99566338e-01 -1.39132359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.487719421 meters Centerline goodness [0,1] 0.9500356597045339 Centerline is valid? [False, True] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.97441059e-01 6.62338161e-02 -2.69149498e-02 2.83827285e+01] [-6.60649536e-02 9.97789947e-01 7.11643624e-03 5.73533340e-01] [ 2.73268151e-02 -5.32009079e-03 9.99612396e-01 -1.39136246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.517719421 meters Centerline goodness [0,1] 0.9464373263605165 Centerline is valid? [True, False] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.97666396e-01 6.26273068e-02 -2.71952771e-02 2.83822931e+01] [-6.25574994e-02 9.98035533e-01 3.41098013e-03 5.72997965e-01] [ 2.73554734e-02 -1.70175173e-03 9.99624320e-01 -1.39067790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.547719421 meters Centerline goodness [0,1] 0.9464373263605165 Centerline is valid? [False, False] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.97666396e-01 6.26273068e-02 -2.71952771e-02 2.83822931e+01] [-6.25574994e-02 9.98035533e-01 3.41098013e-03 5.72997965e-01] [ 2.73554734e-02 -1.70175173e-03 9.99624320e-01 -1.39067790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.577719421 meters Centerline goodness [0,1] 0.9524836694409963 Centerline is valid? [False, True] Translation: X:28.38, Y:0.57, Z:-1.39 [[ 9.97705747e-01 6.20122548e-02 -2.71610547e-02 2.83810002e+01] [-6.19459271e-02 9.98074126e-01 3.27747136e-03 5.67893968e-01] [ 2.73119893e-02 -1.58743530e-03 9.99625698e-01 -1.38954501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.607719421 meters Centerline goodness [0,1] 0.952537930752063 Centerline is valid? [True, True] Translation: X:28.41, Y:0.57, Z:-1.39 [[ 9.97572269e-01 6.42030336e-02 -2.69729225e-02 2.84092977e+01] [-6.41915961e-02 9.97936758e-01 1.29059265e-03 5.65353591e-01] [ 2.70001308e-02 4.43975507e-04 9.99635331e-01 -1.38924641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.637719421 meters Centerline goodness [0,1] 0.9561335719515172 Centerline is valid? [True, True] Translation: X:28.44, Y:0.56, Z:-1.39 [[ 9.97236250e-01 7.01012211e-02 -2.46105733e-02 2.84380233e+01] [-7.00935478e-02 9.97539730e-01 1.17536549e-03 5.62052829e-01] [ 2.46324192e-02 5.52925324e-04 9.99696423e-01 -1.38895304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.667719421 meters Centerline goodness [0,1] 0.9563906711477748 Centerline is valid? [True, True] Translation: X:28.47, Y:0.56, Z:-1.39 [[ 9.96922752e-01 7.42808913e-02 -2.50474665e-02 2.84673003e+01] [-7.42742983e-02 9.97237134e-01 1.19473973e-03 5.60624077e-01] [ 2.50670100e-02 6.69319778e-04 9.99685549e-01 -1.38960147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.697719421 meters Centerline goodness [0,1] 0.9465174129353234 Centerline is valid? [True, False] Translation: X:28.47, Y:0.55, Z:-1.39 [[ 9.96671047e-01 7.75979032e-02 -2.50077915e-02 2.84688635e+01] [-7.75001369e-02 9.96980512e-01 4.85667633e-03 5.53434511e-01] [ 2.53091487e-02 -2.90240142e-03 9.99675459e-01 -1.39144416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.727719421 meters Centerline goodness [0,1] 0.9389495155532891 Centerline is valid? [False, False] Translation: X:28.47, Y:0.55, Z:-1.39 [[ 9.96578397e-01 7.87600923e-02 -2.50668593e-02 2.84695794e+01] [-7.86195081e-02 9.96883199e-01 6.54686570e-03 5.49440076e-01] [ 2.55043626e-02 -4.55372078e-03 9.99664339e-01 -1.39220092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75771942099999 meters Centerline goodness [0,1] 0.9264063966058826 Centerline is valid? [False, False] Translation: X:28.47, Y:0.54, Z:-1.39 [[ 9.96659944e-01 7.77039067e-02 -2.51208711e-02 2.84686354e+01] [-7.75664380e-02 9.96966626e-01 6.40264344e-03 5.40561363e-01] [ 2.55421805e-02 -4.43272176e-03 9.99663918e-01 -1.39175478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78771942099999 meters Centerline goodness [0,1] 0.9060547911648226 Centerline is valid? [False, False] Translation: X:28.47, Y:0.54, Z:-1.39 [[ 9.96867204e-01 7.48850945e-02 -2.54558596e-02 2.84687905e+01] [-7.47994422e-02 9.97189319e-01 4.30178283e-03 5.35650076e-01] [ 2.57064507e-02 -2.38422212e-03 9.99666691e-01 -1.39198602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81771942099999 meters Centerline goodness [0,1] 0.9124004318862428 Centerline is valid? [False, False] Translation: X:28.47, Y:0.52, Z:-1.39 [[ 9.97156114e-01 7.07202193e-02 -2.60448677e-02 2.84709115e+01] [-7.07060275e-02 9.97496119e-01 1.46657102e-03 5.24352582e-01] [ 2.60833707e-02 3.79128869e-04 9.99659699e-01 -1.39444543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.847719421 meters Centerline goodness [0,1] 0.9231068358575522 Centerline is valid? [False, False] Translation: X:28.47, Y:0.51, Z:-1.40 [[ 9.97440605e-01 6.66391683e-02 -2.59125602e-02 2.84703408e+01] [-6.66888945e-02 9.97773256e-01 -1.05861220e-03 5.14253583e-01] [ 2.57843145e-02 2.78398279e-03 9.99663653e-01 -1.39526398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.877719421 meters Centerline goodness [0,1] 0.9202876345733488 Centerline is valid? [False, False] Translation: X:28.47, Y:0.51, Z:-1.40 [[ 9.97615090e-01 6.38920724e-02 -2.61138852e-02 2.84699907e+01] [-6.39876285e-02 9.97946653e-01 -2.83925367e-03 5.09381540e-01] [ 2.58788586e-02 4.50344789e-03 9.99654942e-01 -1.39504034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.907719421 meters Centerline goodness [0,1] 0.9389789814230777 Centerline is valid? [False, False] Translation: X:28.47, Y:0.50, Z:-1.39 [[ 9.97876178e-01 6.02919244e-02 -2.46579912e-02 2.84653659e+01] [-6.03588671e-02 9.98174780e-01 -1.97896471e-03 4.95519821e-01] [ 2.44936694e-02 3.46309016e-03 9.99693987e-01 -1.39179597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.937719421 meters Centerline goodness [0,1] 0.9462528078415356 Centerline is valid? [False, False] Translation: X:28.46, Y:0.49, Z:-1.39 [[ 9.98116054e-01 5.62642544e-02 -2.44678664e-02 2.84630488e+01] [-5.64043772e-02 9.98395111e-01 -5.07432244e-03 4.88938582e-01] [ 2.41430952e-02 6.44485746e-03 9.99687739e-01 -1.39038855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.967719421 meters Centerline goodness [0,1] 0.9515224440682806 Centerline is valid? [False, True] Translation: X:28.46, Y:0.48, Z:-1.39 [[ 9.98271959e-01 5.34072520e-02 -2.45104469e-02 2.84629118e+01] [-5.35798351e-02 9.98542809e-01 -6.43886349e-03 4.81761430e-01] [ 2.41308485e-02 7.74100257e-03 9.99678838e-01 -1.39078148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.997719421 meters Centerline goodness [0,1] 0.9487038731320525 Centerline is valid? [True, False] Translation: X:28.46, Y:0.47, Z:-1.39 [[ 9.98555474e-01 4.76530581e-02 -2.48224113e-02 2.84639774e+01] [-4.79056184e-02 9.98804950e-01 -9.68105287e-03 4.70676871e-01] [ 2.43314155e-02 1.08562013e-02 9.99645000e-01 -1.39255475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.027719421 meters Centerline goodness [0,1] 0.9423444295411129 Centerline is valid? [False, False] Translation: X:28.47, Y:0.46, Z:-1.39 [[ 9.98810451e-01 4.16756815e-02 -2.53144473e-02 2.84654677e+01] [-4.20224076e-02 9.99027840e-01 -1.33225818e-02 4.61794945e-01] [ 2.47346099e-02 1.43705080e-02 9.99590760e-01 -1.39422516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.057719421 meters Centerline goodness [0,1] 0.9445053383672309 Centerline is valid? [False, False] Translation: X:28.47, Y:0.46, Z:-1.40 [[ 9.98921903e-01 3.87342743e-02 -2.55868668e-02 2.84664289e+01] [-3.91325373e-02 9.99117620e-01 -1.52520684e-02 4.57303272e-01] [ 2.49735117e-02 1.62369042e-02 9.99556245e-01 -1.39516642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.087719421 meters Centerline goodness [0,1] 0.9420909127904611 Centerline is valid? [False, False] Translation: X:28.47, Y:0.45, Z:-1.40 [[ 9.99132328e-01 3.25256984e-02 -2.60128653e-02 2.84673802e+01] [-3.30314697e-02 9.99268805e-01 -1.92556041e-02 4.47820807e-01] [ 2.53675429e-02 2.00981398e-02 9.99476139e-01 -1.39624916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11771942099999 meters Centerline goodness [0,1] 0.9414661944885415 Centerline is valid? [False, False] Translation: X:28.47, Y:0.44, Z:-1.40 [[ 9.99211138e-01 2.97253069e-02 -2.63345503e-02 2.84686807e+01] [-3.02869418e-02 9.99316586e-01 -2.11910727e-02 4.43375100e-01] [ 2.56866418e-02 2.19719489e-02 9.99428552e-01 -1.39737207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14771942099999 meters Centerline goodness [0,1] 0.9389326938709153 Centerline is valid? [False, False] Translation: X:28.47, Y:0.44, Z:-1.40 [[ 9.99262790e-01 2.76448922e-02 -2.66390147e-02 2.84698775e+01] [-2.82292645e-02 9.99363379e-01 -2.18161491e-02 4.36037776e-01] [ 2.60189506e-02 2.25520658e-02 9.99407033e-01 -1.39848328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17771942099999 meters Centerline goodness [0,1] 0.9408342010167208 Centerline is valid? [False, False] Translation: X:28.47, Y:0.43, Z:-1.40 [[ 9.99238359e-01 2.86151919e-02 -2.65305908e-02 2.84688673e+01] [-2.91580691e-02 9.99368531e-01 -2.03063244e-02 4.32835225e-01] [ 2.59327682e-02 2.10644391e-02 9.99441735e-01 -1.39759497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.207719421 meters Centerline goodness [0,1] 0.9429528145864385 Centerline is valid? [False, False] Translation: X:28.47, Y:0.43, Z:-1.40 [[ 9.99194418e-01 3.01746075e-02 -2.64576797e-02 2.84672090e+01] [-3.06686550e-02 9.99358932e-01 -1.84704555e-02 4.30144161e-01] [ 2.58833798e-02 1.92669974e-02 9.99479281e-01 -1.39584045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.237719421 meters Centerline goodness [0,1] 0.9441287494418963 Centerline is valid? [False, False] Translation: X:28.47, Y:0.42, Z:-1.39 [[ 9.99007560e-01 3.58445001e-02 -2.64398790e-02 2.84666038e+01] [-3.61687315e-02 9.99274983e-01 -1.18882528e-02 4.24666842e-01] [ 2.59945812e-02 1.28327513e-02 9.99579713e-01 -1.39484038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.267719421 meters Centerline goodness [0,1] 0.9434813535209836 Centerline is valid? [False, False] Translation: X:28.47, Y:0.42, Z:-1.39 [[ 9.98923586e-01 3.84063981e-02 -2.60118862e-02 2.84652269e+01] [-3.86534461e-02 9.99211584e-01 -9.06205212e-03 4.19195468e-01] [ 2.56433372e-02 1.00577466e-02 9.99620559e-01 -1.39421128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.297719421 meters Centerline goodness [0,1] 0.9431029923310076 Centerline is valid? [False, False] Translation: X:28.46, Y:0.42, Z:-1.39 [[ 9.98894523e-01 3.93496140e-02 -2.57165268e-02 2.84647502e+01] [-3.95739817e-02 9.99182382e-01 -8.27454714e-03 4.18074461e-01] [ 2.53699002e-02 9.28310518e-03 9.99635029e-01 -1.39429574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.327719421 meters Centerline goodness [0,1] 0.9428431751980935 Centerline is valid? [False, False] Translation: X:28.47, Y:0.42, Z:-1.40 [[ 9.98689902e-01 4.43117422e-02 -2.55919618e-02 2.84659983e+01] [-4.44117630e-02 9.99007684e-01 -3.35293863e-03 4.16463377e-01] [ 2.54179920e-02 4.48513010e-03 9.99666849e-01 -1.39566942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.357719421 meters Centerline goodness [0,1] 0.9405761082138201 Centerline is valid? [False, False] Translation: X:28.47, Y:0.42, Z:-1.40 [[ 9.98654720e-01 4.50707935e-02 -2.56393117e-02 2.84663839e+01] [-4.51612734e-02 9.98975322e-01 -2.96062371e-03 4.16043428e-01] [ 2.54796020e-02 4.11454481e-03 9.99666875e-01 -1.39602468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.387719421 meters Centerline goodness [0,1] 0.9212775528565003 Centerline is valid? [False, False] Translation: X:28.47, Y:0.41, Z:-1.40 [[ 9.98570077e-01 4.70093143e-02 -2.54543989e-02 2.84656186e+01] [-4.70526546e-02 9.98891798e-01 -1.10607008e-03 4.12326391e-01] [ 2.53741947e-02 2.30218552e-03 9.99675372e-01 -1.39554050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.417719421 meters Centerline goodness [0,1] 0.893054676816948 Centerline is valid? [False, False] Translation: X:28.46, Y:0.41, Z:-1.39 [[ 9.98615812e-01 4.61316861e-02 -2.52651296e-02 2.84637543e+01] [-4.62022632e-02 9.98929646e-01 -2.21656089e-03 4.08400914e-01] [ 2.51358333e-02 3.38079893e-03 9.99678328e-01 -1.39414510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.447719421 meters Centerline goodness [0,1] 0.8853254993165637 Centerline is valid? [False, False] Translation: X:28.46, Y:0.41, Z:-1.39 [[ 9.98723492e-01 4.38870165e-02 -2.50063353e-02 2.84621324e+01] [-4.40165790e-02 9.99019959e-01 -4.65426047e-03 4.06915275e-01] [ 2.47775665e-02 5.74901260e-03 9.99676458e-01 -1.39317695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.477719421 meters Centerline goodness [0,1] 0.8720456397718012 Centerline is valid? [False, False] Translation: X:28.46, Y:0.40, Z:-1.39 [[ 9.98709330e-01 4.44740047e-02 -2.45303178e-02 2.84616812e+01] [-4.45652924e-02 9.99001390e-01 -3.18710827e-03 4.03467291e-01] [ 2.43640781e-02 4.27619554e-03 9.99694006e-01 -1.39369988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50771942099999 meters Centerline goodness [0,1] 0.9018334762546449 Centerline is valid? [False, False] Translation: X:28.46, Y:0.40, Z:-1.39 [[ 9.98697150e-01 4.47269687e-02 -2.45662462e-02 2.84617023e+01] [-4.47994812e-02 9.98993095e-01 -2.40904864e-03 4.01468689e-01] [ 2.44337608e-02 3.50646509e-03 9.99695302e-01 -1.39364618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53771942099999 meters Centerline goodness [0,1] 0.9281020408163265 Centerline is valid? [False, False] Translation: X:28.46, Y:0.39, Z:-1.39 [[ 9.98798480e-01 4.24546461e-02 -2.44785690e-02 2.84604303e+01] [-4.25565971e-02 9.99087358e-01 -3.65888557e-03 3.93444660e-01] [ 2.43008921e-02 4.69621395e-03 9.99693659e-01 -1.39284664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56771942099999 meters Centerline goodness [0,1] 0.9094817924316834 Centerline is valid? [False, False] Translation: X:28.46, Y:0.39, Z:-1.39 [[ 9.98912102e-01 3.97236995e-02 -2.44262212e-02 2.84601566e+01] [-3.98779484e-02 9.99187373e-01 -5.86035721e-03 3.88933613e-01] [ 2.41735767e-02 6.82804933e-03 9.99684458e-01 -1.39300071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.597719421 meters Centerline goodness [0,1] 0.8925385899890034 Centerline is valid? [False, False] Translation: X:28.46, Y:0.38, Z:-1.39 [[ 9.98975083e-01 3.82348990e-02 -2.42255367e-02 2.84612103e+01] [-3.83971307e-02 9.99242905e-01 -6.26715702e-03 3.81300918e-01] [ 2.39675715e-02 7.19092480e-03 9.99686874e-01 -1.39498463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.627719421 meters Centerline goodness [0,1] 0.8794499867392945 Centerline is valid? [False, False] Translation: X:28.46, Y:0.38, Z:-1.40 [[ 9.98953941e-01 3.88097991e-02 -2.41831102e-02 2.84616357e+01] [-3.89459290e-02 9.99227874e-01 -5.18362920e-03 3.78610185e-01] [ 2.39632622e-02 6.12004052e-03 9.99694107e-01 -1.39562537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.657719421 meters Centerline goodness [0,1] 0.8488004728806995 Centerline is valid? [False, False] Translation: X:28.46, Y:0.37, Z:-1.40 [[ 9.98906854e-01 3.99255811e-02 -2.43114306e-02 2.84630950e+01] [-4.00148722e-02 9.99193969e-01 -3.19727426e-03 3.72292574e-01] [ 2.41641818e-02 4.16659797e-03 9.99699321e-01 -1.39701917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.687719421 meters Centerline goodness [0,1] 0.8594884555764053 Centerline is valid? [False, False] Translation: X:28.46, Y:0.37, Z:-1.40 [[ 9.98964285e-01 3.84944223e-02 -2.42597819e-02 2.84641760e+01] [-3.86030202e-02 9.99246523e-01 -4.02397768e-03 3.65399356e-01] [ 2.40866020e-02 4.95631084e-03 9.99697590e-01 -1.39867777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.717719421 meters Centerline goodness [0,1] 0.7999061741489384 Centerline is valid? [False, False] Translation: X:28.46, Y:0.36, Z:-1.40 [[ 9.98937304e-01 3.91302012e-02 -2.43534268e-02 2.84648556e+01] [-3.92109632e-02 9.99226897e-01 -2.84741636e-03 3.61847432e-01] [ 2.42231792e-02 3.79931174e-03 9.99699356e-01 -1.39928215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.747719421 meters Centerline goodness [0,1] 0.7825856118927529 Centerline is valid? [False, False] Translation: X:28.46, Y:0.36, Z:-1.40 [[ 9.98909771e-01 3.98488500e-02 -2.43174351e-02 2.84646755e+01] [-3.98993189e-02 9.99202434e-01 -1.59357106e-03 3.58525989e-01] [ 2.42345384e-02 2.56208280e-03 9.99703017e-01 -1.39914053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.777719421 meters Centerline goodness [0,1] 0.7947996329152647 Centerline is valid? [False, False] Translation: X:28.46, Y:0.35, Z:-1.40 [[ 9.98841614e-01 4.16910735e-02 -2.40267521e-02 2.84640690e+01] [-4.16801527e-02 9.99130548e-01 9.55356437e-04 3.51797313e-01] [ 2.40456918e-02 4.71889302e-05 9.99710859e-01 -1.39910614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.807719421 meters Centerline goodness [0,1] 0.7834187616955496 Centerline is valid? [False, False] Translation: X:28.46, Y:0.35, Z:-1.40 [[ 9.98814083e-01 4.23296167e-02 -2.40547563e-02 2.84648604e+01] [-4.22940316e-02 9.99103232e-01 1.98640426e-03 3.48685345e-01] [ 2.41172685e-02 -9.66675925e-04 9.99708669e-01 -1.39998290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.837719421 meters Centerline goodness [0,1] 0.7671369328346073 Centerline is valid? [False, False] Translation: X:28.47, Y:0.34, Z:-1.40 [[ 9.98912376e-01 4.01133929e-02 -2.37693192e-02 2.84660716e+01] [-4.01130647e-02 9.99195027e-01 4.90796166e-04 3.42693973e-01] [ 2.37698731e-02 4.63197876e-04 9.99717349e-01 -1.40235139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86771942099999 meters Centerline goodness [0,1] 0.7750932018660746 Centerline is valid? [False, False] Translation: X:28.47, Y:0.34, Z:-1.40 [[ 9.99032656e-01 3.70105482e-02 -2.37480912e-02 2.84658786e+01] [-3.70730896e-02 9.99310138e-01 -2.19853783e-03 3.39795912e-01] [ 2.36503392e-02 3.07682620e-03 9.99715557e-01 -1.40256752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89771942099999 meters Centerline goodness [0,1] 0.7951574145725573 Centerline is valid? [False, False] Translation: X:28.46, Y:0.33, Z:-1.40 [[ 9.99220412e-01 3.15617951e-02 -2.37154232e-02 2.84640098e+01] [-3.17099524e-02 9.99479715e-01 -5.89732900e-03 3.30236170e-01] [ 2.35169541e-02 6.64474645e-03 9.99701356e-01 -1.40093482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92771942099999 meters Centerline goodness [0,1] 0.8475503151046961 Centerline is valid? [False, False] Translation: X:28.46, Y:0.32, Z:-1.40 [[ 9.99402371e-01 2.50804479e-02 -2.37880656e-02 2.84631838e+01] [-2.53180614e-02 9.99631990e-01 -9.74070426e-03 3.19785941e-01] [ 2.35350101e-02 1.03371506e-02 9.99669569e-01 -1.39989165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.957719421 meters Centerline goodness [0,1] 0.8803173634421727 Centerline is valid? [False, False] Translation: X:28.46, Y:0.32, Z:-1.40 [[ 9.99478161e-01 2.16938166e-02 -2.39329231e-02 2.84634241e+01] [-2.19889981e-02 9.99684500e-01 -1.21402304e-02 3.15683862e-01] [ 2.36620043e-02 1.26601562e-02 9.99639850e-01 -1.40008638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.987719421 meters Centerline goodness [0,1] 0.9208932395227898 Centerline is valid? [False, False] Translation: X:28.46, Y:0.31, Z:-1.40 [[ 9.99598800e-01 1.50993566e-02 -2.39634971e-02 2.84626675e+01] [-1.55065208e-02 9.99736983e-01 -1.68971327e-02 3.08570829e-01] [ 2.37020585e-02 1.72619440e-02 9.99570026e-01 -1.39934772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.017719421 meters Centerline goodness [0,1] 0.9323184152604549 Centerline is valid? [False, False] Translation: X:28.46, Y:0.31, Z:-1.40 [[ 9.99639880e-01 1.19060047e-02 -2.40490563e-02 2.84617758e+01] [-1.23706378e-02 9.99737884e-01 -1.92647451e-02 3.05054408e-01] [ 2.38133865e-02 1.95553096e-02 9.99525144e-01 -1.39823293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.047719421 meters Centerline goodness [0,1] 0.9503348327871521 Centerline is valid? [False, True] Translation: X:28.46, Y:0.30, Z:-1.40 [[ 9.99699876e-01 5.73798458e-03 -2.38166546e-02 2.84595138e+01] [-6.30233893e-03 9.99699516e-01 -2.36887610e-02 2.97249931e-01] [ 2.36735723e-02 2.38317521e-02 9.99435646e-01 -1.39607727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.077719421 meters Centerline goodness [0,1] 0.9494131765758802 Centerline is valid? [True, False] Translation: X:28.46, Y:0.29, Z:-1.40 [[ 9.99696709e-01 5.74477806e-03 -2.39476056e-02 2.84596608e+01] [-6.28383816e-03 9.99727188e-01 -2.24958405e-02 2.93046644e-01] [ 2.38118388e-02 2.26395006e-02 9.99460079e-01 -1.39579878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.107719421 meters Centerline goodness [0,1] 0.9511359464861117 Centerline is valid? [False, True] Translation: X:28.46, Y:0.29, Z:-1.40 [[ 9.99704575e-01 2.98126047e-03 -2.41220776e-02 2.84612583e+01] [-3.56276622e-03 9.99703208e-01 -2.40998326e-02 2.88220927e-01] [ 2.40430705e-02 2.41786542e-02 9.99418493e-01 -1.39722124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.137719421 meters Centerline goodness [0,1] 0.9505657766199935 Centerline is valid? [True, True] Translation: X:28.49, Y:0.27, Z:-1.39 [[ 9.99680548e-01 -6.82892638e-04 -2.52652980e-02 2.84908447e+01] [ 6.69108572e-04 9.99999623e-01 -5.54023005e-04 2.74046234e-01] [ 2.52656669e-02 5.36940794e-04 9.99680628e-01 -1.39361294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.167719421 meters Centerline goodness [0,1] 0.9507642143876095 Centerline is valid? [True, True] Translation: X:28.52, Y:0.27, Z:-1.39 [[ 9.99692014e-01 -2.37236595e-03 -2.47032169e-02 2.85184387e+01] [ 2.35964404e-03 9.99997068e-01 -5.44127202e-04 2.71595939e-01] [ 2.47044354e-02 4.85668820e-04 9.99694681e-01 -1.39247608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.197719421 meters Centerline goodness [0,1] 0.950205945923902 Centerline is valid? [True, True] Translation: X:28.55, Y:0.27, Z:-1.39 [[ 9.99695042e-01 -3.93873786e-03 -2.43784708e-02 2.85461706e+01] [ 3.92675323e-03 9.99992145e-01 -5.39459020e-04 2.69156831e-01] [ 2.43804041e-02 4.43566269e-04 9.99702655e-01 -1.39255761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22771942099999 meters Centerline goodness [0,1] 0.953353185934568 Centerline is valid? [True, True] Translation: X:28.57, Y:0.27, Z:-1.39 [[ 9.99700831e-01 -3.43206620e-03 -2.42171473e-02 2.85747914e+01] [ 3.41989967e-03 9.99994004e-01 -5.43791813e-04 2.68027296e-01] [ 2.42188685e-02 4.60808913e-04 9.99706574e-01 -1.38903844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25771942099999 meters Centerline goodness [0,1] 0.9519197438982118 Centerline is valid? [True, True] Translation: X:28.60, Y:0.27, Z:-1.39 [[ 9.99720174e-01 1.93157710e-04 -2.36545185e-02 2.86025585e+01] [-2.05826677e-04 9.99999837e-01 -5.33149853e-04 2.74075401e-01] [ 2.36544116e-02 5.37869394e-04 9.99720051e-01 -1.39090879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28771942099999 meters Centerline goodness [0,1] 0.9506778252852135 Centerline is valid? [True, True] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99715781e-01 3.42347077e-03 -2.35931610e-02 2.86299235e+01] [-3.43703948e-03 9.99993950e-01 -5.34585206e-04 2.79232164e-01] [ 2.35911882e-02 6.15523893e-04 9.99721500e-01 -1.39138078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31771942099999 meters Centerline goodness [0,1] 0.9400975015234613 Centerline is valid? [True, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99690871e-01 7.80344943e-03 -2.36065487e-02 2.86305597e+01] [-7.73813435e-03 9.99965979e-01 2.85690569e-03 2.81700685e-01] [ 2.36280393e-02 -2.67335189e-03 9.99717244e-01 -1.39221263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.347719421 meters Centerline goodness [0,1] 0.9480479931786345 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99685457e-01 8.17523946e-03 -2.37097357e-02 2.86312471e+01] [-8.11452529e-03 9.99963550e-01 2.65580964e-03 2.82683743e-01] [ 2.37305834e-02 -2.46258102e-03 9.99715357e-01 -1.39293916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.377719421 meters Centerline goodness [0,1] 0.9424782361077211 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99677587e-01 9.14684477e-03 -2.36866601e-02 2.86312677e+01] [-9.07164310e-03 9.99953471e-01 3.28036532e-03 2.81270936e-01] [ 2.37155630e-02 -3.06443076e-03 9.99714050e-01 -1.39310610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.407719421 meters Centerline goodness [0,1] 0.9406679684321861 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99676590e-01 9.11453825e-03 -2.37411118e-02 2.86319326e+01] [-9.04456512e-03 9.99954436e-01 3.05305585e-03 2.81445868e-01] [ 2.37678572e-02 -2.83734043e-03 9.99713478e-01 -1.39382313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.437719421 meters Centerline goodness [0,1] 0.9406679684321861 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99676590e-01 9.11453825e-03 -2.37411118e-02 2.86319326e+01] [-9.04456512e-03 9.99954436e-01 3.05305585e-03 2.81445868e-01] [ 2.37678572e-02 -2.83734043e-03 9.99713478e-01 -1.39382313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.467719421 meters Centerline goodness [0,1] 0.9306644990855517 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99671114e-01 9.49292693e-03 -2.38232893e-02 2.86328914e+01] [-9.42902540e-03 9.99951645e-01 2.79321519e-03 2.83793562e-01] [ 2.38486531e-02 -2.56766614e-03 9.99712283e-01 -1.39492793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.497719421 meters Centerline goodness [0,1] 0.9277878411658153 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.39 [[ 9.99668674e-01 9.51960548e-03 -2.39148311e-02 2.86330454e+01] [-9.45944864e-03 9.99951807e-01 2.62733272e-03 2.84295556e-01] [ 2.39386898e-02 -2.40024110e-03 9.99710547e-01 -1.39492711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.527719421 meters Centerline goodness [0,1] 0.9180347854356307 Centerline is valid? [False, False] Translation: X:28.63, Y:0.28, Z:-1.40 [[ 9.99660439e-01 9.87148349e-03 -2.41155636e-02 2.86337236e+01] [-9.80110468e-03 9.99947363e-01 3.03485653e-03 2.82270234e-01] [ 2.41442527e-02 -2.79746685e-03 9.99704571e-01 -1.39527885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.557719421 meters Centerline goodness [0,1] 0.9130328669053043 Centerline is valid? [False, False] Translation: X:28.64, Y:0.28, Z:-1.40 [[ 9.99661017e-01 9.38784900e-03 -2.42841208e-02 2.86355780e+01] [-9.32119526e-03 9.99952477e-01 2.85648909e-03 2.80285564e-01] [ 2.43097831e-02 -2.62916376e-03 9.99701016e-01 -1.39697275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.587719421 meters Centerline goodness [0,1] 0.9124294931623584 Centerline is valid? [False, False] Translation: X:28.64, Y:0.28, Z:-1.40 [[ 9.99656950e-01 9.11038202e-03 -2.45557215e-02 2.86367357e+01] [-9.04554592e-03 9.99955306e-01 2.75015312e-03 2.79734693e-01] [ 2.45796790e-02 -2.52708977e-03 9.99694680e-01 -1.39771324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61771942099999 meters Centerline goodness [0,1] 0.9230973324897442 Centerline is valid? [False, False] Translation: X:28.64, Y:0.28, Z:-1.40 [[ 9.99681107e-01 5.36683709e-03 -2.46755263e-02 2.86373707e+01] [-5.38438192e-03 9.99985296e-01 -6.44634760e-04 2.78362430e-01] [ 2.46717038e-02 7.77291648e-04 9.99695305e-01 -1.39828309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64771942099999 meters Centerline goodness [0,1] 0.930583870178586 Centerline is valid? [False, False] Translation: X:28.64, Y:0.28, Z:-1.40 [[ 9.99679408e-01 4.49530835e-03 -2.49173222e-02 2.86389728e+01] [-4.51743728e-03 9.99989450e-01 -8.31875358e-04 2.76318858e-01] [ 2.49133198e-02 9.44171106e-04 9.99689169e-01 -1.39939136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67771942099999 meters Centerline goodness [0,1] 0.9350098840408405 Centerline is valid? [False, False] Translation: X:28.64, Y:0.27, Z:-1.40 [[ 9.99682791e-01 3.81116230e-03 -2.48956207e-02 2.86392146e+01] [-3.82580306e-03 9.99992536e-01 -5.40481724e-04 2.73496270e-01] [ 2.48933750e-02 6.35556020e-04 9.99689910e-01 -1.39938587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.707719421 meters Centerline goodness [0,1] 0.9418146962249914 Centerline is valid? [False, False] Translation: X:28.64, Y:0.27, Z:-1.40 [[ 9.99689357e-01 -3.61501665e-03 -2.46600937e-02 2.86372398e+01] [ 3.45395929e-03 9.99972449e-01 -6.57056326e-03 2.69089305e-01] [ 2.46831669e-02 6.48334721e-03 9.99674301e-01 -1.39725667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.737719421 meters Centerline goodness [0,1] 0.9445317121932312 Centerline is valid? [False, False] Translation: X:28.64, Y:0.27, Z:-1.40 [[ 9.99628084e-01 -1.17532453e-02 -2.46080254e-02 2.86370764e+01] [ 1.14281553e-02 9.99846109e-01 -1.33099482e-02 2.65438121e-01] [ 2.47606736e-02 1.30237737e-02 9.99608569e-01 -1.39679174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.767719421 meters Centerline goodness [0,1] 0.9449165494895152 Centerline is valid? [False, False] Translation: X:28.64, Y:0.26, Z:-1.40 [[ 9.99612198e-01 -1.28103548e-02 -2.47254549e-02 2.86377949e+01] [ 1.24907755e-02 9.99837001e-01 -1.30365721e-02 2.62640584e-01] [ 2.48884278e-02 1.27226764e-02 9.99609274e-01 -1.39690723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.797719421 meters Centerline goodness [0,1] 0.9453557473135786 Centerline is valid? [False, False] Translation: X:28.64, Y:0.26, Z:-1.40 [[ 9.99530250e-01 -1.80250592e-02 -2.47866065e-02 2.86394487e+01] [ 1.76039318e-02 9.99698721e-01 -1.71046531e-02 2.61387565e-01] [ 2.50874512e-02 1.66602764e-02 9.99546425e-01 -1.39831294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.827719421 meters Centerline goodness [0,1] 0.9443297704931434 Centerline is valid? [False, False] Translation: X:28.64, Y:0.26, Z:-1.40 [[ 9.99517931e-01 -1.82931425e-02 -2.50852028e-02 2.86402684e+01] [ 1.78764991e-02 9.99700157e-01 -1.67340098e-02 2.59627819e-01] [ 2.53837988e-02 1.62775073e-02 9.99545249e-01 -1.39848357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.857719421 meters Centerline goodness [0,1] 0.9500776207206472 Centerline is valid? [False, True] Translation: X:28.64, Y:0.26, Z:-1.40 [[ 9.99523327e-01 -1.81280594e-02 -2.49898578e-02 2.86382449e+01] [ 1.77394426e-02 9.99719592e-01 -1.56859422e-02 2.55951984e-01] [ 2.52672062e-02 1.52351590e-02 9.99564634e-01 -1.39582060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.887719421 meters Centerline goodness [0,1] 0.9504711678011488 Centerline is valid? [True, True] Translation: X:28.67, Y:0.25, Z:-1.39 [[ 9.99570318e-01 -1.73400170e-02 -2.36326856e-02 2.86665114e+01] [ 1.73346374e-02 9.99849650e-01 -4.32493555e-04 2.52670555e-01] [ 2.36366319e-02 2.26436849e-05 9.99720616e-01 -1.39140046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.917719421 meters Centerline goodness [0,1] 0.9523245846769256 Centerline is valid? [True, True] Translation: X:28.69, Y:0.26, Z:-1.39 [[ 9.99649113e-01 -1.50454567e-02 -2.18010221e-02 2.86941590e+01] [ 1.50402830e-02 9.99886808e-01 -4.01269474e-04 2.59174801e-01] [ 2.18045916e-02 7.32351323e-05 9.99762249e-01 -1.39250779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.947719421 meters Centerline goodness [0,1] 0.9521551636044063 Centerline is valid? [True, True] Translation: X:28.72, Y:0.26, Z:-1.39 [[ 9.99661775e-01 -1.44816507e-02 -2.16013211e-02 2.87218919e+01] [ 1.44762523e-02 9.99895131e-01 -4.06266381e-04 2.62639200e-01] [ 2.16049392e-02 9.34227961e-05 9.99766582e-01 -1.39316109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97771942099999 meters Centerline goodness [0,1] 0.9569662095984329 Centerline is valid? [True, True] Translation: X:28.75, Y:0.27, Z:-1.39 [[ 9.99720981e-01 -1.27791570e-02 -1.98658725e-02 2.87503451e+01] [ 1.27741327e-02 9.99918335e-01 -3.79791222e-04 2.66727960e-01] [ 1.98691036e-02 1.25915961e-04 9.99802582e-01 -1.38969656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00771942099999 meters Centerline goodness [0,1] 0.957000449401479 Centerline is valid? [True, True] Translation: X:28.78, Y:0.27, Z:-1.39 [[ 9.99708759e-01 -1.42248748e-02 -1.94948945e-02 2.87791404e+01] [ 1.42201949e-02 9.99898816e-01 -3.78668411e-04 2.68736949e-01] [ 1.94983085e-02 1.01336927e-04 9.99809885e-01 -1.39108464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03771942099999 meters Centerline goodness [0,1] 0.9546214035373706 Centerline is valid? [True, True] Translation: X:28.81, Y:0.27, Z:-1.39 [[ 9.99667024e-01 -1.52557703e-02 -2.08111144e-02 2.88074171e+01] [ 1.52506449e-02 9.99883620e-01 -4.04978187e-04 2.69346302e-01] [ 2.08148707e-02 8.74604229e-05 9.99783343e-01 -1.39379163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06771942099999 meters Centerline goodness [0,1] 0.9499072356215214 Centerline is valid? [True, False] Translation: X:28.81, Y:0.27, Z:-1.40 [[ 9.99686587e-01 -1.34704133e-02 -2.11015620e-02 2.88102132e+01] [ 1.35102686e-02 9.99907205e-01 1.74730949e-03 2.70329689e-01] [ 2.10760669e-02 -2.03184963e-03 9.99775810e-01 -1.39620879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.097719421 meters Centerline goodness [0,1] 0.9477989474113663 Centerline is valid? [False, False] Translation: X:28.81, Y:0.27, Z:-1.40 [[ 9.99683728e-01 -1.35565997e-02 -2.11816331e-02 2.88105292e+01] [ 1.35899897e-02 9.99906625e-01 1.43320897e-03 2.71643129e-01] [ 2.11602258e-02 -1.72061386e-03 9.99774617e-01 -1.39643387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.127719421 meters Centerline goodness [0,1] 0.9512756765568959 Centerline is valid? [False, True] Translation: X:28.82, Y:0.27, Z:-1.40 [[ 9.99815698e-01 -9.22557051e-03 -1.68362560e-02 2.88186463e+01] [ 9.13240008e-03 9.99942604e-01 -5.60243561e-03 2.74620666e-01] [ 1.68869753e-02 5.44764765e-03 9.99842564e-01 -1.39775480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.157719421 meters Centerline goodness [0,1] 0.9530983513359863 Centerline is valid? [True, True] Translation: X:28.85, Y:0.28, Z:-1.40 [[ 9.99845633e-01 -7.08127524e-03 -1.60799489e-02 2.88464181e+01] [ 7.07868370e-03 9.99974922e-01 -2.18076775e-04 2.77062650e-01] [ 1.60810900e-02 1.04218238e-04 9.99870685e-01 -1.39637621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.187719421 meters Centerline goodness [0,1] 0.9540382030709078 Centerline is valid? [True, True] Translation: X:28.87, Y:0.29, Z:-1.40 [[ 9.99892899e-01 1.37053759e-03 -1.45709274e-02 2.88739868e+01] [-1.37357705e-03 9.99999037e-01 -1.98591730e-04 2.91550780e-01] [ 1.45706411e-02 2.18584752e-04 9.99893819e-01 -1.39758379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.217719421 meters Centerline goodness [0,1] 0.9542194694592723 Centerline is valid? [True, True] Translation: X:28.90, Y:0.30, Z:-1.40 [[ 9.99858848e-01 7.42025269e-03 -1.50739393e-02 2.89032342e+01] [-7.42419830e-03 9.99972419e-01 -2.05807279e-04 3.01966756e-01] [ 1.50719964e-02 3.17690144e-04 9.99886361e-01 -1.39851516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.247719421 meters Centerline goodness [0,1] 0.9416568240133588 Centerline is valid? [True, False] Translation: X:28.90, Y:0.31, Z:-1.40 [[ 9.99692287e-01 1.95935667e-02 -1.52125893e-02 2.89038669e+01] [-1.94340391e-02 9.99755325e-01 1.05645206e-02 3.05967989e-01] [ 1.54158637e-02 -1.02656277e-02 9.99828469e-01 -1.39860571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.277719421 meters Centerline goodness [0,1] 0.9419438743370385 Centerline is valid? [False, False] Translation: X:28.90, Y:0.31, Z:-1.40 [[ 9.99668282e-01 2.06259783e-02 -1.54238327e-02 2.89042131e+01] [-2.04671514e-02 9.99736585e-01 1.03854224e-02 3.07862131e-01] [ 1.56339793e-02 -1.00662954e-02 9.99827109e-01 -1.39883746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.307719421 meters Centerline goodness [0,1] 0.9329109811565952 Centerline is valid? [False, False] Translation: X:28.90, Y:0.31, Z:-1.40 [[ 9.99642751e-01 2.18655800e-02 -1.53709462e-02 2.89036298e+01] [-2.17066251e-02 9.99709944e-01 1.04331475e-02 3.09417639e-01] [ 1.55946146e-02 -1.00957689e-02 9.99827427e-01 -1.39849365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.337719421 meters Centerline goodness [0,1] 0.8949253245431978 Centerline is valid? [False, False] Translation: X:28.90, Y:0.31, Z:-1.40 [[ 9.99643868e-01 2.18016362e-02 -1.53891576e-02 2.89035823e+01] [-2.16482744e-02 9.99715005e-01 1.00628058e-02 3.10303264e-01] [ 1.56041574e-02 -9.72607339e-03 9.99830943e-01 -1.39846128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36771942099999 meters Centerline goodness [0,1] 0.9261421423050323 Centerline is valid? [False, False] Translation: X:28.90, Y:0.31, Z:-1.40 [[ 9.99640970e-01 2.20411571e-02 -1.52354303e-02 2.89026313e+01] [-2.18850399e-02 9.99707033e-01 1.03388797e-02 3.09770940e-01] [ 1.54588477e-02 -1.00017397e-02 9.99830480e-01 -1.39761212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39771942099999 meters Centerline goodness [0,1] 0.8968433832456495 Centerline is valid? [False, False] Translation: X:28.90, Y:0.31, Z:-1.40 [[ 9.99639449e-01 2.20747329e-02 -1.52865067e-02 2.89030465e+01] [-2.19189427e-02 9.99706846e-01 1.02850072e-02 3.09668508e-01] [ 1.55090642e-02 -9.94623492e-03 9.99830256e-01 -1.39802648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42771942099999 meters Centerline goodness [0,1] 0.9212236003340054 Centerline is valid? [False, False] Translation: X:28.91, Y:0.31, Z:-1.40 [[ 9.99652172e-01 2.14285314e-02 -1.53738030e-02 2.89054952e+01] [-2.12815749e-02 9.99726855e-01 9.65966043e-03 3.09378912e-01] [ 1.55765960e-02 -9.32912178e-03 9.99835155e-01 -1.40083529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.457719421 meters Centerline goodness [0,1] 0.9113107672338613 Centerline is valid? [False, False] Translation: X:28.91, Y:0.31, Z:-1.40 [[ 9.99655159e-01 2.10850722e-02 -1.56519003e-02 2.89075879e+01] [-2.09358249e-02 9.99734357e-01 9.63881069e-03 3.06458538e-01] [ 1.58509775e-02 -9.30780139e-03 9.99831041e-01 -1.40272097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.487719421 meters Centerline goodness [0,1] 0.9043382667290976 Centerline is valid? [False, False] Translation: X:28.91, Y:0.31, Z:-1.40 [[ 9.99716887e-01 1.80126488e-02 -1.55463854e-02 2.89073137e+01] [-1.79168696e-02 9.99819768e-01 6.27832320e-03 3.05413036e-01] [ 1.56566727e-02 -5.99800317e-03 9.99859436e-01 -1.40295711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.517719421 meters Centerline goodness [0,1] 0.9136819048391677 Centerline is valid? [False, False] Translation: X:28.91, Y:0.30, Z:-1.40 [[ 9.99769727e-01 1.46130698e-02 -1.57146810e-02 2.89086275e+01] [-1.45600372e-02 9.99887928e-01 3.48385838e-03 3.01564769e-01] [ 1.57638297e-02 -3.25424980e-03 9.99870447e-01 -1.40425228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.547719421 meters Centerline goodness [0,1] 0.9123790945297895 Centerline is valid? [False, False] Translation: X:28.91, Y:0.30, Z:-1.40 [[ 9.99814036e-01 1.14588265e-02 -1.55109202e-02 2.89083113e+01] [-1.14577335e-02 9.99934345e-01 1.59329121e-04 3.01033115e-01] [ 1.55117276e-02 1.84204988e-05 9.99879686e-01 -1.40456078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.577719421 meters Centerline goodness [0,1] 0.913560424372993 Centerline is valid? [False, False] Translation: X:28.91, Y:0.30, Z:-1.40 [[ 9.99843581e-01 8.69739564e-03 -1.54002926e-02 2.89075628e+01] [-8.72961993e-03 9.99959843e-01 -2.02645971e-03 2.97255296e-01] [ 1.53820492e-02 2.16058143e-03 9.99879355e-01 -1.40397020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.607719421 meters Centerline goodness [0,1] 0.90903724811724 Centerline is valid? [False, False] Translation: X:28.91, Y:0.30, Z:-1.40 [[ 9.99841393e-01 8.93125723e-03 -1.54084723e-02 2.89075691e+01] [-8.95322064e-03 9.99958998e-01 -1.35701770e-03 2.95041565e-01] [ 1.53957206e-02 1.49475792e-03 9.99880362e-01 -1.40385719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.637719421 meters Centerline goodness [0,1] 0.8955151022068545 Centerline is valid? [False, False] Translation: X:28.91, Y:0.29, Z:-1.40 [[ 9.99836804e-01 9.69160068e-03 -1.52459365e-02 2.89072494e+01] [-9.69821843e-03 9.99952906e-01 -3.60191061e-04 2.92796486e-01] [ 1.52417277e-02 5.07990701e-04 9.99883709e-01 -1.40384363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.667719421 meters Centerline goodness [0,1] 0.9194476174934726 Centerline is valid? [False, False] Translation: X:28.91, Y:0.29, Z:-1.40 [[ 9.99832170e-01 1.00651976e-02 -1.53076039e-02 2.89074125e+01] [-1.00651972e-02 9.99949342e-01 7.70728774e-05 2.91615167e-01] [ 1.53076042e-02 7.70141093e-05 9.99882829e-01 -1.40387510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.697719421 meters Centerline goodness [0,1] 0.8187017095577052 Centerline is valid? [False, False] Translation: X:28.91, Y:0.29, Z:-1.40 [[ 9.99785685e-01 1.34339106e-02 -1.57516297e-02 2.89091175e+01] [-1.33878824e-02 9.99905806e-01 3.02394063e-03 2.87988540e-01] [ 1.57907694e-02 -2.81241159e-03 9.99871363e-01 -1.40498717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72771942099999 meters Centerline goodness [0,1] 0.7813914773534726 Centerline is valid? [False, False] Translation: X:28.91, Y:0.29, Z:-1.41 [[ 9.99774063e-01 1.42803645e-02 -1.57446829e-02 2.89094890e+01] [-1.42296174e-02 9.99893207e-01 3.33046222e-03 2.87724439e-01] [ 1.57905617e-02 -3.10566893e-03 9.99870498e-01 -1.40560054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75771942099999 meters Centerline goodness [0,1] 0.7894629821671852 Centerline is valid? [False, False] Translation: X:28.91, Y:0.29, Z:-1.41 [[ 9.99693742e-01 1.91754997e-02 -1.56435783e-02 2.89100488e+01] [-1.90491717e-02 9.99785046e-01 8.18483292e-03 2.85802812e-01] [ 1.57971639e-02 -7.88432904e-03 9.99844131e-01 -1.40638357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78771942099999 meters Centerline goodness [0,1] 0.7853495799344983 Centerline is valid? [False, False] Translation: X:28.91, Y:0.29, Z:-1.41 [[ 9.99683639e-01 1.97828355e-02 -1.55326192e-02 2.89094752e+01] [-1.96488417e-02 9.99768808e-01 8.73235357e-03 2.85073045e-01] [ 1.57017789e-02 -8.42439301e-03 9.99841229e-01 -1.40594086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81771942099999 meters Centerline goodness [0,1] 0.7742622452083967 Centerline is valid? [False, False] Translation: X:28.91, Y:0.28, Z:-1.41 [[ 9.99799486e-01 1.98157503e-02 -2.88509685e-03 2.89107358e+01] [-1.97995117e-02 9.99788554e-01 5.55220946e-03 2.81268150e-01] [ 2.99450800e-03 -5.49397266e-03 9.99980424e-01 -1.40695021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.847719421 meters Centerline goodness [0,1] 0.8077581289218483 Centerline is valid? [False, False] Translation: X:28.91, Y:0.28, Z:-1.41 [[ 9.99902212e-01 1.37431640e-02 -2.58677361e-03 2.89095142e+01] [-1.37439244e-02 9.99905510e-01 -2.76425319e-04 2.77313766e-01] [ 2.58273023e-03 3.11950709e-04 9.99996616e-01 -1.40655810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.877719421 meters Centerline goodness [0,1] 0.8152083375657722 Centerline is valid? [False, False] Translation: X:28.91, Y:0.27, Z:-1.41 [[ 9.99933918e-01 1.10746037e-02 -3.08422311e-03 2.89125823e+01] [-1.10823179e-02 9.99935475e-01 -2.49542199e-03 2.74716287e-01] [ 3.05638830e-03 2.52943743e-03 9.99992130e-01 -1.40903722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.907719421 meters Centerline goodness [0,1] 0.8593613075465161 Centerline is valid? [False, False] Translation: X:28.91, Y:0.27, Z:-1.41 [[ 9.99969181e-01 7.28277855e-03 -2.93213251e-03 2.89134212e+01] [-7.29733162e-03 9.99960956e-01 -4.98358477e-03 2.68944154e-01] [ 2.89572369e-03 5.00482793e-03 9.99983283e-01 -1.41030359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.937719421 meters Centerline goodness [0,1] 0.872765853260426 Centerline is valid? [False, False] Translation: X:28.91, Y:0.27, Z:-1.41 [[ 9.99972305e-01 6.84825353e-03 -2.91403208e-03 2.89134560e+01] [-6.86064335e-03 9.99967378e-01 -4.26324011e-03 2.65403737e-01] [ 2.88474127e-03 4.28311417e-03 9.99986667e-01 -1.41004020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.967719421 meters Centerline goodness [0,1] 0.9179705828352271 Centerline is valid? [False, False] Translation: X:28.91, Y:0.26, Z:-1.41 [[ 9.99996083e-01 -2.90965001e-04 -2.78378700e-03 2.89129381e+01] [ 2.63518914e-04 9.99951408e-01 -9.85455462e-03 2.59485241e-01] [ 2.78651906e-03 9.85378244e-03 9.99947568e-01 -1.40945203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.997719421 meters Centerline goodness [0,1] 0.9322522007311942 Centerline is valid? [False, False] Translation: X:28.91, Y:0.26, Z:-1.41 [[ 9.99988510e-01 -3.74466660e-03 -2.99285500e-03 2.89130753e+01] [ 3.70695142e-03 9.99914882e-01 -1.25094721e-02 2.55995451e-01] [ 3.03944406e-03 1.24982340e-02 9.99917275e-01 -1.40905035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.027719421 meters Centerline goodness [0,1] 0.9528744542821005 Centerline is valid? [False, True] Translation: X:28.92, Y:0.25, Z:-1.41 [[ 9.99953376e-01 -9.06520661e-03 -3.32675577e-03 2.89151664e+01] [ 9.01101231e-03 9.99832041e-01 -1.59590432e-02 2.50455907e-01] [ 3.47086904e-03 1.59283217e-02 9.99867112e-01 -1.41030763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.057719421 meters Centerline goodness [0,1] 0.9555314755372002 Centerline is valid? [True, True] Translation: X:28.94, Y:0.24, Z:-1.41 [[ 9.99891393e-01 -1.37341947e-02 -5.34552123e-03 2.89440263e+01] [ 1.37330456e-02 9.99905666e-01 -2.51613820e-04 2.42115471e-01] [ 5.34847267e-03 1.78176206e-04 9.99985681e-01 -1.40867253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.087719421 meters Centerline goodness [0,1] 0.9603998934710016 Centerline is valid? [True, True] Translation: X:28.97, Y:0.23, Z:-1.41 [[ 9.99737477e-01 -2.25263083e-02 -4.18843558e-03 2.89734942e+01] [ 2.25256805e-02 9.99746245e-01 -1.97006791e-04 2.29872641e-01] [ 4.19181058e-03 1.02607710e-04 9.99991209e-01 -1.40818849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11771942099999 meters Centerline goodness [0,1] 0.9625908114192162 Centerline is valid? [True, True] Translation: X:29.00, Y:0.23, Z:-1.41 [[ 9.99638278e-01 -2.67655673e-02 -2.62995305e-03 2.90030244e+01] [ 2.67653216e-02 9.99641736e-01 -1.28577952e-04 2.25623935e-01] [ 2.63245229e-03 5.81399029e-05 9.99996533e-01 -1.40690295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14771942099999 meters Centerline goodness [0,1] 0.9652424446760253 Centerline is valid? [True, True] Translation: X:29.03, Y:0.22, Z:-1.40 [[ 9.99479934e-01 -3.22467491e-02 9.45539692e-05 2.90326664e+01] [ 3.22467493e-02 9.99479938e-01 -5.38817766e-07 2.19687137e-01] [-9.44874202e-05 3.58759569e-06 9.99999996e-01 -1.40361276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17771942099999 meters Centerline goodness [0,1] 0.9650848844344446 Centerline is valid? [True, True] Translation: X:29.06, Y:0.22, Z:-1.40 [[ 9.99405378e-01 -3.44766571e-02 5.01388560e-04 2.90620610e+01] [ 3.44766510e-02 9.99405503e-01 2.09368443e-05 2.19045714e-01] [-5.01812319e-04 -3.63819641e-06 9.99999874e-01 -1.40383333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.207719421 meters Centerline goodness [0,1] 0.9607682374403017 Centerline is valid? [True, True] Translation: X:29.09, Y:0.22, Z:-1.41 [[ 9.99312121e-01 -3.70327327e-02 -1.96526765e-03 2.90896015e+01] [ 3.70326144e-02 9.99314053e-01 -9.66004211e-05 2.19179642e-01] [ 1.96749696e-03 2.37549726e-05 9.99998064e-01 -1.40719936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.237719421 meters Centerline goodness [0,1] 0.9604099883618842 Centerline is valid? [True, True] Translation: X:29.12, Y:0.22, Z:-1.41 [[ 9.99291442e-01 -3.75055133e-02 -3.15449658e-03 2.91184757e+01] [ 3.75052053e-02 9.99296420e-01 -1.56738471e-04 2.21878721e-01] [ 3.15815570e-03 3.83173706e-05 9.99995012e-01 -1.40900973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.267719421 meters Centerline goodness [0,1] 0.9581630150425114 Centerline is valid? [True, True] Translation: X:29.15, Y:0.23, Z:-1.41 [[ 9.99299549e-01 -3.71270588e-02 -4.68969268e-03 2.91458181e+01] [ 3.71263946e-02 9.99310552e-01 -2.28630531e-04 2.25525480e-01] [ 4.69494776e-03 5.43590049e-05 9.99988977e-01 -1.41121646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.297719421 meters Centerline goodness [0,1] 0.9585616158312209 Centerline is valid? [True, True] Translation: X:29.17, Y:0.23, Z:-1.41 [[ 9.99207010e-01 -3.95145834e-02 -4.89371485e-03 2.91747741e+01] [ 3.95138695e-02 9.99218993e-01 -2.42510823e-04 2.25167934e-01] [ 4.89947554e-03 4.89489046e-05 9.99987996e-01 -1.40910962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.327719421 meters Centerline goodness [0,1] 0.9589738348323794 Centerline is valid? [True, True] Translation: X:29.20, Y:0.23, Z:-1.41 [[ 9.99072801e-01 -4.28766973e-02 -3.88943974e-03 2.92038037e+01] [ 4.28762629e-02 9.99080371e-01 -1.95049642e-04 2.26530068e-01] [ 3.89422598e-03 2.81041513e-05 9.99992417e-01 -1.40973690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.357719421 meters Centerline goodness [0,1] 0.9589738348323794 Centerline is valid? [True, True] Translation: X:29.23, Y:0.23, Z:-1.41 [[ 9.99057930e-01 -4.32218290e-02 -3.88933376e-03 2.92313529e+01] [ 4.32213888e-02 9.99065500e-01 -1.97196527e-04 2.28112296e-01] [ 3.89422237e-03 2.89083473e-05 9.99992417e-01 -1.41023362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.387719421 meters Centerline goodness [0,1] 0.9583690987124464 Centerline is valid? [True, True] Translation: X:29.26, Y:0.23, Z:-1.41 [[ 9.98753079e-01 -4.98480553e-02 -2.73113208e-03 2.92589337e+01] [ 4.98478690e-02 9.98756813e-01 -1.36308366e-04 2.29115367e-01] [ 2.73453148e-03 -2.71399664e-09 9.99996261e-01 -1.41003764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.417719421 meters Centerline goodness [0,1] 0.9574054761466577 Centerline is valid? [True, True] Translation: X:29.29, Y:0.23, Z:-1.41 [[ 9.98613771e-01 -5.25919703e-02 -2.14967325e-03 2.92872527e+01] [ 5.25918495e-02 9.98616085e-01 -1.12684809e-04 2.29778268e-01] [ 2.15262460e-03 -5.26690251e-07 9.99997683e-01 -1.40993162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.447719421 meters Centerline goodness [0,1] 0.9573475168633205 Centerline is valid? [True, True] Translation: X:29.32, Y:0.23, Z:-1.41 [[ 9.98386003e-01 -5.67618543e-02 -1.86547760e-03 2.93158729e+01] [ 5.67617695e-02 9.98387746e-01 -9.83821737e-05 2.30778717e-01] [ 1.86805433e-03 -7.66442417e-06 9.99998255e-01 -1.40910056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47771942099999 meters Centerline goodness [0,1] 0.9586773498190101 Centerline is valid? [True, True] Translation: X:29.34, Y:0.23, Z:-1.41 [[ 9.98342986e-01 -5.75333947e-02 -1.09148526e-03 2.93439777e+01] [ 5.75333662e-02 9.98343582e-01 -5.74641989e-05 2.34668555e-01] [ 1.09298342e-03 -5.42784150e-06 9.99999403e-01 -1.40823250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50771942099999 meters Centerline goodness [0,1] 0.959264687919873 Centerline is valid? [True, True] Translation: X:29.37, Y:0.25, Z:-1.41 [[ 9.98482655e-01 -5.50667832e-02 1.92855927e-04 2.93722495e+01] [ 5.50667834e-02 9.98482674e-01 4.27451356e-06 2.48058751e-01] [-1.92798686e-04 6.35192793e-06 9.99999981e-01 -1.40883229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53771942099999 meters Centerline goodness [0,1] 0.9567252657399836 Centerline is valid? [True, True] Translation: X:29.40, Y:0.27, Z:-1.41 [[ 9.98888408e-01 -4.70250583e-02 -3.25446585e-03 2.93986328e+01] [ 4.70247656e-02 9.98893710e-01 -1.66456231e-04 2.67081194e-01] [ 3.25869308e-03 1.32307064e-05 9.99994690e-01 -1.41338750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56771942099999 meters Centerline goodness [0,1] 0.9580522207048369 Centerline is valid? [True, True] Translation: X:29.43, Y:0.28, Z:-1.41 [[ 9.99137091e-01 -4.13702536e-02 -3.68447836e-03 2.94268591e+01] [ 4.13698248e-02 9.99143884e-01 -1.92534569e-04 2.77816685e-01] [ 3.68928922e-03 3.99422054e-05 9.99993194e-01 -1.41306817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.597719421 meters Centerline goodness [0,1] 0.9589797957144895 Centerline is valid? [True, True] Translation: X:29.45, Y:0.29, Z:-1.41 [[ 9.99332075e-01 -3.62091586e-02 -4.92962531e-03 2.94548147e+01] [ 3.62083464e-02 9.99344231e-01 -2.53942538e-04 2.88168195e-01] [ 4.93558766e-03 7.52793427e-05 9.99987817e-01 -1.41447891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.627719421 meters Centerline goodness [0,1] 0.9566784063842348 Centerline is valid? [True, True] Translation: X:29.48, Y:0.31, Z:-1.42 [[ 9.99612109e-01 -2.67331146e-02 -7.80851437e-03 2.94833518e+01] [ 2.67308188e-02 9.99642588e-01 -3.98254767e-04 3.06261646e-01] [ 7.81637011e-03 1.89372305e-04 9.99969434e-01 -1.41934396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.657719421 meters Centerline goodness [0,1] 0.9509817914891014 Centerline is valid? [True, True] Translation: X:29.51, Y:0.32, Z:-1.43 [[ 9.99676233e-01 -2.31878734e-02 -1.04762178e-02 2.95110789e+01] [ 2.31835279e-02 9.99731082e-01 -5.36064440e-04 3.17966190e-01] [ 1.04858307e-02 2.93015194e-04 9.99944979e-01 -1.42527239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.687719421 meters Centerline goodness [0,1] 0.9450066171230785 Centerline is valid? [True, False] Translation: X:29.51, Y:0.32, Z:-1.43 [[ 9.99796808e-01 -1.68085669e-02 -1.11272497e-02 2.95131529e+01] [ 1.68639733e-02 9.99845765e-01 4.90437732e-03 3.23615655e-01] [ 1.10430979e-02 -5.09103043e-03 9.99926063e-01 -1.42671527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.717719421 meters Centerline goodness [0,1] 0.9448945853827786 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.43 [[ 9.99796816e-01 -1.65703122e-02 -1.14782885e-02 2.95135093e+01] [ 1.66190597e-02 9.99853221e-01 4.16464746e-03 3.27401215e-01] [ 1.14075942e-02 -4.35455963e-03 9.99925450e-01 -1.42661266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.747719421 meters Centerline goodness [0,1] 0.9405205217426693 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.43 [[ 9.99790546e-01 -1.66238379e-02 -1.19378628e-02 2.95147148e+01] [ 1.66718118e-02 9.99853290e-01 3.93042242e-03 3.27711341e-01] [ 1.18707727e-02 -4.12862498e-03 9.99921016e-01 -1.42705744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.777719421 meters Centerline goodness [0,1] 0.9447912841229037 Centerline is valid? [False, False] Translation: X:29.52, Y:0.33, Z:-1.43 [[ 9.99792010e-01 -1.63136805e-02 -1.22393007e-02 2.95152279e+01] [ 1.63630464e-02 9.99858337e-01 3.94413966e-03 3.28374435e-01] [ 1.21732235e-02 -4.14359157e-03 9.99917318e-01 -1.42710557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.807719421 meters Centerline goodness [0,1] 0.9427219321148825 Centerline is valid? [False, False] Translation: X:29.52, Y:0.33, Z:-1.43 [[ 9.99792387e-01 -1.61110087e-02 -1.24747233e-02 2.95158013e+01] [ 1.61603740e-02 9.99861936e-01 3.86657919e-03 3.29348651e-01] [ 1.24107065e-02 -4.06737263e-03 9.99914712e-01 -1.42738183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.837719421 meters Centerline goodness [0,1] 0.9421828908554573 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.43 [[ 9.99801297e-01 -1.54408068e-02 -1.26074794e-02 2.95149751e+01] [ 1.54932582e-02 9.99871675e-01 4.07332251e-03 3.30631023e-01] [ 1.25429662e-02 -4.26784406e-03 9.99912226e-01 -1.42621154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86771942099999 meters Centerline goodness [0,1] 0.9379266776711296 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.43 [[ 9.99812139e-01 -1.47014701e-02 -1.26314751e-02 2.95142455e+01] [ 1.47614483e-02 9.99880146e-01 4.66826493e-03 3.30565418e-01] [ 1.25613308e-02 -4.85384681e-03 9.99909322e-01 -1.42532828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89771942099999 meters Centerline goodness [0,1] 0.9265071030243823 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.43 [[ 9.99826828e-01 -1.34953362e-02 -1.28136401e-02 2.95142607e+01] [ 1.35624780e-02 9.99894672e-01 5.16751168e-03 3.31401340e-01] [ 1.27425532e-02 -5.34040153e-03 9.99904549e-01 -1.42518628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92771942099999 meters Centerline goodness [0,1] 0.9344986163112485 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.43 [[ 9.99827432e-01 -1.31747846e-02 -1.30969572e-02 2.95147422e+01] [ 1.32434311e-02 9.99898944e-01 5.16856619e-03 3.31800987e-01] [ 1.30275389e-02 -5.34112292e-03 9.99900873e-01 -1.42523385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.957719421 meters Centerline goodness [0,1] 0.9075611443454198 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.42 [[ 9.99837429e-01 -1.23433875e-02 -1.31436850e-02 2.95143989e+01] [ 1.24164934e-02 9.99907813e-01 5.49505534e-03 3.32199931e-01] [ 1.30746457e-02 -5.65736048e-03 9.99898519e-01 -1.42483908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.987719421 meters Centerline goodness [0,1] 0.8908442814950606 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.42 [[ 9.99842970e-01 -1.19849557e-02 -1.30536128e-02 2.95139365e+01] [ 1.20617999e-02 9.99910293e-01 5.82407685e-03 3.31790299e-01] [ 1.29826405e-02 -5.98061236e-03 9.99897836e-01 -1.42449517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.017719421 meters Centerline goodness [0,1] 0.9248069890288501 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.42 [[ 9.99844208e-01 -1.14837400e-02 -1.34045927e-02 2.95136070e+01] [ 1.15696618e-02 9.99912906e-01 6.35002514e-03 3.30570128e-01] [ 1.33305032e-02 -6.50412246e-03 9.99889991e-01 -1.42327949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.047719421 meters Centerline goodness [0,1] 0.9200089534623446 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.42 [[ 9.99843427e-01 -1.11154999e-02 -1.37683447e-02 2.95139772e+01] [ 1.12095701e-02 9.99914225e-01 6.77412399e-03 3.29633030e-01] [ 1.36918659e-02 -6.92740057e-03 9.99882265e-01 -1.42286348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.077719421 meters Centerline goodness [0,1] 0.8933336040774057 Centerline is valid? [False, False] Translation: X:29.51, Y:0.33, Z:-1.42 [[ 9.99845255e-01 -1.05365331e-02 -1.40871330e-02 2.95147875e+01] [ 1.06438739e-02 9.99914723e-01 7.56663342e-03 3.27737014e-01] [ 1.40062056e-02 -7.71540418e-03 9.99872141e-01 -1.42308220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.107719421 meters Centerline goodness [0,1] 0.895315293352836 Centerline is valid? [False, False] Translation: X:29.52, Y:0.33, Z:-1.42 [[ 9.99846402e-01 -1.03460196e-02 -1.41468042e-02 2.95157657e+01] [ 1.04572428e-02 9.99914815e-01 7.81083386e-03 3.27019188e-01] [ 1.40647881e-02 -7.95757070e-03 9.99869421e-01 -1.42413230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.137719421 meters Centerline goodness [0,1] 0.8504746835443038 Centerline is valid? [False, False] Translation: X:29.52, Y:0.32, Z:-1.43 [[ 9.99848914e-01 -9.33584235e-03 -1.46625607e-02 2.95197922e+01] [ 9.47184564e-03 9.99912508e-01 9.23365628e-03 3.23552030e-01] [ 1.45750739e-02 -9.37114271e-03 9.99849863e-01 -1.42759494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.167719421 meters Centerline goodness [0,1] 0.8269480256223141 Centerline is valid? [False, False] Translation: X:29.52, Y:0.32, Z:-1.43 [[ 9.99832288e-01 -1.05482751e-02 -1.49709623e-02 2.95206282e+01] [ 1.06747219e-02 9.99907812e-01 8.39150713e-03 3.18628038e-01] [ 1.48810662e-02 -8.54991063e-03 9.99852716e-01 -1.42785407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.197719421 meters Centerline goodness [0,1] 0.8620521767355054 Centerline is valid? [False, False] Translation: X:29.52, Y:0.32, Z:-1.43 [[ 9.99813167e-01 -1.24919742e-02 -1.47506199e-02 2.95191537e+01] [ 1.25869720e-02 9.99900522e-01 6.36507607e-03 3.16903546e-01] [ 1.46696402e-02 -6.54955250e-03 9.99870944e-01 -1.42663239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22771942099999 meters Centerline goodness [0,1] 0.8614541023558083 Centerline is valid? [False, False] Translation: X:29.52, Y:0.31, Z:-1.43 [[ 9.99816359e-01 -1.21971373e-02 -1.47809804e-02 2.95193569e+01] [ 1.23026422e-02 9.99899338e-01 7.06809931e-03 3.14533933e-01] [ 1.46932820e-02 -7.24864643e-03 9.99865773e-01 -1.42666823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25771942099999 meters Centerline goodness [0,1] 0.861121267519805 Centerline is valid? [False, False] Translation: X:29.52, Y:0.31, Z:-1.43 [[ 9.99807552e-01 -1.24703064e-02 -1.51443470e-02 2.95210876e+01] [ 1.25869558e-02 9.99891656e-01 7.63176637e-03 3.10247531e-01] [ 1.50475358e-02 -7.82091888e-03 9.99856192e-01 -1.42765153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28771942099999 meters Centerline goodness [0,1] 0.866071974094214 Centerline is valid? [False, False] Translation: X:29.52, Y:0.31, Z:-1.43 [[ 9.99803830e-01 -1.24830753e-02 -1.53777157e-02 2.95216839e+01] [ 1.26126802e-02 9.99885508e-01 8.36014075e-03 3.07436814e-01] [ 1.52715948e-02 -8.55245495e-03 9.99846805e-01 -1.42761801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31771942099999 meters Centerline goodness [0,1] 0.896471019211983 Centerline is valid? [False, False] Translation: X:29.52, Y:0.30, Z:-1.43 [[ 9.99751963e-01 -1.61040624e-02 -1.53841198e-02 2.95212631e+01] [ 1.62025897e-02 9.99848872e-01 6.30145284e-03 3.01116237e-01] [ 1.52803159e-02 -6.54915243e-03 9.99861801e-01 -1.42638475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.347719421 meters Centerline goodness [0,1] 0.9313503939412447 Centerline is valid? [False, False] Translation: X:29.52, Y:0.30, Z:-1.42 [[ 9.99682820e-01 -2.01565964e-02 -1.50987258e-02 2.95200541e+01] [ 2.02241513e-02 9.99786073e-01 4.33494714e-03 2.95178317e-01] [ 1.50081180e-02 -4.63893109e-03 9.99876611e-01 -1.42434952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.377719421 meters Centerline goodness [0,1] 0.9391437621334423 Centerline is valid? [False, False] Translation: X:29.52, Y:0.29, Z:-1.42 [[ 9.99672737e-01 -2.05400130e-02 -1.52488594e-02 2.95202141e+01] [ 2.06194341e-02 9.99774544e-01 5.06949160e-03 2.92143223e-01] [ 1.51412940e-02 -5.38225539e-03 9.99870878e-01 -1.42375548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.407719421 meters Centerline goodness [0,1] 0.9516211204173545 Centerline is valid? [False, True] Translation: X:29.52, Y:0.29, Z:-1.42 [[ 9.99586938e-01 -2.43419523e-02 -1.52781463e-02 2.95202624e+01] [ 2.43694865e-02 9.99701710e-01 1.61858850e-03 2.91111647e-01] [ 1.52341894e-02 -1.99024050e-03 9.99881972e-01 -1.42351182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.437719421 meters Centerline goodness [0,1] 0.9571640788750737 Centerline is valid? [True, True] Translation: X:29.55, Y:0.28, Z:-1.42 [[ 9.99363152e-01 -3.28892975e-02 -1.38414167e-02 2.95498617e+01] [ 3.28812417e-02 9.99458938e-01 -8.09238575e-04 2.82110308e-01] [ 1.38605429e-02 3.53600245e-04 9.99903876e-01 -1.42379163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.467719421 meters Centerline goodness [0,1] 0.9567099567099567 Centerline is valid? [True, True] Translation: X:29.58, Y:0.28, Z:-1.43 [[ 9.99209616e-01 -3.73626861e-02 -1.35710288e-02 2.95791777e+01] [ 3.73553307e-02 9.99301730e-01 -7.95158906e-04 2.79070574e-01] [ 1.35912619e-02 2.87580154e-04 9.99907593e-01 -1.42513176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.497719421 meters Centerline goodness [0,1] 0.9515624040763706 Centerline is valid? [True, True] Translation: X:29.61, Y:0.27, Z:-1.43 [[ 9.98869317e-01 -4.47620472e-02 -1.60139280e-02 2.96082789e+01] [ 4.47526489e-02 9.98997651e-01 -9.44940240e-04 2.74551396e-01] [ 1.60401739e-02 2.27206116e-04 9.99871322e-01 -1.43023833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.527719421 meters Centerline goodness [0,1] 0.9487347473589387 Centerline is valid? [True, False] Translation: X:29.61, Y:0.27, Z:-1.43 [[ 9.98815186e-01 -4.57485366e-02 -1.65920072e-02 2.96103117e+01] [ 4.57347840e-02 9.98952887e-01 -1.20756304e-03 2.72009238e-01] [ 1.66298778e-02 4.47300439e-04 9.99861614e-01 -1.43093175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.557719421 meters Centerline goodness [0,1] 0.9465304036791007 Centerline is valid? [False, False] Translation: X:29.61, Y:0.27, Z:-1.43 [[ 9.98819783e-01 -4.54941656e-02 -1.70094958e-02 2.96100743e+01] [ 4.54936062e-02 9.98964542e-01 -4.20024233e-04 2.69645620e-01] [ 1.70109918e-02 -3.54294790e-04 9.99855240e-01 -1.42944382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.587719421 meters Centerline goodness [0,1] 0.9531633655262727 Centerline is valid? [False, True] Translation: X:29.61, Y:0.27, Z:-1.43 [[ 9.98802646e-01 -4.57611760e-02 -1.72970581e-02 2.96100094e+01] [ 4.57711611e-02 9.98951935e-01 1.81623656e-04 2.67116898e-01] [ 1.72706183e-02 -9.73112619e-04 9.99850378e-01 -1.42824904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61771942099999 meters Centerline goodness [0,1] 0.9500794653408859 Centerline is valid? [True, True] Translation: X:29.64, Y:0.27, Z:-1.43 [[ 9.98757521e-01 -4.66119349e-02 -1.76278973e-02 2.96377552e+01] [ 4.66028131e-02 9.98913067e-01 -9.28118646e-04 2.69505399e-01] [ 1.76519984e-02 1.05455872e-04 9.99844186e-01 -1.43175594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64771942099999 meters Centerline goodness [0,1] 0.9471960033578346 Centerline is valid? [True, False] Translation: X:29.64, Y:0.27, Z:-1.43 [[ 9.98897927e-01 -4.33329101e-02 -1.80330492e-02 2.96391477e+01] [ 4.33925774e-02 9.99053800e-01 2.93056950e-03 2.69137144e-01] [ 1.78889962e-02 -3.70984028e-03 9.99833097e-01 -1.43261818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67771942099999 meters Centerline goodness [0,1] 0.9503167790721438 Centerline is valid? [False, True] Translation: X:29.64, Y:0.27, Z:-1.43 [[ 9.98916841e-01 -4.28792186e-02 -1.80698040e-02 2.96385264e+01] [ 4.29410823e-02 9.99072952e-01 3.04943852e-03 2.70950568e-01] [ 1.79222949e-02 -3.82207243e-03 9.99832077e-01 -1.43197099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.707719421 meters Centerline goodness [0,1] 0.951368528959508 Centerline is valid? [True, True] Translation: X:29.67, Y:0.27, Z:-1.43 [[ 9.98917512e-01 -4.33874624e-02 -1.67729388e-02 2.96670977e+01] [ 4.33796474e-02 9.99058316e-01 -8.29647654e-04 2.72896465e-01] [ 1.67931403e-02 1.01145400e-04 9.99858980e-01 -1.43151122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.737719421 meters Centerline goodness [0,1] 0.9539860997547016 Centerline is valid? [True, True] Translation: X:29.70, Y:0.27, Z:-1.43 [[ 9.98919373e-01 -4.38506221e-02 -1.54015857e-02 2.96951410e+01] [ 4.38440914e-02 9.99038095e-01 -7.61589209e-04 2.73965498e-01] [ 1.54201670e-02 8.54976813e-05 9.99881099e-01 -1.42844035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.767719421 meters Centerline goodness [0,1] 0.955062617663911 Centerline is valid? [True, True] Translation: X:29.72, Y:0.28, Z:-1.43 [[ 9.99023402e-01 -4.12676697e-02 -1.57867454e-02 2.97237046e+01] [ 4.12603789e-02 9.99148118e-01 -7.87399393e-04 2.84767841e-01] [ 1.58057911e-02 1.35263325e-04 9.99875072e-01 -1.43027097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.797719421 meters Centerline goodness [0,1] 0.9536054116832047 Centerline is valid? [True, True] Translation: X:29.75, Y:0.29, Z:-1.43 [[ 9.99108948e-01 -3.90881070e-02 -1.59194950e-02 2.97513109e+01] [ 3.90804240e-02 9.99235753e-01 -7.93545298e-04 2.93308433e-01] [ 1.59383468e-02 1.70697594e-04 9.99872962e-01 -1.43374603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.827719421 meters Centerline goodness [0,1] 0.9509300374470523 Centerline is valid? [True, True] Translation: X:29.78, Y:0.30, Z:-1.44 [[ 9.99242411e-01 -3.46754883e-02 -1.76696217e-02 2.97799920e+01] [ 3.46653245e-02 9.99398588e-01 -8.81267990e-04 3.04113767e-01] [ 1.76895533e-02 2.68077183e-04 9.99843492e-01 -1.43612263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.857719421 meters Centerline goodness [0,1] 0.9536277988498715 Centerline is valid? [True, True] Translation: X:29.81, Y:0.31, Z:-1.43 [[ 9.99307187e-01 -3.30664462e-02 -1.70808929e-02 2.98092622e+01] [ 3.30565793e-02 9.99453112e-01 -8.59750355e-04 3.05844618e-01] [ 1.70999805e-02 2.94518817e-04 9.99853741e-01 -1.43217914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.887719421 meters Centerline goodness [0,1] 0.954988058056219 Centerline is valid? [True, True] Translation: X:29.84, Y:0.31, Z:-1.43 [[ 9.99404272e-01 -3.10084110e-02 -1.51519107e-02 2.98370452e+01] [ 3.10004132e-02 9.99519081e-01 -7.62478141e-04 3.13759155e-01] [ 1.51682671e-02 2.92308418e-04 9.99884912e-01 -1.43291133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.917719421 meters Centerline goodness [0,1] 0.9558760531200914 Centerline is valid? [True, True] Translation: X:29.87, Y:0.33, Z:-1.43 [[ 9.99542828e-01 -2.67935123e-02 -1.40086357e-02 2.98654361e+01] [ 2.67861747e-02 9.99640933e-01 -7.11193587e-04 3.27418686e-01] [ 1.40226610e-02 3.35630687e-04 9.99901621e-01 -1.43329465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.947719421 meters Centerline goodness [0,1] 0.9552853820733548 Centerline is valid? [True, True] Translation: X:29.90, Y:0.34, Z:-1.43 [[ 9.99639167e-01 -2.25841933e-02 -1.45426681e-02 2.98950005e+01] [ 2.25758732e-02 9.99744862e-01 -7.36050481e-04 3.35579092e-01] [ 1.45555808e-02 4.07471459e-04 9.99893979e-01 -1.43493252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97771942099999 meters Centerline goodness [0,1] 0.9417257514149691 Centerline is valid? [True, False] Translation: X:29.90, Y:0.34, Z:-1.43 [[ 9.99714943e-01 -1.85292088e-02 -1.50565873e-02 2.98955050e+01] [ 1.85780265e-02 9.99822580e-01 3.10889809e-03 3.35424197e-01] [ 1.49963106e-02 -3.38773355e-03 9.99881810e-01 -1.43450768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00771942099999 meters Centerline goodness [0,1] 0.934558073076138 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.43 [[ 9.99741251e-01 -1.66262528e-02 -1.55241358e-02 2.98950947e+01] [ 1.66955734e-02 9.99851172e-01 4.34646055e-03 3.33609069e-01] [ 1.54495600e-02 -4.60452025e-03 9.99870046e-01 -1.43322157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03771942099999 meters Centerline goodness [0,1] 0.940915955753296 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.43 [[ 9.99741245e-01 -1.63328577e-02 -1.58328813e-02 2.98962013e+01] [ 1.64051358e-02 9.99855542e-01 4.44597745e-03 3.33647622e-01] [ 1.57579786e-02 -4.70456760e-03 9.99864767e-01 -1.43392746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06771942099999 meters Centerline goodness [0,1] 0.9342607134844065 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.44 [[ 9.99772464e-01 -1.37246477e-02 -1.63295311e-02 2.98999938e+01] [ 1.38433940e-02 9.99878388e-01 7.18119381e-03 3.34405832e-01] [ 1.62289859e-02 -7.40561597e-03 9.99840876e-01 -1.43740892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.097719421 meters Centerline goodness [0,1] 0.9275977471226838 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.44 [[ 9.99772596e-01 -1.36159886e-02 -1.64122558e-02 2.99007182e+01] [ 1.37338663e-02 9.99880541e-01 7.09110475e-03 3.34981966e-01] [ 1.63137428e-02 -7.31489593e-03 9.99840164e-01 -1.43817091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.127719421 meters Centerline goodness [0,1] 0.9137061022697093 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.44 [[ 9.99778034e-01 -1.28096827e-02 -1.67270907e-02 2.99013978e+01] [ 1.29412354e-02 9.99885990e-01 7.78023379e-03 3.33887586e-01] [ 1.66255213e-02 -7.99497606e-03 9.99829822e-01 -1.43838178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.157719421 meters Centerline goodness [0,1] 0.8913207086630189 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.44 [[ 9.99780302e-01 -1.22287144e-02 -1.70237099e-02 2.99014891e+01] [ 1.23787487e-02 9.99885218e-01 8.73595419e-03 3.29847920e-01] [ 1.69149264e-02 -8.94476714e-03 9.99816921e-01 -1.43761913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.187719421 meters Centerline goodness [0,1] 0.8815893556173052 Centerline is valid? [False, False] Translation: X:29.90, Y:0.33, Z:-1.44 [[ 9.99779702e-01 -1.19260596e-02 -1.72718550e-02 2.99016707e+01] [ 1.20887111e-02 9.99883274e-01 9.34355375e-03 3.27707305e-01] [ 1.71584072e-02 -9.55028985e-03 9.99807172e-01 -1.43713693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.217719421 meters Centerline goodness [0,1] 0.9100042884273725 Centerline is valid? [False, False] Translation: X:29.90, Y:0.32, Z:-1.43 [[ 9.99790271e-01 -1.16899008e-02 -1.68154852e-02 2.98978619e+01] [ 1.18561546e-02 9.99881478e-01 9.82146325e-03 3.24172998e-01] [ 1.66986803e-02 -1.00187704e-02 9.99810371e-01 -1.43373063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.247719421 meters Centerline goodness [0,1] 0.9100042884273725 Centerline is valid? [False, False] Translation: X:29.90, Y:0.32, Z:-1.43 [[ 9.99790271e-01 -1.16899008e-02 -1.68154852e-02 2.98978619e+01] [ 1.18561546e-02 9.99881478e-01 9.82146325e-03 3.24172998e-01] [ 1.66986803e-02 -1.00187704e-02 9.99810371e-01 -1.43373063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.277719421 meters Centerline goodness [0,1] 0.8972190600097577 Centerline is valid? [False, False] Translation: X:29.91, Y:0.32, Z:-1.43 [[ 9.99887244e-01 -7.41412561e-03 -1.30587118e-02 2.99051327e+01] [ 7.44713582e-03 9.99969192e-01 2.48101920e-03 3.23625646e-01] [ 1.30399149e-02 -2.57798945e-03 9.99911653e-01 -1.43467440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.307719421 meters Centerline goodness [0,1] 0.9006854904520972 Centerline is valid? [False, False] Translation: X:29.90, Y:0.32, Z:-1.43 [[ 9.99897578e-01 -6.32013107e-03 -1.28409480e-02 2.99039516e+01] [ 6.36713626e-03 9.99973166e-01 3.62299121e-03 3.22731192e-01] [ 1.28177057e-02 -3.70438020e-03 9.99910988e-01 -1.43379262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.337719421 meters Centerline goodness [0,1] 0.8771904800717255 Centerline is valid? [False, False] Translation: X:29.90, Y:0.32, Z:-1.43 [[ 9.99908071e-01 -4.94242128e-03 -1.26262206e-02 2.99032375e+01] [ 5.01116314e-03 9.99972763e-01 5.41854993e-03 3.17826254e-01] [ 1.25990960e-02 -5.48132386e-03 9.99905604e-01 -1.43332604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36771942099999 meters Centerline goodness [0,1] 0.840926262481877 Centerline is valid? [False, False] Translation: X:29.90, Y:0.31, Z:-1.43 [[ 9.99908272e-01 -4.76773713e-03 -1.26773622e-02 2.99036240e+01] [ 4.84105855e-03 9.99971697e-01 5.75926592e-03 3.10919073e-01] [ 1.26495447e-02 -5.82010949e-03 9.99903053e-01 -1.43379058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39771942099999 meters Centerline goodness [0,1] 0.8274457904917032 Centerline is valid? [False, False] Translation: X:29.90, Y:0.31, Z:-1.43 [[ 9.99907147e-01 -4.48239536e-03 -1.28687746e-02 2.99043257e+01] [ 4.56643422e-03 9.99968393e-01 6.50850915e-03 3.07642670e-01] [ 1.28391941e-02 -6.56666922e-03 9.99896012e-01 -1.43410679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42771942099999 meters Centerline goodness [0,1] 0.8302090549737153 Centerline is valid? [False, False] Translation: X:29.90, Y:0.30, Z:-1.43 [[ 9.99906966e-01 -4.17989651e-03 -1.29841747e-02 2.99046327e+01] [ 4.27841226e-03 9.99962203e-01 7.56888333e-03 3.03575358e-01] [ 1.29520468e-02 -7.62373081e-03 9.99887055e-01 -1.43400427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.457719421 meters Centerline goodness [0,1] 0.8487887577106907 Centerline is valid? [False, False] Translation: X:29.90, Y:0.30, Z:-1.43 [[ 9.99903864e-01 -5.94795321e-03 -1.25253699e-02 2.99047597e+01] [ 6.03264510e-03 9.99959124e-01 6.73473608e-03 2.96619410e-01] [ 1.24848000e-02 -6.80964974e-03 9.99898874e-01 -1.43493757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.487719421 meters Centerline goodness [0,1] 0.828531759805623 Centerline is valid? [False, False] Translation: X:29.91, Y:0.29, Z:-1.44 [[ 9.99905379e-01 -5.20821641e-03 -1.27321461e-02 2.99066703e+01] [ 5.31559764e-03 9.99950468e-01 8.41462553e-03 2.90968098e-01] [ 1.26876903e-02 -8.48150829e-03 9.99883536e-01 -1.43654664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.517719421 meters Centerline goodness [0,1] 0.8203332923883224 Centerline is valid? [False, False] Translation: X:29.91, Y:0.29, Z:-1.44 [[ 9.99899003e-01 -7.02261824e-03 -1.23558690e-02 2.99055293e+01] [ 7.10169309e-03 9.99954509e-01 6.36758694e-03 2.88982181e-01] [ 1.23105898e-02 -6.45469142e-03 9.99903389e-01 -1.43625373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.547719421 meters Centerline goodness [0,1] 0.8041188524590164 Centerline is valid? [False, False] Translation: X:29.91, Y:0.29, Z:-1.44 [[ 9.99892445e-01 -7.20302602e-03 -1.27755279e-02 2.99070998e+01] [ 7.28958487e-03 9.99950704e-01 6.74178841e-03 2.85281704e-01] [ 1.27263369e-02 -6.83419159e-03 9.99895662e-01 -1.43698615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.577719421 meters Centerline goodness [0,1] 0.8101697702141654 Centerline is valid? [False, False] Translation: X:29.92, Y:0.28, Z:-1.43 [[ 9.99814174e-01 -6.54985665e-03 -1.81305601e-02 2.99159206e+01] [ 6.57966356e-03 9.99977098e-01 1.58485122e-03 2.75412712e-01] [ 1.81197643e-02 -1.70384970e-03 9.99834372e-01 -1.43462439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.607719421 meters Centerline goodness [0,1] 0.8054309915296463 Centerline is valid? [False, False] Translation: X:29.92, Y:0.27, Z:-1.43 [[ 9.99795849e-01 -9.32670262e-03 -1.79240715e-02 2.99152853e+01] [ 9.31568378e-03 9.99956364e-01 -6.98148820e-04 2.71704156e-01] [ 1.79298008e-02 5.31031310e-04 9.99839107e-01 -1.43426752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.637719421 meters Centerline goodness [0,1] 0.8390293055672181 Centerline is valid? [False, False] Translation: X:29.92, Y:0.27, Z:-1.44 [[ 9.99766612e-01 -1.22629515e-02 -1.77859748e-02 2.99166247e+01] [ 1.22255636e-02 9.99922824e-01 -2.20931541e-03 2.65923912e-01] [ 1.78116949e-02 1.99135622e-03 9.99839376e-01 -1.43564297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.667719421 meters Centerline goodness [0,1] 0.8400159794789849 Centerline is valid? [False, False] Translation: X:29.92, Y:0.26, Z:-1.44 [[ 9.99749312e-01 -1.29189851e-02 -1.82869679e-02 2.99186931e+01] [ 1.28854197e-02 9.99915074e-01 -1.95212497e-03 2.63436594e-01] [ 1.83106343e-02 1.71600034e-03 9.99830874e-01 -1.43670574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.697719421 meters Centerline goodness [0,1] 0.8832897450617678 Centerline is valid? [False, False] Translation: X:29.92, Y:0.26, Z:-1.44 [[ 9.99688389e-01 -1.67848501e-02 -1.84768586e-02 2.99195707e+01] [ 1.67095270e-02 9.99851466e-01 -4.22349504e-03 2.57519658e-01] [ 1.85450049e-02 3.91343938e-03 9.99820368e-01 -1.43668882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72771942099999 meters Centerline goodness [0,1] 0.8977924189270129 Centerline is valid? [False, False] Translation: X:29.92, Y:0.25, Z:-1.44 [[ 9.99682360e-01 -1.69947019e-02 -1.86107363e-02 2.99198136e+01] [ 1.69383594e-02 9.99851476e-01 -3.18088706e-03 2.52833228e-01] [ 1.86620304e-02 2.86464134e-03 9.99821745e-01 -1.43613635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75771942099999 meters Centerline goodness [0,1] 0.9460819243808166 Centerline is valid? [False, False] Translation: X:29.92, Y:0.25, Z:-1.43 [[ 9.99542608e-01 -2.41180287e-02 -1.82454000e-02 2.99183037e+01] [ 2.39553887e-02 9.99671786e-01 -9.08071103e-03 2.47449925e-01] [ 1.84584205e-02 8.63948194e-03 9.99792301e-01 -1.43450164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78771942099999 meters Centerline goodness [0,1] 0.9553716150504635 Centerline is valid? [False, True] Translation: X:29.92, Y:0.24, Z:-1.43 [[ 9.99522724e-01 -2.47982784e-02 -1.84219904e-02 2.99184099e+01] [ 2.46489831e-02 9.99661815e-01 -8.28755682e-03 2.43260879e-01] [ 1.86212775e-02 7.82951804e-03 9.99795953e-01 -1.43340900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81771942099999 meters Centerline goodness [0,1] 0.9539561133991414 Centerline is valid? [True, True] Translation: X:29.95, Y:0.24, Z:-1.43 [[ 9.99324515e-01 -3.21824287e-02 -1.77427490e-02 2.99476854e+01] [ 3.21672570e-02 9.99481850e-01 -1.13989478e-03 2.39821425e-01] [ 1.77702402e-02 5.68389229e-04 9.99841935e-01 -1.43497249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.847719421 meters Centerline goodness [0,1] 0.9585828561437252 Centerline is valid? [True, True] Translation: X:29.98, Y:0.23, Z:-1.43 [[ 9.99205872e-01 -3.59450823e-02 -1.71923535e-02 2.99770144e+01] [ 3.59313700e-02 9.99353648e-01 -1.10591153e-03 2.33046265e-01] [ 1.72209932e-02 4.87288483e-04 9.99851589e-01 -1.43293221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.877719421 meters Centerline goodness [0,1] 0.9587760119413469 Centerline is valid? [True, True] Translation: X:30.01, Y:0.23, Z:-1.43 [[ 9.98945723e-01 -4.32796792e-02 -1.53072348e-02 3.00064571e+01] [ 4.32696615e-02 9.99062944e-01 -9.85178822e-04 2.25896854e-01] [ 1.53355293e-02 3.21801300e-04 9.99882352e-01 -1.43163266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.907719421 meters Centerline goodness [0,1] 0.9594850352112676 Centerline is valid? [True, True] Translation: X:30.04, Y:0.22, Z:-1.43 [[ 9.98730569e-01 -4.76950421e-02 -1.61998255e-02 3.00358878e+01] [ 4.76843239e-02 9.98861906e-01 -1.04746423e-03 2.20132165e-01] [ 1.62313474e-02 2.73656816e-04 9.99868226e-01 -1.42919072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.937719421 meters Centerline goodness [0,1] 0.9573251209854817 Centerline is valid? [True, True] Translation: X:30.06, Y:0.21, Z:-1.43 [[ 9.98234151e-01 -5.62604650e-02 -1.90614895e-02 3.00642352e+01] [ 5.62471569e-02 9.98416113e-01 -1.23400125e-03 2.12373181e-01] [ 1.91007238e-02 1.59667594e-04 9.99817552e-01 -1.43147416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.967719421 meters Centerline goodness [0,1] 0.9561415102652217 Centerline is valid? [True, True] Translation: X:30.09, Y:0.21, Z:-1.43 [[ 9.97981000e-01 -6.03200168e-02 -1.98851558e-02 3.00922150e+01] [ 6.03063013e-02 9.98179086e-01 -1.28922157e-03 2.11689388e-01] [ 1.99267125e-02 8.74184381e-05 9.99801440e-01 -1.43313464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.997719421 meters Centerline goodness [0,1] 0.957618037483325 Centerline is valid? [True, True] Translation: X:30.12, Y:0.21, Z:-1.43 [[ 9.97665482e-01 -6.52968474e-02 -1.99977108e-02 3.01206607e+01] [ 6.52838449e-02 9.97865884e-01 -1.30303812e-03 2.11905698e-01] [ 2.00401176e-02 -5.53129991e-06 9.99799177e-01 -1.43377349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.027719421 meters Centerline goodness [0,1] 0.9567560491349028 Centerline is valid? [True, True] Translation: X:30.15, Y:0.21, Z:-1.43 [[ 9.97588007e-01 -6.66794340e-02 -1.92878339e-02 3.01483286e+01] [ 6.66675670e-02 9.97774450e-01 -1.25831609e-03 2.14011398e-01] [ 1.93288116e-02 -3.05919158e-05 9.99813181e-01 -1.43459033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.057719421 meters Centerline goodness [0,1] 0.9547985587946283 Centerline is valid? [True, True] Translation: X:30.18, Y:0.21, Z:-1.44 [[ 9.97331287e-01 -7.00054479e-02 -2.07253606e-02 3.01766447e+01] [ 6.99924237e-02 9.97546604e-01 -1.35403047e-03 2.14111005e-01] [ 2.07693026e-02 -1.00201266e-04 9.99784290e-01 -1.43584056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.087719421 meters Centerline goodness [0,1] 0.953165275896719 Centerline is valid? [True, True] Translation: X:30.21, Y:0.21, Z:-1.44 [[ 9.97129005e-01 -7.25188391e-02 -2.17891045e-02 3.02058809e+01] [ 7.25049667e-02 9.97367030e-01 -1.42703784e-03 2.13646622e-01] [ 2.18352216e-02 -1.56877477e-04 9.99761571e-01 -1.43717069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11771942099999 meters Centerline goodness [0,1] 0.9488473871219343 Centerline is valid? [True, False] Translation: X:30.21, Y:0.22, Z:-1.44 [[ 9.97224949e-01 -7.09152938e-02 -2.26588282e-02 3.02088203e+01] [ 7.09502418e-02 9.97479581e-01 7.41157096e-04 2.15832957e-01] [ 2.25491591e-02 -2.34674969e-03 9.99742981e-01 -1.43868345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14771942099999 meters Centerline goodness [0,1] 0.949880359568001 Centerline is valid? [False, False] Translation: X:30.21, Y:0.22, Z:-1.44 [[ 9.97433431e-01 -6.77569022e-02 -2.31420041e-02 3.02097393e+01] [ 6.78676880e-02 9.97686171e-01 4.03494195e-03 2.17842620e-01] [ 2.28150623e-02 -5.59518031e-03 9.99724045e-01 -1.43907826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17771942099999 meters Centerline goodness [0,1] 0.9472518580037905 Centerline is valid? [False, False] Translation: X:30.21, Y:0.22, Z:-1.44 [[ 9.97691232e-01 -6.36279870e-02 -2.37420313e-02 3.02080393e+01] [ 6.38173619e-02 9.97934858e-01 7.30502730e-03 2.23362495e-01] [ 2.32281965e-02 -8.80331549e-03 9.99691429e-01 -1.43670885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.207719421 meters Centerline goodness [0,1] 0.9494115654897977 Centerline is valid? [False, False] Translation: X:30.21, Y:0.23, Z:-1.44 [[ 9.97905923e-01 -6.00158327e-02 -2.41219438e-02 3.02073625e+01] [ 6.02820283e-02 9.98126542e-01 1.04633981e-02 2.25617565e-01] [ 2.34487828e-02 -1.18956066e-02 9.99654265e-01 -1.43554119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.237719421 meters Centerline goodness [0,1] 0.9453416670162339 Centerline is valid? [False, False] Translation: X:30.21, Y:0.24, Z:-1.43 [[ 9.98361391e-01 -5.16774605e-02 -2.45758512e-02 3.02057087e+01] [ 5.20864098e-02 9.98509522e-01 1.63015384e-02 2.35181395e-01] [ 2.36967993e-02 -1.75548944e-02 9.99565049e-01 -1.43453269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.267719421 meters Centerline goodness [0,1] 0.9485493871964497 Centerline is valid? [False, False] Translation: X:30.21, Y:0.25, Z:-1.43 [[ 9.98914755e-01 -3.85562225e-02 -2.61291164e-02 3.02086393e+01] [ 3.88814390e-02 9.99171115e-01 1.20547230e-02 2.47103304e-01] [ 2.56426738e-02 -1.30575783e-02 9.99585891e-01 -1.43299186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.297719421 meters Centerline goodness [0,1] 0.9562359167304074 Centerline is valid? [False, True] Translation: X:30.21, Y:0.25, Z:-1.43 [[ 9.99220475e-01 -3.08486090e-02 -2.46334188e-02 3.02136646e+01] [ 3.09858384e-02 9.99506252e-01 5.20863738e-03 2.51528573e-01] [ 2.44605769e-02 -5.96786425e-03 9.99682982e-01 -1.43170464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.327719421 meters Centerline goodness [0,1] 0.9551488168851513 Centerline is valid? [True, True] Translation: X:30.24, Y:0.26, Z:-1.43 [[ 9.99394645e-01 -2.47889424e-02 -2.44100712e-02 3.02427288e+01] [ 2.47636571e-02 9.99692439e-01 -1.33764343e-03 2.64073757e-01] [ 2.44357224e-02 7.32351051e-04 9.99701135e-01 -1.43261371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.357719421 meters Centerline goodness [0,1] 0.9497135842880524 Centerline is valid? [True, False] Translation: X:30.25, Y:0.27, Z:-1.43 [[ 9.99646243e-01 -1.51343939e-02 -2.18709785e-02 3.02498859e+01] [ 1.50183342e-02 9.99872305e-01 -5.46111555e-03 2.70627408e-01] [ 2.19508363e-02 5.13071798e-03 9.99745886e-01 -1.43285814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.387719421 meters Centerline goodness [0,1] 0.9496330407252842 Centerline is valid? [False, False] Translation: X:30.25, Y:0.27, Z:-1.43 [[ 9.99689195e-01 -1.15978370e-02 -2.20681507e-02 3.02501991e+01] [ 1.15538491e-02 9.99931005e-01 -2.11973647e-03 2.72862541e-01] [ 2.20912124e-02 1.86410556e-03 9.99754222e-01 -1.43285933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.417719421 meters Centerline goodness [0,1] 0.9502180009416004 Centerline is valid? [False, True] Translation: X:30.25, Y:0.28, Z:-1.43 [[ 9.99699666e-01 -9.50661699e-03 -2.25876555e-02 3.02522977e+01] [ 9.50598514e-03 9.99954808e-01 -1.35348219e-04 2.75942692e-01] [ 2.25879214e-02 -7.94103480e-05 9.99744857e-01 -1.43413172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.447719421 meters Centerline goodness [0,1] 0.9489474115334207 Centerline is valid? [True, False] Translation: X:30.25, Y:0.28, Z:-1.43 [[ 9.99692317e-01 -9.60007662e-03 -2.28715959e-02 3.02525861e+01] [ 9.60324142e-03 9.99953887e-01 2.85387308e-05 2.75012432e-01] [ 2.28702672e-02 -2.48171407e-04 9.99738410e-01 -1.43369169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47771942099999 meters Centerline goodness [0,1] 0.9489390463706374 Centerline is valid? [False, False] Translation: X:30.25, Y:0.27, Z:-1.43 [[ 9.99643184e-01 -1.33264128e-02 -2.31497626e-02 3.02528230e+01] [ 1.32515914e-02 9.99906473e-01 -3.38247109e-03 2.73022169e-01] [ 2.31926737e-02 3.07449298e-03 9.99726286e-01 -1.43322675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50771942099999 meters Centerline goodness [0,1] 0.949136590555692 Centerline is valid? [False, False] Translation: X:30.25, Y:0.27, Z:-1.43 [[ 9.99635321e-01 -1.33648248e-02 -2.34650191e-02 3.02536398e+01] [ 1.32970432e-02 9.99906962e-01 -3.04228769e-03 2.71863815e-01] [ 2.35034956e-02 2.72916286e-03 9.99720029e-01 -1.43338552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53771942099999 meters Centerline goodness [0,1] 0.9497124378313105 Centerline is valid? [False, False] Translation: X:30.26, Y:0.27, Z:-1.43 [[ 9.99656787e-01 -1.13927847e-02 -2.35905341e-02 3.02555984e+01] [ 1.13976364e-02 9.99935042e-01 7.12132418e-05 2.70887992e-01] [ 2.35881904e-02 -3.40065131e-04 9.99721702e-01 -1.43490470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56771942099999 meters Centerline goodness [0,1] 0.9485835925986573 Centerline is valid? [False, False] Translation: X:30.26, Y:0.27, Z:-1.44 [[ 9.99652388e-01 -1.14451373e-02 -2.37510382e-02 3.02564662e+01] [ 1.14496830e-02 9.99934449e-01 5.54052542e-05 2.71396256e-01] [ 2.37488472e-02 -3.27327854e-04 9.99717903e-01 -1.43562564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.597719421 meters Centerline goodness [0,1] 0.9441030682888861 Centerline is valid? [False, False] Translation: X:30.26, Y:0.27, Z:-1.44 [[ 9.99640452e-01 -1.17805596e-02 -2.40870228e-02 3.02581735e+01] [ 1.17829055e-02 9.99930578e-01 -4.45371227e-05 2.71068524e-01] [ 2.40858753e-02 -2.39294003e-04 9.99709865e-01 -1.43686598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.627719421 meters Centerline goodness [0,1] 0.9430985800220977 Centerline is valid? [False, False] Translation: X:30.26, Y:0.27, Z:-1.44 [[ 9.99626258e-01 -1.21657639e-02 -2.44813870e-02 3.02590678e+01] [ 1.21671070e-02 9.99925974e-01 -9.40992971e-05 2.69684738e-01] [ 2.44807195e-02 -2.03803527e-04 9.99700282e-01 -1.43686918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.657719421 meters Centerline goodness [0,1] 0.9495995750592465 Centerline is valid? [False, False] Translation: X:30.26, Y:0.27, Z:-1.43 [[ 9.99560542e-01 -1.62215064e-02 -2.48109845e-02 3.02578523e+01] [ 1.61559906e-02 9.99865454e-01 -2.83878651e-03 2.65664684e-01] [ 2.48536956e-02 2.43669295e-03 9.99688130e-01 -1.43393238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.687719421 meters Centerline goodness [0,1] 0.9483451585120781 Centerline is valid? [False, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99546628e-01 -1.67111017e-02 -2.50455217e-02 3.02580830e+01] [ 1.66556093e-02 9.99858351e-01 -2.42264960e-03 2.63430504e-01] [ 2.50824592e-02 2.00440282e-03 9.99683376e-01 -1.43324449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.717719421 meters Centerline goodness [0,1] 0.9489442038948513 Centerline is valid? [False, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99517405e-01 -1.81175479e-02 -2.52331491e-02 3.02592424e+01] [ 1.80512367e-02 9.99832992e-01 -2.85326562e-03 2.63362248e-01] [ 2.52806292e-02 2.39639910e-03 9.99677522e-01 -1.43377045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.747719421 meters Centerline goodness [0,1] 0.9492501229306671 Centerline is valid? [False, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99544472e-01 -1.60457117e-02 -2.55613639e-02 3.02609589e+01] [ 1.60538795e-02 9.99871122e-01 1.14343606e-04 2.63126511e-01] [ 2.55562349e-02 -5.24650575e-04 9.99673248e-01 -1.43458576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.777719421 meters Centerline goodness [0,1] 0.9511950149633092 Centerline is valid? [False, True] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99537576e-01 -1.63196796e-02 -2.56574127e-02 3.02612492e+01] [ 1.63257434e-02 9.99866726e-01 2.68684400e-05 2.63448578e-01] [ 2.56535548e-02 -4.45732351e-04 9.99670794e-01 -1.43459737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.807719421 meters Centerline goodness [0,1] 0.9481200696649933 Centerline is valid? [True, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99512652e-01 -1.72020162e-02 -2.60489824e-02 3.02622072e+01] [ 1.72056063e-02 9.99851969e-01 -8.63236583e-05 2.61741303e-01] [ 2.60466113e-02 -3.61906947e-04 9.99660664e-01 -1.43443119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.837719421 meters Centerline goodness [0,1] 0.9457046924903776 Centerline is valid? [False, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99486800e-01 -1.80245627e-02 -2.64811701e-02 3.02631524e+01] [ 1.80211667e-02 9.99837538e-01 -3.66908435e-04 2.60852786e-01] [ 2.64834813e-02 -1.10501445e-04 9.99649245e-01 -1.43425183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86771942099999 meters Centerline goodness [0,1] 0.9447032029053901 Centerline is valid? [False, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99484185e-01 -1.80500902e-02 -2.65623482e-02 3.02631092e+01] [ 1.80520952e-02 9.99837034e-01 -1.64329021e-04 2.60418974e-01] [ 2.65609856e-02 -3.15261781e-04 9.99647145e-01 -1.43391114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89771942099999 meters Centerline goodness [0,1] 0.9435368006239481 Centerline is valid? [False, False] Translation: X:30.26, Y:0.26, Z:-1.43 [[ 9.99471029e-01 -1.83633639e-02 -2.68411963e-02 3.02637147e+01] [ 1.83589354e-02 9.99831376e-01 -4.11431539e-04 2.61141834e-01] [ 2.68442255e-02 -8.15618863e-05 9.99639626e-01 -1.43395991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92771942099999 meters Centerline goodness [0,1] 0.9452769792240097 Centerline is valid? [False, False] Translation: X:30.27, Y:0.26, Z:-1.43 [[ 9.99493041e-01 -1.65499538e-02 -2.71985248e-02 3.02654045e+01] [ 1.66016572e-02 9.99860778e-01 1.67623371e-03 2.64535460e-01] [ 2.71669965e-02 -2.12692451e-03 9.99628646e-01 -1.43488109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.957719421 meters Centerline goodness [0,1] 0.9463685547995737 Centerline is valid? [False, False] Translation: X:30.26, Y:0.27, Z:-1.43 [[ 9.99500367e-01 -1.64796225e-02 -2.69710491e-02 3.02631504e+01] [ 1.65275714e-02 9.99862200e-01 1.55582007e-03 2.66355022e-01] [ 2.69416932e-02 -2.00080867e-03 9.99635004e-01 -1.43261003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.987719421 meters Centerline goodness [0,1] 0.9474941796348487 Centerline is valid? [False, False] Translation: X:30.27, Y:0.27, Z:-1.44 [[ 9.99651845e-01 -1.47689778e-02 -2.18647301e-02 3.02730650e+01] [ 1.46208903e-02 9.99869181e-01 -6.91733969e-03 2.66873952e-01] [ 2.19640318e-02 6.59524957e-03 9.99737007e-01 -1.43504017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.017719421 meters Centerline goodness [0,1] 0.9469230455527915 Centerline is valid? [False, False] Translation: X:30.27, Y:0.27, Z:-1.44 [[ 9.99675984e-01 -1.21590769e-02 -2.23625419e-02 3.02748172e+01] [ 1.20729611e-02 9.99919191e-01 -3.98188097e-03 2.66543133e-01] [ 2.24091508e-02 3.71060868e-03 9.99741997e-01 -1.43574976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.047719421 meters Centerline goodness [0,1] 0.9423509216495688 Centerline is valid? [False, False] Translation: X:30.28, Y:0.27, Z:-1.44 [[ 9.99705281e-01 -8.79133926e-03 -2.26288301e-02 3.02763801e+01] [ 8.76115994e-03 9.99960594e-01 -1.43246346e-03 2.70961954e-01] [ 2.26405317e-02 1.23378649e-03 9.99742909e-01 -1.43725664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.077719421 meters Centerline goodness [0,1] 0.9440619621342513 Centerline is valid? [False, False] Translation: X:30.28, Y:0.27, Z:-1.44 [[ 9.99727295e-01 -5.27172430e-03 -2.27495928e-02 3.02773911e+01] [ 5.31153937e-03 9.99984465e-01 1.69007348e-03 2.73216134e-01] [ 2.27403298e-02 -1.81044795e-03 9.99739766e-01 -1.43822863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.107719421 meters Centerline goodness [0,1] 0.9392557759149458 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99821998e-01 3.01829419e-03 -1.86242423e-02 3.02860373e+01] [-3.07290212e-03 9.99991061e-01 -2.90416823e-03 2.78498247e-01] [ 1.86153102e-02 2.96088176e-03 9.99822336e-01 -1.44086727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.137719421 meters Centerline goodness [0,1] 0.9422280268554987 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99797815e-01 6.90456972e-03 -1.88853609e-02 3.02861852e+01] [-6.89736321e-03 9.99976113e-01 4.46702080e-04 2.80071709e-01] [ 1.88879941e-02 -3.16352569e-04 9.99821556e-01 -1.44031449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.167719421 meters Centerline goodness [0,1] 0.9422280268554987 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99797815e-01 6.90456972e-03 -1.88853609e-02 3.02861852e+01] [-6.89736321e-03 9.99976113e-01 4.46702080e-04 2.80071709e-01] [ 1.88879941e-02 -3.16352569e-04 9.99821556e-01 -1.44031449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.197719421 meters Centerline goodness [0,1] 0.9420351907354171 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99746559e-01 1.17787948e-02 -1.91853418e-02 3.02863218e+01] [-1.17194787e-02 9.99926200e-01 3.20124884e-03 2.85066763e-01] [ 1.92216328e-02 -2.97559531e-03 9.99810819e-01 -1.44034563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22771942099999 meters Centerline goodness [0,1] 0.9384330258039552 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99737857e-01 1.20204820e-02 -1.94865557e-02 3.02873344e+01] [-1.19803751e-02 9.99925870e-01 2.17362382e-03 2.88471626e-01] [ 1.95112392e-02 -1.93959777e-03 9.99807756e-01 -1.44125425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25771942099999 meters Centerline goodness [0,1] 0.934991876523152 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99680325e-01 1.57780239e-02 -1.97560468e-02 3.02890368e+01] [-1.56925797e-02 9.99866861e-01 4.47255818e-03 2.92952928e-01] [ 1.98239846e-02 -4.16110507e-03 9.99794826e-01 -1.44297664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28771942099999 meters Centerline goodness [0,1] 0.9333387545996056 Centerline is valid? [False, False] Translation: X:30.29, Y:0.30, Z:-1.44 [[ 9.99675359e-01 1.60743507e-02 -1.97684617e-02 3.02888177e+01] [-1.60001246e-02 9.99864356e-01 3.90723200e-03 2.95557402e-01] [ 1.98285865e-02 -3.58966570e-03 9.99796950e-01 -1.44289093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31771942099999 meters Centerline goodness [0,1] 0.9356557460394932 Centerline is valid? [False, False] Translation: X:30.29, Y:0.30, Z:-1.44 [[ 9.99664515e-01 1.67394136e-02 -1.97648391e-02 3.02878044e+01] [-1.66602568e-02 9.99852542e-01 4.16283225e-03 2.95463450e-01] [ 1.98316080e-02 -3.83214839e-03 9.99795990e-01 -1.44171289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.347719421 meters Centerline goodness [0,1] 0.9363242270570914 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99712180e-01 1.38036916e-02 -1.96217810e-02 3.02867789e+01] [-1.37882670e-02 9.99904513e-01 9.21174481e-04 2.94834801e-01] [ 1.96326230e-02 -6.50358994e-04 9.99807050e-01 -1.44108859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.377719421 meters Centerline goodness [0,1] 0.9371099963293772 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99751011e-01 1.03931534e-02 -1.97458466e-02 3.02869914e+01] [-1.04333711e-02 9.99943699e-01 -1.93483759e-03 2.92216754e-01] [ 1.97246259e-02 2.14037158e-03 9.99803160e-01 -1.44121089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.407719421 meters Centerline goodness [0,1] 0.9332343005982663 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99751560e-01 9.74192886e-03 -2.00477743e-02 3.02883901e+01] [-9.78434991e-03 9.99950094e-01 -2.01899756e-03 2.91063895e-01] [ 2.00271049e-02 2.21465039e-03 9.99796985e-01 -1.44211912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.437719421 meters Centerline goodness [0,1] 0.935705546492659 Centerline is valid? [False, False] Translation: X:30.29, Y:0.29, Z:-1.44 [[ 9.99786066e-01 5.76591447e-03 -1.98639491e-02 3.02877418e+01] [-5.85935568e-03 9.99972027e-01 -4.64907453e-03 2.87614604e-01] [ 1.98365872e-02 4.76446988e-03 9.99791883e-01 -1.44145063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.467719421 meters Centerline goodness [0,1] 0.9382801664355063 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99787031e-01 5.36436196e-03 -1.99277715e-02 3.02874967e+01] [-5.44227692e-03 9.99977750e-01 -3.85769591e-03 2.84099926e-01] [ 1.99066340e-02 3.96532679e-03 9.99793980e-01 -1.44056817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.497719421 meters Centerline goodness [0,1] 0.9396849396236439 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99801805e-01 1.74983370e-03 -1.98315168e-02 3.02863050e+01] [-1.86912034e-03 9.99980265e-01 -5.99806477e-03 2.78772865e-01] [ 1.98206298e-02 6.03394348e-03 9.99785344e-01 -1.43890040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.527719421 meters Centerline goodness [0,1] 0.9392549091576436 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99794625e-01 1.47399120e-03 -2.02122298e-02 3.02872647e+01] [-1.58386604e-03 9.99984051e-01 -5.42112664e-03 2.75787262e-01] [ 2.02039168e-02 5.45202674e-03 9.99781015e-01 -1.43899844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.557719421 meters Centerline goodness [0,1] 0.9375166179207658 Centerline is valid? [False, False] Translation: X:30.29, Y:0.27, Z:-1.44 [[ 9.99790976e-01 -6.86227827e-04 -2.04336417e-02 3.02900546e+01] [ 5.52748827e-04 9.99978479e-01 -6.53724729e-03 2.73851690e-01] [ 2.04376880e-02 6.52458618e-03 9.99769839e-01 -1.44150848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.587719421 meters Centerline goodness [0,1] 0.9364728062625518 Centerline is valid? [False, False] Translation: X:30.29, Y:0.27, Z:-1.44 [[ 9.99788200e-01 -1.02811458e-03 -2.05547601e-02 3.02907600e+01] [ 8.91762771e-04 9.99977546e-01 -6.64165397e-03 2.74129493e-01] [ 2.05611270e-02 6.62191729e-03 9.99766668e-01 -1.44205482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61771942099999 meters Centerline goodness [0,1] 0.9364757040592374 Centerline is valid? [False, False] Translation: X:30.29, Y:0.27, Z:-1.44 [[ 9.99783493e-01 -1.72219778e-03 -2.07364479e-02 3.02905845e+01] [ 1.58296189e-03 9.99976106e-01 -6.72909178e-03 2.74170329e-01] [ 2.07475413e-02 6.69480988e-03 9.99762331e-01 -1.44108848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64771942099999 meters Centerline goodness [0,1] 0.9391726994934476 Centerline is valid? [False, False] Translation: X:30.29, Y:0.27, Z:-1.44 [[ 9.99780868e-01 -1.71096911e-03 -2.08635799e-02 3.02901167e+01] [ 1.58031873e-03 9.99979051e-01 -6.27700660e-03 2.72884771e-01] [ 2.08738826e-02 6.24266000e-03 9.99762627e-01 -1.44001928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67771942099999 meters Centerline goodness [0,1] 0.9371378437933567 Centerline is valid? [False, False] Translation: X:30.29, Y:0.27, Z:-1.44 [[ 9.99774796e-01 -2.15472428e-03 -2.11119408e-02 3.02903656e+01] [ 2.00793434e-03 9.99973682e-01 -6.97166747e-03 2.74507501e-01] [ 2.11264072e-02 6.92770603e-03 9.99752810e-01 -1.43967095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.707719421 meters Centerline goodness [0,1] 0.9361327324866858 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99774758e-01 8.66432176e-04 -2.12057013e-02 3.02912973e+01] [-9.46811730e-04 9.99992405e-01 -3.78072256e-03 2.75525590e-01] [ 2.12022645e-02 3.79994879e-03 9.99767985e-01 -1.44034669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.737719421 meters Centerline goodness [0,1] 0.9355928732336678 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99762922e-01 3.43573385e-03 -2.15010519e-02 3.02932021e+01] [-3.47582433e-03 9.99992289e-01 -1.82748870e-03 2.79691342e-01] [ 2.14946073e-02 1.90178932e-03 9.99767155e-01 -1.44191919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.767719421 meters Centerline goodness [0,1] 0.9351817772870404 Centerline is valid? [False, False] Translation: X:30.29, Y:0.28, Z:-1.44 [[ 9.99760570e-01 3.62924960e-03 -2.15784975e-02 3.02932961e+01] [-3.67853190e-03 9.99990715e-01 -2.24460692e-03 2.81551231e-01] [ 2.15701509e-02 2.32344668e-03 9.99764637e-01 -1.44197423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.797719421 meters Centerline goodness [0,1] 0.9397445068983138 Centerline is valid? [False, False] Translation: X:30.30, Y:0.29, Z:-1.44 [[ 9.99849841e-01 9.12319741e-03 -1.47330319e-02 3.03001639e+01] [-9.23102268e-03 9.99930985e-01 -7.26726087e-03 2.85015157e-01] [ 1.46657145e-02 7.40217058e-03 9.99865053e-01 -1.44280452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.827719421 meters Centerline goodness [0,1] 0.9366307921661527 Centerline is valid? [False, False] Translation: X:30.30, Y:0.29, Z:-1.44 [[ 9.99810530e-01 1.25976912e-02 -1.48392264e-02 3.03001996e+01] [-1.26579863e-02 9.99911978e-01 -3.97633201e-03 2.86641950e-01] [ 1.47878276e-02 4.16341334e-03 9.99881986e-01 -1.44237747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.857719421 meters Centerline goodness [0,1] 0.9392177266327967 Centerline is valid? [False, False] Translation: X:30.30, Y:0.29, Z:-1.44 [[ 9.99807908e-01 1.27127267e-02 -1.49175816e-02 3.03003395e+01] [-1.27849601e-02 9.99906954e-01 -4.75683145e-03 2.89889366e-01] [ 1.48557213e-02 4.94663839e-03 9.99877412e-01 -1.44252010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.887719421 meters Centerline goodness [0,1] 0.9357488811231685 Centerline is valid? [False, False] Translation: X:30.30, Y:0.29, Z:-1.44 [[ 9.99792500e-01 1.38122500e-02 -1.49725850e-02 3.03000088e+01] [-1.38856305e-02 9.99892030e-01 -4.80815756e-03 2.93553389e-01] [ 1.49045569e-02 5.01506365e-03 9.99876344e-01 -1.44221396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.917719421 meters Centerline goodness [0,1] 0.936769773464103 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99732731e-01 1.74564747e-02 -1.51571339e-02 3.03008479e+01] [-1.74890424e-02 9.99845017e-01 -2.01877680e-03 2.96606703e-01] [ 1.51195441e-02 2.28332100e-03 9.99883086e-01 -1.44273193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.947719421 meters Centerline goodness [0,1] 0.9329737431304702 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99729494e-01 1.76112171e-02 -1.51915893e-02 3.03007152e+01] [-1.76507999e-02 9.99841148e-01 -2.47543157e-03 2.98441779e-01] [ 1.51455807e-02 2.74290566e-03 9.99881537e-01 -1.44261450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97771942099999 meters Centerline goodness [0,1] 0.9378190729017766 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99717136e-01 1.85780798e-02 -1.48493277e-02 3.02985024e+01] [-1.86134179e-02 9.99824235e-01 -2.24511101e-03 3.00852458e-01] [ 1.48050079e-02 2.52087269e-03 9.99887222e-01 -1.44079426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00771942099999 meters Centerline goodness [0,1] 0.93842193437666 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99720003e-01 1.84981913e-02 -1.47557348e-02 3.02982639e+01] [-1.85412230e-02 9.99824219e-01 -2.78480462e-03 3.02704112e-01] [ 1.47016272e-02 3.05761425e-03 9.99887250e-01 -1.44078371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03771942099999 meters Centerline goodness [0,1] 0.9384436937853567 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99723692e-01 1.81962243e-02 -1.48807686e-02 3.02989861e+01] [-1.82536724e-02 9.99826416e-01 -3.73388340e-03 3.05379191e-01] [ 1.48102430e-02 4.00448037e-03 9.99882303e-01 -1.44148639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06771942099999 meters Centerline goodness [0,1] 0.9349925478266196 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99709877e-01 1.87879457e-02 -1.50723019e-02 3.03001304e+01] [-1.88545859e-02 9.99813026e-01 -4.29150962e-03 3.09145370e-01] [ 1.49888552e-02 4.57444657e-03 9.99877197e-01 -1.44267317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.097719421 meters Centerline goodness [0,1] 0.9282446178356959 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99705944e-01 1.88720454e-02 -1.52273300e-02 3.03007510e+01] [-1.89470542e-02 9.99808982e-01 -4.79677764e-03 3.10419946e-01] [ 1.51338963e-02 5.08388016e-03 9.99872552e-01 -1.44315114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.127719421 meters Centerline goodness [0,1] 0.928640032696434 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99699572e-01 1.93472335e-02 -1.50482796e-02 3.03005166e+01] [-1.94305371e-02 9.99796576e-01 -5.40937478e-03 3.13048058e-01] [ 1.49405620e-02 5.70014581e-03 9.99872136e-01 -1.44347155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.157719421 meters Centerline goodness [0,1] 0.927479043140462 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99692435e-01 1.97123651e-02 -1.50485326e-02 3.03004358e+01] [-1.97968250e-02 9.99788982e-01 -5.48430511e-03 3.13839441e-01] [ 1.49372484e-02 5.78053150e-03 9.99871724e-01 -1.44344717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.187719421 meters Centerline goodness [0,1] 0.9276594006006251 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99689605e-01 1.98606145e-02 -1.50415653e-02 3.03003436e+01] [-1.99432143e-02 9.99786739e-01 -5.36147360e-03 3.13424307e-01] [ 1.49318754e-02 5.65978659e-03 9.99872495e-01 -1.44334117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.217719421 meters Centerline goodness [0,1] 0.9204160026153406 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99681836e-01 2.02548723e-02 -1.50322278e-02 3.03004805e+01] [-2.03336945e-02 9.99780194e-01 -5.10935283e-03 3.13176670e-01] [ 1.49254343e-02 5.41338795e-03 9.99873955e-01 -1.44357288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.247719421 meters Centerline goodness [0,1] 0.9227046234275446 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99681622e-01 2.02098327e-02 -1.51068751e-02 3.03011022e+01] [-2.02891110e-02 9.99781080e-01 -5.11310090e-03 3.12708458e-01] [ 1.50002330e-02 5.41797806e-03 9.99872811e-01 -1.44418211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.277719421 meters Centerline goodness [0,1] 0.9175018332925935 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99731845e-01 1.75439907e-02 -1.51144305e-02 3.03000142e+01] [-1.76561684e-02 9.99817317e-01 -7.32069605e-03 3.09239647e-01] [ 1.49832351e-02 7.58559590e-03 9.99858971e-01 -1.44306863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.307719421 meters Centerline goodness [0,1] 0.9243313763861709 Centerline is valid? [False, False] Translation: X:30.30, Y:0.31, Z:-1.44 [[ 9.99731649e-01 1.74814679e-02 -1.51995967e-02 3.02998124e+01] [-1.75828906e-02 9.99823857e-01 -6.56488273e-03 3.06172989e-01] [ 1.50821556e-02 6.83037388e-03 9.99862928e-01 -1.44247775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.337719421 meters Centerline goodness [0,1] 0.9204304148970924 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99783261e-01 1.40552065e-02 -1.53584356e-02 3.02995676e+01] [-1.41888501e-02 9.99862111e-01 -8.62760020e-03 3.01135430e-01] [ 1.52350552e-02 8.84364881e-03 9.99844829e-01 -1.44177634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36771942099999 meters Centerline goodness [0,1] 0.9216239819647826 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99784921e-01 1.32477484e-02 -1.59564854e-02 3.03015403e+01] [-1.33850731e-02 9.99874028e-01 -8.53036570e-03 2.98212514e-01] [ 1.58414672e-02 8.74210972e-03 9.99836298e-01 -1.44264866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39771942099999 meters Centerline goodness [0,1] 0.9298234898918952 Centerline is valid? [False, False] Translation: X:30.30, Y:0.30, Z:-1.44 [[ 9.99792855e-01 1.25195435e-02 -1.60470530e-02 3.03024849e+01] [-1.26528928e-02 9.99886034e-01 -8.23547681e-03 2.95296507e-01] [ 1.59421198e-02 8.43681251e-03 9.99837321e-01 -1.44330812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42771942099999 meters Centerline goodness [0,1] 0.9297350263340546 Centerline is valid? [False, False] Translation: X:30.30, Y:0.29, Z:-1.44 [[ 9.99836170e-01 8.59466313e-03 -1.59299879e-02 3.03016038e+01] [-8.76448273e-03 9.99905180e-01 -1.06213926e-02 2.90769543e-01] [ 1.58371902e-02 1.07592706e-02 9.99816694e-01 -1.44219093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.457719421 meters Centerline goodness [0,1] 0.9343068679183539 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99859512e-01 4.94125534e-03 -1.60168813e-02 3.03001810e+01] [-5.14538447e-03 9.99905750e-01 -1.27285687e-02 2.84216231e-01] [ 1.59524766e-02 1.28091935e-02 9.99790700e-01 -1.43994339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.487719421 meters Centerline goodness [0,1] 0.9349507233365301 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99857409e-01 5.13790162e-03 -1.60861301e-02 3.02995103e+01] [-5.32659618e-03 9.99917254e-01 -1.17094769e-02 2.81253431e-01] [ 1.60246369e-02 1.17934915e-02 9.99802043e-01 -1.43873799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.517719421 meters Centerline goodness [0,1] 0.9373836935849983 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99858620e-01 5.63698509e-03 -1.58418474e-02 3.02977269e+01] [-5.80113680e-03 9.99929764e-01 -1.03351250e-02 2.78805302e-01] [ 1.57824758e-02 1.04255646e-02 9.99821095e-01 -1.43680150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.547719421 meters Centerline goodness [0,1] 0.9379140253969548 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99835832e-01 8.44406404e-03 -1.60314232e-02 3.02988053e+01] [-8.55270075e-03 9.99940844e-01 -6.72006158e-03 2.77102608e-01] [ 1.59737302e-02 6.85607033e-03 9.99848906e-01 -1.43720647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.577719421 meters Centerline goodness [0,1] 0.9385234186777737 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99835579e-01 8.77957147e-03 -1.58661517e-02 3.02985706e+01] [-8.88309939e-03 9.99939636e-01 -6.46642729e-03 2.77343766e-01] [ 1.58084215e-02 6.60630468e-03 9.99853215e-01 -1.43734789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.607719421 meters Centerline goodness [0,1] 0.9345054765741326 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99794069e-01 1.22983857e-02 -1.61421459e-02 3.03002842e+01] [-1.23510698e-02 9.99918704e-01 -3.16813068e-03 2.77666920e-01] [ 1.61018708e-02 3.36685104e-03 9.99864688e-01 -1.43868822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.637719421 meters Centerline goodness [0,1] 0.9342005840668205 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99787330e-01 1.27202592e-02 -1.62323718e-02 3.03006029e+01] [-1.27737839e-02 9.99913298e-01 -3.19798993e-03 2.77930861e-01] [ 1.61902852e-02 3.40465862e-03 9.99863132e-01 -1.43896471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.667719421 meters Centerline goodness [0,1] 0.9260128584549444 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99757942e-01 1.43335538e-02 -1.66915011e-02 3.03011799e+01] [-1.43868306e-02 9.99891772e-01 -3.07615591e-03 2.78784571e-01] [ 1.66456023e-02 3.31554910e-03 9.99855955e-01 -1.43930877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.697719421 meters Centerline goodness [0,1] 0.9285378755386721 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99745022e-01 1.51736606e-02 -1.67227906e-02 3.03008641e+01] [-1.52241061e-02 9.99879920e-01 -2.89340072e-03 2.79388997e-01] [ 1.66768790e-02 3.14725251e-03 9.99855978e-01 -1.43898510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72771942099999 meters Centerline goodness [0,1] 0.9211887097103848 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99645459e-01 2.07307595e-02 -1.67090402e-02 3.02992619e+01] [-2.06934714e-02 9.99782983e-01 2.40144380e-03 2.78444653e-01] [ 1.67551978e-02 -2.05482434e-03 9.99857510e-01 -1.43694046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75771942099999 meters Centerline goodness [0,1] 0.9186141526393201 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99632164e-01 2.13817954e-02 -1.66839603e-02 3.02992053e+01] [-2.13412299e-02 9.99768854e-01 2.60568836e-03 2.79275225e-01] [ 1.67358181e-02 -2.24867367e-03 9.99857418e-01 -1.43709816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78771942099999 meters Centerline goodness [0,1] 0.8985981786554794 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99600012e-01 2.28786103e-02 -1.66248567e-02 3.02994986e+01] [-2.28224370e-02 9.99733193e-01 3.56080579e-03 2.79145922e-01] [ 1.67018873e-02 -3.17996176e-03 9.99855457e-01 -1.43784893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81771942099999 meters Centerline goodness [0,1] 0.9046780271997379 Centerline is valid? [False, False] Translation: X:30.30, Y:0.28, Z:-1.44 [[ 9.99650992e-01 2.04388984e-02 -1.67375379e-02 3.02993855e+01] [-2.04339398e-02 9.99791096e-01 4.67242990e-04 2.78783319e-01] [ 1.67435913e-02 -1.25066076e-04 9.99859808e-01 -1.43798639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.847719421 meters Centerline goodness [0,1] 0.8865043250112737 Centerline is valid? [False, False] Translation: X:30.30, Y:0.27, Z:-1.44 [[ 9.99692023e-01 1.85446512e-02 -1.64910664e-02 3.02977168e+01] [-1.85681072e-02 9.99826791e-01 -1.27035940e-03 2.73254582e-01] [ 1.64646516e-02 1.57617605e-03 9.99863206e-01 -1.43687513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.877719421 meters Centerline goodness [0,1] 0.8913934426229508 Centerline is valid? [False, False] Translation: X:30.30, Y:0.27, Z:-1.44 [[ 9.99726127e-01 1.67815865e-02 -1.63110375e-02 3.02969938e+01] [-1.68315042e-02 9.99854053e-01 -2.92790833e-03 2.69350633e-01] [ 1.62595220e-02 3.20164575e-03 9.99862679e-01 -1.43665245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.907719421 meters Centerline goodness [0,1] 0.858247687037151 Centerline is valid? [False, False] Translation: X:30.30, Y:0.27, Z:-1.44 [[ 9.99720496e-01 1.71563661e-02 -1.62662190e-02 3.02970086e+01] [-1.71967706e-02 9.99849369e-01 -2.34733513e-03 2.67911271e-01] [ 1.62234971e-02 2.62640547e-03 9.99864941e-01 -1.43675089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.937719421 meters Centerline goodness [0,1] 0.9053593429158111 Centerline is valid? [False, False] Translation: X:30.30, Y:0.27, Z:-1.44 [[ 9.99714461e-01 1.74917027e-02 -1.62799689e-02 3.02969098e+01] [-1.75229971e-02 9.99844873e-01 -1.78159436e-03 2.66417462e-01] [ 1.62462803e-02 2.06635950e-03 9.99865885e-01 -1.43659077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.967719421 meters Centerline goodness [0,1] 0.8323964832087631 Centerline is valid? [False, False] Translation: X:30.29, Y:0.26, Z:-1.44 [[ 9.99752057e-01 1.55708185e-02 -1.59177366e-02 3.02947931e+01] [-1.56281732e-02 9.99871799e-01 -3.48516578e-03 2.62630917e-01] [ 1.58614290e-02 3.73306680e-03 9.99867231e-01 -1.43507791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.997719421 meters Centerline goodness [0,1] 0.8667655725206569 Centerline is valid? [False, False] Translation: X:30.30, Y:0.26, Z:-1.44 [[ 9.99748235e-01 1.55321980e-02 -1.61931583e-02 3.02955416e+01] [-1.55838424e-02 9.99873858e-01 -3.06797333e-03 2.58928482e-01] [ 1.61434632e-02 3.31955255e-03 9.99864175e-01 -1.43531026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.027719421 meters Centerline goodness [0,1] 0.8721834124499906 Centerline is valid? [False, False] Translation: X:30.29, Y:0.25, Z:-1.43 [[ 9.99791107e-01 1.30509689e-02 -1.57294108e-02 3.02943605e+01] [-1.31285905e-02 9.99902094e-01 -4.84168370e-03 2.52162356e-01] [ 1.56646821e-02 5.04717730e-03 9.99864563e-01 -1.43498867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.057719421 meters Centerline goodness [0,1] 0.8721834124499906 Centerline is valid? [False, False] Translation: X:30.29, Y:0.25, Z:-1.43 [[ 9.99791107e-01 1.30509689e-02 -1.57294108e-02 3.02943605e+01] [-1.31285905e-02 9.99902094e-01 -4.84168370e-03 2.52162356e-01] [ 1.56646821e-02 5.04717730e-03 9.99864563e-01 -1.43498867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.087719421 meters Centerline goodness [0,1] 0.8600199733688415 Centerline is valid? [False, False] Translation: X:30.30, Y:0.25, Z:-1.44 [[ 9.99785251e-01 1.32445058e-02 -1.59384712e-02 3.02951012e+01] [-1.33074006e-02 9.99904054e-01 -3.84653259e-03 2.47175071e-01] [ 1.58859966e-02 4.05780617e-03 9.99865576e-01 -1.43527090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11771942099999 meters Centerline goodness [0,1] 0.8430767305566563 Centerline is valid? [False, False] Translation: X:30.30, Y:0.25, Z:-1.44 [[ 9.99783988e-01 1.32959280e-02 -1.59748656e-02 3.02957690e+01] [-1.33532733e-02 9.99904756e-01 -3.48843129e-03 2.45562788e-01] [ 1.59269621e-02 3.70099450e-03 9.99866308e-01 -1.43594484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14771942099999 meters Centerline goodness [0,1] 0.8414432168389274 Centerline is valid? [False, False] Translation: X:30.30, Y:0.24, Z:-1.44 [[ 9.99782435e-01 1.28929763e-02 -1.63967583e-02 3.02976530e+01] [-1.29543537e-02 9.99909454e-01 -3.64257627e-03 2.44066188e-01] [ 1.63483100e-02 3.85419318e-03 9.99858929e-01 -1.43727060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17771942099999 meters Centerline goodness [0,1] 0.8264333234459087 Centerline is valid? [False, False] Translation: X:30.30, Y:0.24, Z:-1.44 [[ 9.99804084e-01 1.07433461e-02 -1.66244860e-02 3.02994944e+01] [-1.08292389e-02 9.99928431e-01 -5.08527517e-03 2.38415472e-01] [ 1.65686634e-02 5.26430942e-03 9.99848872e-01 -1.43877941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.207719421 meters Centerline goodness [0,1] 0.8288111888111889 Centerline is valid? [False, False] Translation: X:30.30, Y:0.23, Z:-1.44 [[ 9.99829792e-01 7.24915195e-03 -1.69657704e-02 3.02999306e+01] [-7.38031466e-03 9.99943263e-01 -7.68122000e-03 2.31829139e-01] [ 1.69091255e-02 7.80512532e-03 9.99826566e-01 -1.43854651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.237719421 meters Centerline goodness [0,1] 0.841395752058951 Centerline is valid? [False, False] Translation: X:30.30, Y:0.23, Z:-1.44 [[ 9.99848195e-01 3.75359591e-03 -1.70146265e-02 3.02999803e+01] [-3.93387316e-03 9.99936352e-01 -1.05743709e-02 2.28649818e-01] [ 1.69738516e-02 1.06396990e-02 9.99799322e-01 -1.43846989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.267719421 meters Centerline goodness [0,1] 0.8838327541363408 Centerline is valid? [False, False] Translation: X:30.30, Y:0.22, Z:-1.44 [[ 9.99851785e-01 -9.05755509e-04 -1.71926716e-02 3.03025506e+01] [ 6.76300595e-04 9.99910693e-01 -1.33472137e-02 2.22414894e-01] [ 1.72032255e-02 1.33336080e-02 9.99763104e-01 -1.44052396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.297719421 meters Centerline goodness [0,1] 0.9006012199938561 Centerline is valid? [False, False] Translation: X:30.30, Y:0.22, Z:-1.44 [[ 9.99849765e-01 -1.51128168e-03 -1.72673916e-02 3.03033017e+01] [ 1.29551669e-03 9.99921034e-01 -1.24998782e-02 2.18687576e-01] [ 1.72849189e-02 1.24756301e-02 9.99772769e-01 -1.44062165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.327719421 meters Centerline goodness [0,1] 0.9082372649723367 Centerline is valid? [False, False] Translation: X:30.30, Y:0.21, Z:-1.44 [[ 9.99844157e-01 -2.53823261e-03 -1.74705073e-02 3.03042716e+01] [ 2.32860275e-03 9.99925178e-01 -1.20089728e-02 2.14094528e-01] [ 1.74996817e-02 1.19664194e-02 9.99775258e-01 -1.44062173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.357719421 meters Centerline goodness [0,1] 0.9305142703886642 Centerline is valid? [False, False] Translation: X:30.30, Y:0.21, Z:-1.44 [[ 9.99793417e-01 -1.03492888e-02 -1.74932806e-02 3.03036155e+01] [ 1.00384795e-02 9.99791835e-01 -1.77627478e-02 2.07481533e-01] [ 1.76734709e-02 1.75834724e-02 9.99689187e-01 -1.43888613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.387719421 meters Centerline goodness [0,1] 0.9313941464730477 Centerline is valid? [False, False] Translation: X:30.30, Y:0.20, Z:-1.44 [[ 9.99779620e-01 -1.13415918e-02 -1.76657961e-02 3.03041308e+01] [ 1.10335882e-02 9.99787101e-01 -1.74359829e-02 2.03617487e-01] [ 1.78597869e-02 1.72372233e-02 9.99691906e-01 -1.43845038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.417719421 meters Centerline goodness [0,1] 0.9319488601772306 Centerline is valid? [False, False] Translation: X:30.30, Y:0.20, Z:-1.44 [[ 9.99719765e-01 -1.58019898e-02 -1.76263641e-02 3.03035622e+01] [ 1.54442535e-02 9.99675648e-01 -2.02502815e-02 1.99491133e-01] [ 1.79406417e-02 1.99723806e-02 9.99639554e-01 -1.43681934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.447719421 meters Centerline goodness [0,1] 0.9356598094462172 Centerline is valid? [False, False] Translation: X:30.30, Y:0.20, Z:-1.44 [[ 9.99715856e-01 -1.59690133e-02 -1.76973764e-02 3.03034020e+01] [ 1.56227539e-02 9.99687125e-01 -1.95340935e-02 1.97145590e-01] [ 1.80037796e-02 1.92520612e-02 9.99652551e-01 -1.43606881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47771942099999 meters Centerline goodness [0,1] 0.9361524016380461 Centerline is valid? [False, False] Translation: X:30.30, Y:0.20, Z:-1.44 [[ 9.99706752e-01 -1.66354067e-02 -1.75975096e-02 3.03034997e+01] [ 1.62957013e-02 9.99681420e-01 -1.92745687e-02 1.95612654e-01] [ 1.79125437e-02 1.89821527e-02 9.99659351e-01 -1.43581403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50771942099999 meters Centerline goodness [0,1] 0.9382127774892166 Centerline is valid? [False, False] Translation: X:30.30, Y:0.20, Z:-1.44 [[ 9.99701741e-01 -1.67900522e-02 -1.77347899e-02 3.03036820e+01] [ 1.64502020e-02 9.99681512e-01 -1.91380425e-02 1.95297067e-01] [ 1.80504704e-02 1.88405936e-02 9.99659548e-01 -1.43556689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53771942099999 meters Centerline goodness [0,1] 0.9353711593516828 Centerline is valid? [False, False] Translation: X:30.30, Y:0.20, Z:-1.44 [[ 9.99686807e-01 -1.73854167e-02 -1.80009812e-02 3.03041263e+01] [ 1.70365440e-02 9.99667495e-01 -1.93560368e-02 1.95554017e-01] [ 1.83315085e-02 1.90433001e-02 9.99650593e-01 -1.43518498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56771942099999 meters Centerline goodness [0,1] 0.9333498346121825 Centerline is valid? [False, False] Translation: X:30.31, Y:0.20, Z:-1.44 [[ 9.99670081e-01 -1.79610839e-02 -1.83610773e-02 3.03053335e+01] [ 1.75992157e-02 9.99651351e-01 -1.96836207e-02 1.95700803e-01] [ 1.87082149e-02 1.93539861e-02 9.99637647e-01 -1.43564120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.597719421 meters Centerline goodness [0,1] 0.9329981369666225 Centerline is valid? [False, False] Translation: X:30.31, Y:0.19, Z:-1.44 [[ 9.99620713e-01 -2.01496182e-02 -1.87729583e-02 3.03079770e+01] [ 1.97566222e-02 9.99586566e-01 -2.08895632e-02 1.94706477e-01] [ 1.91861136e-02 2.05107498e-02 9.99605523e-01 -1.43708366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.627719421 meters Centerline goodness [0,1] 0.9320340501792115 Centerline is valid? [False, False] Translation: X:30.31, Y:0.19, Z:-1.44 [[ 9.99562833e-01 -2.25585070e-02 -1.91116806e-02 3.03106348e+01] [ 2.21326278e-02 9.99508319e-01 -2.22096255e-02 1.93904420e-01] [ 1.96032998e-02 2.17769245e-02 9.99570646e-01 -1.43862373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.657719421 meters Centerline goodness [0,1] 0.9316030328861771 Centerline is valid? [False, False] Translation: X:30.31, Y:0.19, Z:-1.44 [[ 9.99591360e-01 -2.09096582e-02 -1.94910172e-02 3.03131338e+01] [ 2.05273146e-02 9.99596873e-01 -1.96142962e-02 1.93437719e-01] [ 1.98932881e-02 1.92061828e-02 9.99617617e-01 -1.44012428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.687719421 meters Centerline goodness [0,1] 0.9252791742670285 Centerline is valid? [False, False] Translation: X:30.32, Y:0.19, Z:-1.44 [[ 9.99626013e-01 -1.88342020e-02 -1.98269121e-02 3.03154149e+01] [ 1.85023179e-02 9.99687806e-01 -1.67915083e-02 1.94658205e-01] [ 2.01369769e-02 1.64183847e-02 9.99662412e-01 -1.44152712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.717719421 meters Centerline goodness [0,1] 0.9276346448305706 Centerline is valid? [False, False] Translation: X:30.32, Y:0.19, Z:-1.44 [[ 9.99669253e-01 -1.57386756e-02 -2.03390827e-02 3.03163559e+01] [ 1.54772335e-02 9.99796378e-01 -1.29482935e-02 1.93227499e-01] [ 2.05387302e-02 1.26292181e-02 9.99709289e-01 -1.44115064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.747719421 meters Centerline goodness [0,1] 0.9264568816297546 Centerline is valid? [False, False] Translation: X:30.32, Y:0.19, Z:-1.44 [[ 9.99663534e-01 -1.58433406e-02 -2.05379359e-02 3.03167393e+01] [ 1.55780465e-02 9.99793965e-01 -1.30135444e-02 1.93098785e-01] [ 2.07398824e-02 1.26892248e-02 9.99704377e-01 -1.44107276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.777719421 meters Centerline goodness [0,1] 0.9285398913859332 Centerline is valid? [False, False] Translation: X:30.32, Y:0.19, Z:-1.44 [[ 9.99693213e-01 -1.31975178e-02 -2.09596215e-02 3.03177259e+01] [ 1.29916371e-02 9.99866310e-01 -9.92870800e-03 1.94066206e-01] [ 2.10878537e-02 9.65336220e-03 9.99731021e-01 -1.44084189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.807719421 meters Centerline goodness [0,1] 0.9312917157440126 Centerline is valid? [False, False] Translation: X:30.32, Y:0.20, Z:-1.44 [[ 9.99730783e-01 -1.00471408e-02 -2.09145252e-02 3.03176019e+01] [ 9.89924808e-03 9.99925346e-01 -7.16285707e-03 2.00145012e-01] [ 2.09849301e-02 6.95389064e-03 9.99755608e-01 -1.44062917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.837719421 meters Centerline goodness [0,1] 0.9264912850492584 Centerline is valid? [False, False] Translation: X:30.32, Y:0.20, Z:-1.44 [[ 9.99751337e-01 -6.83679453e-03 -2.12255170e-02 3.03180582e+01] [ 6.75466511e-03 9.99969430e-01 -3.93865812e-03 2.02347571e-01] [ 2.12517960e-02 3.79430746e-03 9.99766955e-01 -1.44028411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86771942099999 meters Centerline goodness [0,1] 0.9297396421945967 Centerline is valid? [False, False] Translation: X:30.31, Y:0.21, Z:-1.44 [[ 9.99770246e-01 -5.49570569e-03 -2.07184130e-02 3.03144042e+01] [ 5.43067008e-03 9.99980153e-01 -3.19398263e-03 2.08194140e-01] [ 2.07355550e-02 3.08073394e-03 9.99780249e-01 -1.43680200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89771942099999 meters Centerline goodness [0,1] 0.9304911366668784 Centerline is valid? [False, False] Translation: X:30.31, Y:0.21, Z:-1.43 [[ 9.99771549e-01 -5.39307155e-03 -2.06824797e-02 3.03123101e+01] [ 5.32751351e-03 9.99980613e-01 -3.22352835e-03 2.09663601e-01] [ 2.06994634e-02 3.11260574e-03 9.99780898e-01 -1.43424628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92771942099999 meters Centerline goodness [0,1] 0.9293483956154507 Centerline is valid? [False, False] Translation: X:30.31, Y:0.21, Z:-1.43 [[ 9.99739089e-01 -1.00235200e-02 -2.05251740e-02 3.03104489e+01] [ 9.85233089e-03 9.99915975e-01 -8.42465487e-03 2.14568779e-01] [ 2.06078940e-02 8.22023598e-03 9.99753841e-01 -1.43224497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.957719421 meters Centerline goodness [0,1] 0.9304117254050442 Centerline is valid? [False, False] Translation: X:30.31, Y:0.22, Z:-1.43 [[ 9.99722027e-01 -1.13825211e-02 -2.06472131e-02 3.03118695e+01] [ 1.11816594e-02 9.99889285e-01 -9.81777665e-03 2.17763071e-01] [ 2.07566782e-02 9.58417746e-03 9.99738618e-01 -1.43346585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.987719421 meters Centerline goodness [0,1] 0.9286618914149278 Centerline is valid? [False, False] Translation: X:30.31, Y:0.22, Z:-1.43 [[ 9.99732467e-01 -9.86384116e-03 -2.09212740e-02 3.03139058e+01] [ 9.70512887e-03 9.99923456e-01 -7.67418435e-03 2.20343712e-01] [ 2.09953695e-02 7.46908759e-03 9.99751673e-01 -1.43473714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.017719421 meters Centerline goodness [0,1] 0.9249932808203601 Centerline is valid? [False, False] Translation: X:30.31, Y:0.23, Z:-1.44 [[ 9.99723304e-01 -1.13259841e-02 -2.06164344e-02 3.03149718e+01] [ 1.11396073e-02 9.99896246e-01 -9.13270966e-03 2.28447412e-01] [ 2.07177323e-02 8.90052369e-03 9.99745746e-01 -1.43602355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.047719421 meters Centerline goodness [0,1] 0.9117181232902072 Centerline is valid? [False, False] Translation: X:30.32, Y:0.23, Z:-1.44 [[ 9.99707884e-01 -1.22720258e-02 -2.08217267e-02 3.03150338e+01] [ 1.20476103e-02 9.99868347e-01 -1.08693756e-02 2.34316630e-01] [ 2.09523747e-02 1.06153484e-02 9.99724118e-01 -1.43559352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.077719421 meters Centerline goodness [0,1] 0.9120078983092682 Centerline is valid? [False, False] Translation: X:30.32, Y:0.24, Z:-1.44 [[ 9.99733528e-01 -9.32675244e-03 -2.11159714e-02 3.03157086e+01] [ 9.16238225e-03 9.99927073e-01 -7.86757744e-03 2.35775514e-01] [ 2.11878105e-02 7.67200835e-03 9.99746076e-01 -1.43555806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.107719421 meters Centerline goodness [0,1] 0.9145290396544312 Centerline is valid? [False, False] Translation: X:30.32, Y:0.24, Z:-1.44 [[ 9.99755251e-01 -6.20338249e-03 -2.12357362e-02 3.03158847e+01] [ 6.07996484e-03 9.99964280e-01 -5.87142961e-03 2.42480330e-01] [ 2.12714003e-02 5.74088006e-03 9.99757255e-01 -1.43554047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.137719421 meters Centerline goodness [0,1] 0.9246498313055924 Centerline is valid? [False, False] Translation: X:30.32, Y:0.25, Z:-1.44 [[ 9.99764686e-01 -2.97059160e-03 -2.14883105e-02 3.03169989e+01] [ 2.90136074e-03 9.99990502e-01 -3.25225085e-03 2.46117848e-01] [ 2.14977675e-02 3.18914021e-03 9.99763810e-01 -1.43629903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.167719421 meters Centerline goodness [0,1] 0.9273451870018393 Centerline is valid? [False, False] Translation: X:30.32, Y:0.26, Z:-1.44 [[ 9.99756708e-01 3.12935647e-03 -2.18341988e-02 3.03193539e+01] [-3.10675942e-03 9.99994603e-01 1.06878262e-03 2.55074382e-01] [ 2.18374255e-02 -1.00068899e-03 9.99761034e-01 -1.43853083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.197719421 meters Centerline goodness [0,1] 0.9278930778992182 Centerline is valid? [False, False] Translation: X:30.32, Y:0.26, Z:-1.44 [[ 9.99738956e-01 6.34960442e-03 -2.19477098e-02 3.03201522e+01] [-6.27495605e-03 9.99974297e-01 3.46838926e-03 2.59200453e-01] [ 2.19691685e-02 -3.32976295e-03 9.99753104e-01 -1.43921146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22771942099999 meters Centerline goodness [0,1] 0.9266840645897896 Centerline is valid? [False, False] Translation: X:30.33, Y:0.27, Z:-1.44 [[ 9.99731006e-01 1.38954575e-02 -1.85696346e-02 3.03297577e+01] [-1.39582371e-02 9.99897280e-01 -3.25543691e-03 2.68175122e-01] [ 1.85224914e-02 3.51376058e-03 9.99822270e-01 -1.44297619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25771942099999 meters Centerline goodness [0,1] 0.9287222051439696 Centerline is valid? [False, False] Translation: X:30.33, Y:0.28, Z:-1.44 [[ 9.99603900e-01 2.12390651e-02 -1.84647114e-02 3.03295232e+01] [-2.12117262e-02 9.99773603e-01 1.67521261e-03 2.76060948e-01] [ 1.84961110e-02 -1.28288066e-03 9.99828109e-01 -1.44295783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28771942099999 meters Centerline goodness [0,1] 0.9311228149271471 Centerline is valid? [False, False] Translation: X:30.33, Y:0.28, Z:-1.44 [[ 9.99518849e-01 2.49688938e-02 -1.84017574e-02 3.03292472e+01] [-2.48890714e-02 9.99679846e-01 4.55412438e-03 2.79370181e-01] [ 1.85095775e-02 -4.09393050e-03 9.99820301e-01 -1.44252815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31771942099999 meters Centerline goodness [0,1] 0.93062401570777 Centerline is valid? [False, False] Translation: X:30.33, Y:0.28, Z:-1.44 [[ 9.99421023e-01 2.86421747e-02 -1.83642040e-02 3.03288759e+01] [-2.85083183e-02 9.99565344e-01 7.50985951e-03 2.82361696e-01] [ 1.85713206e-02 -6.98197890e-03 9.99803160e-01 -1.44190199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.347719421 meters Centerline goodness [0,1] 0.9367753808404049 Centerline is valid? [False, False] Translation: X:30.33, Y:0.29, Z:-1.44 [[ 9.99224311e-01 3.50371389e-02 -1.79770476e-02 3.03266779e+01] [-3.48173954e-02 9.99316831e-01 1.23943947e-02 2.88892644e-01] [ 1.83990304e-02 -1.17588665e-02 9.99761574e-01 -1.43965724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.377719421 meters Centerline goodness [0,1] 0.9406590709186491 Centerline is valid? [False, False] Translation: X:30.33, Y:0.29, Z:-1.44 [[ 9.99089181e-01 3.87717504e-02 -1.78201972e-02 3.03263320e+01] [-3.84991982e-02 9.99140089e-01 1.53913970e-02 2.91753795e-01] [ 1.84016249e-02 -1.46913149e-02 9.99722734e-01 -1.43925236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.407719421 meters Centerline goodness [0,1] 0.9453788373612019 Centerline is valid? [False, False] Translation: X:30.33, Y:0.30, Z:-1.44 [[ 9.98777960e-01 4.62612865e-02 -1.73919347e-02 3.03253435e+01] [-4.58881934e-02 9.98720071e-01 2.12718765e-02 2.97523708e-01] [ 1.83537386e-02 -2.04477969e-02 9.99622443e-01 -1.43840706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.437719421 meters Centerline goodness [0,1] 0.9462950512397368 Centerline is valid? [False, False] Translation: X:30.33, Y:0.30, Z:-1.44 [[ 9.98599524e-01 5.00064984e-02 -1.72725675e-02 3.03256863e+01] [-4.95789345e-02 9.98473248e-01 2.43536799e-02 2.99776348e-01] [ 1.84640389e-02 -2.34632177e-02 9.99554179e-01 -1.43870831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.467719421 meters Centerline goodness [0,1] 0.944236176194939 Centerline is valid? [False, False] Translation: X:30.33, Y:0.30, Z:-1.44 [[ 9.98333732e-01 5.50063201e-02 -1.74374446e-02 3.03263746e+01] [-5.45183970e-02 9.98138942e-01 2.73202555e-02 3.03489977e-01] [ 1.89077792e-02 -2.63240711e-02 9.99474632e-01 -1.43922714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.497719421 meters Centerline goodness [0,1] 0.9434810139510182 Centerline is valid? [False, False] Translation: X:30.33, Y:0.31, Z:-1.44 [[ 9.98290412e-01 5.57173439e-02 -1.76587421e-02 3.03272449e+01] [-5.52326360e-02 9.98112680e-01 2.68409005e-02 3.05870680e-01] [ 1.91209181e-02 -2.58196747e-02 9.99483734e-01 -1.44011646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.527719421 meters Centerline goodness [0,1] 0.9328573474356089 Centerline is valid? [False, False] Translation: X:30.33, Y:0.31, Z:-1.44 [[ 9.98042833e-01 6.00597398e-02 -1.74163887e-02 3.03282127e+01] [-5.95192289e-02 9.97774770e-01 3.00494681e-02 3.08680607e-01] [ 1.91823965e-02 -2.89540462e-02 9.99396667e-01 -1.44157493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.557719421 meters Centerline goodness [0,1] 0.9126993815104166 Centerline is valid? [False, False] Translation: X:30.33, Y:0.31, Z:-1.44 [[ 9.97976569e-01 6.20327118e-02 -1.39538958e-02 3.03347849e+01] [-6.17576372e-02 9.97903610e-01 1.93488747e-02 3.10548973e-01] [ 1.51249061e-02 -1.84479639e-02 9.99715414e-01 -1.44254210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.587719421 meters Centerline goodness [0,1] 0.9327244556796869 Centerline is valid? [False, False] Translation: X:30.33, Y:0.31, Z:-1.44 [[ 9.98097946e-01 6.00975263e-02 -1.37396182e-02 3.03320959e+01] [-5.98591963e-02 9.98059574e-01 1.71453487e-02 3.09054477e-01] [ 1.47433505e-02 -1.62902948e-02 9.99758601e-01 -1.44036832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61771942099999 meters Centerline goodness [0,1] 0.9127065062206812 Centerline is valid? [False, False] Translation: X:30.33, Y:0.31, Z:-1.44 [[ 9.98287650e-01 5.67961877e-02 -1.39986176e-02 3.03319468e+01] [-5.66027554e-02 9.98300745e-01 1.38474240e-02 3.07479255e-01] [ 1.47613113e-02 -1.30313520e-02 9.99806125e-01 -1.44024406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64771942099999 meters Centerline goodness [0,1] 0.9392693599267324 Centerline is valid? [False, False] Translation: X:30.33, Y:0.30, Z:-1.44 [[ 9.98522490e-01 5.24183361e-02 -1.43232128e-02 3.03332953e+01] [-5.22734315e-02 9.98579580e-01 1.03107471e-02 3.03054562e-01] [ 1.48433400e-02 -9.54678934e-03 9.99844255e-01 -1.44173187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67771942099999 meters Centerline goodness [0,1] 0.942469387755102 Centerline is valid? [False, False] Translation: X:30.33, Y:0.30, Z:-1.44 [[ 9.98712836e-01 4.86470395e-02 -1.43574436e-02 3.03334908e+01] [-4.85548417e-02 9.98798033e-01 6.70200445e-03 3.02078991e-01] [ 1.46662191e-02 -5.99625447e-03 9.99874466e-01 -1.44241354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.707719421 meters Centerline goodness [0,1] 0.9473361535160322 Centerline is valid? [False, False] Translation: X:30.34, Y:0.30, Z:-1.44 [[ 9.98935435e-01 4.37607168e-02 -1.45943919e-02 3.03354244e+01] [-4.37219241e-02 9.99039334e-01 2.96676801e-03 2.98641177e-01] [ 1.47101994e-02 -2.32551480e-03 9.99889095e-01 -1.44457396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.737719421 meters Centerline goodness [0,1] 0.9430561495692552 Centerline is valid? [False, False] Translation: X:30.34, Y:0.30, Z:-1.45 [[ 9.99101950e-01 3.96501943e-02 -1.49384084e-02 3.03365685e+01] [-3.96649813e-02 9.99212793e-01 -6.94771922e-04 2.96677397e-01] [ 1.48991009e-02 1.28667967e-03 9.99888174e-01 -1.44563199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.767719421 meters Centerline goodness [0,1] 0.9450291202615715 Centerline is valid? [False, False] Translation: X:30.34, Y:0.29, Z:-1.44 [[ 9.99370292e-01 3.22530528e-02 -1.47905074e-02 3.03352620e+01] [-3.23539625e-02 9.99454452e-01 -6.63478251e-03 2.90788220e-01] [ 1.45684464e-02 7.10913606e-03 9.99868602e-01 -1.44485783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.797719421 meters Centerline goodness [0,1] 0.9438937148696985 Centerline is valid? [False, False] Translation: X:30.33, Y:0.29, Z:-1.44 [[ 9.99513462e-01 2.75263069e-02 -1.46677385e-02 3.03347420e+01] [-2.76707831e-02 9.99569640e-01 -9.73970531e-03 2.86035817e-01] [ 1.43933280e-02 1.01408344e-02 9.99844986e-01 -1.44434321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.827719421 meters Centerline goodness [0,1] 0.9453131395824805 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99534469e-01 2.66687933e-02 -1.48196274e-02 3.03357924e+01] [-2.68167282e-02 9.99591591e-01 -9.87492032e-03 2.84527593e-01] [ 1.45502227e-02 1.02677372e-02 9.99841420e-01 -1.44512072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.857719421 meters Centerline goodness [0,1] 0.9452747476807014 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99555265e-01 2.57573489e-02 -1.50276995e-02 3.03374878e+01] [-2.59142903e-02 9.99610651e-01 -1.03439028e-02 2.84129591e-01] [ 1.47554169e-02 1.07287346e-02 9.99833572e-01 -1.44656507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.887719421 meters Centerline goodness [0,1] 0.9431588407099528 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99587671e-01 2.44561410e-02 -1.50461089e-02 3.03388158e+01] [-2.46224630e-02 9.99636630e-01 -1.09700187e-02 2.83619358e-01] [ 1.47723573e-02 1.13359677e-02 9.99826622e-01 -1.44788481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.917719421 meters Centerline goodness [0,1] 0.9425914571837318 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99598809e-01 2.39613413e-02 -1.51021791e-02 3.03389786e+01] [-2.41284050e-02 9.99648581e-01 -1.09788179e-02 2.82288526e-01] [ 1.48338047e-02 1.13388048e-02 9.99825680e-01 -1.44782876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.947719421 meters Centerline goodness [0,1] 0.9423454768726975 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99686163e-01 1.99917108e-02 -1.50966023e-02 3.03383708e+01] [-2.02122884e-02 9.99689065e-01 -1.46026450e-02 2.81130005e-01] [ 1.47999764e-02 1.49031990e-02 9.99779403e-01 -1.44725373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97771942099999 meters Centerline goodness [0,1] 0.9423454768726975 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99686163e-01 1.99917108e-02 -1.50966023e-02 3.03383708e+01] [-2.02122884e-02 9.99689065e-01 -1.46026450e-02 2.81130005e-01] [ 1.47999764e-02 1.49031990e-02 9.99779403e-01 -1.44725373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00771942099999 meters Centerline goodness [0,1] 0.9435870143693454 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99706960e-01 1.88604904e-02 -1.51748668e-02 3.03398742e+01] [-1.90977030e-02 9.99695258e-01 -1.56419001e-02 2.83479286e-01] [ 1.48752285e-02 1.59271215e-02 9.99762499e-01 -1.44872522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03771942099999 meters Centerline goodness [0,1] 0.9427792915531336 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99714178e-01 1.84471303e-02 -1.52074140e-02 3.03400813e+01] [-1.86885753e-02 9.99699068e-01 -1.58905815e-02 2.84309940e-01] [ 1.49097020e-02 1.61702445e-02 9.99758083e-01 -1.44881358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.06771942099999 meters Centerline goodness [0,1] 0.9451130748569906 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99726650e-01 1.77502061e-02 -1.52169507e-02 3.03398385e+01] [-1.79957445e-02 9.99707563e-01 -1.61537061e-02 2.84053862e-01] [ 1.49257691e-02 1.64231308e-02 9.99753721e-01 -1.44833431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.097719421 meters Centerline goodness [0,1] 0.9464562433732975 Centerline is valid? [False, False] Translation: X:30.34, Y:0.28, Z:-1.45 [[ 9.99806479e-01 1.26088840e-02 -1.51003211e-02 3.03391167e+01] [-1.29170168e-02 9.99706713e-01 -2.04850658e-02 2.84160202e-01] [ 1.48375986e-02 2.06761526e-02 9.99676119e-01 -1.44738830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.127719421 meters Centerline goodness [0,1] 0.9419315403422983 Centerline is valid? [False, False] Translation: X:30.34, Y:0.29, Z:-1.45 [[ 9.99859652e-01 7.22138021e-03 -1.51171350e-02 3.03391645e+01] [-7.60421202e-03 9.99647888e-01 -2.54219673e-02 2.85494559e-01] [ 1.49282304e-02 2.55333532e-02 9.99562502e-01 -1.44725229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.157719421 meters Centerline goodness [0,1] 0.9373421331377821 Centerline is valid? [False, False] Translation: X:30.34, Y:0.29, Z:-1.45 [[ 9.99864570e-01 6.40826246e-03 -1.51583814e-02 3.03397053e+01] [-6.80160717e-03 9.99637727e-01 -2.60413757e-02 2.86410702e-01] [ 1.49860099e-02 2.61409503e-02 9.99545932e-01 -1.44764239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.187719421 meters Centerline goodness [0,1] 0.9341477342252315 Centerline is valid? [False, False] Translation: X:30.34, Y:0.29, Z:-1.45 [[ 9.99851986e-01 8.08188796e-03 -1.51884315e-02 3.03414336e+01] [-8.44144686e-03 9.99682049e-01 -2.37601294e-02 2.87134328e-01] [ 1.49915756e-02 2.38848249e-02 9.99602305e-01 -1.44914078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.217719421 meters Centerline goodness [0,1] 0.9320071076979637 Centerline is valid? [False, False] Translation: X:30.34, Y:0.29, Z:-1.45 [[ 9.99834043e-01 9.81588483e-03 -1.53471648e-02 3.03441306e+01] [-1.01560070e-02 9.99701001e-01 -2.22433030e-02 2.91771116e-01] [ 1.51242384e-02 2.23954775e-02 9.99634783e-01 -1.45158817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.247719421 meters Centerline goodness [0,1] 0.9206760172877763 Centerline is valid? [False, False] Translation: X:30.35, Y:0.30, Z:-1.45 [[ 9.99804517e-01 1.23670447e-02 -1.54267547e-02 3.03454133e+01] [-1.26791649e-02 9.99713505e-01 -2.03014031e-02 2.96646171e-01] [ 1.51712666e-02 2.04930329e-02 9.99674881e-01 -1.45256670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.277719421 meters Centerline goodness [0,1] 0.9252244897959183 Centerline is valid? [False, False] Translation: X:30.35, Y:0.30, Z:-1.45 [[ 9.99759790e-01 1.56121724e-02 -1.53825028e-02 3.03456596e+01] [-1.58787734e-02 9.99723131e-01 -1.73644894e-02 2.99485168e-01] [ 1.51071464e-02 1.76045736e-02 9.99730890e-01 -1.45264635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.307719421 meters Centerline goodness [0,1] 0.93726065346696 Centerline is valid? [False, False] Translation: X:30.35, Y:0.31, Z:-1.45 [[ 9.99656548e-01 2.11418358e-02 -1.54857621e-02 3.03466487e+01] [-2.13456792e-02 9.99686085e-01 -1.31184324e-02 3.07210401e-01] [ 1.52035532e-02 1.34444810e-02 9.99794028e-01 -1.45310195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.337719421 meters Centerline goodness [0,1] 0.9377316228873956 Centerline is valid? [False, False] Translation: X:30.35, Y:0.31, Z:-1.45 [[ 9.99639731e-01 2.19453179e-02 -1.54534947e-02 3.03460894e+01] [-2.21504268e-02 9.99667121e-01 -1.32289787e-02 3.10855803e-01] [ 1.51580364e-02 1.35665142e-02 9.99793070e-01 -1.45247938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36771942099999 meters Centerline goodness [0,1] 0.9398577235772357 Centerline is valid? [False, False] Translation: X:30.35, Y:0.32, Z:-1.45 [[ 9.99578658e-01 2.44705688e-02 -1.56108112e-02 3.03474647e+01] [-2.46583613e-02 9.99624478e-01 -1.19527552e-02 3.16188101e-01] [ 1.53124583e-02 1.23326560e-02 9.99806698e-01 -1.45354009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39771942099999 meters Centerline goodness [0,1] 0.9423766816143497 Centerline is valid? [False, False] Translation: X:30.35, Y:0.32, Z:-1.45 [[ 9.99510302e-01 2.71320338e-02 -1.55887452e-02 3.03486020e+01] [-2.72841953e-02 9.99581305e-01 -9.63262399e-03 3.19339080e-01] [ 1.53208656e-02 1.00532333e-02 9.99832088e-01 -1.45459595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42771942099999 meters Centerline goodness [0,1] 0.9416265404390761 Centerline is valid? [False, False] Translation: X:30.35, Y:0.33, Z:-1.46 [[ 9.99471214e-01 2.85130876e-02 -1.56299563e-02 3.03499477e+01] [-2.86573578e-02 9.99548004e-01 -9.08539996e-03 3.27551506e-01] [ 1.53638388e-02 9.52850898e-03 9.99836567e-01 -1.45563773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.457719421 meters Centerline goodness [0,1] 0.9381548163971112 Centerline is valid? [False, False] Translation: X:30.35, Y:0.33, Z:-1.46 [[ 9.99495744e-01 2.74817181e-02 -1.59063754e-02 3.03507883e+01] [-2.76501073e-02 9.99562883e-01 -1.04649371e-02 3.30129824e-01] [ 1.56118280e-02 1.08994730e-02 9.99818720e-01 -1.45597175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.487719421 meters Centerline goodness [0,1] 0.9230628394735236 Centerline is valid? [False, False] Translation: X:30.35, Y:0.33, Z:-1.45 [[ 9.99592649e-01 2.38120138e-02 -1.57328770e-02 3.03493522e+01] [-2.40415802e-02 9.99604822e-01 -1.45671420e-02 3.34980969e-01] [ 1.53797868e-02 1.49394513e-02 9.99770111e-01 -1.45458294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.517719421 meters Centerline goodness [0,1] 0.9205791568515962 Centerline is valid? [False, False] Translation: X:30.35, Y:0.34, Z:-1.45 [[ 9.99610688e-01 2.30583299e-02 -1.57094298e-02 3.03490984e+01] [-2.33024524e-02 9.99607703e-01 -1.55382003e-02 3.37657062e-01] [ 1.53449821e-02 1.58982193e-02 9.99755859e-01 -1.45422389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.547719421 meters Centerline goodness [0,1] 0.8885584502882284 Centerline is valid? [False, False] Translation: X:30.35, Y:0.35, Z:-1.45 [[ 9.99658200e-01 2.12234502e-02 -1.52658946e-02 3.03470894e+01] [-2.14983006e-02 9.99605548e-01 -1.80712622e-02 3.45766152e-01] [ 1.48763384e-02 1.83932762e-02 9.99720152e-01 -1.45252821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.577719421 meters Centerline goodness [0,1] 0.8818002079044455 Centerline is valid? [False, False] Translation: X:30.35, Y:0.35, Z:-1.45 [[ 9.99671816e-01 2.06242900e-02 -1.51953291e-02 3.03466726e+01] [-2.09157860e-02 9.99595308e-01 -1.92808151e-02 3.50337498e-01] [ 1.47915265e-02 1.95923097e-02 9.99698631e-01 -1.45202016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.607719421 meters Centerline goodness [0,1] 0.8665229242097555 Centerline is valid? [False, False] Translation: X:30.35, Y:0.36, Z:-1.45 [[ 9.99638221e-01 2.21143356e-02 -1.53096089e-02 3.03482461e+01] [-2.24022177e-02 9.99570466e-01 -1.88950812e-02 3.59246705e-01] [ 1.48851808e-02 1.92312145e-02 9.99704252e-01 -1.45309144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.637719421 meters Centerline goodness [0,1] 0.8569190388019614 Centerline is valid? [False, False] Translation: X:30.35, Y:0.36, Z:-1.45 [[ 9.99581973e-01 2.44459110e-02 -1.54362098e-02 3.03493600e+01] [-2.47080763e-02 9.99549681e-01 -1.70278272e-02 3.63247216e-01] [ 1.50129979e-02 1.74021082e-02 9.99735853e-01 -1.45373685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.667719421 meters Centerline goodness [0,1] 0.8502938007034951 Centerline is valid? [False, False] Translation: X:30.35, Y:0.37, Z:-1.46 [[ 9.99546690e-01 2.56326279e-02 -1.57918625e-02 3.03515390e+01] [-2.59037045e-02 9.99516340e-01 -1.72070699e-02 3.72321274e-01] [ 1.53431622e-02 1.76083375e-02 9.99727230e-01 -1.45508626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.697719421 meters Centerline goodness [0,1] 0.8428139152332406 Centerline is valid? [False, False] Translation: X:30.35, Y:0.38, Z:-1.46 [[ 9.99490591e-01 2.77076727e-02 -1.58380060e-02 3.03523789e+01] [-2.79546284e-02 9.99487616e-01 -1.55898648e-02 3.76387374e-01] [ 1.53979320e-02 1.60246688e-02 9.99753026e-01 -1.45559629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72771942099999 meters Centerline goodness [0,1] 0.8652583209645609 Centerline is valid? [False, False] Translation: X:30.35, Y:0.39, Z:-1.46 [[ 9.99433660e-01 3.00038676e-02 -1.52357300e-02 3.03525490e+01] [-3.02218139e-02 9.99441177e-01 -1.42820382e-02 3.88878748e-01] [ 1.47986996e-02 1.47344011e-02 9.99781924e-01 -1.45607119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75771942099999 meters Centerline goodness [0,1] 0.8390359589735275 Centerline is valid? [False, False] Translation: X:30.35, Y:0.39, Z:-1.46 [[ 9.99361900e-01 3.22025633e-02 -1.54527836e-02 3.03538315e+01] [-3.24034202e-02 9.99391249e-01 -1.29286512e-02 3.94540770e-01] [ 1.50270410e-02 1.34211244e-02 9.99797010e-01 -1.45666911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78771942099999 meters Centerline goodness [0,1] 0.8694272697689555 Centerline is valid? [False, False] Translation: X:30.35, Y:0.41, Z:-1.46 [[ 9.99252926e-01 3.55448868e-02 -1.51707266e-02 3.03538366e+01] [-3.57222847e-02 9.99294580e-01 -1.15870987e-02 4.05484035e-01] [ 1.47481627e-02 1.21203753e-02 9.99817777e-01 -1.45655385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.81771942099999 meters Centerline goodness [0,1] 0.8961751967303118 Centerline is valid? [False, False] Translation: X:30.36, Y:0.42, Z:-1.46 [[ 9.99050418e-01 4.08570001e-02 -1.51316853e-02 3.03550714e+01] [-4.09886562e-02 9.99123497e-01 -8.49510947e-03 4.15907528e-01] [ 1.47713377e-02 9.10727011e-03 9.99849421e-01 -1.45738917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.847719421 meters Centerline goodness [0,1] 0.9127183061278555 Centerline is valid? [False, False] Translation: X:30.36, Y:0.42, Z:-1.46 [[ 9.98928253e-01 4.37795569e-02 -1.50231539e-02 3.03555563e+01] [-4.38846337e-02 9.99013888e-01 -6.73728197e-03 4.21517716e-01] [ 1.47133842e-02 7.38934692e-03 9.99864448e-01 -1.45772250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.877719421 meters Centerline goodness [0,1] 0.9486245625457801 Centerline is valid? [False, False] Translation: X:30.36, Y:0.43, Z:-1.46 [[ 9.98592223e-01 5.08726631e-02 -1.50181249e-02 3.03569570e+01] [-5.09194756e-02 9.98698973e-01 -2.75107014e-03 4.32453140e-01] [ 1.48586317e-02 3.51191229e-03 9.99883437e-01 -1.45856389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.907719421 meters Centerline goodness [0,1] 0.9513322070467545 Centerline is valid? [False, True] Translation: X:30.36, Y:0.44, Z:-1.46 [[ 9.98394150e-01 5.46066374e-02 -1.50743830e-02 3.03578744e+01] [-5.46204003e-02 9.98507065e-01 -5.02497097e-04 4.37597858e-01] [ 1.50244382e-02 1.32505899e-03 9.99886249e-01 -1.45894358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.937719421 meters Centerline goodness [0,1] 0.958304575534895 Centerline is valid? [True, True] Translation: X:30.39, Y:0.46, Z:-1.46 [[ 9.97626820e-01 6.66192134e-02 -1.73956209e-02 3.03883183e+01] [-6.66038064e-02 9.97778427e-01 1.46418099e-03 4.56215444e-01] [ 1.74545179e-02 -3.02091659e-04 9.99847613e-01 -1.46185740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.967719421 meters Centerline goodness [0,1] 0.9593733511912009 Centerline is valid? [True, True] Translation: X:30.42, Y:0.46, Z:-1.46 [[ 9.97219403e-01 7.21585469e-02 -1.86173778e-02 3.04191815e+01] [-7.21418848e-02 9.97393150e-01 1.56590623e-03 4.63620154e-01] [ 1.86818386e-02 -2.18459345e-04 9.99825455e-01 -1.46331347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.997719421 meters Centerline goodness [0,1] 0.9576526050556775 Centerline is valid? [True, True] Translation: X:30.45, Y:0.48, Z:-1.46 [[ 9.96345771e-01 8.32243584e-02 -1.92044669e-02 3.04501313e+01] [-8.32087073e-02 9.96530835e-01 1.61399058e-03 4.81451556e-01] [ 1.92721668e-02 -1.01138252e-05 9.99814274e-01 -1.46263410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.027719421 meters Centerline goodness [0,1] 0.9546101888020834 Centerline is valid? [True, True] Translation: X:30.48, Y:0.49, Z:-1.46 [[ 9.95915635e-01 8.80559666e-02 -1.99547989e-02 3.04781873e+01] [-8.80400878e-02 9.96115525e-01 1.67455519e-03 4.88402128e-01] [ 2.00247395e-02 8.91065457e-05 9.99799481e-01 -1.46485867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.057719421 meters Centerline goodness [0,1] 0.9533882821064599 Centerline is valid? [True, True] Translation: X:30.51, Y:0.50, Z:-1.46 [[ 9.95121039e-01 9.64175405e-02 -2.09231078e-02 3.05072958e+01] [-9.64019824e-02 9.95340938e-01 1.75329975e-03 4.96774374e-01] [ 2.09946746e-02 2.72283608e-04 9.99779550e-01 -1.46397623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.087719421 meters Centerline goodness [0,1] 0.9519215144621385 Centerline is valid? [True, True] Translation: X:30.53, Y:0.50, Z:-1.46 [[ 9.94859074e-01 9.89240743e-02 -2.16668050e-02 3.05349999e+01] [-9.89080386e-02 9.95094926e-01 1.81312938e-03 4.96497188e-01] [ 2.17398898e-02 3.39212966e-04 9.99763603e-01 -1.46448927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11771942099999 meters Centerline goodness [0,1] 0.9510684107897303 Centerline is valid? [True, True] Translation: X:30.56, Y:0.49, Z:-1.47 [[ 9.94650850e-01 1.00766788e-01 -2.27099472e-02 3.05633559e+01] [-1.00749701e-01 9.94909993e-01 1.89824589e-03 4.93030595e-01] [ 2.27856336e-02 3.99928494e-04 9.99740294e-01 -1.46536439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14771942099999 meters Centerline goodness [0,1] 0.9525220143651341 Centerline is valid? [True, True] Translation: X:30.59, Y:0.49, Z:-1.47 [[ 9.94612759e-01 1.01471881e-01 -2.11876638e-02 3.05915876e+01] [-1.01457219e-01 9.94838331e-01 1.76858298e-03 4.90991679e-01] [ 2.12577615e-02 3.90586259e-04 9.99773952e-01 -1.46528752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17771942099999 meters Centerline goodness [0,1] 0.9544313026571614 Centerline is valid? [True, True] Translation: X:30.62, Y:0.49, Z:-1.46 [[ 9.94818926e-01 1.00107602e-01 -1.77135987e-02 3.06198162e+01] [-1.00097167e-01 9.94976570e-01 1.47696171e-03 4.86165642e-01] [ 1.77724708e-02 3.03771599e-04 9.99842011e-01 -1.46334129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.207719421 meters Centerline goodness [0,1] 0.953706898301301 Centerline is valid? [True, True] Translation: X:30.65, Y:0.48, Z:-1.47 [[ 9.94862823e-01 9.95519927e-02 -1.83674679e-02 3.06478235e+01] [-9.95407150e-02 9.95032314e-01 1.52949351e-03 4.82790652e-01] [ 1.84284883e-02 3.06674659e-04 9.99830134e-01 -1.46511958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.237719421 meters Centerline goodness [0,1] 0.9518499746578813 Centerline is valid? [True, True] Translation: X:30.68, Y:0.47, Z:-1.47 [[ 9.95025445e-01 9.73867284e-02 -2.09806896e-02 3.06751558e+01] [-9.73715807e-02 9.95246568e-01 1.74478397e-03 4.72415754e-01] [ 2.10508781e-02 3.06818465e-04 9.99778359e-01 -1.46891062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.267719421 meters Centerline goodness [0,1] 0.9519574398960364 Centerline is valid? [True, True] Translation: X:30.70, Y:0.47, Z:-1.47 [[ 9.95050683e-01 9.69365200e-02 -2.18506286e-02 3.07036579e+01] [-9.69200250e-02 9.95290517e-01 1.81514670e-03 4.65894703e-01] [ 2.19236775e-02 3.11600511e-04 9.99759599e-01 -1.46908079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.297719421 meters Centerline goodness [0,1] 0.9542516868547273 Centerline is valid? [True, True] Translation: X:30.73, Y:0.46, Z:-1.47 [[ 9.95168160e-01 9.58406435e-02 -2.13284719e-02 3.07318239e+01] [-9.58247168e-02 9.95396650e-01 1.76985588e-03 4.55174466e-01] [ 2.13999136e-02 2.82490561e-04 9.99770956e-01 -1.46790447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.327719421 meters Centerline goodness [0,1] 0.9526059622794565 Centerline is valid? [True, True] Translation: X:30.76, Y:0.45, Z:-1.47 [[ 9.95254682e-01 9.48473108e-02 -2.17280119e-02 3.07598303e+01] [-9.48305710e-02 9.95491796e-01 1.80182556e-03 4.48867246e-01] [ 2.18009559e-02 2.67204451e-04 9.99762295e-01 -1.46902913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.357719421 meters Centerline goodness [0,1] 0.9533379439404418 Centerline is valid? [True, True] Translation: X:30.79, Y:0.44, Z:-1.47 [[ 9.95410795e-01 9.30048097e-02 -2.25267363e-02 3.07890510e+01] [-9.29863677e-02 9.95665631e-01 1.86704159e-03 4.42207460e-01] [ 2.26027409e-02 2.36206028e-04 9.99744498e-01 -1.46967794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.387719421 meters Centerline goodness [0,1] 0.9548146791231605 Centerline is valid? [True, True] Translation: X:30.82, Y:0.43, Z:-1.47 [[ 9.95857140e-01 8.84200005e-02 -2.12240706e-02 3.08163490e+01] [-8.84026039e-02 9.96083274e-01 1.75835008e-03 4.29394464e-01] [ 2.12964150e-02 1.25197625e-04 9.99773198e-01 -1.47007937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.417719421 meters Centerline goodness [0,1] 0.9577887815569446 Centerline is valid? [True, True] Translation: X:30.85, Y:0.41, Z:-1.47 [[ 9.96657775e-01 7.94276896e-02 -1.90924440e-02 3.08451542e+01] [-7.94119631e-02 9.96840628e-01 1.58164869e-03 4.12151253e-01] [ 1.91577506e-02 -6.01940051e-05 9.99816472e-01 -1.46779111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.447719421 meters Centerline goodness [0,1] 0.9568646582916616 Centerline is valid? [True, True] Translation: X:30.87, Y:0.40, Z:-1.47 [[ 9.96967863e-01 7.49835301e-02 -2.07978396e-02 3.08746621e+01] [-7.49639011e-02 9.97184760e-01 1.72292640e-03 4.02568780e-01] [ 2.08684798e-02 -1.58615057e-04 9.99782217e-01 -1.46969554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47771942099999 meters Centerline goodness [0,1] 0.9563573533895721 Centerline is valid? [True, True] Translation: X:30.90, Y:0.39, Z:-1.47 [[ 9.97420810e-01 6.89232366e-02 -2.00328760e-02 3.09039782e+01] [-6.89038026e-02 9.97621928e-01 1.65955559e-03 3.87799960e-01] [ 2.00996183e-02 -2.74933942e-04 9.99797944e-01 -1.46866812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50771942099999 meters Centerline goodness [0,1] 0.9590837025895361 Centerline is valid? [True, True] Translation: X:30.93, Y:0.38, Z:-1.47 [[ 9.97588672e-01 6.71722451e-02 -1.74565171e-02 3.09336946e+01] [-6.71572208e-02 9.97741357e-01 1.44612588e-03 3.80578397e-01] [ 1.75142286e-02 -2.70307625e-04 9.99846578e-01 -1.46603019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53771942099999 meters Centerline goodness [0,1] 0.9603612031971364 Centerline is valid? [True, True] Translation: X:30.96, Y:0.38, Z:-1.46 [[ 9.97592248e-01 6.74102526e-02 -1.62961298e-02 3.09641150e+01] [-6.73971682e-02 9.97725311e-01 1.35140045e-03 3.75653828e-01] [ 1.63501594e-02 -2.49833616e-04 9.99866296e-01 -1.46442023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.56771942099999 meters Centerline goodness [0,1] 0.9584960143159265 Centerline is valid? [True, True] Translation: X:30.99, Y:0.37, Z:-1.47 [[ 9.97396842e-01 6.98665813e-02 -1.78381824e-02 3.09949397e+01] [-6.98512184e-02 9.97556317e-01 1.48361451e-03 3.73171204e-01] [ 1.78982466e-02 -2.33733654e-04 9.99839786e-01 -1.46705632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.597719421 meters Centerline goodness [0,1] 0.9547313381212996 Centerline is valid? [True, True] Translation: X:31.03, Y:0.38, Z:-1.47 [[ 9.97002437e-01 7.43972511e-02 -2.12412269e-02 3.10259688e+01] [-7.43764698e-02 9.97228668e-01 1.76778459e-03 3.76870785e-01] [ 2.13138787e-02 -1.82638074e-04 9.99772817e-01 -1.46929179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.627719421 meters Centerline goodness [0,1] 0.9531485632769513 Centerline is valid? [True, True] Translation: X:31.06, Y:0.38, Z:-1.47 [[ 9.96704110e-01 7.80891486e-02 -2.19773042e-02 3.10559071e+01] [-7.80678079e-02 9.96946374e-01 1.82863948e-03 3.77023319e-01] [ 2.20529906e-02 -1.06892526e-04 9.99756798e-01 -1.47183910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.657719421 meters Centerline goodness [0,1] 0.9553248547397505 Centerline is valid? [True, True] Translation: X:31.09, Y:0.38, Z:-1.47 [[ 9.96166673e-01 8.45444766e-02 -2.24542176e-02 3.10858323e+01] [-8.45238589e-02 9.96419706e-01 1.86741145e-03 3.79112444e-01] [ 2.25317043e-02 3.76640756e-05 9.99746128e-01 -1.46856450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.687719421 meters Centerline goodness [0,1] 0.9552856298530581 Centerline is valid? [True, True] Translation: X:31.12, Y:0.38, Z:-1.47 [[ 9.95828193e-01 8.80237263e-02 -2.40423154e-02 3.11162207e+01] [-8.80011061e-02 9.96118370e-01 1.99932185e-03 3.78876214e-01] [ 2.41249798e-02 1.24769279e-04 9.99708943e-01 -1.46820825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.717719421 meters Centerline goodness [0,1] 0.9549619253166104 Centerline is valid? [True, True] Translation: X:31.14, Y:0.38, Z:-1.47 [[ 9.95524537e-01 9.14469723e-02 -2.38400479e-02 3.11447887e+01] [-9.14257454e-02 9.95809926e-01 1.98111639e-03 3.80616020e-01] [ 2.39213234e-02 2.07344174e-04 9.99713823e-01 -1.46938531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.747719421 meters Centerline goodness [0,1] 0.9564768517581328 Centerline is valid? [True, True] Translation: X:31.17, Y:0.39, Z:-1.47 [[ 9.94753952e-01 1.00320354e-01 -2.00100378e-02 3.11739628e+01] [-1.00307219e-01 9.94955125e-01 1.66157457e-03 3.89283988e-01] [ 2.00757795e-02 3.54293375e-04 9.99798398e-01 -1.46839769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.777719421 meters Centerline goodness [0,1] 0.9534458965825148 Centerline is valid? [True, True] Translation: X:31.20, Y:0.39, Z:-1.47 [[ 9.93874672e-01 1.08311440e-01 -2.19492067e-02 3.12044614e+01] [-1.08297595e-01 9.94116850e-01 1.82195130e-03 3.94181200e-01] [ 2.20174143e-02 5.66255041e-04 9.99757427e-01 -1.47072369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.807719421 meters Centerline goodness [0,1] 0.9461463454272132 Centerline is valid? [True, False] Translation: X:31.21, Y:0.39, Z:-1.47 [[ 9.93828772e-01 1.08726648e-01 -2.19747168e-02 3.12052747e+01] [-1.08713289e-01 9.94071508e-01 1.80518472e-03 3.94452692e-01] [ 2.20407115e-02 5.94899226e-04 9.99756897e-01 -1.47166014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.837719421 meters Centerline goodness [0,1] 0.9490475610251411 Centerline is valid? [False, False] Translation: X:31.21, Y:0.39, Z:-1.47 [[ 9.93792493e-01 1.09042361e-01 -2.20509280e-02 3.12060097e+01] [-1.09027276e-01 9.94036964e-01 1.88877471e-03 3.94137989e-01] [ 2.21253939e-02 5.27102483e-04 9.99755065e-01 -1.47242619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86771942099999 meters Centerline goodness [0,1] 0.9490475610251411 Centerline is valid? [False, False] Translation: X:31.21, Y:0.39, Z:-1.47 [[ 9.93792493e-01 1.09042361e-01 -2.20509280e-02 3.12060097e+01] [-1.09027276e-01 9.94036964e-01 1.88877471e-03 3.94137989e-01] [ 2.21253939e-02 5.27102483e-04 9.99755065e-01 -1.47242619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89771942099999 meters Centerline goodness [0,1] 0.9440030805399051 Centerline is valid? [False, False] Translation: X:31.21, Y:0.39, Z:-1.47 [[ 9.93699645e-01 1.09871395e-01 -2.21199252e-02 3.12064414e+01] [-1.09839060e-01 9.93945785e-01 2.67519968e-03 3.91754670e-01] [ 2.22799344e-02 -2.28713178e-04 9.99751745e-01 -1.47287613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92771942099999 meters Centerline goodness [0,1] 0.9160458743529889 Centerline is valid? [False, False] Translation: X:31.21, Y:0.39, Z:-1.47 [[ 9.93950595e-01 1.07559373e-01 -2.22080178e-02 3.12053333e+01] [-1.07591248e-01 9.94195184e-01 -2.41984384e-04 3.91446507e-01] [ 2.20530767e-02 2.62990887e-03 9.99753342e-01 -1.47223683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.957719421 meters Centerline goodness [0,1] 0.9387071224029733 Centerline is valid? [False, False] Translation: X:31.20, Y:0.39, Z:-1.47 [[ 9.93859019e-01 1.08434087e-01 -2.20521898e-02 3.12047639e+01] [-1.08440281e-01 9.94102541e-01 9.18304600e-04 3.88893456e-01] [ 2.20217135e-02 1.47868035e-03 9.99756399e-01 -1.47194374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.987719421 meters Centerline goodness [0,1] 0.9391594043918987 Centerline is valid? [False, False] Translation: X:31.21, Y:0.39, Z:-1.47 [[ 9.93815937e-01 1.08811748e-01 -2.21333825e-02 3.12050692e+01] [-1.08807492e-01 9.94061854e-01 1.40006019e-03 3.87941282e-01] [ 2.21542943e-02 1.01687572e-03 9.99754046e-01 -1.47214725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.017719421 meters Centerline goodness [0,1] 0.9231018621709793 Centerline is valid? [False, False] Translation: X:31.20, Y:0.38, Z:-1.47 [[ 9.94042513e-01 1.06677309e-01 -2.23480298e-02 3.12046639e+01] [-1.06718640e-01 9.94289040e-01 -6.61623546e-04 3.84311910e-01] [ 2.21498208e-02 3.04263326e-03 9.99750033e-01 -1.47224585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.047719421 meters Centerline goodness [0,1] 0.9348520938944197 Centerline is valid? [False, False] Translation: X:31.20, Y:0.38, Z:-1.47 [[ 9.94241332e-01 1.04846232e-01 -2.21684855e-02 3.12023826e+01] [-1.04906104e-01 9.94480920e-01 -1.55206676e-03 3.76794657e-01] [ 2.18834076e-02 3.86873837e-03 9.99753044e-01 -1.47119462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.077719421 meters Centerline goodness [0,1] 0.9264988762224877 Centerline is valid? [False, False] Translation: X:31.20, Y:0.37, Z:-1.47 [[ 9.94535581e-01 1.01978781e-01 -2.23451598e-02 3.12019574e+01] [-1.02100895e-01 9.94764357e-01 -4.39093215e-03 3.74861300e-01] [ 2.17803867e-02 6.64839908e-03 9.99740673e-01 -1.47125432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.107719421 meters Centerline goodness [0,1] 0.9289050442693526 Centerline is valid? [False, False] Translation: X:31.20, Y:0.37, Z:-1.47 [[ 9.94493638e-01 1.02393771e-01 -2.23140942e-02 3.12018560e+01] [-1.02491514e-01 9.94728476e-01 -3.27860267e-03 3.71657386e-01] [ 2.18607564e-02 5.54755480e-03 9.99745634e-01 -1.47131483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.137719421 meters Centerline goodness [0,1] 0.9285119349923819 Centerline is valid? [False, False] Translation: X:31.20, Y:0.37, Z:-1.47 [[ 9.94719835e-01 1.00170028e-01 -2.23252275e-02 3.12015347e+01] [-1.00294346e-01 9.94947555e-01 -4.51734443e-03 3.65036106e-01] [ 2.17599280e-02 6.73258620e-03 9.99740555e-01 -1.47195165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.167719421 meters Centerline goodness [0,1] 0.9225924420967087 Centerline is valid? [False, False] Translation: X:31.20, Y:0.36, Z:-1.47 [[ 9.94976207e-01 9.75466067e-02 -2.25168064e-02 3.12022810e+01] [-9.77068132e-02 9.95196392e-01 -6.12535386e-03 3.56713799e-01] [ 2.18111370e-02 8.29462674e-03 9.99727700e-01 -1.47363150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.197719421 meters Centerline goodness [0,1] 0.9226040736833563 Centerline is valid? [False, False] Translation: X:31.20, Y:0.35, Z:-1.47 [[ 9.95260525e-01 9.45436527e-02 -2.27592680e-02 3.12025442e+01] [-9.47672511e-02 9.95459200e-01 -8.95262840e-03 3.54545964e-01] [ 2.18095085e-02 1.10670309e-02 9.99700888e-01 -1.47427888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22771942099999 meters Centerline goodness [0,1] 0.9196604856602006 Centerline is valid? [False, False] Translation: X:31.20, Y:0.35, Z:-1.47 [[ 9.95231131e-01 9.48424626e-02 -2.28013795e-02 3.12027522e+01] [-9.50448999e-02 9.95441142e-01 -7.96240959e-03 3.51410109e-01] [ 2.19422567e-02 1.00915927e-02 9.99708306e-01 -1.47454207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25771942099999 meters Centerline goodness [0,1] 0.9162917933130699 Centerline is valid? [False, False] Translation: X:31.20, Y:0.35, Z:-1.47 [[ 9.95388721e-01 9.31739494e-02 -2.28015288e-02 3.12016363e+01] [-9.33994932e-02 9.95587738e-01 -9.03274893e-03 3.46307686e-01] [ 2.18593056e-02 1.11207476e-02 9.99699205e-01 -1.47406236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28771942099999 meters Centerline goodness [0,1] 0.9126776554548588 Centerline is valid? [False, False] Translation: X:31.20, Y:0.34, Z:-1.47 [[ 9.95558683e-01 9.13816410e-02 -2.26341230e-02 3.11995722e+01] [-9.16427569e-02 9.95733609e-01 -1.07789112e-02 3.43604556e-01] [ 2.15525624e-02 1.28052920e-02 9.99685706e-01 -1.47277837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.31771942099999 meters Centerline goodness [0,1] 0.8968564421654269 Centerline is valid? [False, False] Translation: X:31.20, Y:0.34, Z:-1.47 [[ 9.95703322e-01 8.98828582e-02 -2.22703014e-02 3.11971072e+01] [-9.01582778e-02 9.95858885e-01 -1.16861338e-02 3.37367563e-01] [ 2.11276945e-02 1.36437742e-02 9.99683684e-01 -1.47162764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.347719421 meters Centerline goodness [0,1] 0.8833087149187593 Centerline is valid? [False, False] Translation: X:31.20, Y:0.33, Z:-1.47 [[ 9.95768716e-01 8.91946932e-02 -2.21127042e-02 3.11969974e+01] [-8.94681527e-02 9.95920958e-01 -1.17002053e-02 3.31006326e-01] [ 2.09789093e-02 1.36290812e-02 9.99687018e-01 -1.47254611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.377719421 meters Centerline goodness [0,1] 0.8925822892765042 Centerline is valid? [False, False] Translation: X:31.20, Y:0.33, Z:-1.47 [[ 9.95703275e-01 8.99681551e-02 -2.19253240e-02 3.11967295e+01] [-9.02109768e-02 9.95868920e-01 -1.03476467e-02 3.27593474e-01] [ 2.09037901e-02 1.22810906e-02 9.99706060e-01 -1.47272738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.407719421 meters Centerline goodness [0,1] 0.890829250442172 Centerline is valid? [False, False] Translation: X:31.20, Y:0.32, Z:-1.47 [[ 9.95570537e-01 9.15216364e-02 -2.15196519e-02 3.11954728e+01] [-9.17080777e-02 9.95755067e-01 -7.84060538e-03 3.20008249e-01] [ 2.07107174e-02 9.77940162e-03 9.99737680e-01 -1.47249398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.437719421 meters Centerline goodness [0,1] 0.8423397877339383 Centerline is valid? [False, False] Translation: X:31.20, Y:0.32, Z:-1.47 [[ 9.95528874e-01 9.19677958e-02 -2.15449878e-02 3.11960136e+01] [-9.21341835e-02 9.95722972e-01 -6.85973821e-03 3.16198756e-01] [ 2.08219642e-02 8.81409731e-03 9.99744346e-01 -1.47323956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.467719421 meters Centerline goodness [0,1] 0.8259796483987781 Centerline is valid? [False, False] Translation: X:31.20, Y:0.31, Z:-1.47 [[ 9.95607190e-01 9.11181788e-02 -2.15360452e-02 3.11963464e+01] [-9.12894840e-02 9.95799031e-01 -7.10773188e-03 3.09288295e-01] [ 2.07979293e-02 9.04252341e-03 9.99742806e-01 -1.47446363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.497719421 meters Centerline goodness [0,1] 0.8646784791586142 Centerline is valid? [False, False] Translation: X:31.20, Y:0.31, Z:-1.47 [[ 9.95551806e-01 9.17226779e-02 -2.15302712e-02 3.11961500e+01] [-9.18672684e-02 9.95754233e-01 -5.82343640e-03 3.05772508e-01] [ 2.09047175e-02 7.77545982e-03 9.99751237e-01 -1.47430325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.527719421 meters Centerline goodness [0,1] 0.8569047860989737 Centerline is valid? [False, False] Translation: X:31.20, Y:0.30, Z:-1.47 [[ 9.95521173e-01 9.20554813e-02 -2.15263020e-02 3.11960952e+01] [-9.21788041e-02 9.95730870e-01 -4.80652929e-03 3.02559197e-01] [ 2.09919360e-02 6.76927045e-03 9.99756728e-01 -1.47429359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.557719421 meters Centerline goodness [0,1] 0.8683816386010362 Centerline is valid? [False, False] Translation: X:31.19, Y:0.30, Z:-1.47 [[ 9.95765946e-01 8.93742480e-02 -2.15040792e-02 3.11946770e+01] [-8.95336629e-02 9.95962151e-01 -6.56639269e-03 2.97801378e-01] [ 2.08303826e-02 8.46392920e-03 9.99747197e-01 -1.47350807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.587719421 meters Centerline goodness [0,1] 0.8908119527901355 Centerline is valid? [False, False] Translation: X:31.19, Y:0.29, Z:-1.47 [[ 9.96289620e-01 8.32526613e-02 -2.18171305e-02 3.11929812e+01] [-8.35170425e-02 9.96439998e-01 -1.14992609e-02 2.90682268e-01] [ 2.07821174e-02 1.32786965e-02 9.99695844e-01 -1.47252515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61771942099999 meters Centerline goodness [0,1] 0.9194535073409462 Centerline is valid? [False, False] Translation: X:31.19, Y:0.29, Z:-1.47 [[ 9.96569734e-01 7.97753820e-02 -2.20148410e-02 3.11925657e+01] [-8.00943748e-02 9.96688844e-01 -1.40085715e-02 2.85985760e-01] [ 2.08244073e-02 1.57237833e-02 9.99659495e-01 -1.47249638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64771942099999 meters Centerline goodness [0,1] 0.9326979740301965 Centerline is valid? [False, False] Translation: X:31.19, Y:0.28, Z:-1.47 [[ 9.97093643e-01 7.28856309e-02 -2.21799949e-02 3.11923885e+01] [-7.33142923e-02 9.97124660e-01 -1.91683925e-02 2.79863349e-01] [ 2.07191195e-02 2.07387929e-02 9.99570218e-01 -1.47310416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67771942099999 meters Centerline goodness [0,1] 0.9397879657326578 Centerline is valid? [False, False] Translation: X:31.19, Y:0.28, Z:-1.47 [[ 9.97149683e-01 7.21084663e-02 -2.22008567e-02 3.11923799e+01] [-7.25258578e-02 9.97192958e-01 -1.86065495e-02 2.76220676e-01] [ 2.07968482e-02 2.01636511e-02 9.99580371e-01 -1.47290601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.707719421 meters Centerline goodness [0,1] 0.9479266331453697 Centerline is valid? [False, False] Translation: X:31.19, Y:0.27, Z:-1.47 [[ 9.97372900e-01 6.88814050e-02 -2.24198558e-02 3.11916586e+01] [-6.93576187e-02 9.97366474e-01 -2.12046565e-02 2.73423435e-01] [ 2.09002060e-02 2.27039375e-02 9.99523743e-01 -1.47225935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.737719421 meters Centerline goodness [0,1] 0.9458637717830469 Centerline is valid? [False, False] Translation: X:31.19, Y:0.27, Z:-1.47 [[ 9.97551121e-01 6.61862727e-02 -2.26083545e-02 3.11915458e+01] [-6.66955051e-02 9.97518177e-01 -2.25653696e-02 2.66824984e-01] [ 2.10587268e-02 2.40179853e-02 9.99489703e-01 -1.47237656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.767719421 meters Centerline goodness [0,1] 0.9432710947862463 Centerline is valid? [False, False] Translation: X:31.19, Y:0.26, Z:-1.47 [[ 9.97487034e-01 6.71842591e-02 -2.24920300e-02 3.11914206e+01] [-6.76531853e-02 9.97492477e-01 -2.07799010e-02 2.61808820e-01] [ 2.10395484e-02 2.22493393e-02 9.99531042e-01 -1.47256274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.797719421 meters Centerline goodness [0,1] 0.9368967623701894 Centerline is valid? [False, False] Translation: X:31.19, Y:0.26, Z:-1.47 [[ 9.97421157e-01 6.81657496e-02 -2.24603064e-02 3.11911070e+01] [-6.86104847e-02 9.97449729e-01 -1.96631588e-02 2.59758648e-01] [ 2.10626725e-02 2.11534631e-02 9.99554348e-01 -1.47231507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.827719421 meters Centerline goodness [0,1] 0.9311068119336117 Centerline is valid? [False, False] Translation: X:31.19, Y:0.26, Z:-1.47 [[ 9.97265153e-01 7.05753158e-02 -2.19394672e-02 3.11894547e+01] [-7.09601117e-02 9.97329390e-01 -1.72843717e-02 2.55712405e-01] [ 2.06610254e-02 1.87939287e-02 9.99609879e-01 -1.47164666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.857719421 meters Centerline goodness [0,1] 0.9278764762273849 Centerline is valid? [False, False] Translation: X:31.19, Y:0.25, Z:-1.47 [[ 9.97206324e-01 7.14536155e-02 -2.17698917e-02 3.11889016e+01] [-7.18153256e-02 9.97284552e-01 -1.63119704e-02 2.54131296e-01] [ 2.05452274e-02 1.78298119e-02 9.99629927e-01 -1.47139197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.887719421 meters Centerline goodness [0,1] 0.9187945428629607 Centerline is valid? [False, False] Translation: X:31.19, Y:0.25, Z:-1.47 [[ 9.96888369e-01 7.58439017e-02 -2.14775019e-02 3.11890727e+01] [-7.60976479e-02 9.97036865e-01 -1.12533621e-02 2.50743721e-01] [ 2.05603623e-02 1.28527332e-02 9.99705996e-01 -1.47154799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.917719421 meters Centerline goodness [0,1] 0.8911219036394302 Centerline is valid? [False, False] Translation: X:31.19, Y:0.25, Z:-1.47 [[ 9.96865050e-01 7.61651520e-02 -2.14229279e-02 3.11893788e+01] [-7.64082753e-02 9.97018471e-01 -1.07677040e-02 2.49424328e-01] [ 2.05389310e-02 1.23708368e-02 9.99712516e-01 -1.47204481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.947719421 meters Centerline goodness [0,1] 0.8958295132734349 Centerline is valid? [False, False] Translation: X:31.19, Y:0.24, Z:-1.47 [[ 9.96993171e-01 7.45625263e-02 -2.10961440e-02 3.11874878e+01] [-7.48296972e-02 9.97122052e-01 -1.21708414e-02 2.43973932e-01] [ 2.01279418e-02 1.37128638e-02 9.99703368e-01 -1.47144862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97771942099999 meters Centerline goodness [0,1] 0.8757597316800487 Centerline is valid? [False, False] Translation: X:31.19, Y:0.24, Z:-1.47 [[ 9.96951886e-01 7.51286853e-02 -2.10384720e-02 3.11868378e+01] [-7.53740686e-02 9.97093289e-01 -1.11230477e-02 2.40382474e-01] [ 2.01416593e-02 1.26748986e-02 9.99716790e-01 -1.47083246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.007719421 meters Centerline goodness [0,1] 0.8821202854230377 Centerline is valid? [False, False] Translation: X:31.19, Y:0.24, Z:-1.47 [[ 9.96856275e-01 7.65204200e-02 -2.05472995e-02 3.11851830e+01] [-7.67256753e-02 9.97007995e-01 -9.39298123e-03 2.37509846e-01] [ 1.97670670e-02 1.09399577e-02 9.99744758e-01 -1.46995177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.037719421 meters Centerline goodness [0,1] 0.8665237803633394 Centerline is valid? [False, False] Translation: X:31.18, Y:0.24, Z:-1.47 [[ 9.96823664e-01 7.70121962e-02 -2.02904858e-02 3.11848175e+01] [-7.72068856e-02 9.96974544e-01 -8.99196681e-03 2.37331703e-01] [ 1.95366068e-02 1.05299705e-02 9.99753690e-01 -1.47007923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.067719421 meters Centerline goodness [0,1] 0.8684355659047736 Centerline is valid? [False, False] Translation: X:31.18, Y:0.24, Z:-1.47 [[ 9.96787253e-01 7.75441428e-02 -2.00519046e-02 3.11842683e+01] [-7.77239836e-02 9.96939953e-01 -8.34942885e-03 2.36116396e-01] [ 1.93430955e-02 9.88111815e-03 9.99764076e-01 -1.46995641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.097719421 meters Centerline goodness [0,1] 0.8846255947397439 Centerline is valid? [False, False] Translation: X:31.18, Y:0.23, Z:-1.47 [[ 9.96744851e-01 7.80572627e-02 -2.01684515e-02 3.11848098e+01] [-7.82183298e-02 9.96909354e-01 -7.32342252e-03 2.31240804e-01] [ 1.95344716e-02 8.87712627e-03 9.99769774e-01 -1.47054002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.127719421 meters Centerline goodness [0,1] 0.8457831325301205 Centerline is valid? [False, False] Translation: X:31.19, Y:0.23, Z:-1.47 [[ 9.96730491e-01 7.82003178e-02 -2.03233591e-02 3.11863410e+01] [-7.83531657e-02 9.96902231e-01 -6.83538931e-03 2.27812777e-01] [ 1.97258724e-02 8.40544046e-03 9.99770093e-01 -1.47225136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.157719421 meters Centerline goodness [0,1] 0.8451889683350358 Centerline is valid? [False, False] Translation: X:31.19, Y:0.23, Z:-1.47 [[ 9.96715131e-01 7.83936267e-02 -2.03319402e-02 3.11865569e+01] [-7.85375974e-02 9.96890733e-01 -6.38068164e-03 2.25967275e-01] [ 1.97685180e-02 7.95654366e-03 9.99772924e-01 -1.47253539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.187719421 meters Centerline goodness [0,1] 0.8603355375949058 Centerline is valid? [False, False] Translation: X:31.19, Y:0.22, Z:-1.47 [[ 9.96923452e-01 7.56766047e-02 -2.04127879e-02 3.11859735e+01] [-7.58700189e-02 9.97078244e-01 -8.87213390e-03 2.23015182e-01] [ 1.96817337e-02 1.03935570e-02 9.99752271e-01 -1.47244372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.217719421 meters Centerline goodness [0,1] 0.8672858490179194 Centerline is valid? [False, False] Translation: X:31.19, Y:0.22, Z:-1.47 [[ 9.96916755e-01 7.57111605e-02 -2.06107646e-02 3.11863331e+01] [-7.58921988e-02 9.97082746e-01 -8.14684890e-03 2.20248168e-01] [ 1.99338304e-02 9.68592642e-03 9.99754382e-01 -1.47238756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.247719421 meters Centerline goodness [0,1] 0.862307392437268 Centerline is valid? [False, False] Translation: X:31.19, Y:0.22, Z:-1.47 [[ 9.96914676e-01 7.57200065e-02 -2.06787007e-02 3.11864541e+01] [-7.58874269e-02 9.97088678e-01 -7.43414220e-03 2.17601677e-01] [ 2.00555850e-02 8.98045885e-03 9.99758533e-01 -1.47231581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.277719421 meters Centerline goodness [0,1] 0.8918367767318269 Centerline is valid? [False, False] Translation: X:31.19, Y:0.21, Z:-1.47 [[ 9.97151896e-01 7.25422670e-02 -2.06328978e-02 3.11851744e+01] [-7.27523602e-02 9.97303640e-01 -9.61992470e-03 2.12812754e-01] [ 1.98794129e-02 1.10936182e-02 9.99740837e-01 -1.47150483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.307719421 meters Centerline goodness [0,1] 0.8827015680948265 Centerline is valid? [False, False] Translation: X:31.18, Y:0.21, Z:-1.47 [[ 9.97374727e-01 6.94167076e-02 -2.06148990e-02 3.11847387e+01] [-6.96700863e-02 9.97499852e-01 -1.18374462e-02 2.07504886e-01] [ 1.97416422e-02 1.32426115e-02 9.99717410e-01 -1.47170599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.337719421 meters Centerline goodness [0,1] 0.8989619090946689 Centerline is valid? [False, False] Translation: X:31.18, Y:0.20, Z:-1.47 [[ 9.97369227e-01 6.95074447e-02 -2.05752171e-02 3.11846551e+01] [-6.97468016e-02 9.97502380e-01 -1.11528377e-02 2.04967053e-01] [ 1.97486228e-02 1.25585528e-02 9.99726100e-01 -1.47164379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.367719421 meters Centerline goodness [0,1] 0.8931668257063436 Centerline is valid? [False, False] Translation: X:31.18, Y:0.20, Z:-1.47 [[ 9.97352505e-01 6.98365239e-02 -2.02692280e-02 3.11838148e+01] [-7.00443128e-02 9.97496443e-01 -9.72837472e-03 2.00143701e-01] [ 1.95390870e-02 1.11223630e-02 9.99747227e-01 -1.47116241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.397719421 meters Centerline goodness [0,1] 0.8864539759838505 Centerline is valid? [False, False] Translation: X:31.18, Y:0.20, Z:-1.47 [[ 9.97335814e-01 7.00652514e-02 -2.03010989e-02 3.11837847e+01] [-7.02591270e-02 9.97488185e-01 -8.99868469e-03 1.98009714e-01] [ 1.96196112e-02 1.04010480e-02 9.99753414e-01 -1.47100844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.427719421 meters Centerline goodness [0,1] 0.8830638404825737 Centerline is valid? [False, False] Translation: X:31.18, Y:0.20, Z:-1.47 [[ 9.97451643e-01 6.84355087e-02 -2.01692979e-02 3.11834172e+01] [-6.86539591e-02 9.97586903e-01 -1.03442929e-02 1.95050479e-01] [ 1.94127104e-02 1.17026341e-02 9.99743065e-01 -1.47120068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.457719421 meters Centerline goodness [0,1] 0.8751683501683502 Centerline is valid? [False, False] Translation: X:31.18, Y:0.19, Z:-1.47 [[ 9.97442207e-01 6.85124845e-02 -2.03735983e-02 3.11840539e+01] [-6.87245491e-02 9.97586584e-01 -9.89665570e-03 1.92693347e-01] [ 1.96463839e-02 1.12715085e-02 9.99743453e-01 -1.47154225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.487719421 meters Centerline goodness [0,1] 0.8581468427534078 Centerline is valid? [False, False] Translation: X:31.19, Y:0.19, Z:-1.47 [[ 9.97581230e-01 6.63811193e-02 -2.06212773e-02 3.11853379e+01] [-6.66322772e-02 9.97708527e-01 -1.17403171e-02 1.87640167e-01] [ 1.97946888e-02 1.30859627e-02 9.99718424e-01 -1.47323936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.517719421 meters Centerline goodness [0,1] 0.8548962629003654 Centerline is valid? [False, False] Translation: X:31.19, Y:0.18, Z:-1.47 [[ 9.97593339e-01 6.61662951e-02 -2.07256075e-02 3.11862148e+01] [-6.64124868e-02 9.97726856e-01 -1.14237828e-02 1.84724631e-01] [ 1.99226258e-02 1.27727287e-02 9.99719934e-01 -1.47411615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54771942099998 meters Centerline goodness [0,1] 0.8686024784691051 Centerline is valid? [False, False] Translation: X:31.19, Y:0.18, Z:-1.47 [[ 9.97617758e-01 6.58597541e-02 -2.05256522e-02 3.11866502e+01] [-6.60880317e-02 9.97756977e-01 -1.06483742e-02 1.80646752e-01] [ 1.97783133e-02 1.19795071e-02 9.99732619e-01 -1.47493421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57771942099998 meters Centerline goodness [0,1] 0.9008944929410497 Centerline is valid? [False, False] Translation: X:31.19, Y:0.18, Z:-1.47 [[ 9.97617918e-01 6.58560661e-02 -2.05296790e-02 3.11867647e+01] [-6.60737504e-02 9.97763512e-01 -1.01110982e-02 1.78905657e-01] [ 1.98178874e-02 1.14434856e-02 9.99738115e-01 -1.47496538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60771942099998 meters Centerline goodness [0,1] 0.8784120180964132 Centerline is valid? [False, False] Translation: X:31.19, Y:0.18, Z:-1.47 [[ 9.97824711e-01 6.26765738e-02 -2.04326410e-02 3.11855425e+01] [-6.29486940e-02 9.97932641e-01 -1.29578737e-02 1.77106246e-01] [ 1.95782443e-02 1.42158947e-02 9.99707257e-01 -1.47432574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63771942099999 meters Centerline goodness [0,1] 0.9247074122236671 Centerline is valid? [False, False] Translation: X:31.19, Y:0.18, Z:-1.47 [[ 9.97827744e-01 6.25870901e-02 -2.05584278e-02 3.11855542e+01] [-6.28543838e-02 9.97942878e-01 -1.26229055e-02 1.75450654e-01] [ 1.97261057e-02 1.38876726e-02 9.99708964e-01 -1.47396862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.667719421 meters Centerline goodness [0,1] 0.932823830822007 Centerline is valid? [False, False] Translation: X:31.18, Y:0.17, Z:-1.47 [[ 9.98019150e-01 5.93907882e-02 -2.07487620e-02 3.11846850e+01] [-5.97167386e-02 9.98095647e-01 -1.54593091e-02 1.72409222e-01] [ 1.97911085e-02 1.66677350e-02 9.99665193e-01 -1.47313547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.697719421 meters Centerline goodness [0,1] 0.9319973861903724 Centerline is valid? [False, False] Translation: X:31.18, Y:0.17, Z:-1.47 [[ 9.98020402e-01 5.93029889e-02 -2.09387639e-02 3.11849705e+01] [-5.96220480e-02 9.98108966e-01 -1.49567296e-02 1.69621198e-01] [ 2.00121892e-02 1.61755333e-02 9.99668877e-01 -1.47299197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.727719421 meters Centerline goodness [0,1] 0.9371817009464274 Centerline is valid? [False, False] Translation: X:31.19, Y:0.17, Z:-1.47 [[ 9.98047350e-01 5.88537654e-02 -2.09218046e-02 3.11852769e+01] [-5.91651412e-02 9.98141602e-01 -1.45886424e-02 1.67456194e-01] [ 2.00243270e-02 1.57979974e-02 9.99674672e-01 -1.47316468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.757719421 meters Centerline goodness [0,1] 0.9394779344362477 Centerline is valid? [False, False] Translation: X:31.19, Y:0.17, Z:-1.47 [[ 9.98067991e-01 5.84941584e-02 -2.09456035e-02 3.11860916e+01] [-5.88084482e-02 9.98160799e-01 -1.47168768e-02 1.67721259e-01] [ 2.00462290e-02 1.59202221e-02 9.99672294e-01 -1.47394579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.787719421 meters Centerline goodness [0,1] 0.9394779344362477 Centerline is valid? [False, False] Translation: X:31.19, Y:0.17, Z:-1.47 [[ 9.98067991e-01 5.84941584e-02 -2.09456035e-02 3.11860916e+01] [-5.88084482e-02 9.98160799e-01 -1.47168768e-02 1.67721259e-01] [ 2.00462290e-02 1.59202221e-02 9.99672294e-01 -1.47394579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.817719421 meters Centerline goodness [0,1] 0.9422651510173686 Centerline is valid? [False, False] Translation: X:31.19, Y:0.17, Z:-1.47 [[ 9.98136533e-01 5.72341538e-02 -2.11592335e-02 3.11872950e+01] [-5.75570815e-02 9.98229809e-01 -1.49810396e-02 1.66141516e-01] [ 2.02643505e-02 1.61709866e-02 9.99663871e-01 -1.47460378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.847719421 meters Centerline goodness [0,1] 0.9439801715250817 Centerline is valid? [False, False] Translation: X:31.19, Y:0.16, Z:-1.47 [[ 9.98346810e-01 5.33639884e-02 -2.13525585e-02 3.11872321e+01] [-5.37622531e-02 9.98381752e-01 -1.85336875e-02 1.64841872e-01] [ 2.03289733e-02 1.96510095e-02 9.99600205e-01 -1.47458577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.877719421 meters Centerline goodness [0,1] 0.9433983017290686 Centerline is valid? [False, False] Translation: X:31.19, Y:0.16, Z:-1.47 [[ 9.98555209e-01 4.91477910e-02 -2.17253144e-02 3.11878268e+01] [-4.96316090e-02 9.98518129e-01 -2.23214908e-02 1.63462375e-01] [ 2.05960683e-02 2.33675032e-02 9.99514763e-01 -1.47493566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.907719421 meters Centerline goodness [0,1] 0.9444407596559882 Centerline is valid? [False, False] Translation: X:31.18, Y:0.16, Z:-1.48 [[ 9.98964373e-01 3.92257693e-02 -2.30547301e-02 3.11847575e+01] [-3.96160722e-02 9.99075016e-01 -1.67236250e-02 1.61320782e-01] [ 2.23774078e-02 1.76196434e-02 9.99594318e-01 -1.47653062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.937719421 meters Centerline goodness [0,1] 0.9477213570388671 Centerline is valid? [False, False] Translation: X:31.18, Y:0.16, Z:-1.48 [[ 9.99190261e-01 3.30432708e-02 -2.29557072e-02 3.11848204e+01] [-3.35392822e-02 9.99204628e-01 -2.15691443e-02 1.61059574e-01] [ 2.22247338e-02 2.23215969e-02 9.99503781e-01 -1.47637404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.967719421 meters Centerline goodness [0,1] 0.9498623196387267 Centerline is valid? [False, False] Translation: X:31.19, Y:0.16, Z:-1.48 [[ 9.99212674e-01 3.21674262e-02 -2.32225914e-02 3.11851564e+01] [-3.26613998e-02 9.99241293e-01 -2.12148638e-02 1.59095431e-01] [ 2.25225447e-02 2.19566432e-02 9.99505198e-01 -1.47550887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.997719421 meters Centerline goodness [0,1] 0.9528279075901787 Centerline is valid? [False, True] Translation: X:31.19, Y:0.16, Z:-1.48 [[ 9.99357681e-01 2.71102672e-02 -2.34362640e-02 3.11858811e+01] [-2.77129643e-02 9.99283281e-01 -2.57859783e-02 1.59886255e-01] [ 2.27204020e-02 2.64189038e-02 9.99392728e-01 -1.47591276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.027719421 meters Centerline goodness [0,1] 0.9529161736996626 Centerline is valid? [True, True] Translation: X:31.22, Y:0.15, Z:-1.47 [[ 9.99417829e-01 2.44635457e-02 -2.37810582e-02 3.12176901e+01] [-2.44554017e-02 9.99700721e-01 6.33270448e-04 1.49431445e-01] [ 2.37894330e-02 -5.13264454e-05 9.99716990e-01 -1.46684967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.057719421 meters Centerline goodness [0,1] 0.9538518631709926 Centerline is valid? [True, True] Translation: X:31.25, Y:0.15, Z:-1.47 [[ 9.99487384e-01 2.23304292e-02 -2.29417103e-02 3.12486812e+01] [-2.23221601e-02 9.99750639e-01 6.16492614e-04 1.49004846e-01] [ 2.29497560e-02 -1.04068059e-04 9.99736614e-01 -1.46638136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.087719421 meters Centerline goodness [0,1] 0.9559730730102383 Centerline is valid? [True, True] Translation: X:31.28, Y:0.15, Z:-1.46 [[ 9.99518046e-01 2.14385417e-02 -2.24513940e-02 3.12800362e+01] [-2.14303787e-02 9.99770161e-01 6.04153103e-04 1.53564482e-01] [ 2.24591859e-02 -1.22720054e-04 9.99747753e-01 -1.46346658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.117719421 meters Centerline goodness [0,1] 0.954102355808286 Centerline is valid? [True, True] Translation: X:31.31, Y:0.16, Z:-1.46 [[ 9.99432180e-01 2.26927406e-02 -2.49069860e-02 3.13111151e+01] [-2.26830348e-02 9.99742481e-01 6.72177879e-04 1.60278171e-01] [ 2.49158255e-02 -1.06830174e-04 9.99689547e-01 -1.46371650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.147719421 meters Centerline goodness [0,1] 0.9519648793794221 Centerline is valid? [True, True] Translation: X:31.34, Y:0.16, Z:-1.47 [[ 9.99408818e-01 2.32506633e-02 -2.53262757e-02 3.13411253e+01] [-2.32408203e-02 9.99729662e-01 6.82966125e-04 1.64146989e-01] [ 2.53353084e-02 -9.39589463e-05 9.99679005e-01 -1.46661929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.177719421 meters Centerline goodness [0,1] 0.9513372800940505 Centerline is valid? [True, True] Translation: X:31.37, Y:0.18, Z:-1.47 [[ 9.99365225e-01 2.48464687e-02 -2.55303675e-02 3.13719046e+01] [-2.48369870e-02 9.99691277e-01 6.88472910e-04 1.75451978e-01] [ 2.55395918e-02 -5.39384803e-05 9.99673810e-01 -1.46526339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.207719421 meters Centerline goodness [0,1] 0.9509537354639003 Centerline is valid? [True, True] Translation: X:31.40, Y:0.18, Z:-1.47 [[ 9.99289119e-01 2.64235748e-02 -2.68896003e-02 3.14027045e+01] [-2.64136272e-02 9.99650836e-01 7.25127101e-04 1.80050317e-01] [ 2.68993719e-02 -1.43597449e-05 9.99638146e-01 -1.46551863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.237719421 meters Centerline goodness [0,1] 0.947267895698389 Centerline is valid? [True, False] Translation: X:31.40, Y:0.19, Z:-1.47 [[ 9.99179251e-01 3.01360215e-02 -2.70674082e-02 3.14032154e+01] [-3.00719217e-02 9.99543893e-01 2.77219023e-03 1.85884203e-01] [ 2.71386054e-02 -1.95594598e-03 9.99629767e-01 -1.46581631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.267719421 meters Centerline goodness [0,1] 0.9479677826780131 Centerline is valid? [False, False] Translation: X:31.40, Y:0.19, Z:-1.47 [[ 9.99170346e-01 3.07172365e-02 -2.67408191e-02 3.14023230e+01] [-3.06646536e-02 9.99526909e-01 2.37434218e-03 1.90488871e-01] [ 2.68011015e-02 -1.55237434e-03 9.99639581e-01 -1.46552811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29771942099998 meters Centerline goodness [0,1] 0.9477448878627969 Centerline is valid? [False, False] Translation: X:31.40, Y:0.20, Z:-1.47 [[ 9.99064061e-01 3.38992864e-02 -2.68670783e-02 3.14034005e+01] [-3.38061404e-02 9.99420746e-01 3.91371840e-03 1.97691496e-01] [ 2.69841877e-02 -3.00178318e-03 9.99631354e-01 -1.46655366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32771942099998 meters Centerline goodness [0,1] 0.945368024225944 Centerline is valid? [False, False] Translation: X:31.40, Y:0.20, Z:-1.47 [[ 9.99074544e-01 3.35950623e-02 -2.68593829e-02 3.14039199e+01] [-3.35363900e-02 9.99434031e-01 2.63204056e-03 2.01416622e-01] [ 2.69326049e-02 -1.72883799e-03 9.99635757e-01 -1.46733378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35771942099998 meters Centerline goodness [0,1] 0.9453083220206507 Centerline is valid? [False, False] Translation: X:31.41, Y:0.21, Z:-1.47 [[ 9.98966936e-01 3.65385444e-02 -2.70184441e-02 3.14053536e+01] [-3.64283760e-02 9.99325869e-01 4.55871735e-03 2.06281525e-01] [ 2.71667990e-02 -3.56976987e-03 9.99624540e-01 -1.46849193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38771942099999 meters Centerline goodness [0,1] 0.9444820721219958 Centerline is valid? [False, False] Translation: X:31.41, Y:0.21, Z:-1.47 [[ 9.98969642e-01 3.63063726e-02 -2.72305406e-02 3.14058200e+01] [-3.62234614e-02 9.99337473e-01 3.53207557e-03 2.09474084e-01] [ 2.73407365e-02 -2.54205182e-03 9.99622940e-01 -1.46873936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.417719421 meters Centerline goodness [0,1] 0.9473824348680977 Centerline is valid? [False, False] Translation: X:31.41, Y:0.21, Z:-1.47 [[ 9.98901549e-01 4.12351930e-02 -2.22565772e-02 3.14113080e+01] [-4.13511449e-02 9.99133267e-01 -4.77474915e-03 2.14574467e-01] [ 2.20403989e-02 5.68983927e-03 9.99740890e-01 -1.46888108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.447719421 meters Centerline goodness [0,1] 0.9468957758003478 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98875725e-01 4.19252439e-02 -2.21259815e-02 3.14100029e+01] [-4.20438525e-02 9.99103639e-01 -4.92271767e-03 2.17650223e-01] [ 2.18997625e-02 5.84744469e-03 9.99743071e-01 -1.46762168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.477719421 meters Centerline goodness [0,1] 0.9458680136608111 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98716011e-01 4.55705183e-02 -2.21282037e-02 3.14106409e+01] [-4.56387797e-02 9.98954652e-01 -2.58939900e-03 2.22843127e-01] [ 2.19870717e-02 3.59597846e-03 9.99751788e-01 -1.46812542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.507719421 meters Centerline goodness [0,1] 0.944596863355309 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98708997e-01 4.57863809e-02 -2.19987814e-02 3.14105855e+01] [-4.58694507e-02 9.98942038e-01 -3.28620697e-03 2.26171152e-01] [ 2.18250440e-02 4.29103649e-03 9.99752597e-01 -1.46844436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.537719421 meters Centerline goodness [0,1] 0.9456354812949198 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98674556e-01 4.66481486e-02 -2.17504293e-02 3.14088554e+01] [-4.67336208e-02 9.98901472e-01 -3.43780253e-03 2.29450834e-01] [ 2.15661687e-02 4.44972223e-03 9.99757521e-01 -1.46696139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.567719421 meters Centerline goodness [0,1] 0.9455721250943512 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98678429e-01 4.64649043e-02 -2.19637772e-02 3.14090278e+01] [-4.65593247e-02 9.98908272e-01 -3.80699228e-03 2.29850925e-01] [ 2.17629072e-02 4.82457971e-03 9.99751519e-01 -1.46668024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.597719421 meters Centerline goodness [0,1] 0.9475384363755316 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98692936e-01 4.61890026e-02 -2.18859530e-02 3.14088418e+01] [-4.62888524e-02 9.98919774e-01 -4.07758949e-03 2.30253907e-01] [ 2.16739714e-02 5.08533546e-03 9.99752158e-01 -1.46661504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.627719421 meters Centerline goodness [0,1] 0.9479836233367451 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98711207e-01 4.57437309e-02 -2.19871800e-02 3.14094262e+01] [-4.58512636e-02 9.98938537e-01 -4.41144006e-03 2.30562751e-01] [ 2.17620457e-02 5.41389461e-03 9.99748520e-01 -1.46704097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.657719421 meters Centerline goodness [0,1] 0.9488127080057986 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98890363e-01 4.15320987e-02 -2.22064922e-02 3.14095743e+01] [-4.17259108e-02 9.99094315e-01 -8.33658896e-03 2.29978095e-01] [ 2.18401441e-02 9.25392448e-03 9.99718647e-01 -1.46710405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.687719421 meters Centerline goodness [0,1] 0.9480057271425649 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.99035960e-01 3.77772699e-02 -2.23613121e-02 3.14094412e+01] [-3.80551131e-02 9.99201984e-01 -1.21327155e-02 2.30087768e-01] [ 2.18851266e-02 1.29719814e-02 9.99676332e-01 -1.46703339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.717719421 meters Centerline goodness [0,1] 0.9467413296274345 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.99179013e-01 3.36428035e-02 -2.25712536e-02 3.14097891e+01] [-3.40005401e-02 9.99299163e-01 -1.56571144e-02 2.28336273e-01] [ 2.20286857e-02 1.64116949e-02 9.99622625e-01 -1.46725670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.747719421 meters Centerline goodness [0,1] 0.9495541089321062 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.99184647e-01 3.33789019e-02 -2.27131953e-02 3.14102964e+01] [-3.37333066e-02 9.99312164e-01 -1.54033569e-02 2.26728889e-01] [ 2.21834252e-02 1.61569889e-02 9.99623353e-01 -1.46746574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.777719421 meters Centerline goodness [0,1] 0.9493735565229833 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.99198848e-01 3.29805493e-02 -2.26703660e-02 3.14107745e+01] [-3.33323437e-02 9.99326914e-01 -1.53190688e-02 2.25757920e-01] [ 2.21498756e-02 1.60624523e-02 9.99625620e-01 -1.46802659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.807719421 meters Centerline goodness [0,1] 0.9503031792854801 Centerline is valid? [False, True] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.99192535e-01 3.31862295e-02 -2.26484641e-02 3.14107168e+01] [-3.35300640e-02 9.99325526e-01 -1.49742341e-02 2.25319355e-01] [ 2.21362500e-02 1.57215474e-02 9.99631342e-01 -1.46797187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.837719421 meters Centerline goodness [0,1] 0.9465186062177223 Centerline is valid? [True, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.99173896e-01 3.35501664e-02 -2.29327837e-02 3.14116082e+01] [-3.38869022e-02 9.99321119e-01 -1.44560856e-02 2.23358276e-01] [ 2.24322110e-02 1.52212643e-02 9.99632487e-01 -1.46846952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.867719421 meters Centerline goodness [0,1] 0.9469406094273344 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.99160344e-01 3.39831843e-02 -2.28856062e-02 3.14113220e+01] [-3.43096531e-02 9.99312811e-01 -1.40268680e-02 2.22566416e-01] [ 2.23932018e-02 1.48002874e-02 9.99639683e-01 -1.46819932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.897719421 meters Centerline goodness [0,1] 0.9475115527747107 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.99007478e-01 3.84639826e-02 -2.24628914e-02 3.14111390e+01] [-3.86969309e-02 9.99200661e-01 -1.00292760e-02 2.24021134e-01] [ 2.20591701e-02 1.08885667e-02 9.99697370e-01 -1.46857608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.927719421 meters Centerline goodness [0,1] 0.9474942284511819 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98851535e-01 4.23363045e-02 -2.24332089e-02 3.14115206e+01] [-4.24880277e-02 9.99076922e-01 -6.33020992e-03 2.24779322e-01] [ 2.21445036e-02 7.27608270e-03 9.99728303e-01 -1.46864474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.957719421 meters Centerline goodness [0,1] 0.9472963863297449 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98816279e-01 4.32752653e-02 -2.22102033e-02 3.14105421e+01] [-4.34190930e-02 9.99038721e-01 -6.03466743e-03 2.25541737e-01] [ 2.19277013e-02 6.99187095e-03 9.99735110e-01 -1.46806056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.987719421 meters Centerline goodness [0,1] 0.9415726209669191 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98712235e-01 4.57261606e-02 -2.19770513e-02 3.14082738e+01] [-4.58395894e-02 9.98937826e-01 -4.68522140e-03 2.24946888e-01] [ 2.17394706e-02 5.68660694e-03 9.99747497e-01 -1.46619080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.017719421 meters Centerline goodness [0,1] 0.9327165168976317 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98506090e-01 5.01144949e-02 -2.17744469e-02 3.14085749e+01] [-5.01422510e-02 9.98741819e-01 -7.30270133e-04 2.25193783e-01] [ 2.17104536e-02 1.82099896e-03 9.99762642e-01 -1.46667587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04771942099998 meters Centerline goodness [0,1] 0.9327991146452432 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.47 [[ 9.98479117e-01 5.07473685e-02 -2.15443103e-02 3.14077432e+01] [-5.07730895e-02 9.98710005e-01 -6.48195704e-04 2.26299115e-01] [ 2.14836240e-02 1.74108107e-03 9.99767684e-01 -1.46624294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07771942099998 meters Centerline goodness [0,1] 0.9182144752418664 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.46 [[ 9.98379033e-01 5.28225784e-02 -2.11915291e-02 3.14055380e+01] [-5.28228511e-02 9.98603749e-01 5.47282881e-04 2.26540572e-01] [ 2.11908493e-02 5.73001233e-04 9.99775285e-01 -1.46452269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10771942099998 meters Centerline goodness [0,1] 0.9020486686723563 Centerline is valid? [False, False] Translation: X:31.41, Y:0.23, Z:-1.46 [[ 9.98357329e-01 5.32231653e-02 -2.12117654e-02 3.14053496e+01] [-5.32180326e-02 9.98582591e-01 8.06786262e-04 2.25707777e-01] [ 2.12246393e-02 3.23387445e-04 9.99774680e-01 -1.46432567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13771942099999 meters Centerline goodness [0,1] 0.8949664154652687 Centerline is valid? [False, False] Translation: X:31.40, Y:0.23, Z:-1.46 [[ 9.98481858e-01 5.08950666e-02 -2.10634982e-02 3.14046181e+01] [-5.09507879e-02 9.98698922e-01 -2.11689373e-03 2.25795451e-01] [ 2.09283535e-02 3.18688182e-03 9.99775899e-01 -1.46438260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.167719421 meters Centerline goodness [0,1] 0.9001509772717999 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98469849e-01 5.10933813e-02 -2.11524941e-02 3.14058290e+01] [-5.11402533e-02 9.98690067e-01 -1.68058413e-03 2.22841320e-01] [ 2.10389191e-02 2.75975649e-03 9.99774848e-01 -1.46575798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.197719421 meters Centerline goodness [0,1] 0.9174540843457275 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98458469e-01 5.12980809e-02 -2.11941403e-02 3.14060426e+01] [-5.13360804e-02 9.98680649e-01 -1.25240326e-03 2.20988177e-01] [ 2.11019319e-02 2.33849674e-03 9.99774595e-01 -1.46593352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.227719421 meters Centerline goodness [0,1] 0.8893652812538465 Centerline is valid? [False, False] Translation: X:31.41, Y:0.22, Z:-1.47 [[ 9.98596408e-01 4.86273478e-02 -2.09903574e-02 3.14055972e+01] [-4.87176587e-02 9.98805314e-01 -3.81249601e-03 2.18105488e-01] [ 2.07798890e-02 4.82974589e-03 9.99772409e-01 -1.46642297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.257719421 meters Centerline goodness [0,1] 0.9048558047818586 Centerline is valid? [False, False] Translation: X:31.41, Y:0.21, Z:-1.47 [[ 9.98717372e-01 4.61506320e-02 -2.08261806e-02 3.14062173e+01] [-4.62772638e-02 9.98912713e-01 -5.63974537e-03 2.12856424e-01] [ 2.05432587e-02 6.59629033e-03 9.99767205e-01 -1.46792059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.287719421 meters Centerline goodness [0,1] 0.8885003805096773 Centerline is valid? [False, False] Translation: X:31.41, Y:0.21, Z:-1.47 [[ 9.98857988e-01 4.29412576e-02 -2.09468146e-02 3.14066023e+01] [-4.31275949e-02 9.99033188e-01 -8.52640898e-03 2.10457610e-01] [ 2.05604282e-02 9.42005744e-03 9.99744233e-01 -1.46856454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.317719421 meters Centerline goodness [0,1] 0.913858218966051 Centerline is valid? [False, False] Translation: X:31.41, Y:0.21, Z:-1.47 [[ 9.98995710e-01 3.95471400e-02 -2.10616852e-02 3.14069243e+01] [-3.97949518e-02 9.99141922e-01 -1.14796447e-02 2.07737675e-01] [ 2.05896255e-02 1.23062646e-02 9.99712270e-01 -1.46912967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.347719421 meters Centerline goodness [0,1] 0.9315891190956131 Centerline is valid? [False, False] Translation: X:31.41, Y:0.20, Z:-1.47 [[ 9.99142353e-01 3.56598963e-02 -2.10458910e-02 3.14070649e+01] [-3.59501053e-02 9.99261370e-01 -1.35758566e-02 2.00304676e-01] [ 2.05462322e-02 1.43208153e-02 9.99686334e-01 -1.46940550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.377719421 meters Centerline goodness [0,1] 0.9424460431654677 Centerline is valid? [False, False] Translation: X:31.41, Y:0.19, Z:-1.47 [[ 9.99288027e-01 3.11615072e-02 -2.12696717e-02 3.14074921e+01] [-3.15021463e-02 9.99377645e-01 -1.58725504e-02 1.92886961e-01] [ 2.07618218e-02 1.65312899e-02 9.99647770e-01 -1.46911647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.407719421 meters Centerline goodness [0,1] 0.9480967402733964 Centerline is valid? [False, False] Translation: X:31.41, Y:0.19, Z:-1.47 [[ 9.99387449e-01 2.77945370e-02 -2.12647794e-02 3.14063179e+01] [-2.81874686e-02 9.99433164e-01 -1.84069759e-02 1.89169771e-01] [ 2.07411124e-02 1.89951010e-02 9.99604418e-01 -1.46794219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.437719421 meters Centerline goodness [0,1] 0.9506446457112413 Centerline is valid? [False, True] Translation: X:31.41, Y:0.18, Z:-1.47 [[ 9.99503773e-01 2.34703805e-02 -2.10083017e-02 3.14051451e+01] [-2.38999870e-02 9.99505430e-01 -2.04373723e-02 1.82224843e-01] [ 2.05182387e-02 2.09293288e-02 9.99570390e-01 -1.46641062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.467719421 meters Centerline goodness [0,1] 0.9511955593509821 Centerline is valid? [True, True] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99605065e-01 1.95979446e-02 -2.01403715e-02 3.14356150e+01] [-1.96055050e-02 9.99807778e-01 -1.77983599e-04 1.71116808e-01] [ 2.01330120e-02 5.72775460e-04 9.99797146e-01 -1.45959837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.497719421 meters Centerline goodness [0,1] 0.9493687221732304 Centerline is valid? [True, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99689987e-01 1.49179218e-02 -1.99345273e-02 3.14362579e+01] [-1.50024999e-02 9.99879050e-01 -4.09999855e-03 1.69135220e-01] [ 1.98709528e-02 4.39779524e-03 9.99792881e-01 -1.46081322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.527719421 meters Centerline goodness [0,1] 0.9488018601847267 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99696777e-01 1.40272457e-02 -2.02383617e-02 3.14378278e+01] [-1.41215437e-02 9.99890052e-01 -4.52399945e-03 1.68271573e-01] [ 2.01726773e-02 4.80842458e-03 9.99784948e-01 -1.46180431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.557719421 meters Centerline goodness [0,1] 0.9492612752721618 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99743486e-01 1.00689233e-02 -2.02874216e-02 3.14376212e+01] [-1.02368481e-02 9.99914058e-01 -8.19050596e-03 1.67303255e-01] [ 2.02032085e-02 8.39608423e-03 9.99760639e-01 -1.46153223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.587719421 meters Centerline goodness [0,1] 0.9488863444878913 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99740200e-01 9.82548213e-03 -2.05667773e-02 3.14380334e+01] [-9.98967244e-03 9.99918928e-01 -7.89581992e-03 1.65601213e-01] [ 2.04875297e-02 8.09922396e-03 9.99757302e-01 -1.46111177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.617719421 meters Centerline goodness [0,1] 0.947723586027901 Centerline is valid? [False, False] Translation: X:31.44, Y:0.16, Z:-1.46 [[ 9.99741648e-01 9.22321227e-03 -2.07742698e-02 3.14384310e+01] [-9.39232023e-03 9.99923428e-01 -8.05745143e-03 1.64857042e-01] [ 2.06983635e-02 8.25048837e-03 9.99751723e-01 -1.46082418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.647719421 meters Centerline goodness [0,1] 0.9474399930927301 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99741684e-01 9.20226068e-03 -2.07818033e-02 3.14385243e+01] [-9.37489085e-03 9.99922230e-01 -8.22470237e-03 1.66303308e-01] [ 2.07045012e-02 8.41740493e-03 9.99750204e-01 -1.46090996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.677719421 meters Centerline goodness [0,1] 0.9490290739024548 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99740894e-01 9.28264785e-03 -2.07840523e-02 3.14385393e+01] [-9.45642050e-03 9.99921020e-01 -8.27825019e-03 1.67708040e-01] [ 2.07055667e-02 8.47264799e-03 9.99749716e-01 -1.46089768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.707719421 meters Centerline goodness [0,1] 0.9490290739024548 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99740894e-01 9.28264785e-03 -2.07840523e-02 3.14385393e+01] [-9.45642050e-03 9.99921020e-01 -8.27825019e-03 1.67708040e-01] [ 2.07055667e-02 8.47264799e-03 9.99749716e-01 -1.46089768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.737719421 meters Centerline goodness [0,1] 0.9476944996114325 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99736405e-01 9.17306107e-03 -2.10469840e-02 3.14393101e+01] [-9.34793880e-03 9.99922474e-01 -8.22563467e-03 1.67120216e-01] [ 2.09698981e-02 8.42021235e-03 9.99744649e-01 -1.46114191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.767719421 meters Centerline goodness [0,1] 0.9477000086303616 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99735313e-01 9.07774010e-03 -2.11399618e-02 3.14401213e+01] [-9.25348918e-03 9.99923312e-01 -8.23066559e-03 1.67024985e-01] [ 2.10636247e-02 8.42410545e-03 9.99742646e-01 -1.46184884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79771942099998 meters Centerline goodness [0,1] 0.9476951497186064 Centerline is valid? [False, False] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99738714e-01 8.27764076e-03 -2.13069017e-02 3.14410675e+01] [-8.46797722e-03 9.99924908e-01 -8.85842010e-03 1.68614552e-01] [ 2.12319749e-02 9.03653188e-03 9.99733737e-01 -1.46246723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82771942099998 meters Centerline goodness [0,1] 0.9500942830204852 Centerline is valid? [False, True] Translation: X:31.44, Y:0.17, Z:-1.46 [[ 9.99764512e-01 4.55976761e-03 -2.12162476e-02 3.14386746e+01] [-4.81917148e-03 9.99914066e-01 -1.21916399e-02 1.68989048e-01] [ 2.11588334e-02 1.22910136e-02 9.99700573e-01 -1.45952734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85771942099998 meters Centerline goodness [0,1] 0.9537704001548154 Centerline is valid? [True, True] Translation: X:31.47, Y:0.16, Z:-1.45 [[ 9.99794620e-01 2.06212244e-03 -2.01609864e-02 3.14678184e+01] [-2.06156538e-03 9.99997874e-01 4.84142028e-05 1.63267989e-01] [ 2.01610434e-02 -6.84106788e-06 9.99796745e-01 -1.45016685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88771942099999 meters Centerline goodness [0,1] 0.9529506940304863 Centerline is valid? [True, True] Translation: X:31.50, Y:0.16, Z:-1.45 [[ 9.99793898e-01 -7.30341582e-04 -2.02886250e-02 3.14957086e+01] [ 7.31439621e-04 9.99999731e-01 4.67002269e-05 1.62720398e-01] [ 2.02885854e-02 -6.15305061e-05 9.99794164e-01 -1.45091298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.917719421 meters Centerline goodness [0,1] 0.9495019543563232 Centerline is valid? [True, False] Translation: X:31.50, Y:0.17, Z:-1.45 [[ 9.99782518e-01 -2.36576106e-03 -2.07200380e-02 3.14976920e+01] [ 2.33138513e-03 9.99995866e-01 -1.68306560e-03 1.66626006e-01] [ 2.07239340e-02 1.63439317e-03 9.99783900e-01 -1.45216053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.947719421 meters Centerline goodness [0,1] 0.9510723860589813 Centerline is valid? [False, True] Translation: X:31.50, Y:0.17, Z:-1.45 [[ 9.99776204e-01 -3.17100106e-03 -2.09161938e-02 3.14984581e+01] [ 3.11600042e-03 9.99991603e-01 -2.66163888e-03 1.69519385e-01] [ 2.09244582e-02 2.59586834e-03 9.99777690e-01 -1.45261681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.977719421 meters Centerline goodness [0,1] 0.9530776574108663 Centerline is valid? [True, True] Translation: X:31.53, Y:0.17, Z:-1.45 [[ 9.99783234e-01 -8.56626426e-03 -1.89763969e-02 3.15268605e+01] [ 8.57048493e-03 9.99963263e-01 1.41100525e-04 1.73179584e-01] [ 1.89744910e-02 -3.03706863e-04 9.99819922e-01 -1.45215204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.007719421 meters Centerline goodness [0,1] 0.9531027361899845 Centerline is valid? [True, True] Translation: X:31.55, Y:0.17, Z:-1.45 [[ 9.99732485e-01 -1.32042453e-02 -1.89896518e-02 3.15545915e+01] [ 1.32092695e-02 9.99912744e-01 1.39164183e-04 1.74409994e-01] [ 1.89861573e-02 -3.89966383e-04 9.99819671e-01 -1.45001116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.037719421 meters Centerline goodness [0,1] 0.9509737108398901 Centerline is valid? [True, True] Translation: X:31.58, Y:0.17, Z:-1.45 [[ 9.99690087e-01 -1.59818849e-02 -1.90868903e-02 3.15829458e+01] [ 1.59874280e-02 9.99872183e-01 1.37850506e-04 1.74655075e-01] [ 1.90822476e-02 -4.42958070e-04 9.99817819e-01 -1.45015226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.067719421 meters Centerline goodness [0,1] 0.9489139592709039 Centerline is valid? [True, False] Translation: X:31.58, Y:0.18, Z:-1.45 [[ 9.99666975e-01 -1.69649750e-02 -1.94455198e-02 3.15838955e+01] [ 1.69458011e-02 9.99855748e-01 -1.15039803e-03 1.77519082e-01] [ 1.94622312e-02 8.20495010e-04 9.99810256e-01 -1.45041334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.097719421 meters Centerline goodness [0,1] 0.9421172418035307 Centerline is valid? [False, False] Translation: X:31.59, Y:0.18, Z:-1.45 [[ 9.99679469e-01 -1.57767786e-02 -1.98002934e-02 3.15861282e+01] [ 1.57806208e-02 9.99875478e-01 3.78076621e-05 1.82974557e-01] [ 1.97972314e-02 -3.50256467e-04 9.99803954e-01 -1.45196415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.127719421 meters Centerline goodness [0,1] 0.938726997008074 Centerline is valid? [False, False] Translation: X:31.59, Y:0.19, Z:-1.45 [[ 9.99701512e-01 -1.35582305e-02 -2.03239072e-02 3.15884977e+01] [ 1.36107154e-02 9.99904377e-01 2.44631482e-03 1.85311306e-01] [ 2.02887961e-02 -2.72220754e-03 9.99790455e-01 -1.45339592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.157719421 meters Centerline goodness [0,1] 0.9236644347523394 Centerline is valid? [False, False] Translation: X:31.59, Y:0.19, Z:-1.45 [[ 9.99717290e-01 -1.17145153e-02 -2.06908319e-02 3.15900639e+01] [ 1.17904091e-02 9.99924190e-01 3.54981141e-03 1.92270758e-01] [ 2.06476790e-02 -3.79276122e-03 9.99779620e-01 -1.45443230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.187719421 meters Centerline goodness [0,1] 0.9378734550216911 Centerline is valid? [False, False] Translation: X:31.60, Y:0.20, Z:-1.46 [[ 9.99839308e-01 -8.04351841e-03 -1.60205919e-02 3.15989800e+01] [ 7.97508924e-03 9.99958821e-01 -4.33064384e-03 1.95487379e-01] [ 1.60547658e-02 4.20218229e-03 9.99862284e-01 -1.45677033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.217719421 meters Centerline goodness [0,1] 0.9457251955158965 Centerline is valid? [False, False] Translation: X:31.61, Y:0.20, Z:-1.46 [[ 9.99945723e-01 -5.62668549e-04 -1.04035412e-02 3.16073906e+01] [ 4.73255001e-04 9.99962950e-01 -8.59499531e-03 2.02424617e-01] [ 1.04079918e-02 8.58960527e-03 9.99908942e-01 -1.45843028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.247719421 meters Centerline goodness [0,1] 0.9472698780959359 Centerline is valid? [False, False] Translation: X:31.61, Y:0.21, Z:-1.46 [[ 9.99939046e-01 2.99718472e-03 -1.06264515e-02 3.16080531e+01] [-3.06184070e-03 9.99976869e-01 -6.07339825e-03 2.07306698e-01] [ 1.06080026e-02 6.10556455e-03 9.99925093e-01 -1.45874023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.277719421 meters Centerline goodness [0,1] 0.948895873300951 Centerline is valid? [False, False] Translation: X:31.61, Y:0.22, Z:-1.46 [[ 9.99849124e-01 1.33283859e-02 -1.11392563e-02 3.16094499e+01] [-1.33037526e-02 9.99908896e-01 2.28257732e-03 2.17512807e-01] [ 1.11686645e-02 -2.13403903e-03 9.99935351e-01 -1.45926346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.307719421 meters Centerline goodness [0,1] 0.9484750320885031 Centerline is valid? [False, False] Translation: X:31.61, Y:0.22, Z:-1.46 [[ 9.99793492e-01 1.69159700e-02 -1.12615609e-02 3.16100347e+01] [-1.68649876e-02 9.99847163e-01 4.60679532e-03 2.22969259e-01] [ 1.13377681e-02 -4.41591789e-03 9.99925975e-01 -1.45965254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.337719421 meters Centerline goodness [0,1] 0.9472103618051442 Centerline is valid? [False, False] Translation: X:31.61, Y:0.23, Z:-1.46 [[ 9.99653878e-01 2.37527051e-02 -1.13107232e-02 3.16083582e+01] [-2.36456502e-02 9.99675203e-01 9.50640864e-03 2.31046248e-01] [ 1.15328525e-02 -9.23566886e-03 9.99890842e-01 -1.45736634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.367719421 meters Centerline goodness [0,1] 0.9504682410423453 Centerline is valid? [False, True] Translation: X:31.61, Y:0.24, Z:-1.46 [[ 9.99648743e-01 2.38804673e-02 -1.14940901e-02 3.16081505e+01] [-2.37851630e-02 9.99682154e-01 8.35809406e-03 2.35165249e-01] [ 1.16900320e-02 -8.08176941e-03 9.99899009e-01 -1.45683848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.397719421 meters Centerline goodness [0,1] 0.9512100479934648 Centerline is valid? [True, True] Translation: X:31.64, Y:0.25, Z:-1.46 [[ 9.99569128e-01 2.72586161e-02 -1.08870066e-02 3.16405354e+01] [-2.72578646e-02 9.99628412e-01 2.17427288e-04 2.46732340e-01] [ 1.08888879e-02 7.94229482e-05 9.99940711e-01 -1.45829590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.427719421 meters Centerline goodness [0,1] 0.951489031414682 Centerline is valid? [True, True] Translation: X:31.67, Y:0.25, Z:-1.46 [[ 9.99535116e-01 2.85404873e-02 -1.07234622e-02 3.16733014e+01] [-2.85397830e-02 9.99592633e-01 2.18732363e-04 2.50705966e-01] [ 1.07253366e-02 8.74146076e-05 9.99942478e-01 -1.45901066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.457719421 meters Centerline goodness [0,1] 0.9457954220898446 Centerline is valid? [True, False] Translation: X:31.68, Y:0.26, Z:-1.46 [[ 9.99457165e-01 3.10165453e-02 -1.11062637e-02 3.16755859e+01] [-3.10003546e-02 9.99518049e-01 1.62703684e-03 2.56650854e-01] [ 1.11513761e-02 -1.28185551e-03 9.99937000e-01 -1.46071053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.487719421 meters Centerline goodness [0,1] 0.9476575583057631 Centerline is valid? [False, False] Translation: X:31.68, Y:0.26, Z:-1.46 [[ 9.99468530e-01 3.05727279e-02 -1.13122245e-02 3.16768577e+01] [-3.05718060e-02 9.99532541e-01 2.54447985e-04 2.60253562e-01] [ 1.13147157e-02 9.15223791e-05 9.99935982e-01 -1.46185616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.517719421 meters Centerline goodness [0,1] 0.9482477587612061 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99356139e-01 3.39989211e-02 -1.14621137e-02 3.16776194e+01] [-3.39737694e-02 9.99419886e-01 2.38200639e-03 2.65498846e-01] [ 1.15364500e-02 -1.99106150e-03 9.99931471e-01 -1.46217490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54771942099998 meters Centerline goodness [0,1] 0.9463831518974464 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99346518e-01 3.42310261e-02 -1.16091697e-02 3.16779434e+01] [-3.42140579e-02 9.99413154e-01 1.65714465e-03 2.67984380e-01] [ 1.16590827e-02 -1.25886493e-03 9.99931238e-01 -1.46234158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57771942099998 meters Centerline goodness [0,1] 0.9447122258077693 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99200297e-01 3.82792820e-02 -1.15526562e-02 3.16789717e+01] [-3.82245568e-02 9.99257056e-01 4.92131083e-03 2.69546264e-01] [ 1.17324575e-02 -4.47578008e-03 9.99921155e-01 -1.46348712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60771942099998 meters Centerline goodness [0,1] 0.942468213637013 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99195110e-01 3.83898476e-02 -1.16340870e-02 3.16798130e+01] [-3.83440567e-02 9.99256046e-01 4.13383674e-03 2.72385105e-01] [ 1.17841291e-02 -3.68441136e-03 9.99923777e-01 -1.46445893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63771942099999 meters Centerline goodness [0,1] 0.9312540822991509 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99032602e-01 4.24185664e-02 -1.15985019e-02 3.16802664e+01] [-4.23320739e-02 9.99074661e-01 7.60381626e-03 2.74624300e-01] [ 1.19103123e-02 -7.10547170e-03 9.99903824e-01 -1.46471236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.667719421 meters Centerline goodness [0,1] 0.9337357998001264 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99028325e-01 4.24856131e-02 -1.17208573e-02 3.16804793e+01] [-4.24003082e-02 9.99073052e-01 7.43309496e-03 2.74959287e-01] [ 1.20257922e-02 -6.92890445e-03 9.99903681e-01 -1.46469791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.697719421 meters Centerline goodness [0,1] 0.9333645697522817 Centerline is valid? [False, False] Translation: X:31.68, Y:0.28, Z:-1.46 [[ 9.99152876e-01 3.93956271e-02 -1.18960158e-02 3.16800307e+01] [-3.93551144e-02 9.99218727e-01 3.62076843e-03 2.76048321e-01] [ 1.20293642e-02 -3.14953213e-03 9.99922684e-01 -1.46433721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.727719421 meters Centerline goodness [0,1] 0.940440726382371 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99290712e-01 3.57456086e-02 -1.18458524e-02 3.16787871e+01] [-3.57437738e-02 9.99360920e-01 3.66636826e-04 2.74154872e-01] [ 1.18513876e-02 5.70386927e-05 9.99929768e-01 -1.46326558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.757719421 meters Centerline goodness [0,1] 0.9448348702116424 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99459112e-01 3.05079477e-02 -1.22779398e-02 3.16785706e+01] [-3.05474763e-02 9.99528679e-01 -3.04487851e-03 2.69992961e-01] [ 1.21792599e-02 3.41829165e-03 9.99919987e-01 -1.46180278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.787719421 meters Centerline goodness [0,1] 0.9475230555782257 Centerline is valid? [False, False] Translation: X:31.68, Y:0.27, Z:-1.46 [[ 9.99576560e-01 2.63691164e-02 -1.23032959e-02 3.16779993e+01] [-2.64513722e-02 9.99628501e-01 -6.57151756e-03 2.68279806e-01] [ 1.21254402e-02 6.89417398e-03 9.99902717e-01 -1.46121792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.817719421 meters Centerline goodness [0,1] 0.9502243066884176 Centerline is valid? [False, True] Translation: X:31.67, Y:0.27, Z:-1.46 [[ 9.99835798e-01 1.71242018e-02 -5.92776944e-03 3.16684325e+01] [-1.71636697e-02 9.99830428e-01 -6.67256556e-03 2.67847924e-01] [ 5.81250190e-03 6.77321219e-03 9.99960168e-01 -1.46255095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.847719421 meters Centerline goodness [0,1] 0.9506368778740895 Centerline is valid? [True, True] Translation: X:31.70, Y:0.26, Z:-1.46 [[ 9.99919663e-01 1.19949093e-02 -4.09742907e-03 3.17001728e+01] [-1.19948662e-02 9.99928058e-01 3.50808832e-05 2.61264463e-01] [ 4.09755509e-03 1.40700488e-05 9.99991605e-01 -1.46017428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.877719421 meters Centerline goodness [0,1] 0.9458219485339097 Centerline is valid? [True, False] Translation: X:31.70, Y:0.26, Z:-1.46 [[ 9.99972522e-01 6.01568854e-03 -4.33214905e-03 3.17009915e+01] [-6.03811172e-03 9.99968345e-01 -5.18165135e-03 2.60854732e-01] [ 4.30084071e-03 5.20766697e-03 9.99977191e-01 -1.46042234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.907719421 meters Centerline goodness [0,1] 0.943500285971076 Centerline is valid? [False, False] Translation: X:31.70, Y:0.26, Z:-1.46 [[ 9.99978341e-01 4.75318138e-03 -4.55247901e-03 3.17020505e+01] [-4.77961597e-03 9.99971679e-01 -5.81346592e-03 2.59933941e-01] [ 4.52471762e-03 5.83509910e-03 9.99972739e-01 -1.46095418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.937719421 meters Centerline goodness [0,1] 0.9424316605467157 Centerline is valid? [False, False] Translation: X:31.71, Y:0.26, Z:-1.46 [[ 9.99985661e-01 1.95901378e-03 -4.98396478e-03 3.17051942e+01] [-1.99956762e-03 9.99964830e-01 -8.14493470e-03 2.62851347e-01] [ 4.96783346e-03 8.15478369e-03 9.99954409e-01 -1.46349736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.967719421 meters Centerline goodness [0,1] 0.9434462504843677 Centerline is valid? [False, False] Translation: X:31.71, Y:0.27, Z:-1.46 [[ 9.99985383e-01 1.16197961e-03 -5.28052164e-03 3.17062716e+01] [-1.20949885e-03 9.99958725e-01 -9.00470155e-03 2.65121803e-01] [ 5.26984040e-03 9.01095671e-03 9.99945514e-01 -1.46406649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.997719421 meters Centerline goodness [0,1] 0.9412737630939497 Centerline is valid? [False, False] Translation: X:31.71, Y:0.27, Z:-1.46 [[ 9.99985200e-01 -3.46208101e-04 -5.42950414e-03 3.17068384e+01] [ 2.87978818e-04 9.99942479e-01 -1.07217216e-02 2.69494427e-01] [ 5.43290378e-03 1.07199993e-02 9.99927780e-01 -1.46424879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.027719421 meters Centerline goodness [0,1] 0.9405176451422405 Centerline is valid? [False, False] Translation: X:31.71, Y:0.27, Z:-1.46 [[ 9.99983464e-01 -1.16840337e-03 -5.63077507e-03 3.17071080e+01] [ 1.10477391e-03 9.99935653e-01 -1.12901948e-02 2.70453483e-01] [ 5.64360425e-03 1.12837874e-02 9.99920410e-01 -1.46389144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.057719421 meters Centerline goodness [0,1] 0.9300217475254569 Centerline is valid? [False, False] Translation: X:31.71, Y:0.27, Z:-1.46 [[ 9.99977058e-01 -3.49264403e-03 -5.80387022e-03 3.17072405e+01] [ 3.41717112e-03 9.99910134e-01 -1.29633220e-02 2.71751959e-01] [ 5.84862492e-03 1.29431918e-02 9.99899129e-01 -1.46318253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.087719421 meters Centerline goodness [0,1] 0.9246319802100653 Centerline is valid? [False, False] Translation: X:31.71, Y:0.27, Z:-1.46 [[ 9.99973602e-01 -3.96276442e-03 -6.09038521e-03 3.17077242e+01] [ 3.88051370e-03 9.99901907e-01 -1.34580048e-02 2.73228980e-01] [ 6.14311869e-03 1.34340157e-02 9.99890889e-01 -1.46294244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.117719421 meters Centerline goodness [0,1] 0.9254199328107503 Centerline is valid? [False, False] Translation: X:31.71, Y:0.28, Z:-1.46 [[ 9.99979145e-01 -1.23503054e-03 -6.33907284e-03 3.17080836e+01] [ 1.16267474e-03 9.99934282e-01 -1.14052764e-02 2.79182484e-01] [ 6.35274211e-03 1.13976682e-02 9.99914864e-01 -1.46269946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.147719421 meters Centerline goodness [0,1] 0.9298748855660666 Centerline is valid? [False, False] Translation: X:31.71, Y:0.28, Z:-1.46 [[ 9.99976562e-01 2.15196323e-03 -6.49952240e-03 3.17087812e+01] [-2.20639227e-03 9.99962463e-01 -8.37878563e-03 2.82196116e-01] [ 6.48124759e-03 8.39292974e-03 9.99943774e-01 -1.46301377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.177719421 meters Centerline goodness [0,1] 0.9397144259880533 Centerline is valid? [False, False] Translation: X:31.71, Y:0.29, Z:-1.46 [[ 9.99940044e-01 8.70000384e-03 -6.64971935e-03 3.17096822e+01] [-8.71912322e-03 9.99957922e-01 -2.85165420e-03 2.88083101e-01] [ 6.62463014e-03 2.90946295e-03 9.99973824e-01 -1.46356383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.207719421 meters Centerline goodness [0,1] 0.941272463945495 Centerline is valid? [False, False] Translation: X:31.71, Y:0.29, Z:-1.46 [[ 9.99905505e-01 1.19476845e-02 -6.79962146e-03 3.17105343e+01] [-1.19502885e-02 9.99928534e-01 -3.42465141e-04 2.91641835e-01] [ 6.79504386e-03 4.23690217e-04 9.99976824e-01 -1.46405209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.237719421 meters Centerline goodness [0,1] 0.9456646216768916 Centerline is valid? [False, False] Translation: X:31.71, Y:0.30, Z:-1.46 [[ 9.99792187e-01 1.92828441e-02 -6.61472006e-03 3.17086071e+01] [-1.92511666e-02 9.99803062e-01 4.81965831e-03 3.00196039e-01] [ 6.70635409e-03 -4.69131565e-03 9.99966508e-01 -1.46177770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.267719421 meters Centerline goodness [0,1] 0.9459542359364457 Centerline is valid? [False, False] Translation: X:31.71, Y:0.30, Z:-1.46 [[ 9.99716485e-01 2.28648657e-02 -6.64440229e-03 3.17081388e+01] [-2.28161934e-02 9.99712944e-01 7.31105000e-03 3.04939328e-01] [ 6.80966115e-03 -7.15737724e-03 9.99951199e-01 -1.46088979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29771942099998 meters Centerline goodness [0,1] 0.9492441706277158 Centerline is valid? [False, False] Translation: X:31.71, Y:0.31, Z:-1.46 [[ 9.99516368e-01 3.03778363e-02 -6.64954987e-03 3.17083945e+01] [-3.02957751e-02 9.99467590e-01 1.21120672e-02 3.14485433e-01] [ 7.01394797e-03 -1.19047562e-02 9.99904536e-01 -1.46090153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32771942099998 meters Centerline goodness [0,1] 0.9467846511438242 Centerline is valid? [False, False] Translation: X:31.71, Y:0.32, Z:-1.46 [[ 9.99415952e-01 3.34670609e-02 -6.90723343e-03 3.17100656e+01] [-3.33654998e-02 9.99340489e-01 1.43293576e-02 3.18186756e-01] [ 7.38223952e-03 -1.40905252e-02 9.99873472e-01 -1.46203708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35771942099998 meters Centerline goodness [0,1] 0.9420638971113606 Centerline is valid? [False, False] Translation: X:31.71, Y:0.32, Z:-1.46 [[ 9.99168403e-01 4.01119288e-02 -7.31677838e-03 3.17130929e+01] [-3.99626047e-02 9.99010388e-01 1.95252148e-02 3.24149352e-01] [ 8.09273164e-03 -1.92165802e-02 9.99782592e-01 -1.46430465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38771942099999 meters Centerline goodness [0,1] 0.9435729670418986 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.46 [[ 9.99156192e-01 4.03631570e-02 -7.59736968e-03 3.17139812e+01] [-4.02167090e-02 9.99019116e-01 1.85316377e-02 3.28506326e-01] [ 8.33791295e-03 -1.82104593e-02 9.99799409e-01 -1.46485322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.417719421 meters Centerline goodness [0,1] 0.9419861337683524 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.47 [[ 9.99154344e-01 4.03819242e-02 -7.73935159e-03 3.17144257e+01] [-4.02412376e-02 9.99035944e-01 1.75449399e-02 3.31942214e-01] [ 8.44038886e-03 -1.72186618e-02 9.99816122e-01 -1.46510918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.447719421 meters Centerline goodness [0,1] 0.9411993132766514 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.46 [[ 9.99127733e-01 4.10279617e-02 -7.77687070e-03 3.17140873e+01] [-4.08905887e-02 9.99017821e-01 1.70690470e-02 3.34363914e-01] [ 8.46954063e-03 -1.67361575e-02 9.99824068e-01 -1.46470413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.477719421 meters Centerline goodness [0,1] 0.9445918908986974 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.46 [[ 9.99102869e-01 4.16526818e-02 -7.64932175e-03 3.17134558e+01] [-4.15155244e-02 9.98988240e-01 1.72903925e-02 3.34132889e-01] [ 8.36177369e-03 -1.69573152e-02 9.99821249e-01 -1.46428003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.507719421 meters Centerline goodness [0,1] 0.9467665856696547 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.46 [[ 9.99095764e-01 4.18133586e-02 -7.70047997e-03 3.17134631e+01] [-4.16749328e-02 9.98980815e-01 1.73358310e-02 3.34261585e-01] [ 8.41750108e-03 -1.69992384e-02 9.99820070e-01 -1.46412389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.537719421 meters Centerline goodness [0,1] 0.9441693665056952 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.46 [[ 9.99067999e-01 4.24719325e-02 -7.69864781e-03 3.17140045e+01] [-4.23312296e-02 9.98948591e-01 1.76005406e-02 3.34656365e-01] [ 8.43808236e-03 -1.72582437e-02 9.99815459e-01 -1.46486475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.567719421 meters Centerline goodness [0,1] 0.9440948099713935 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.47 [[ 9.99062522e-01 4.25838279e-02 -7.79074513e-03 3.17148145e+01] [-4.24417032e-02 9.98944277e-01 1.75793341e-02 3.34613478e-01] [ 8.53111560e-03 -1.72322013e-02 9.99815119e-01 -1.46562336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.597719421 meters Centerline goodness [0,1] 0.9440948099713935 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.47 [[ 9.99062522e-01 4.25838279e-02 -7.79074513e-03 3.17148145e+01] [-4.24417032e-02 9.98944277e-01 1.75793341e-02 3.34613478e-01] [ 8.53111560e-03 -1.72322013e-02 9.99815119e-01 -1.46562336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.627719421 meters Centerline goodness [0,1] 0.9401452388258157 Centerline is valid? [False, False] Translation: X:31.72, Y:0.33, Z:-1.47 [[ 9.99172561e-01 3.98569200e-02 -8.10052775e-03 3.17159542e+01] [-3.97352987e-02 9.99102723e-01 1.46579392e-02 3.32476683e-01] [ 8.67747964e-03 -1.43239338e-02 9.99859753e-01 -1.46680681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.657719421 meters Centerline goodness [0,1] 0.9402240575680759 Centerline is valid? [False, False] Translation: X:31.72, Y:0.33, Z:-1.47 [[ 9.99300591e-01 3.64429584e-02 -8.38084938e-03 3.17161260e+01] [-3.63493868e-02 9.99277953e-01 1.10586797e-02 3.31773791e-01] [ 8.77780902e-03 -1.07463064e-02 9.99903729e-01 -1.46676389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.687719421 meters Centerline goodness [0,1] 0.9423962194972909 Centerline is valid? [False, False] Translation: X:31.72, Y:0.33, Z:-1.47 [[ 9.99400616e-01 3.35653811e-02 -8.47193103e-03 3.17152439e+01] [-3.34947893e-02 9.99404084e-01 8.34118597e-03 3.29335957e-01] [ 8.74685756e-03 -8.05242085e-03 9.99929323e-01 -1.46578058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.717719421 meters Centerline goodness [0,1] 0.9400786455043704 Centerline is valid? [False, False] Translation: X:31.72, Y:0.33, Z:-1.47 [[ 9.99496227e-01 3.05624488e-02 -8.55737002e-03 3.17151030e+01] [-3.05231355e-02 9.99523068e-01 4.68763409e-03 3.30276917e-01] [ 8.69655431e-03 -4.42407482e-03 9.99952398e-01 -1.46584247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.747719421 meters Centerline goodness [0,1] 0.943845856162291 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.47 [[ 9.99473477e-01 3.13072554e-02 -8.52200020e-03 3.17148488e+01] [-3.12594742e-02 9.99495144e-01 5.68345842e-03 3.28203484e-01] [ 8.69563131e-03 -5.41407271e-03 9.99947536e-01 -1.46559951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.777719421 meters Centerline goodness [0,1] 0.9433792934649587 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.47 [[ 9.99551790e-01 2.86894359e-02 -8.55187317e-03 3.17142575e+01] [-2.86700727e-02 9.99586100e-01 2.37829078e-03 3.28161064e-01] [ 8.61656537e-03 -2.13204199e-03 9.99960604e-01 -1.46518639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.807719421 meters Centerline goodness [0,1] 0.9438534278959811 Centerline is valid? [False, False] Translation: X:31.71, Y:0.33, Z:-1.46 [[ 9.99621514e-01 2.61673884e-02 -8.49101585e-03 3.17136020e+01] [-2.61747761e-02 9.99657093e-01 -7.60081647e-04 3.27456075e-01] [ 8.46821487e-03 9.82044405e-04 9.99963662e-01 -1.46489208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.837719421 meters Centerline goodness [0,1] 0.9439773629460741 Centerline is valid? [False, False] Translation: X:31.71, Y:0.32, Z:-1.46 [[ 9.99662055e-01 2.46369327e-02 -8.29445505e-03 3.17120459e+01] [-2.46573244e-02 9.99693164e-01 -2.36524986e-03 3.23078440e-01] [ 8.23363751e-03 2.56896961e-03 9.99962803e-01 -1.46383254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.867719421 meters Centerline goodness [0,1] 0.9403829328341506 Centerline is valid? [False, False] Translation: X:31.71, Y:0.32, Z:-1.46 [[ 9.99634760e-01 2.57308375e-02 -8.26259275e-03 3.17127423e+01] [-2.57399132e-02 9.99668179e-01 -9.93940287e-04 3.19867115e-01] [ 8.23427614e-03 1.20625568e-03 9.99965370e-01 -1.46476940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.897719421 meters Centerline goodness [0,1] 0.9370280146163216 Centerline is valid? [False, False] Translation: X:31.71, Y:0.32, Z:-1.47 [[ 9.99625203e-01 2.60464369e-02 -8.42834296e-03 3.17136861e+01] [-2.60534910e-02 9.99660285e-01 -7.28231219e-04 3.19477922e-01] [ 8.40651190e-03 9.47546038e-04 9.99964216e-01 -1.46556072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.927719421 meters Centerline goodness [0,1] 0.9345769676750005 Centerline is valid? [False, False] Translation: X:31.71, Y:0.32, Z:-1.47 [[ 9.99613916e-01 2.64458847e-02 -8.52253362e-03 3.17141346e+01] [-2.64481385e-02 9.99650175e-01 -1.51838341e-04 3.18046971e-01] [ 8.51553673e-03 3.77184868e-04 9.99963671e-01 -1.46586373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.957719421 meters Centerline goodness [0,1] 0.926955108673573 Centerline is valid? [False, False] Translation: X:31.72, Y:0.31, Z:-1.47 [[ 9.99662259e-01 2.45195475e-02 -8.61157759e-03 3.17151982e+01] [-2.45367079e-02 9.99697138e-01 -1.89273691e-03 3.13183783e-01] [ 8.56256042e-03 2.10339742e-03 9.99961128e-01 -1.46723435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.987719421 meters Centerline goodness [0,1] 0.9192864424057084 Centerline is valid? [False, False] Translation: X:31.72, Y:0.31, Z:-1.47 [[ 9.99727780e-01 2.16896537e-02 -8.59796407e-03 3.17150626e+01] [-2.17314463e-02 9.99752333e-01 -4.79748988e-03 3.11066349e-01] [ 8.49177875e-03 4.98303010e-03 9.99951528e-01 -1.46737800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.017719421 meters Centerline goodness [0,1] 0.920798349369778 Centerline is valid? [False, False] Translation: X:31.71, Y:0.30, Z:-1.47 [[ 9.99772755e-01 1.95685913e-02 -8.45622805e-03 3.17139195e+01] [-1.96195947e-02 9.99789566e-01 -5.99118636e-03 3.04135888e-01] [ 8.33720949e-03 6.15573266e-03 9.99946298e-01 -1.46650036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04771942099998 meters Centerline goodness [0,1] 0.9295007749408598 Centerline is valid? [False, False] Translation: X:31.71, Y:0.30, Z:-1.47 [[ 9.99821738e-01 1.68949051e-02 -8.42942310e-03 3.17129858e+01] [-1.69550868e-02 9.99830902e-01 -7.11983514e-03 2.97399154e-01] [ 8.30770877e-03 7.26148755e-03 9.99939125e-01 -1.46533897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07771942099998 meters Centerline goodness [0,1] 0.928849723599127 Centerline is valid? [False, False] Translation: X:31.71, Y:0.29, Z:-1.46 [[ 9.99823826e-01 1.67967424e-02 -8.37771508e-03 3.17128250e+01] [-1.68467443e-02 9.99840475e-01 -5.93400337e-03 2.93294131e-01] [ 8.27670670e-03 6.07409517e-03 9.99947299e-01 -1.46493978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10771942099998 meters Centerline goodness [0,1] 0.9395730973884324 Centerline is valid? [False, False] Translation: X:31.71, Y:0.29, Z:-1.46 [[ 9.99873540e-01 1.38180184e-02 -7.87189049e-03 3.17112075e+01] [-1.38698248e-02 9.99882257e-01 -6.56505403e-03 2.85844426e-01] [ 7.78024759e-03 6.67340556e-03 9.99947465e-01 -1.46352526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13771942099999 meters Centerline goodness [0,1] 0.9374910977718995 Centerline is valid? [False, False] Translation: X:31.71, Y:0.28, Z:-1.46 [[ 9.99885450e-01 1.28645980e-02 -7.97426746e-03 3.17120243e+01] [-1.29159211e-02 9.99895986e-01 -6.41835967e-03 2.81739187e-01] [ 7.89086841e-03 6.52061946e-03 9.99947606e-01 -1.46400448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.167719421 meters Centerline goodness [0,1] 0.9387596899224806 Centerline is valid? [False, False] Translation: X:31.71, Y:0.28, Z:-1.46 [[ 9.99892050e-01 1.21894893e-02 -8.20394404e-03 3.17133390e+01] [-1.22404657e-02 9.99905908e-01 -6.19238600e-03 2.77630354e-01] [ 8.12769010e-03 6.29213763e-03 9.99947173e-01 -1.46490551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.197719421 meters Centerline goodness [0,1] 0.9391471206646661 Centerline is valid? [False, False] Translation: X:31.71, Y:0.27, Z:-1.46 [[ 9.99918614e-01 9.86323761e-03 -8.09205524e-03 3.17129456e+01] [-9.92333214e-03 9.99923232e-01 -7.42012901e-03 2.69991655e-01] [ 8.01824753e-03 7.49982527e-03 9.99939728e-01 -1.46467816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.227719421 meters Centerline goodness [0,1] 0.9422098277897651 Centerline is valid? [False, False] Translation: X:31.71, Y:0.26, Z:-1.46 [[ 9.99904816e-01 1.11912835e-02 -8.06935060e-03 3.17125081e+01] [-1.12333055e-02 9.99923481e-01 -5.18121786e-03 2.63888623e-01] [ 8.01074866e-03 5.27137017e-03 9.99954019e-01 -1.46396858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.257719421 meters Centerline goodness [0,1] 0.9407407407407408 Centerline is valid? [False, False] Translation: X:31.71, Y:0.26, Z:-1.46 [[ 9.99896346e-01 1.19769674e-02 -7.99057791e-03 3.17120103e+01] [-1.20121214e-02 9.99918320e-01 -4.36604146e-03 2.62463697e-01] [ 7.93763330e-03 4.46157269e-03 9.99958543e-01 -1.46353178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.287719421 meters Centerline goodness [0,1] 0.9379220302331749 Centerline is valid? [False, False] Translation: X:31.71, Y:0.26, Z:-1.46 [[ 9.99873019e-01 1.39198555e-02 -7.75784931e-03 3.17109085e+01] [-1.39390780e-02 9.99899895e-01 -2.42927921e-03 2.59004098e-01] [ 7.72325750e-03 2.53710801e-03 9.99966957e-01 -1.46283753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.317719421 meters Centerline goodness [0,1] 0.9296497769085019 Centerline is valid? [False, False] Translation: X:31.71, Y:0.26, Z:-1.46 [[ 9.99863316e-01 1.46088856e-02 -7.74149630e-03 3.17108797e+01] [-1.46233395e-02 9.99891428e-01 -1.81375625e-03 2.57677073e-01] [ 7.71415884e-03 1.92671486e-03 9.99968389e-01 -1.46285748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.347719421 meters Centerline goodness [0,1] 0.9253974724826742 Centerline is valid? [False, False] Translation: X:31.71, Y:0.26, Z:-1.46 [[ 9.99851404e-01 1.54305304e-02 -7.68557649e-03 3.17103732e+01] [-1.54383921e-02 9.99880356e-01 -9.64644558e-04 2.55995620e-01] [ 7.66977197e-03 1.08315416e-03 9.99970000e-01 -1.46235773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.377719421 meters Centerline goodness [0,1] 0.9006766504785321 Centerline is valid? [False, False] Translation: X:31.71, Y:0.25, Z:-1.46 [[ 9.99823280e-01 1.72973998e-02 -7.36266817e-03 3.17093949e+01] [-1.72889826e-02 9.99849808e-01 1.20534472e-03 2.50557651e-01] [ 7.38241169e-03 -1.07783867e-03 9.99972169e-01 -1.46198415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.407719421 meters Centerline goodness [0,1] 0.8333536932974999 Centerline is valid? [False, False] Translation: X:31.71, Y:0.24, Z:-1.46 [[ 9.99819184e-01 1.74466874e-02 -7.56383401e-03 3.17113790e+01] [-1.74331715e-02 9.99846321e-01 1.84917959e-03 2.44402060e-01] [ 7.59493366e-03 -1.71698361e-03 9.99969684e-01 -1.46402464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.437719421 meters Centerline goodness [0,1] 0.8680387162506368 Centerline is valid? [False, False] Translation: X:31.71, Y:0.24, Z:-1.47 [[ 9.99869327e-01 1.42330129e-02 -7.66487585e-03 3.17123410e+01] [-1.42449379e-02 9.99897405e-01 -1.50345732e-03 2.43285410e-01] [ 7.64269075e-03 1.61244654e-03 9.99969494e-01 -1.46522005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.467719421 meters Centerline goodness [0,1] 0.8745237076430915 Centerline is valid? [False, False] Translation: X:31.71, Y:0.24, Z:-1.47 [[ 9.99895766e-01 1.22832801e-02 -7.58797908e-03 3.17145068e+01] [-1.23027014e-02 9.99921148e-01 -2.51812726e-03 2.37653729e-01] [ 7.55644989e-03 2.61121742e-03 9.99968040e-01 -1.46794407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.497719421 meters Centerline goodness [0,1] 0.8782537739698082 Centerline is valid? [False, False] Translation: X:31.71, Y:0.23, Z:-1.47 [[ 9.99926723e-01 9.38046585e-03 -7.65218113e-03 3.17147811e+01] [-9.41928424e-03 9.99942872e-01 -5.05268401e-03 2.34769394e-01] [ 7.60434744e-03 5.12439183e-03 9.99957956e-01 -1.46825977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.527719421 meters Centerline goodness [0,1] 0.8968816153720892 Centerline is valid? [False, False] Translation: X:31.72, Y:0.23, Z:-1.47 [[ 9.99949682e-01 6.16819704e-03 -7.91115216e-03 3.17152628e+01] [-6.21567817e-03 9.99962734e-01 -5.99131973e-03 2.25562961e-01] [ 7.87390170e-03 6.04019143e-03 9.99950758e-01 -1.46757467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.557719421 meters Centerline goodness [0,1] 0.9327579860116978 Centerline is valid? [False, False] Translation: X:31.71, Y:0.22, Z:-1.47 [[ 9.99964354e-01 3.22141408e-03 -7.80465133e-03 3.17139378e+01] [-3.28339205e-03 9.99963076e-01 -7.94140260e-03 2.21082018e-01] [ 7.77878060e-03 7.96674525e-03 9.99938009e-01 -1.46602464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.587719421 meters Centerline goodness [0,1] 0.9360402149702679 Centerline is valid? [False, False] Translation: X:31.71, Y:0.22, Z:-1.46 [[ 9.99963744e-01 3.20980727e-03 -7.88714547e-03 3.17135718e+01] [-3.25934597e-03 9.99974993e-01 -6.27613662e-03 2.15323308e-01] [ 7.86680305e-03 6.30161601e-03 9.99949200e-01 -1.46466934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.617719421 meters Centerline goodness [0,1] 0.9458460780489808 Centerline is valid? [False, False] Translation: X:31.71, Y:0.21, Z:-1.46 [[ 9.99972489e-01 1.00762199e-04 -7.41695423e-03 3.17113920e+01] [-1.49557903e-04 9.99978349e-01 -6.57868041e-03 2.07209324e-01] [ 7.41613076e-03 6.57960869e-03 9.99950854e-01 -1.46145469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.647719421 meters Centerline goodness [0,1] 0.9487538331721171 Centerline is valid? [False, False] Translation: X:31.71, Y:0.20, Z:-1.46 [[ 9.99967795e-01 -3.20971906e-03 -7.35578898e-03 3.17107323e+01] [ 3.14780616e-03 9.99959655e-01 -8.41307218e-03 2.01761411e-01] [ 7.38249580e-03 8.38964663e-03 9.99937554e-01 -1.46028563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.677719421 meters Centerline goodness [0,1] 0.9509130782316411 Centerline is valid? [False, True] Translation: X:31.71, Y:0.20, Z:-1.46 [[ 9.99965144e-01 -3.41438938e-03 -7.61927147e-03 3.17113930e+01] [ 3.35588471e-03 9.99964892e-01 -7.67813094e-03 1.98893132e-01] [ 7.64522010e-03 7.65229391e-03 9.99941495e-01 -1.46012742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.707719421 meters Centerline goodness [0,1] 0.9522740380654198 Centerline is valid? [True, True] Translation: X:31.74, Y:0.19, Z:-1.46 [[ 9.99946448e-01 -7.66278202e-03 -6.95578796e-03 3.17414680e+01] [ 7.66129439e-03 9.99970623e-01 -2.40489169e-04 1.89961694e-01] [ 6.95742643e-03 1.87185951e-04 9.99975779e-01 -1.45837801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.737719421 meters Centerline goodness [0,1] 0.949911999171757 Centerline is valid? [True, False] Translation: X:31.74, Y:0.19, Z:-1.46 [[ 9.99945289e-01 -7.67861986e-03 -7.10331397e-03 3.17418149e+01] [ 7.68258006e-03 9.99970348e-01 5.30396066e-04 1.87283449e-01] [ 7.09903064e-03 -5.84938826e-04 9.99974630e-01 -1.45813728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.767719421 meters Centerline goodness [0,1] 0.9499425707424036 Centerline is valid? [False, False] Translation: X:31.74, Y:0.18, Z:-1.46 [[ 9.99917441e-01 -1.07252688e-02 -7.07667579e-03 3.17412962e+01] [ 1.07134265e-02 9.99941149e-01 -1.70920927e-03 1.82536073e-01] [ 7.09459105e-03 1.63325272e-03 9.99973499e-01 -1.45731504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79771942099998 meters Centerline goodness [0,1] 0.9521335651591009 Centerline is valid? [False, True] Translation: X:31.74, Y:0.18, Z:-1.46 [[ 9.99917932e-01 -1.06644420e-02 -7.09926355e-03 3.17421351e+01] [ 1.06587284e-02 9.99942840e-01 -8.42155171e-04 1.79537308e-01] [ 7.10783887e-03 7.66416934e-04 9.99974445e-01 -1.45803442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82771942099998 meters Centerline goodness [0,1] 0.9512783405692233 Centerline is valid? [True, True] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99920193e-01 -1.02879185e-02 -7.33258481e-03 3.17704476e+01] [ 1.02864424e-02 9.99947065e-01 -2.38991160e-04 1.80395000e-01] [ 7.33465538e-03 1.63545876e-04 9.99973088e-01 -1.45955188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85771942099998 meters Centerline goodness [0,1] 0.9493042166149719 Centerline is valid? [True, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99943104e-01 -7.30492319e-03 -7.77345002e-03 3.17724694e+01] [ 7.33111155e-03 9.99967530e-01 3.34580400e-03 1.78823162e-01] [ 7.74875677e-03 -3.40260166e-03 9.99964189e-01 -1.46074744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88771942099999 meters Centerline goodness [0,1] 0.94857035207435 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99945174e-01 -6.92153486e-03 -7.85758772e-03 3.17731608e+01] [ 6.94976649e-03 9.99969473e-01 3.57131086e-03 1.78252283e-01] [ 7.83262890e-03 -3.62572346e-03 9.99962751e-01 -1.46149477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.917719421 meters Centerline goodness [0,1] 0.9470172272698659 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99955629e-01 -5.31397516e-03 -7.77823159e-03 3.17727480e+01] [ 5.35029173e-03 9.99974849e-01 4.65566228e-03 1.75936989e-01] [ 7.75329589e-03 -4.69707151e-03 9.99958911e-01 -1.46146495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.947719421 meters Centerline goodness [0,1] 0.9425473004153208 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99960440e-01 -4.05339981e-03 -7.91757599e-03 3.17732170e+01] [ 4.09426475e-03 9.99978347e-01 5.15192250e-03 1.75233151e-01] [ 7.89652175e-03 -5.18413534e-03 9.99955384e-01 -1.46221466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.977719421 meters Centerline goodness [0,1] 0.9442215172587659 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99962957e-01 -3.66051764e-03 -7.79006966e-03 3.17735125e+01] [ 3.70020253e-03 9.99980220e-01 5.08599201e-03 1.76272422e-01] [ 7.77129822e-03 -5.11462844e-03 9.99956723e-01 -1.46307072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.007719421 meters Centerline goodness [0,1] 0.9404040192150364 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99968683e-01 -2.21222527e-03 -7.59863293e-03 3.17726989e+01] [ 2.25560578e-03 9.99981181e-01 5.70517121e-03 1.78240975e-01] [ 7.58586881e-03 -5.72213206e-03 9.99954855e-01 -1.46304275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.037719421 meters Centerline goodness [0,1] 0.9417125099735438 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99969425e-01 -1.97492242e-03 -7.56624982e-03 3.17724061e+01] [ 2.01931799e-03 9.99980765e-01 5.86443933e-03 1.77872064e-01] [ 7.55452248e-03 -5.87953869e-03 9.99954179e-01 -1.46273255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.067719421 meters Centerline goodness [0,1] 0.9298966478690174 Centerline is valid? [False, False] Translation: X:31.77, Y:0.18, Z:-1.46 [[ 9.99967871e-01 -1.95108494e-03 -7.77491251e-03 3.17724904e+01] [ 1.99867253e-03 9.99979290e-01 6.11759683e-03 1.76240026e-01] [ 7.76281554e-03 -6.13293978e-03 9.99951062e-01 -1.46216480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.097719421 meters Centerline goodness [0,1] 0.9464637571793905 Centerline is valid? [False, False] Translation: X:31.77, Y:0.17, Z:-1.46 [[ 9.99959767e-01 -5.11208337e-03 -7.37098282e-03 3.17704148e+01] [ 5.13917916e-03 9.99980090e-01 3.66176504e-03 1.73047580e-01] [ 7.35211681e-03 -3.69949851e-03 9.99966129e-01 -1.46018955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.127719421 meters Centerline goodness [0,1] 0.9487394254125137 Centerline is valid? [False, False] Translation: X:31.77, Y:0.17, Z:-1.46 [[ 9.99924305e-01 -9.83846666e-03 -7.38846320e-03 3.17706649e+01] [ 9.83783971e-03 9.99951600e-01 -1.21195013e-04 1.71921024e-01] [ 7.38929797e-03 4.84993228e-05 9.99972698e-01 -1.45995076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.157719421 meters Centerline goodness [0,1] 0.9504326147528963 Centerline is valid? [False, True] Translation: X:31.77, Y:0.17, Z:-1.46 [[ 9.99914138e-01 -1.06388460e-02 -7.65058740e-03 3.17714284e+01] [ 1.06398737e-02 9.99943391e-01 9.36505070e-05 1.70447154e-01] [ 7.64915797e-03 -1.75043750e-04 9.99970729e-01 -1.45975926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.187719421 meters Centerline goodness [0,1] 0.9516745005875441 Centerline is valid? [True, True] Translation: X:31.80, Y:0.16, Z:-1.46 [[ 9.99779605e-01 -2.02806014e-02 -5.42574090e-03 3.18021652e+01] [ 2.02797223e-02 9.99794322e-01 -2.17012751e-04 1.62282340e-01] [ 5.42902610e-03 1.06932404e-04 9.99985257e-01 -1.45852952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.217719421 meters Centerline goodness [0,1] 0.9518773914140353 Centerline is valid? [True, True] Translation: X:31.83, Y:0.16, Z:-1.46 [[ 9.99675368e-01 -2.49230555e-02 -5.29154624e-03 3.18309540e+01] [ 2.49222511e-02 9.99689369e-01 -2.17913624e-04 1.58903375e-01] [ 5.29533360e-03 8.59656385e-05 9.99985976e-01 -1.45713563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.247719421 meters Centerline goodness [0,1] 0.9502060728404408 Centerline is valid? [True, True] Translation: X:31.86, Y:0.15, Z:-1.46 [[ 9.99420522e-01 -3.33749251e-02 -6.68838702e-03 3.18591778e+01] [ 3.33738541e-02 9.99442901e-01 -2.71707722e-04 1.53182117e-01] [ 6.69372915e-03 4.83330212e-05 9.99977596e-01 -1.45835153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.277719421 meters Centerline goodness [0,1] 0.9475782758331235 Centerline is valid? [True, False] Translation: X:31.86, Y:0.15, Z:-1.46 [[ 9.99380117e-01 -3.44782291e-02 -7.11576350e-03 3.18612558e+01] [ 3.44731613e-02 9.99405276e-01 -8.33664278e-04 1.53020747e-01] [ 7.14027486e-03 5.87844641e-04 9.99974335e-01 -1.45964122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.307719421 meters Centerline goodness [0,1] 0.947810425349222 Centerline is valid? [False, False] Translation: X:31.86, Y:0.15, Z:-1.46 [[ 9.99339128e-01 -3.55602240e-02 -7.53513713e-03 3.18633975e+01] [ 3.55500991e-02 9.99366809e-01 -1.47343164e-03 1.53354360e-01] [ 7.58276151e-03 1.20458302e-03 9.99970525e-01 -1.46107319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.337719421 meters Centerline goodness [0,1] 0.9448105265346 Centerline is valid? [False, False] Translation: X:31.87, Y:0.16, Z:-1.46 [[ 9.99267446e-01 -3.74443149e-02 -7.90529688e-03 3.18655640e+01] [ 3.74233355e-02 9.99295620e-01 -2.78534682e-03 1.55105853e-01] [ 8.00402395e-03 2.48746382e-03 9.99964873e-01 -1.46242768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.367719421 meters Centerline goodness [0,1] 0.9472419578681359 Centerline is valid? [False, False] Translation: X:31.87, Y:0.16, Z:-1.46 [[ 9.99247747e-01 -3.78938555e-02 -8.24591424e-03 3.18652256e+01] [ 3.78666273e-02 9.99276903e-01 -3.43351895e-03 1.57444654e-01] [ 8.37006092e-03 3.11869112e-03 9.99960107e-01 -1.46114010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.397719421 meters Centerline goodness [0,1] 0.9456550926404065 Centerline is valid? [False, False] Translation: X:31.87, Y:0.16, Z:-1.46 [[ 9.99364484e-01 -3.45145218e-02 -8.90928917e-03 3.18659207e+01] [ 3.45176882e-02 9.99404067e-01 2.01831633e-04 1.57913507e-01] [ 8.89701371e-03 -5.09231432e-04 9.99960291e-01 -1.46048290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.427719421 meters Centerline goodness [0,1] 0.9447983014861996 Centerline is valid? [False, False] Translation: X:31.87, Y:0.16, Z:-1.46 [[ 9.99474248e-01 -3.10468387e-02 -9.34464249e-03 3.18665275e+01] [ 3.10818334e-02 9.99510276e-01 3.62323174e-03 1.59363631e-01] [ 9.22757630e-03 -3.91177544e-03 9.99949774e-01 -1.46036007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.457719421 meters Centerline goodness [0,1] 0.9466243508366994 Centerline is valid? [False, False] Translation: X:31.87, Y:0.16, Z:-1.46 [[ 9.99578162e-01 -2.74355435e-02 -9.52831519e-03 3.18662347e+01] [ 2.74967586e-02 9.99601698e-01 6.35407795e-03 1.64390521e-01] [ 9.35019246e-03 -6.61339534e-03 9.99934416e-01 -1.46001229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.487719421 meters Centerline goodness [0,1] 0.9465709892362891 Centerline is valid? [False, False] Translation: X:31.87, Y:0.17, Z:-1.46 [[ 9.99642276e-01 -2.47817372e-02 -1.00590884e-02 3.18677766e+01] [ 2.48715850e-02 9.99650970e-01 8.90739369e-03 1.66445822e-01] [ 9.83483681e-03 -9.15439278e-03 9.99909732e-01 -1.46070698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.517719421 meters Centerline goodness [0,1] 0.9465709892362891 Centerline is valid? [False, False] Translation: X:31.87, Y:0.17, Z:-1.46 [[ 9.99642276e-01 -2.47817372e-02 -1.00590884e-02 3.18677766e+01] [ 2.48715850e-02 9.99650970e-01 8.90739369e-03 1.66445822e-01] [ 9.83483681e-03 -9.15439278e-03 9.99909732e-01 -1.46070698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54771942099998 meters Centerline goodness [0,1] 0.9448561018545053 Centerline is valid? [False, False] Translation: X:31.87, Y:0.17, Z:-1.46 [[ 9.99699530e-01 -2.21937035e-02 -1.04062119e-02 3.18691910e+01] [ 2.22984826e-02 9.99700708e-01 1.00633643e-02 1.74371345e-01] [ 1.01797541e-02 -1.02923833e-02 9.99895214e-01 -1.46232457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57771942099998 meters Centerline goodness [0,1] 0.9462585730371583 Centerline is valid? [False, False] Translation: X:31.87, Y:0.18, Z:-1.46 [[ 9.99746349e-01 -1.97126243e-02 -1.08926932e-02 3.18703494e+01] [ 1.98361411e-02 9.99738816e-01 1.13501718e-02 1.80195892e-01] [ 1.06661066e-02 -1.15633618e-02 9.99876254e-01 -1.46299699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60771942099998 meters Centerline goodness [0,1] 0.9433248855461086 Centerline is valid? [False, False] Translation: X:31.87, Y:0.18, Z:-1.46 [[ 9.99736081e-01 -2.00500238e-02 -1.12144795e-02 3.18710161e+01] [ 2.01644380e-02 9.99744808e-01 1.01840681e-02 1.83426878e-01] [ 1.10074269e-02 -1.04075140e-02 9.99885254e-01 -1.46327061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63771942099999 meters Centerline goodness [0,1] 0.9477416717760065 Centerline is valid? [False, False] Translation: X:31.87, Y:0.19, Z:-1.46 [[ 9.99781387e-01 -1.74400194e-02 -1.15336286e-02 3.18711559e+01] [ 1.75696564e-02 9.99782509e-01 1.12357627e-02 1.91289350e-01] [ 1.13351682e-02 -1.14359484e-02 9.99870358e-01 -1.46327025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.667719421 meters Centerline goodness [0,1] 0.9476267408331459 Centerline is valid? [False, False] Translation: X:31.88, Y:0.20, Z:-1.46 [[ 9.99862445e-01 -1.19044582e-02 -1.15488360e-02 3.18780601e+01] [ 1.19468562e-02 9.99922120e-01 3.60917803e-03 1.96286449e-01] [ 1.15049713e-02 -3.74665385e-03 9.99926796e-01 -1.46216187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.697719421 meters Centerline goodness [0,1] 0.9514888058939979 Centerline is valid? [False, True] Translation: X:31.89, Y:0.21, Z:-1.46 [[ 9.99967754e-01 -5.73309543e-03 -5.62346941e-03 3.18853907e+01] [ 5.72165753e-03 9.99981534e-01 -2.04794217e-03 2.05477095e-01] [ 5.63510661e-03 2.01570057e-03 9.99982091e-01 -1.46341485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.727719421 meters Centerline goodness [0,1] 0.9514036233066754 Centerline is valid? [True, True] Translation: X:31.91, Y:0.21, Z:-1.46 [[ 9.99977330e-01 -3.88994104e-03 -5.49620515e-03 3.19145542e+01] [ 3.88946937e-03 9.99992431e-01 -9.65025335e-05 2.10829448e-01] [ 5.49653894e-03 7.51230242e-05 9.99984891e-01 -1.46310821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.757719421 meters Centerline goodness [0,1] 0.9515220762262303 Centerline is valid? [True, True] Translation: X:31.94, Y:0.22, Z:-1.46 [[ 9.99983736e-01 1.68037779e-03 -5.45005387e-03 3.19428649e+01] [-1.68090706e-03 9.99998583e-01 -9.25337595e-05 2.22098452e-01] [ 5.44989065e-03 1.01693289e-04 9.99985144e-01 -1.46377647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.787719421 meters Centerline goodness [0,1] 0.9510963617484781 Centerline is valid? [True, True] Translation: X:31.97, Y:0.23, Z:-1.47 [[ 9.99972887e-01 4.81805846e-03 -5.56882818e-03 3.19715073e+01] [-4.81866020e-03 9.99988386e-01 -9.46410867e-05 2.29672834e-01] [ 5.56830751e-03 1.21472811e-04 9.99984489e-01 -1.46585300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.817719421 meters Centerline goodness [0,1] 0.9465572498826219 Centerline is valid? [True, False] Translation: X:31.97, Y:0.23, Z:-1.47 [[ 9.99941111e-01 9.15388567e-03 -5.82936474e-03 3.19723634e+01] [-9.13931491e-03 9.99955057e-01 2.52129739e-03 2.33850811e-01] [ 5.85218242e-03 -2.46787251e-03 9.99979831e-01 -1.46679294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.847719421 meters Centerline goodness [0,1] 0.9434181788491763 Centerline is valid? [False, False] Translation: X:31.97, Y:0.24, Z:-1.47 [[ 9.99938215e-01 9.44418464e-03 -5.86283031e-03 3.19726969e+01] [-9.43264456e-03 9.99953526e-01 1.99288726e-03 2.35607550e-01] [ 5.88137904e-03 -1.93746213e-03 9.99980828e-01 -1.46728815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.877719421 meters Centerline goodness [0,1] 0.9407853136155023 Centerline is valid? [False, False] Translation: X:31.97, Y:0.24, Z:-1.47 [[ 9.99928043e-01 1.04455613e-02 -5.89910424e-03 3.19728188e+01] [-1.04349471e-02 9.99943885e-01 1.82721368e-03 2.38212087e-01] [ 5.91785948e-03 -1.76552536e-03 9.99980931e-01 -1.46783651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.907719421 meters Centerline goodness [0,1] 0.9435615321923391 Centerline is valid? [False, False] Translation: X:31.97, Y:0.24, Z:-1.47 [[ 9.99927884e-01 1.03855733e-02 -6.03043071e-03 3.19733330e+01] [-1.03764979e-02 9.99944986e-01 1.53427352e-03 2.38935949e-01] [ 6.04603326e-03 -1.47158813e-03 9.99980640e-01 -1.46823994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.937719421 meters Centerline goodness [0,1] 0.9418876834456228 Centerline is valid? [False, False] Translation: X:31.98, Y:0.24, Z:-1.47 [[ 9.99930367e-01 9.88832914e-03 -6.44073408e-03 3.19750283e+01] [-9.88041592e-03 9.99950395e-01 1.25928541e-03 2.37715891e-01] [ 6.45286681e-03 -1.19556059e-03 9.99978465e-01 -1.46933839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.967719421 meters Centerline goodness [0,1] 0.935336048879837 Centerline is valid? [False, False] Translation: X:31.98, Y:0.24, Z:-1.47 [[ 9.99957944e-01 6.40842033e-03 -6.56064722e-03 3.19753082e+01] [-6.42446284e-03 9.99976417e-01 -2.42711668e-03 2.37589091e-01] [ 6.54493852e-03 2.46916324e-03 9.99975533e-01 -1.46960281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.997719421 meters Centerline goodness [0,1] 0.945449728980723 Centerline is valid? [False, False] Translation: X:31.98, Y:0.23, Z:-1.47 [[ 9.99974416e-01 2.80854083e-03 -6.57871688e-03 3.19750513e+01] [-2.84261995e-03 9.99982561e-01 -5.17659946e-03 2.34247824e-01] [ 6.56406346e-03 5.19516782e-03 9.99964961e-01 -1.46914338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.027719421 meters Centerline goodness [0,1] 0.9413072295299276 Centerline is valid? [False, False] Translation: X:31.98, Y:0.23, Z:-1.47 [[ 9.99973658e-01 2.40458554e-03 -6.84844166e-03 3.19757277e+01] [-2.43547612e-03 9.99986883e-01 -4.50583811e-03 2.31356802e-01] [ 6.83751715e-03 4.52239863e-03 9.99966398e-01 -1.46900517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.057719421 meters Centerline goodness [0,1] 0.9394409620842437 Centerline is valid? [False, False] Translation: X:31.98, Y:0.23, Z:-1.47 [[ 9.99970025e-01 -2.41106161e-03 -7.35777428e-03 3.19782700e+01] [ 2.35054690e-03 9.99963435e-01 -8.22218832e-03 2.28363546e-01] [ 7.37732944e-03 8.20464706e-03 9.99939128e-01 -1.47077679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.087719421 meters Centerline goodness [0,1] 0.9437986867327379 Centerline is valid? [False, False] Translation: X:31.98, Y:0.23, Z:-1.47 [[ 9.99966416e-01 -2.99350956e-03 -7.62932470e-03 3.19793590e+01] [ 2.93312600e-03 9.99964385e-01 -7.91360378e-03 2.26510224e-01] [ 7.65274244e-03 7.89096024e-03 9.99939582e-01 -1.47118751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.117719421 meters Centerline goodness [0,1] 0.9452954048140044 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99962019e-01 -4.11588226e-03 -7.68249612e-03 3.19791388e+01] [ 4.05883418e-03 9.99964185e-01 -7.42660174e-03 2.23951237e-01] [ 7.71278799e-03 7.39513769e-03 9.99942911e-01 -1.46993368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.147719421 meters Centerline goodness [0,1] 0.9443981208435867 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99956048e-01 -4.52036436e-03 -8.21385369e-03 3.19797873e+01] [ 4.46325807e-03 9.99965836e-01 -6.95751646e-03 2.21847421e-01] [ 8.24502358e-03 6.92055012e-03 9.99942061e-01 -1.46909587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.177719421 meters Centerline goodness [0,1] 0.9441707381891776 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99925453e-01 -8.78297950e-03 -8.48224463e-03 3.19797978e+01] [ 8.69373297e-03 9.99907062e-01 -1.05017430e-02 2.19767308e-01] [ 8.57369290e-03 1.04272177e-02 9.99908878e-01 -1.46816593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.207719421 meters Centerline goodness [0,1] 0.9430440560155372 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99916229e-01 -9.34944719e-03 -8.95112970e-03 3.19806916e+01] [ 9.25589313e-03 9.99902698e-01 -1.04366395e-02 2.18887128e-01] [ 9.04783555e-03 1.03529145e-02 9.99905472e-01 -1.46794904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.237719421 meters Centerline goodness [0,1] 0.9417032088848818 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99904220e-01 -1.03850695e-02 -9.14886741e-03 3.19811041e+01] [ 1.02880141e-02 9.99890973e-01 -1.05924058e-02 2.18405706e-01] [ 9.25787281e-03 1.04972676e-02 9.99902045e-01 -1.46755183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.267719421 meters Centerline goodness [0,1] 0.9408823769488205 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99900573e-01 -1.05518838e-02 -9.35424787e-03 3.19812069e+01] [ 1.04544556e-02 9.99891227e-01 -1.04038123e-02 2.18175909e-01] [ 9.46301020e-03 1.03049843e-02 9.99902125e-01 -1.46701118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29771942099998 meters Centerline goodness [0,1] 0.9415026506611419 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99919381e-01 -8.16719052e-03 -9.72260907e-03 3.19818208e+01] [ 8.09954598e-03 9.99942861e-01 -6.97661021e-03 2.17783050e-01] [ 9.77903283e-03 6.89729904e-03 9.99928396e-01 -1.46628052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32771942099998 meters Centerline goodness [0,1] 0.9369255538119791 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99913556e-01 -8.32563963e-03 -1.01767011e-02 3.19825893e+01] [ 8.25497192e-03 9.99941660e-01 -6.96646055e-03 2.17583995e-01] [ 1.02341076e-02 6.88184995e-03 9.99923949e-01 -1.46603230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35771942099998 meters Centerline goodness [0,1] 0.9371711733757494 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99910125e-01 -8.29467372e-03 -1.05328177e-02 3.19832120e+01] [ 8.22404092e-03 9.99943523e-01 -6.73167268e-03 2.16924201e-01] [ 1.05880599e-02 6.64444535e-03 9.99921869e-01 -1.46585737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38771942099999 meters Centerline goodness [0,1] 0.9382698454710182 Centerline is valid? [False, False] Translation: X:31.98, Y:0.22, Z:-1.47 [[ 9.99923795e-01 -5.81412719e-03 -1.08903563e-02 3.19842495e+01] [ 5.77649107e-03 9.99977246e-01 -3.48418546e-03 2.17445401e-01] [ 1.09103660e-02 3.42101190e-03 9.99934628e-01 -1.46580700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.417719421 meters Centerline goodness [0,1] 0.935127097930585 Centerline is valid? [False, False] Translation: X:31.99, Y:0.22, Z:-1.47 [[ 9.99933647e-01 -2.99319452e-03 -1.11239594e-02 3.19853464e+01] [ 2.99158447e-03 9.99995512e-01 -1.61373798e-04 2.17985545e-01] [ 1.11243925e-02 1.28084826e-04 9.99938114e-01 -1.46630313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.447719421 meters Centerline goodness [0,1] 0.9325304641969271 Centerline is valid? [False, False] Translation: X:31.99, Y:0.22, Z:-1.47 [[ 9.99927987e-01 -3.81701014e-03 -1.13776841e-02 3.19862124e+01] [ 3.80119733e-03 9.99991780e-01 -1.41111001e-03 2.22348301e-01] [ 1.13829768e-02 1.36775957e-03 9.99934276e-01 -1.46677541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.477719421 meters Centerline goodness [0,1] 0.932034084886044 Centerline is valid? [False, False] Translation: X:31.99, Y:0.22, Z:-1.47 [[ 9.99924784e-01 -4.16165050e-03 -1.15371796e-02 3.19860779e+01] [ 4.14344084e-03 9.99990133e-01 -1.60179920e-03 2.22731408e-01] [ 1.15437319e-02 1.55387510e-03 9.99932162e-01 -1.46609107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.507719421 meters Centerline goodness [0,1] 0.9348526891373541 Centerline is valid? [False, False] Translation: X:31.99, Y:0.22, Z:-1.47 [[ 9.99920223e-01 -4.66763688e-03 -1.17371928e-02 3.19860133e+01] [ 4.64723314e-03 9.99987644e-01 -1.76505725e-03 2.22534261e-01] [ 1.17452864e-02 1.71037097e-03 9.99929559e-01 -1.46533818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.537719421 meters Centerline goodness [0,1] 0.9218988345841723 Centerline is valid? [False, False] Translation: X:31.99, Y:0.23, Z:-1.47 [[ 9.99902612e-01 -6.91797748e-03 -1.21205610e-02 3.19872725e+01] [ 6.87374969e-03 9.99969579e-01 -3.68685559e-03 2.25390148e-01] [ 1.21456979e-02 3.60318283e-03 9.99919746e-01 -1.46551019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.567719421 meters Centerline goodness [0,1] 0.9132701904470923 Centerline is valid? [False, False] Translation: X:31.99, Y:0.23, Z:-1.47 [[ 9.99906073e-01 -5.92208707e-03 -1.23601696e-02 3.19890613e+01] [ 5.88881343e-03 9.99978943e-01 -2.72666621e-03 2.31748383e-01] [ 1.23760569e-02 2.65362337e-03 9.99919893e-01 -1.46670347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.597719421 meters Centerline goodness [0,1] 0.9070260571708192 Centerline is valid? [False, False] Translation: X:31.99, Y:0.23, Z:-1.47 [[ 9.99915654e-01 -3.27711726e-03 -1.25676496e-02 3.19895754e+01] [ 3.27676717e-03 9.99994630e-01 -4.84482958e-05 2.34387800e-01] [ 1.25677409e-02 7.26294769e-06 9.99921023e-01 -1.46661930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.627719421 meters Centerline goodness [0,1] 0.9275595032419358 Centerline is valid? [False, False] Translation: X:31.99, Y:0.24, Z:-1.47 [[ 9.99914427e-01 -1.37785839e-03 -1.30092693e-02 3.19905461e+01] [ 1.38449208e-03 9.99998916e-01 5.00927508e-04 2.42680650e-01] [ 1.30085650e-02 -5.18895872e-04 9.99915250e-01 -1.46677814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.657719421 meters Centerline goodness [0,1] 0.9301508660074316 Centerline is valid? [False, False] Translation: X:31.99, Y:0.25, Z:-1.47 [[ 9.99910994e-01 -1.50659388e-03 -1.32564421e-02 3.19908235e+01] [ 1.49619817e-03 9.99998565e-01 -7.94083388e-04 2.47724171e-01] [ 1.32576194e-02 7.74178445e-04 9.99911814e-01 -1.46669389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.687719421 meters Centerline goodness [0,1] 0.932491253762916 Centerline is valid? [False, False] Translation: X:31.99, Y:0.25, Z:-1.47 [[ 9.99914120e-01 -6.78281816e-04 -1.30878548e-02 3.19897170e+01] [ 6.68065347e-04 9.99999469e-01 -7.84963012e-04 2.52360420e-01] [ 1.30883803e-02 7.76152057e-04 9.99914042e-01 -1.46571305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.717719421 meters Centerline goodness [0,1] 0.9187038205540515 Centerline is valid? [False, False] Translation: X:31.99, Y:0.26, Z:-1.47 [[ 9.99911723e-01 1.65740048e-03 -1.31833055e-02 3.19894352e+01] [-1.66492020e-03 9.99998458e-01 -5.59442743e-04 2.62849941e-01] [ 1.31823579e-02 5.81342508e-04 9.99912940e-01 -1.46534090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.747719421 meters Centerline goodness [0,1] 0.9330536263467688 Centerline is valid? [False, False] Translation: X:31.99, Y:0.27, Z:-1.47 [[ 9.99899194e-01 4.65117394e-03 -1.34152180e-02 3.19895705e+01] [-4.64573149e-03 9.99989113e-01 4.36827033e-04 2.73541174e-01] [ 1.34171037e-02 -3.74459497e-04 9.99909916e-01 -1.46502270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.777719421 meters Centerline goodness [0,1] 0.9250183628499143 Centerline is valid? [False, False] Translation: X:31.99, Y:0.28, Z:-1.46 [[ 9.99899759e-01 4.52159521e-03 -1.34174407e-02 3.19894509e+01] [-4.53283389e-03 9.99989401e-01 -8.07324232e-04 2.78671021e-01] [ 1.34136481e-02 8.68062335e-04 9.99909656e-01 -1.46492895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.807719421 meters Centerline goodness [0,1] 0.9350264593506732 Centerline is valid? [False, False] Translation: X:31.99, Y:0.29, Z:-1.47 [[ 9.99883149e-01 6.67625275e-03 -1.37519228e-02 3.19905087e+01] [-6.68287642e-03 9.99977574e-01 -4.35756972e-04 2.87470758e-01] [ 1.37487052e-02 5.27608454e-04 9.99905343e-01 -1.46547153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.837719421 meters Centerline goodness [0,1] 0.9358310654580426 Centerline is valid? [False, False] Translation: X:31.99, Y:0.29, Z:-1.47 [[ 9.99884210e-01 6.72678248e-03 -1.36497618e-02 3.19909978e+01] [-6.74574982e-03 9.99976344e-01 -1.34400707e-03 2.93062483e-01] [ 1.36403980e-02 1.43592933e-03 9.99905934e-01 -1.46619514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.867719421 meters Centerline goodness [0,1] 0.9323898727964334 Centerline is valid? [False, False] Translation: X:31.99, Y:0.30, Z:-1.47 [[ 9.99857632e-01 9.12793818e-03 -1.41914166e-02 3.19937284e+01] [-9.13953600e-03 9.99957950e-01 -7.52600762e-04 3.00962857e-01] [ 1.41839502e-02 8.82196579e-04 9.99899014e-01 -1.46845350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.897719421 meters Centerline goodness [0,1] 0.9311458652765 Centerline is valid? [False, False] Translation: X:31.99, Y:0.31, Z:-1.47 [[ 9.99858675e-01 8.86856571e-03 -1.42821382e-02 3.19945134e+01] [-8.89950867e-03 9.99958184e-01 -2.10445244e-03 3.05462097e-01] [ 1.42628775e-02 2.23125904e-03 9.99895790e-01 -1.46922299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.927719421 meters Centerline goodness [0,1] 0.9320255567576394 Centerline is valid? [False, False] Translation: X:32.00, Y:0.31, Z:-1.47 [[ 9.99825849e-01 1.15633555e-02 -1.46479073e-02 3.19965460e+01] [-1.15646593e-02 9.99933127e-01 -4.30368154e-06 3.08925137e-01] [ 1.46468780e-02 1.73700990e-04 9.99892714e-01 -1.47066734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.957719421 meters Centerline goodness [0,1] 0.9326716902530172 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99725171e-01 1.81875238e-02 -1.47917456e-02 3.19972399e+01] [-1.81140173e-02 9.99822980e-01 5.08832285e-03 3.16285120e-01] [ 1.48816711e-02 -4.81898650e-03 9.99877649e-01 -1.47088987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.987719421 meters Centerline goodness [0,1] 0.9322082321490521 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99637265e-01 2.23110091e-02 -1.50849780e-02 3.19978498e+01] [-2.22061580e-02 9.99728323e-01 7.08285094e-03 3.22232506e-01] [ 1.52389053e-02 -6.74530234e-03 9.99861129e-01 -1.47092113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.017719421 meters Centerline goodness [0,1] 0.9326603446517794 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99620575e-01 2.29065126e-02 -1.52970117e-02 3.19983083e+01] [-2.28149511e-02 9.99720890e-01 6.13352122e-03 3.26736482e-01] [ 1.54332398e-02 -5.78219343e-03 9.99864181e-01 -1.47112876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04771942099998 meters Centerline goodness [0,1] 0.9360608594562624 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99526902e-01 2.66613872e-02 -1.53343786e-02 3.19982369e+01] [-2.65266297e-02 9.99608262e-01 8.92523205e-03 3.30560977e-01] [ 1.55663306e-02 -8.51424016e-03 9.99842586e-01 -1.47067970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07771942099998 meters Centerline goodness [0,1] 0.9396542927695353 Centerline is valid? [False, False] Translation: X:31.99, Y:0.34, Z:-1.47 [[ 9.99280130e-01 3.50170831e-02 -1.45953883e-02 3.19946506e+01] [-3.47977655e-02 9.99281514e-01 1.50190020e-02 3.37761839e-01] [ 1.51108234e-02 -1.45003034e-02 9.99780678e-01 -1.46712907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10771942099998 meters Centerline goodness [0,1] 0.9419645588205305 Centerline is valid? [False, False] Translation: X:31.99, Y:0.34, Z:-1.46 [[ 9.98981194e-01 4.29555035e-02 -1.38347198e-02 3.19915187e+01] [-4.26602334e-02 9.98869459e-01 2.09740134e-02 3.43427965e-01] [ 1.47200284e-02 -2.03624526e-02 9.99684296e-01 -1.46418609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13771942099999 meters Centerline goodness [0,1] 0.9435363738394041 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.46 [[ 9.98965365e-01 4.33109603e-02 -1.38694116e-02 3.19914997e+01] [-4.30286143e-02 9.98872692e-01 2.00470085e-02 3.47358568e-01] [ 1.47220317e-02 -1.94294856e-02 9.99702834e-01 -1.46412024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.167719421 meters Centerline goodness [0,1] 0.9404284755142317 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.46 [[ 9.98958663e-01 4.34418670e-02 -1.39425444e-02 3.19916197e+01] [-4.31733581e-02 9.98886648e-01 1.90138048e-02 3.50620733e-01] [ 1.47530166e-02 -1.83920585e-02 9.99722002e-01 -1.46417568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.197719421 meters Centerline goodness [0,1] 0.9405471371910912 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.46 [[ 9.99097960e-01 3.99770888e-02 -1.43212325e-02 3.19921426e+01] [-3.97679453e-02 9.99102236e-01 1.46025003e-02 3.52718785e-01] [ 1.48921408e-02 -1.40198022e-02 9.99790813e-01 -1.46448057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.227719421 meters Centerline goodness [0,1] 0.9413620451029878 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.47 [[ 9.99234928e-01 3.62707183e-02 -1.46284969e-02 3.19929146e+01] [-3.61238695e-02 9.99295459e-01 1.01809423e-02 3.54476548e-01] [ 1.49874606e-02 -9.64471523e-03 9.99841165e-01 -1.46515998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.257719421 meters Centerline goodness [0,1] 0.9407731434384538 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.47 [[ 9.99362666e-01 3.24275844e-02 -1.49236208e-02 3.19938398e+01] [-3.23395490e-02 9.99458306e-01 6.10312331e-03 3.54670352e-01] [ 1.51134464e-02 -5.61661041e-03 9.99870010e-01 -1.46604071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.287719421 meters Centerline goodness [0,1] 0.9452696782606924 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.47 [[ 9.99469412e-01 2.90024640e-02 -1.48240068e-02 3.19927641e+01] [-2.89658480e-02 9.99576812e-01 2.67886191e-03 3.53784670e-01] [ 1.48954271e-02 -2.24805061e-03 9.99886530e-01 -1.46520081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.317719421 meters Centerline goodness [0,1] 0.9425020374898125 Centerline is valid? [False, False] Translation: X:31.99, Y:0.35, Z:-1.47 [[ 9.99552736e-01 2.59570771e-02 -1.48511958e-02 3.19927784e+01] [-2.59732026e-02 9.99662240e-01 -8.93933389e-04 3.54216832e-01] [ 1.48229758e-02 1.27926668e-03 9.99889315e-01 -1.46546933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.347719421 meters Centerline goodness [0,1] 0.940836353271713 Centerline is valid? [False, False] Translation: X:32.00, Y:0.35, Z:-1.47 [[ 9.99556899e-01 2.55145496e-02 -1.53301571e-02 3.19955532e+01] [-2.55317526e-02 9.99673581e-01 -9.27475578e-04 3.51063478e-01] [ 1.53014889e-02 1.31847039e-03 9.99882056e-01 -1.46776184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.377719421 meters Centerline goodness [0,1] 0.9368689940396545 Centerline is valid? [False, False] Translation: X:32.00, Y:0.35, Z:-1.47 [[ 9.99564395e-01 2.49404896e-02 -1.57794878e-02 3.19980337e+01] [-2.49625480e-02 9.99687664e-01 -1.20247222e-03 3.48979026e-01] [ 1.57445691e-02 1.59584464e-03 9.99874773e-01 -1.46970488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.407719421 meters Centerline goodness [0,1] 0.9368689940396545 Centerline is valid? [False, False] Translation: X:32.00, Y:0.35, Z:-1.47 [[ 9.99564395e-01 2.49404896e-02 -1.57794878e-02 3.19980337e+01] [-2.49625480e-02 9.99687664e-01 -1.20247222e-03 3.48979026e-01] [ 1.57445691e-02 1.59584464e-03 9.99874773e-01 -1.46970488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.437719421 meters Centerline goodness [0,1] 0.9369820617759046 Centerline is valid? [False, False] Translation: X:32.00, Y:0.35, Z:-1.47 [[ 9.99627090e-01 2.23377523e-02 -1.57068776e-02 3.19984039e+01] [-2.24018697e-02 9.99741369e-01 -3.91807456e-03 3.47541488e-01] [ 1.56152944e-02 4.26847690e-03 9.99868963e-01 -1.47054635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.467719421 meters Centerline goodness [0,1] 0.9367859551595168 Centerline is valid? [False, False] Translation: X:32.00, Y:0.34, Z:-1.47 [[ 9.99696127e-01 1.92444451e-02 -1.54047227e-02 3.19987625e+01] [-1.93390045e-02 9.99794902e-01 -6.01307447e-03 3.43134286e-01] [ 1.52858449e-02 6.30915925e-03 9.99863259e-01 -1.47183728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.497719421 meters Centerline goodness [0,1] 0.9364994991106659 Centerline is valid? [False, False] Translation: X:32.00, Y:0.34, Z:-1.47 [[ 9.99707244e-01 1.84689711e-02 -1.56308704e-02 3.19995831e+01] [-1.85609935e-02 9.99811122e-01 -5.76275789e-03 3.40789214e-01] [ 1.55214858e-02 6.05119529e-03 9.99861224e-01 -1.47220808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.527719421 meters Centerline goodness [0,1] 0.9356420534315422 Centerline is valid? [False, False] Translation: X:32.00, Y:0.34, Z:-1.47 [[ 9.99773849e-01 1.38480267e-02 -1.61394643e-02 3.20007761e+01] [-1.39909799e-02 9.99863587e-01 -8.77836489e-03 3.36593974e-01] [ 1.60156997e-02 9.00218657e-03 9.99831215e-01 -1.47247629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.557719421 meters Centerline goodness [0,1] 0.9341699196795357 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99814993e-01 1.00036670e-02 -1.64288491e-02 3.20011806e+01] [-1.02031117e-02 9.99874720e-01 -1.21012955e-02 3.34499644e-01] [ 1.63057336e-02 1.22666820e-02 9.99791804e-01 -1.47241523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.587719421 meters Centerline goodness [0,1] 0.932807454939306 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99848158e-01 5.52400800e-03 -1.65271570e-02 3.20015159e+01] [-5.78160935e-03 9.99861915e-01 -1.55795839e-02 3.31846348e-01] [ 1.64388131e-02 1.56727718e-02 9.99742032e-01 -1.47256149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.617719421 meters Centerline goodness [0,1] 0.9337403520235227 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99847645e-01 5.21790949e-03 -1.66571305e-02 3.20013758e+01] [-5.47428303e-03 9.99866690e-01 -1.53829077e-02 3.31075338e-01] [ 1.65746434e-02 1.54717499e-02 9.99742920e-01 -1.47193796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.647719421 meters Centerline goodness [0,1] 0.938468140761025 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99847964e-01 4.54688899e-03 -1.68337312e-02 3.20007372e+01] [-4.80320419e-03 9.99872673e-01 -1.52172969e-02 3.29687712e-01] [ 1.67623964e-02 1.52958391e-02 9.99742497e-01 -1.47046593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.677719421 meters Centerline goodness [0,1] 0.9381003854704166 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99847882e-01 3.62388731e-03 -1.70611045e-02 3.20012024e+01] [-3.88718892e-03 9.99873470e-01 -1.54250756e-02 3.29243045e-01] [ 1.70030470e-02 1.54890489e-02 9.99735458e-01 -1.47028452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.707719421 meters Centerline goodness [0,1] 0.939515305079897 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99845397e-01 3.24463185e-03 -1.72815996e-02 3.20014895e+01] [-3.50930070e-03 9.99876685e-01 -1.53068243e-02 3.28530605e-01] [ 1.72298035e-02 1.53651041e-02 9.99733488e-01 -1.47000714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.737719421 meters Centerline goodness [0,1] 0.9378743586074371 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99843132e-01 2.78905837e-03 -1.74909063e-02 3.20018626e+01] [-3.05269233e-03 9.99881870e-01 -1.50640888e-02 3.27235940e-01] [ 1.74468255e-02 1.51151201e-02 9.99733535e-01 -1.46986618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.767719421 meters Centerline goodness [0,1] 0.9380625102274587 Centerline is valid? [False, False] Translation: X:32.00, Y:0.33, Z:-1.47 [[ 9.99848319e-01 -1.52413468e-03 -1.73498014e-02 3.20007761e+01] [ 1.20489003e-03 9.99830052e-01 -1.83960831e-02 3.25270232e-01] [ 1.73748909e-02 1.83723882e-02 9.99680233e-01 -1.46860019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79771942099998 meters Centerline goodness [0,1] 0.938988948014736 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99847032e-01 -2.20636447e-03 -1.73506242e-02 3.20006325e+01] [ 1.89195176e-03 9.99834089e-01 -1.81167004e-02 3.23599991e-01] [ 1.73877176e-02 1.80811026e-02 9.99685321e-01 -1.46820042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82771942099998 meters Centerline goodness [0,1] 0.9359913485278214 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99817995e-01 -7.44301666e-03 -1.75664213e-02 3.20009484e+01] [ 7.05110683e-03 9.99727180e-01 -2.22676298e-02 3.23130787e-01] [ 1.77273672e-02 2.21397142e-02 9.99597706e-01 -1.46776613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85771942099998 meters Centerline goodness [0,1] 0.9295987270242151 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99804695e-01 -8.35966483e-03 -1.79077531e-02 3.20018241e+01] [ 7.96186813e-03 9.99722490e-01 -2.21709444e-02 3.21250383e-01] [ 1.80881251e-02 2.20240351e-02 9.99593798e-01 -1.46782190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88771942099999 meters Centerline goodness [0,1] 0.9061416037543358 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99794113e-01 -9.59383161e-03 -1.78798665e-02 3.20019858e+01] [ 9.19606523e-03 9.99711308e-01 -2.21975970e-02 3.19200944e-01] [ 1.80876647e-02 2.20286024e-02 9.99593706e-01 -1.46772077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.917719421 meters Centerline goodness [0,1] 0.890259316643562 Centerline is valid? [False, False] Translation: X:32.00, Y:0.32, Z:-1.47 [[ 9.99799181e-01 -8.38802637e-03 -1.81999734e-02 3.20038090e+01] [ 8.01717465e-03 9.99760678e-01 -2.03546603e-02 3.21296135e-01] [ 1.83663532e-02 2.02046604e-02 9.99627155e-01 -1.46883380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.947719421 meters Centerline goodness [0,1] 0.8647987275174355 Centerline is valid? [False, False] Translation: X:32.01, Y:0.32, Z:-1.47 [[ 9.99813198e-01 -5.33277324e-03 -1.85777173e-02 3.20050809e+01] [ 5.01893424e-03 9.99844602e-01 -1.68991619e-02 3.21779922e-01] [ 1.86649497e-02 1.68027648e-02 9.99684594e-01 -1.46939740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.977719421 meters Centerline goodness [0,1] 0.8859727586907908 Centerline is valid? [False, False] Translation: X:32.01, Y:0.33, Z:-1.47 [[ 9.99819308e-01 -3.44405327e-04 -1.90061302e-02 3.20081850e+01] [ 1.12193408e-04 9.99925358e-01 -1.22174520e-02 3.26654118e-01] [ 1.90089193e-02 1.22131121e-02 9.99744718e-01 -1.47185695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.007719421 meters Centerline goodness [0,1] 0.8964450363692245 Centerline is valid? [False, False] Translation: X:32.01, Y:0.33, Z:-1.47 [[ 9.99812245e-01 3.11188085e-03 -1.91256441e-02 3.20085432e+01] [-3.29359427e-03 9.99949669e-01 -9.47689184e-03 3.30239387e-01] [ 1.90951905e-02 9.53810462e-03 9.99772173e-01 -1.47194941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.037719421 meters Centerline goodness [0,1] 0.9259274424699042 Centerline is valid? [False, False] Translation: X:32.01, Y:0.34, Z:-1.47 [[ 9.99763303e-01 9.71485670e-03 -1.94669017e-02 3.20101446e+01] [-9.82534651e-03 9.99936115e-01 -5.58819289e-03 3.38969508e-01] [ 1.94113696e-02 5.77813923e-03 9.99794885e-01 -1.47332796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.067719421 meters Centerline goodness [0,1] 0.9296799918208772 Centerline is valid? [False, False] Translation: X:32.01, Y:0.34, Z:-1.47 [[ 9.99722999e-01 1.26831026e-02 -1.98258553e-02 3.20120482e+01] [-1.27607372e-02 9.99911380e-01 -3.79422778e-03 3.43350115e-01] [ 1.97759757e-02 4.04616930e-03 9.99796249e-01 -1.47469550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.097719421 meters Centerline goodness [0,1] 0.9344055117307731 Centerline is valid? [False, False] Translation: X:32.01, Y:0.35, Z:-1.48 [[ 9.99593783e-01 1.98798895e-02 -2.04220331e-02 3.20140680e+01] [-1.98705267e-02 9.99802343e-01 6.61304374e-04 3.51638343e-01] [ 2.04311432e-02 -2.55239187e-04 9.99791230e-01 -1.47578685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.127719421 meters Centerline goodness [0,1] 0.9364733216483919 Centerline is valid? [False, False] Translation: X:32.01, Y:0.36, Z:-1.48 [[ 9.99516644e-01 2.33402452e-02 -2.05356335e-02 3.20145692e+01] [-2.32835062e-02 9.99724408e-01 2.99775480e-03 3.56348502e-01] [ 2.05999424e-02 -2.51816427e-03 9.99784627e-01 -1.47589267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.157719421 meters Centerline goodness [0,1] 0.9405537958516399 Centerline is valid? [False, False] Translation: X:32.01, Y:0.36, Z:-1.47 [[ 9.99308304e-01 3.10904035e-02 -2.04034281e-02 3.20134694e+01] [-3.09129656e-02 9.99481963e-01 8.95507848e-03 3.64600205e-01] [ 2.06712753e-02 -8.31815382e-03 9.99751723e-01 -1.47429354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.187719421 meters Centerline goodness [0,1] 0.9391053803870282 Centerline is valid? [False, False] Translation: X:32.01, Y:0.37, Z:-1.47 [[ 9.99184786e-01 3.48593497e-02 -2.03614688e-02 3.20133536e+01] [-3.46197143e-02 9.99328447e-01 1.20054200e-02 3.67510143e-01] [ 2.07662961e-02 -1.12907247e-02 9.99720601e-01 -1.47392723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.217719421 meters Centerline goodness [0,1] 0.9436012664692064 Centerline is valid? [False, False] Translation: X:32.01, Y:0.37, Z:-1.47 [[ 9.99018662e-01 3.94834262e-02 -2.00691955e-02 3.20123678e+01] [-3.91811989e-02 9.99115960e-01 1.52359068e-02 3.70606797e-01] [ 2.06530193e-02 -1.44346201e-02 9.99682497e-01 -1.47291828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.247719421 meters Centerline goodness [0,1] 0.9462133110326962 Centerline is valid? [False, False] Translation: X:32.01, Y:0.37, Z:-1.47 [[ 9.99006934e-01 3.97113016e-02 -2.02029366e-02 3.20121863e+01] [-3.94105782e-02 9.99109427e-01 1.50718129e-02 3.71283701e-01] [ 2.07834657e-02 -1.42606362e-02 9.99682290e-01 -1.47240948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.277719421 meters Centerline goodness [0,1] 0.9400032695765899 Centerline is valid? [False, False] Translation: X:32.01, Y:0.37, Z:-1.47 [[ 9.99002941e-01 3.97498045e-02 -2.03242767e-02 3.20125190e+01] [-3.94569272e-02 9.99114401e-01 1.46138415e-02 3.72707789e-01] [ 2.08871749e-02 -1.37973372e-02 9.99686631e-01 -1.47257075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.307719421 meters Centerline goodness [0,1] 0.9449891735098256 Centerline is valid? [False, False] Translation: X:32.01, Y:0.37, Z:-1.47 [[ 9.99014023e-01 3.92874429e-02 -2.06755381e-02 3.20136512e+01] [-3.90004659e-02 9.99139636e-01 1.41050242e-02 3.73607361e-01] [ 2.12118999e-02 -1.32847613e-02 9.99686736e-01 -1.47314779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.337719421 meters Centerline goodness [0,1] 0.9424329677959525 Centerline is valid? [False, False] Translation: X:32.01, Y:0.38, Z:-1.47 [[ 9.99171458e-01 3.48034938e-02 -2.10977468e-02 3.20142883e+01] [-3.46109696e-02 9.99356437e-01 9.42293114e-03 3.75381112e-01] [ 2.14121200e-02 -8.68491037e-03 9.99733011e-01 -1.47333709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.367719421 meters Centerline goodness [0,1] 0.9434308803722297 Centerline is valid? [False, False] Translation: X:32.01, Y:0.38, Z:-1.47 [[ 9.99402154e-01 2.71029279e-02 -2.14654770e-02 3.20140540e+01] [-2.70778383e-02 9.99632264e-01 1.45868251e-03 3.76144878e-01] [ 2.14971179e-02 -8.76571725e-04 9.99768526e-01 -1.47277223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.397719421 meters Centerline goodness [0,1] 0.9431674355938431 Centerline is valid? [False, False] Translation: X:32.01, Y:0.38, Z:-1.47 [[ 9.99501334e-01 2.30636113e-02 -2.15674293e-02 3.20142593e+01] [-2.31318748e-02 9.99728155e-01 -2.92098246e-03 3.77718083e-01] [ 2.14941979e-02 3.41842094e-03 9.99763129e-01 -1.47299631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.427719421 meters Centerline goodness [0,1] 0.9432647305279078 Centerline is valid? [False, False] Translation: X:32.01, Y:0.38, Z:-1.47 [[ 9.99514749e-01 2.23446827e-02 -2.17021013e-02 3.20149036e+01] [-2.24261954e-02 9.99742305e-01 -3.51986562e-03 3.78534002e-01] [ 2.16178585e-02 4.00485317e-03 9.99758285e-01 -1.47339438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.457719421 meters Centerline goodness [0,1] 0.941408404666081 Centerline is valid? [False, False] Translation: X:32.02, Y:0.38, Z:-1.47 [[ 9.99533918e-01 2.12372318e-02 -2.19300503e-02 3.20155569e+01] [-2.13497007e-02 9.99760026e-01 -4.90717030e-03 3.81234886e-01] [ 2.18205730e-02 5.37308316e-03 9.99747464e-01 -1.47362425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.487719421 meters Centerline goodness [0,1] 0.9413988271592325 Centerline is valid? [False, False] Translation: X:32.02, Y:0.38, Z:-1.47 [[ 9.99540154e-01 2.07720468e-02 -2.20907925e-02 3.20158262e+01] [-2.08993322e-02 9.99766199e-01 -5.54672086e-03 3.82574831e-01] [ 2.19704109e-02 6.00585303e-03 9.99740582e-01 -1.47354137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.517719421 meters Centerline goodness [0,1] 0.9427889129281136 Centerline is valid? [False, False] Translation: X:32.02, Y:0.39, Z:-1.47 [[ 9.99556349e-01 1.97237859e-02 -2.23176406e-02 3.20161918e+01] [-1.98827235e-02 9.99778355e-01 -6.92224911e-03 3.85346164e-01] [ 2.21761611e-02 7.36291353e-03 9.99726965e-01 -1.47338017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54771942099998 meters Centerline goodness [0,1] 0.9434887426960323 Centerline is valid? [False, False] Translation: X:32.02, Y:0.39, Z:-1.47 [[ 9.99566463e-01 1.90139747e-02 -2.24801063e-02 3.20165952e+01] [-1.91918404e-02 9.99785991e-01 -7.72302767e-03 3.86701929e-01] [ 2.23284499e-02 8.15111407e-03 9.99717460e-01 -1.47345240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57771942099998 meters Centerline goodness [0,1] 0.9391705633716537 Centerline is valid? [False, False] Translation: X:32.02, Y:0.39, Z:-1.48 [[ 9.99605504e-01 1.62272706e-02 -2.29240617e-02 3.20190208e+01] [-1.64627213e-02 9.99813267e-01 -1.01197807e-02 3.88686566e-01] [ 2.27555646e-02 1.04931810e-02 9.99685989e-01 -1.47525191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60771942099998 meters Centerline goodness [0,1] 0.93574166190981 Centerline is valid? [False, False] Translation: X:32.02, Y:0.39, Z:-1.48 [[ 9.99614072e-01 1.47047255e-02 -2.35685702e-02 3.20214649e+01] [-1.49742704e-02 9.99824011e-01 -1.13012274e-02 3.89134078e-01] [ 2.33982410e-02 1.16497881e-02 9.99658344e-01 -1.47667879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63771942099999 meters Centerline goodness [0,1] 0.9254715440516045 Centerline is valid? [False, False] Translation: X:32.02, Y:0.39, Z:-1.48 [[ 9.99639519e-01 1.19789274e-02 -2.40278461e-02 3.20232691e+01] [-1.22998538e-02 9.99836517e-01 -1.32534077e-02 3.91047310e-01] [ 2.38651563e-02 1.35441690e-02 9.99623434e-01 -1.47765770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.667719421 meters Centerline goodness [0,1] 0.9243934896099908 Centerline is valid? [False, False] Translation: X:32.02, Y:0.39, Z:-1.48 [[ 9.99643303e-01 1.13475271e-02 -2.41764480e-02 3.20230868e+01] [-1.16816555e-02 9.99837578e-01 -1.37242933e-02 3.92226766e-01] [ 2.40167844e-02 1.40018188e-02 9.99613497e-01 -1.47699571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.697719421 meters Centerline goodness [0,1] 0.8794714989875851 Centerline is valid? [False, False] Translation: X:32.02, Y:0.40, Z:-1.47 [[ 9.99672504e-01 8.74258096e-03 -2.40510441e-02 3.20209812e+01] [-9.13251730e-03 9.99827855e-01 -1.61510854e-02 3.95418998e-01] [ 2.39057016e-02 1.63654426e-02 9.99580257e-01 -1.47454792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.727719421 meters Centerline goodness [0,1] 0.8815708984136047 Centerline is valid? [False, False] Translation: X:32.02, Y:0.40, Z:-1.47 [[ 9.99677387e-01 7.20140211e-03 -2.43569586e-02 3.20214810e+01] [-7.63276247e-03 9.99814852e-01 -1.76635869e-02 3.98577059e-01] [ 2.42252464e-02 1.78437993e-02 9.99547266e-01 -1.47422936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.757719421 meters Centerline goodness [0,1] 0.878664926803409 Centerline is valid? [False, False] Translation: X:32.02, Y:0.40, Z:-1.47 [[ 9.99676419e-01 6.51281846e-03 -2.45894369e-02 3.20225602e+01] [-6.97015586e-03 9.99803466e-01 -1.85592692e-02 4.00775142e-01] [ 2.44637311e-02 1.87246559e-02 9.99525344e-01 -1.47489467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.787719421 meters Centerline goodness [0,1] 0.8503079495860015 Centerline is valid? [False, False] Translation: X:32.02, Y:0.40, Z:-1.48 [[ 9.99672838e-01 5.97254987e-03 -2.48705704e-02 3.20237248e+01] [-6.45553083e-03 9.99791252e-01 -1.93849881e-02 4.02937543e-01] [ 2.47496010e-02 1.95391988e-02 9.99502715e-01 -1.47557034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.817719421 meters Centerline goodness [0,1] 0.8232420278004906 Centerline is valid? [False, False] Translation: X:32.02, Y:0.41, Z:-1.48 [[ 9.99664363e-01 7.77685489e-03 -2.47119714e-02 3.20239498e+01] [-8.21833273e-03 9.99807544e-01 -1.78138832e-02 4.06994820e-01] [ 2.45686794e-02 1.80109954e-02 9.99535884e-01 -1.47590951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.847719421 meters Centerline goodness [0,1] 0.8419139420426001 Centerline is valid? [False, False] Translation: X:32.03, Y:0.41, Z:-1.48 [[ 9.99632386e-01 9.87563972e-03 -2.52500549e-02 3.20257315e+01] [-1.02730802e-02 9.99824611e-01 -1.56592131e-02 4.09632899e-01] [ 2.50909816e-02 1.59128524e-02 9.99558514e-01 -1.47661286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.877719421 meters Centerline goodness [0,1] 0.7951118256374774 Centerline is valid? [False, False] Translation: X:32.03, Y:0.42, Z:-1.48 [[ 9.99610935e-01 1.08069426e-02 -2.57136056e-02 3.20276791e+01] [-1.12061891e-02 9.99818097e-01 -1.54335579e-02 4.18577532e-01] [ 2.55421386e-02 1.57157048e-02 9.99550207e-01 -1.47736859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.907719421 meters Centerline goodness [0,1] 0.7908063331429038 Centerline is valid? [False, False] Translation: X:32.03, Y:0.43, Z:-1.48 [[ 9.99598474e-01 1.22605975e-02 -2.55454206e-02 3.20278180e+01] [-1.26498403e-02 9.99805486e-01 -1.51318084e-02 4.26721277e-01] [ 2.53549266e-02 1.54488781e-02 9.99559133e-01 -1.47749337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.937719421 meters Centerline goodness [0,1] 0.8054038575606962 Centerline is valid? [False, False] Translation: X:32.03, Y:0.43, Z:-1.48 [[ 9.99567281e-01 1.47582028e-02 -2.54449484e-02 3.20274234e+01] [-1.50928423e-02 9.99801453e-01 -1.30100006e-02 4.29770437e-01] [ 2.52478922e-02 1.33884075e-02 9.99591564e-01 -1.47697933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.967719421 meters Centerline goodness [0,1] 0.836625657611922 Centerline is valid? [False, False] Translation: X:32.03, Y:0.44, Z:-1.48 [[ 9.99529542e-01 1.75405295e-02 -2.51599631e-02 3.20271993e+01] [-1.78442391e-02 9.99769986e-01 -1.18978411e-02 4.39238325e-01] [ 2.49454815e-02 1.23412041e-02 9.99612634e-01 -1.47683728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.997719421 meters Centerline goodness [0,1] 0.8472622478386167 Centerline is valid? [False, False] Translation: X:32.03, Y:0.45, Z:-1.48 [[ 9.99473822e-01 2.04475760e-02 -2.51788769e-02 3.20277873e+01] [-2.07065660e-02 9.99734896e-01 -1.00685715e-02 4.45304691e-01] [ 2.49663240e-02 1.05846418e-02 9.99632256e-01 -1.47708130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.027719421 meters Centerline goodness [0,1] 0.8853930287232955 Centerline is valid? [False, False] Translation: X:32.03, Y:0.46, Z:-1.48 [[ 9.99327506e-01 2.67305205e-02 -2.51001113e-02 3.20287730e+01] [-2.68935207e-02 9.99619207e-01 -6.17898696e-03 4.58362780e-01] [ 2.49253858e-02 6.84986199e-03 9.99665846e-01 -1.47755476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.057719421 meters Centerline goodness [0,1] 0.8893994159570341 Centerline is valid? [False, False] Translation: X:32.03, Y:0.46, Z:-1.48 [[ 9.99247990e-01 2.92749151e-02 -2.54250805e-02 3.20311449e+01] [-2.94065091e-02 9.99555927e-01 -4.81729653e-03 4.63910084e-01] [ 2.52727640e-02 5.56133674e-03 9.99665123e-01 -1.47921887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.087719421 meters Centerline goodness [0,1] 0.9068716648606653 Centerline is valid? [False, False] Translation: X:32.03, Y:0.47, Z:-1.48 [[ 9.99175076e-01 3.15301755e-02 -2.55932567e-02 3.20330478e+01] [-3.16599291e-02 9.99487740e-01 -4.68046306e-03 4.73173206e-01] [ 2.54325705e-02 5.48688273e-03 9.99661482e-01 -1.48055443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.117719421 meters Centerline goodness [0,1] 0.9104648546945621 Centerline is valid? [False, False] Translation: X:32.03, Y:0.48, Z:-1.48 [[ 9.99200134e-01 3.06601408e-02 -2.56719224e-02 3.20331090e+01] [-3.08344998e-02 9.99503862e-01 -6.42364385e-03 4.77622189e-01] [ 2.54622358e-02 7.21008668e-03 9.99649783e-01 -1.48029045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.147719421 meters Centerline goodness [0,1] 0.8933041557591623 Centerline is valid? [False, False] Translation: X:32.03, Y:0.48, Z:-1.48 [[ 9.99243087e-01 2.88840526e-02 -2.60569417e-02 3.20328913e+01] [-2.91322973e-02 9.99533243e-01 -9.19816062e-03 4.84924338e-01] [ 2.57790993e-02 9.95029699e-03 9.99618142e-01 -1.47893960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.177719421 meters Centerline goodness [0,1] 0.8644459913193023 Centerline is valid? [False, False] Translation: X:32.03, Y:0.49, Z:-1.48 [[ 9.99264851e-01 2.78425888e-02 -2.63542882e-02 3.20336787e+01] [-2.81264859e-02 9.99549606e-01 -1.04635747e-02 4.87671193e-01] [ 2.60510854e-02 1.11971359e-02 9.99597902e-01 -1.47912418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.207719421 meters Centerline goodness [0,1] 0.8345713876440133 Centerline is valid? [False, False] Translation: X:32.04, Y:0.49, Z:-1.48 [[ 9.99310555e-01 2.57531838e-02 -2.67430071e-02 3.20352737e+01] [-2.61059226e-02 9.99575615e-01 -1.29256024e-02 4.93511189e-01] [ 2.63987824e-02 1.36148418e-02 9.99558773e-01 -1.47989461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.237719421 meters Centerline goodness [0,1] 0.820108196386649 Centerline is valid? [False, False] Translation: X:32.04, Y:0.50, Z:-1.48 [[ 9.99281718e-01 2.65737315e-02 -2.70163952e-02 3.20368119e+01] [-2.69051292e-02 9.99566228e-01 -1.19778808e-02 4.96274004e-01] [ 2.66863793e-02 1.26961569e-02 9.99563227e-01 -1.48083021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.267719421 meters Centerline goodness [0,1] 0.8045446185912499 Centerline is valid? [False, False] Translation: X:32.04, Y:0.50, Z:-1.48 [[ 9.99255097e-01 2.77955286e-02 -2.67705156e-02 3.20367310e+01] [-2.81135823e-02 9.99537676e-01 -1.15784968e-02 5.03219032e-01] [ 2.64363085e-02 1.23224871e-02 9.99574548e-01 -1.48073122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29771942099998 meters Centerline goodness [0,1] 0.8045446185912499 Centerline is valid? [False, False] Translation: X:32.04, Y:0.50, Z:-1.48 [[ 9.99255097e-01 2.77955286e-02 -2.67705156e-02 3.20367310e+01] [-2.81135823e-02 9.99537676e-01 -1.15784968e-02 5.03219032e-01] [ 2.64363085e-02 1.23224871e-02 9.99574548e-01 -1.48073122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32771942099998 meters Centerline goodness [0,1] 0.8289659404725376 Centerline is valid? [False, False] Translation: X:32.04, Y:0.51, Z:-1.48 [[ 9.99267184e-01 2.72156869e-02 -2.69146978e-02 3.20373614e+01] [-2.75712586e-02 9.99536222e-01 -1.29293308e-02 5.07096064e-01] [ 2.65503347e-02 1.36619281e-02 9.99554116e-01 -1.48099208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35771942099998 meters Centerline goodness [0,1] 0.7986492276928727 Centerline is valid? [False, False] Translation: X:32.04, Y:0.52, Z:-1.48 [[ 9.99252678e-01 2.73023153e-02 -2.73618034e-02 3.20388265e+01] [-2.76859769e-02 9.99522203e-01 -1.37423808e-02 5.15564634e-01] [ 2.69735312e-02 1.44896490e-02 9.99531129e-01 -1.48129720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38771942099999 meters Centerline goodness [0,1] 0.7781370883562906 Centerline is valid? [False, False] Translation: X:32.04, Y:0.52, Z:-1.48 [[ 9.99273645e-01 2.64145694e-02 -2.74673112e-02 3.20394190e+01] [-2.68460624e-02 9.99520008e-01 -1.54609972e-02 5.20668472e-01] [ 2.70457315e-02 1.61871562e-02 9.99503129e-01 -1.48150361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.417719421 meters Centerline goodness [0,1] 0.773012402688952 Centerline is valid? [False, False] Translation: X:32.04, Y:0.53, Z:-1.48 [[ 9.99311232e-01 2.46969525e-02 -2.76969604e-02 3.20409659e+01] [-2.52059121e-02 9.99516960e-01 -1.81799076e-02 5.29733611e-01] [ 2.72345933e-02 1.88655130e-02 9.99451034e-01 -1.48231107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.447719421 meters Centerline goodness [0,1] 0.7879598252561957 Centerline is valid? [False, False] Translation: X:32.04, Y:0.53, Z:-1.48 [[ 9.99330900e-01 2.37573027e-02 -2.78090415e-02 3.20414204e+01] [-2.43140365e-02 9.99507164e-01 -1.98559089e-02 5.34438966e-01] [ 2.73236134e-02 2.05187734e-02 9.99416030e-01 -1.48237387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.477719421 meters Centerline goodness [0,1] 0.7339245667686034 Centerline is valid? [False, False] Translation: X:32.04, Y:0.54, Z:-1.48 [[ 9.99292366e-01 2.52454907e-02 -2.78824643e-02 3.20428601e+01] [-2.57941719e-02 9.99477124e-01 -1.94971510e-02 5.43903477e-01] [ 2.73756701e-02 2.02025592e-02 9.99421047e-01 -1.48316706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.507719421 meters Centerline goodness [0,1] 0.7971374473196653 Centerline is valid? [False, False] Translation: X:32.05, Y:0.55, Z:-1.49 [[ 9.99202516e-01 2.83287439e-02 -2.81391869e-02 3.20462061e+01] [-2.88332160e-02 9.99427749e-01 -1.76866952e-02 5.52076383e-01] [ 2.76220424e-02 1.84839336e-02 9.99447531e-01 -1.48573946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.537719421 meters Centerline goodness [0,1] 0.7786708008649178 Centerline is valid? [False, False] Translation: X:32.05, Y:0.55, Z:-1.49 [[ 9.99112129e-01 3.14872676e-02 -2.79911872e-02 3.20465543e+01] [-3.19145186e-02 9.99378784e-01 -1.49502593e-02 5.54866254e-01] [ 2.75030558e-02 1.58303107e-02 9.99496365e-01 -1.48613934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.567719421 meters Centerline goodness [0,1] 0.7968418042163752 Centerline is valid? [False, False] Translation: X:32.05, Y:0.56, Z:-1.49 [[ 9.99030975e-01 3.41303243e-02 -2.77890686e-02 3.20470133e+01] [-3.45151005e-02 9.99313178e-01 -1.34862989e-02 5.61547175e-01] [ 2.73096907e-02 1.44323728e-02 9.99522830e-01 -1.48646757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.597719421 meters Centerline goodness [0,1] 0.8013630149564366 Centerline is valid? [False, False] Translation: X:32.05, Y:0.56, Z:-1.49 [[ 9.98939332e-01 3.67756295e-02 -2.77085730e-02 3.20465135e+01] [-3.70896334e-02 9.99252443e-01 -1.09047813e-02 5.63650595e-01] [ 2.72868290e-02 1.19209157e-02 9.99556562e-01 -1.48575694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.627719421 meters Centerline goodness [0,1] 0.8091436272307755 Centerline is valid? [False, False] Translation: X:32.05, Y:0.57, Z:-1.48 [[ 9.99096722e-01 3.66203084e-02 -2.15567210e-02 3.20500448e+01] [-3.66283279e-02 9.99328957e-01 2.28334000e-05 5.69117881e-01] [ 2.15430917e-02 7.66773870e-04 9.99767627e-01 -1.48476207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.657719421 meters Centerline goodness [0,1] 0.8099114684033785 Centerline is valid? [False, False] Translation: X:32.05, Y:0.57, Z:-1.48 [[ 9.99112461e-01 3.59790439e-02 -2.19043193e-02 3.20504905e+01] [-3.60167816e-02 9.99350299e-01 -1.33064854e-03 5.73255479e-01] [ 2.18422126e-02 2.11839062e-03 9.99759186e-01 -1.48431798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.687719421 meters Centerline goodness [0,1] 0.7056697996386594 Centerline is valid? [False, False] Translation: X:32.05, Y:0.58, Z:-1.48 [[ 9.99162747e-01 3.43577686e-02 -2.22114603e-02 3.20512392e+01] [-3.44527348e-02 9.99398691e-01 -3.90699771e-03 5.79528884e-01] [ 2.20638686e-02 4.66897212e-03 9.99745661e-01 -1.48425796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.717719421 meters Centerline goodness [0,1] 0.7581278083890776 Centerline is valid? [False, False] Translation: X:32.05, Y:0.58, Z:-1.49 [[ 9.99224220e-01 3.22644372e-02 -2.25823933e-02 3.20532001e+01] [-3.24149199e-02 9.99454456e-01 -6.32960343e-03 5.82051541e-01] [ 2.23658525e-02 7.05669952e-03 9.99724948e-01 -1.48564028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.747719421 meters Centerline goodness [0,1] 0.7392171223958333 Centerline is valid? [False, False] Translation: X:32.06, Y:0.59, Z:-1.49 [[ 9.99302149e-01 2.95073228e-02 -2.29026623e-02 3.20556453e+01] [-2.97315459e-02 9.99512658e-01 -9.51222002e-03 5.87235964e-01] [ 2.26108207e-02 1.01865135e-02 9.99692446e-01 -1.48769126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.777719421 meters Centerline goodness [0,1] 0.7340646792545165 Centerline is valid? [False, False] Translation: X:32.06, Y:0.60, Z:-1.49 [[ 9.99302909e-01 2.93919305e-02 -2.30176148e-02 3.20575436e+01] [-2.96317677e-02 9.99509359e-01 -1.01488366e-02 5.95119182e-01] [ 2.27080276e-02 1.08238146e-02 9.99683545e-01 -1.48931454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.807719421 meters Centerline goodness [0,1] 0.7307519595035924 Centerline is valid? [False, False] Translation: X:32.06, Y:0.60, Z:-1.49 [[ 9.99296821e-01 2.93300667e-02 -2.33583247e-02 3.20592677e+01] [-2.95837507e-02 9.99506205e-01 -1.05899840e-02 5.98635558e-01] [ 2.30361855e-02 1.12735642e-02 9.99671066e-01 -1.49033041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.837719421 meters Centerline goodness [0,1] 0.7294328991956885 Centerline is valid? [False, False] Translation: X:32.06, Y:0.60, Z:-1.49 [[ 9.99302810e-01 2.89311369e-02 -2.35983810e-02 3.20600517e+01] [-2.92124164e-02 9.99505182e-01 -1.16630285e-02 6.02159218e-01] [ 2.32492794e-02 1.23442629e-02 9.99653485e-01 -1.49051034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.867719421 meters Centerline goodness [0,1] 0.6966750249729884 Centerline is valid? [False, False] Translation: X:32.06, Y:0.61, Z:-1.49 [[ 9.99240928e-01 3.09926083e-02 -2.36013803e-02 3.20602800e+01] [-3.12544046e-02 9.99453053e-01 -1.08054419e-02 6.08524374e-01] [ 2.32535828e-02 1.15348868e-02 9.99663052e-01 -1.49019359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.897719421 meters Centerline goodness [0,1] 0.733546860337019 Centerline is valid? [False, False] Translation: X:32.06, Y:0.61, Z:-1.49 [[ 9.99204581e-01 3.17650565e-02 -2.41078216e-02 3.20623358e+01] [-3.20302175e-02 9.99429693e-01 -1.06936018e-02 6.12502392e-01] [ 2.37543898e-02 1.14572746e-02 9.99652169e-01 -1.49115981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.927719421 meters Centerline goodness [0,1] 0.7297054927137471 Centerline is valid? [False, False] Translation: X:32.06, Y:0.62, Z:-1.49 [[ 9.99122827e-01 3.42684918e-02 -2.40675700e-02 3.20633337e+01] [-3.45113972e-02 9.99356736e-01 -9.75073928e-03 6.19897985e-01] [ 2.37179451e-02 1.05727917e-02 9.99662781e-01 -1.49167483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.957719421 meters Centerline goodness [0,1] 0.7067557686057848 Centerline is valid? [False, False] Translation: X:32.07, Y:0.62, Z:-1.49 [[ 9.99088204e-01 3.50515975e-02 -2.43751327e-02 3.20654463e+01] [-3.52923855e-02 9.99331692e-01 -9.51928345e-03 6.23036960e-01] [ 2.40251765e-02 1.03708604e-02 9.99657559e-01 -1.49316784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.987719421 meters Centerline goodness [0,1] 0.7715461900588967 Centerline is valid? [False, False] Translation: X:32.07, Y:0.63, Z:-1.49 [[ 9.98991013e-01 3.77588728e-02 -2.43150844e-02 3.20659559e+01] [-3.79565256e-02 9.99249577e-01 -7.71908750e-03 6.28454007e-01] [ 2.40053738e-02 8.63421516e-03 9.99674543e-01 -1.49338795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01771942099998 meters Centerline goodness [0,1] 0.7362478639433641 Centerline is valid? [False, False] Translation: X:32.07, Y:0.63, Z:-1.49 [[ 9.98962521e-01 3.82519333e-02 -2.47117714e-02 3.20677533e+01] [-3.84508654e-02 9.99231396e-01 -7.62554607e-03 6.31005897e-01] [ 2.44010860e-02 8.56782372e-03 9.99665534e-01 -1.49436057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04771942099998 meters Centerline goodness [0,1] 0.7455332642234282 Centerline is valid? [False, False] Translation: X:32.07, Y:0.63, Z:-1.50 [[ 9.98935653e-01 3.87154579e-02 -2.50733679e-02 3.20693348e+01] [-3.89164605e-02 9.99213727e-01 -7.57867334e-03 6.33545607e-01] [ 2.47602416e-02 8.54637373e-03 9.99656886e-01 -1.49516373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07771942099998 meters Centerline goodness [0,1] 0.7896373056994819 Centerline is valid? [False, False] Translation: X:32.07, Y:0.64, Z:-1.49 [[ 9.98816161e-01 4.16674707e-02 -2.51017522e-02 3.20692650e+01] [-4.18175932e-02 9.99110204e-01 -5.48538403e-03 6.38553830e-01] [ 2.48508547e-02 6.52858508e-03 9.99669852e-01 -1.49443975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10771942099998 meters Centerline goodness [0,1] 0.7942599359039785 Centerline is valid? [False, False] Translation: X:32.07, Y:0.64, Z:-1.49 [[ 9.98795746e-01 4.20948283e-02 -2.52008620e-02 3.20701344e+01] [-4.22675786e-02 9.99086072e-01 -6.36172523e-03 6.42638545e-01] [ 2.49100345e-02 7.41924351e-03 9.99662165e-01 -1.49477963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13771942099999 meters Centerline goodness [0,1] 0.8025683816346467 Centerline is valid? [False, False] Translation: X:32.07, Y:0.64, Z:-1.50 [[ 9.98763241e-01 4.26589703e-02 -2.55382198e-02 3.20718170e+01] [-4.28295941e-02 9.99063330e-01 -6.17158792e-03 6.43780454e-01] [ 2.52510253e-02 7.25774674e-03 9.99654796e-01 -1.49584831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.167719421 meters Centerline goodness [0,1] 0.8133809280979092 Centerline is valid? [False, False] Translation: X:32.07, Y:0.65, Z:-1.50 [[ 9.98754520e-01 4.29329472e-02 -2.54199090e-02 3.20721073e+01] [-4.31232535e-02 9.99045335e-01 -6.98601159e-03 6.48298434e-01] [ 2.50957114e-02 8.07349983e-03 9.99652452e-01 -1.49595735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.197719421 meters Centerline goodness [0,1] 0.8382517896110783 Centerline is valid? [False, False] Translation: X:32.07, Y:0.65, Z:-1.50 [[ 9.98747284e-01 4.28855364e-02 -2.57816610e-02 3.20729790e+01] [-4.30890484e-02 9.99043901e-01 -7.39039038e-03 6.50472087e-01] [ 2.54400703e-02 8.49203956e-03 9.99640279e-01 -1.49603009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.227719421 meters Centerline goodness [0,1] 0.850315802383337 Centerline is valid? [False, False] Translation: X:32.07, Y:0.65, Z:-1.50 [[ 9.98754159e-01 4.25183103e-02 -2.61212974e-02 3.20735758e+01] [-4.27433293e-02 9.99053112e-01 -8.11704411e-03 6.52704212e-01] [ 2.57514404e-02 9.22344278e-03 9.99625826e-01 -1.49588028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.257719421 meters Centerline goodness [0,1] 0.7917593064762876 Centerline is valid? [False, False] Translation: X:32.07, Y:0.65, Z:-1.50 [[ 9.98755614e-01 4.23388219e-02 -2.63561508e-02 3.20742018e+01] [-4.25793490e-02 9.99055794e-01 -8.63246491e-03 6.54930525e-01] [ 2.59657767e-02 9.74395053e-03 9.99615343e-01 -1.49591030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.287719421 meters Centerline goodness [0,1] 0.8163414932181988 Centerline is valid? [False, False] Translation: X:32.07, Y:0.66, Z:-1.50 [[ 9.98769870e-01 4.18000767e-02 -2.66739538e-02 3.20746321e+01] [-4.20706915e-02 9.99067880e-01 -9.66579839e-03 6.57979686e-01] [ 2.62450593e-02 1.07760999e-02 9.99597455e-01 -1.49552534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.317719421 meters Centerline goodness [0,1] 0.7945996502785572 Centerline is valid? [False, False] Translation: X:32.08, Y:0.66, Z:-1.50 [[ 9.98762578e-01 4.18216151e-02 -2.69121610e-02 3.20753741e+01] [-4.20971602e-02 9.99065902e-01 -9.75464785e-03 6.58318235e-01] [ 2.64790673e-02 1.08755028e-02 9.99590207e-01 -1.49586953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.347719421 meters Centerline goodness [0,1] 0.7955046545810878 Centerline is valid? [False, False] Translation: X:32.07, Y:0.66, Z:-1.50 [[ 9.98782845e-01 4.13902926e-02 -2.68267088e-02 3.20747520e+01] [-4.16892374e-02 9.99073527e-01 -1.06814997e-02 6.59980537e-01] [ 2.63597442e-02 1.17868837e-02 9.99583030e-01 -1.49518217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.377719421 meters Centerline goodness [0,1] 0.8266386073880353 Centerline is valid? [False, False] Translation: X:32.07, Y:0.66, Z:-1.49 [[ 9.98779992e-01 4.13183401e-02 -2.70429643e-02 3.20749457e+01] [-4.16288118e-02 9.99072371e-01 -1.10199586e-02 6.61780177e-01] [ 2.65625521e-02 1.21322806e-02 9.99573528e-01 -1.49477006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.407719421 meters Centerline goodness [0,1] 0.8088136284810772 Centerline is valid? [False, False] Translation: X:32.07, Y:0.67, Z:-1.49 [[ 9.98664237e-01 4.41076736e-02 -2.69119847e-02 3.20740840e+01] [-4.43488934e-02 9.98980511e-01 -8.43294904e-03 6.65161157e-01] [ 2.65125904e-02 9.61520135e-03 9.99602236e-01 -1.49360728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.437719421 meters Centerline goodness [0,1] 0.8254379875035733 Centerline is valid? [False, False] Translation: X:32.07, Y:0.67, Z:-1.49 [[ 9.98659517e-01 4.39365653e-02 -2.73632402e-02 3.20749540e+01] [-4.41946685e-02 9.98983294e-01 -8.89995407e-03 6.66867431e-01] [ 2.69443864e-02 1.00973332e-02 9.99585936e-01 -1.49354160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.467719421 meters Centerline goodness [0,1] 0.821681822826198 Centerline is valid? [False, False] Translation: X:32.08, Y:0.67, Z:-1.50 [[ 9.98706378e-01 4.26942430e-02 -2.76183373e-02 3.20769658e+01] [-4.29946244e-02 9.99021431e-01 -1.03750545e-02 6.68379692e-01] [ 2.71483558e-02 1.15490731e-02 9.99564698e-01 -1.49530478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.497719421 meters Centerline goodness [0,1] 0.7966195225637671 Centerline is valid? [False, False] Translation: X:32.08, Y:0.67, Z:-1.50 [[ 9.98711527e-01 4.24798893e-02 -2.77622956e-02 3.20779092e+01] [-4.27863844e-02 9.99028639e-01 -1.05405303e-02 6.68468229e-01] [ 2.72875679e-02 1.17147974e-02 9.99558979e-01 -1.49616933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.527719421 meters Centerline goodness [0,1] 0.7894542999202013 Centerline is valid? [False, False] Translation: X:32.08, Y:0.67, Z:-1.50 [[ 9.98776289e-01 4.05479379e-02 -2.83158975e-02 3.20812146e+01] [-4.09152285e-02 9.99084249e-01 -1.25143106e-02 6.69904899e-01] [ 2.77825377e-02 1.36575481e-02 9.99520686e-01 -1.49888498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.557719421 meters Centerline goodness [0,1] 0.7880728518692256 Centerline is valid? [False, False] Translation: X:32.08, Y:0.67, Z:-1.50 [[ 9.98787467e-01 4.01422375e-02 -2.84990720e-02 3.20818389e+01] [-4.05189594e-02 9.99097209e-01 -1.27664286e-02 6.70418111e-01] [ 2.79608703e-02 1.39057016e-02 9.99512292e-01 -1.49928995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.587719421 meters Centerline goodness [0,1] 0.7319307284957779 Centerline is valid? [False, False] Translation: X:32.08, Y:0.67, Z:-1.50 [[ 9.98802118e-01 3.96955824e-02 -2.86109928e-02 3.20828765e+01] [-4.00929089e-02 9.99105431e-01 -1.34497381e-02 6.74082556e-01] [ 2.80515031e-02 1.45807249e-02 9.99500133e-01 -1.49999455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.617719421 meters Centerline goodness [0,1] 0.7641067427174577 Centerline is valid? [False, False] Translation: X:32.09, Y:0.68, Z:-1.50 [[ 9.98727916e-01 4.11569095e-02 -2.91317459e-02 3.20860290e+01] [-4.15338939e-02 9.99059452e-01 -1.24558221e-02 6.78213286e-01] [ 2.85917029e-02 1.36499321e-02 9.99497971e-01 -1.50210365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.647719421 meters Centerline goodness [0,1] 0.7622647677816146 Centerline is valid? [False, False] Translation: X:32.09, Y:0.68, Z:-1.50 [[ 9.98708295e-01 4.13943945e-02 -2.94659962e-02 3.20873985e+01] [-4.17818511e-02 9.99046583e-01 -1.26570613e-02 6.79807678e-01] [ 2.89139714e-02 1.38718559e-02 9.99485645e-01 -1.50282034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.677719421 meters Centerline goodness [0,1] 0.7938264058679707 Centerline is valid? [False, False] Translation: X:32.09, Y:0.68, Z:-1.50 [[ 9.98540853e-01 4.52457322e-02 -2.94786179e-02 3.20882906e+01] [-4.55492168e-02 9.98914944e-01 -9.70587211e-03 6.83151404e-01] [ 2.90074827e-02 1.10344378e-02 9.99518288e-01 -1.50323744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.707719421 meters Centerline goodness [0,1] 0.8228075548749362 Centerline is valid? [False, False] Translation: X:32.09, Y:0.69, Z:-1.50 [[ 9.98496272e-01 4.60167776e-02 -2.97934884e-02 3.20893788e+01] [-4.63273006e-02 9.98878073e-01 -9.81713832e-03 6.86926459e-01] [ 2.93083092e-02 1.11826279e-02 9.99507865e-01 -1.50328786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.737719421 meters Centerline goodness [0,1] 0.8404272634791454 Centerline is valid? [False, False] Translation: X:32.09, Y:0.69, Z:-1.50 [[ 9.98380675e-01 4.81686035e-02 -3.02624078e-02 3.20916275e+01] [-4.84343684e-02 9.98793435e-01 -8.11080566e-03 6.89456144e-01] [ 2.98352081e-02 9.56341224e-03 9.99509080e-01 -1.50439096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76771942099998 meters Centerline goodness [0,1] 0.8813109668993102 Centerline is valid? [False, False] Translation: X:32.09, Y:0.69, Z:-1.50 [[ 9.98154487e-01 5.26458698e-02 -3.02660125e-02 3.20926769e+01] [-5.28227423e-02 9.98591014e-01 -5.07383383e-03 6.93627989e-01] [ 2.99562518e-02 6.66320378e-03 9.99529001e-01 -1.50463455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79771942099998 meters Centerline goodness [0,1] 0.9095047452598207 Centerline is valid? [False, False] Translation: X:32.10, Y:0.70, Z:-1.51 [[ 9.98030565e-01 5.47135833e-02 -3.06824775e-02 3.20952591e+01] [-5.48554891e-02 9.98487066e-01 -3.80182806e-03 6.95576400e-01] [ 3.04280453e-02 5.47744292e-03 9.99521952e-01 -1.50607293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82771942099998 meters Centerline goodness [0,1] 0.9445034519383961 Centerline is valid? [False, False] Translation: X:32.09, Y:0.70, Z:-1.50 [[ 9.97741499e-01 6.00137716e-02 -3.01703128e-02 3.20946216e+01] [-6.00634469e-02 9.98194286e-01 -7.42109242e-04 6.99953316e-01] [ 3.00712970e-02 2.55256616e-03 9.99544497e-01 -1.50466344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85771942099998 meters Centerline goodness [0,1] 0.9474220501324638 Centerline is valid? [False, False] Translation: X:32.10, Y:0.70, Z:-1.50 [[ 9.97662414e-01 6.11602481e-02 -3.04816626e-02 3.20955701e+01] [-6.12154864e-02 9.98124184e-01 -8.81422226e-04 7.02471163e-01] [ 3.03705767e-02 2.74531163e-03 9.99534938e-01 -1.50437137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88771942099999 meters Centerline goodness [0,1] 0.9497995254070861 Centerline is valid? [False, False] Translation: X:32.10, Y:0.70, Z:-1.50 [[ 9.97592281e-01 6.21975796e-02 -3.06773770e-02 3.20964336e+01] [-6.22567224e-02 9.98059692e-01 -9.75592039e-04 7.04518154e-01] [ 3.05571739e-02 2.88311603e-03 9.99528862e-01 -1.50436677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.917719421 meters Centerline goodness [0,1] 0.9522200376832964 Centerline is valid? [False, True] Translation: X:32.10, Y:0.71, Z:-1.50 [[ 9.97264612e-01 6.73604927e-02 -3.04279256e-02 3.20966136e+01] [-6.73054800e-02 9.97728402e-01 2.82974913e-03 7.06831968e-01] [ 3.05494189e-02 -7.74042523e-04 9.99532958e-01 -1.50390641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.947719421 meters Centerline goodness [0,1] 0.9540227533147815 Centerline is valid? [True, True] Translation: X:32.12, Y:0.71, Z:-1.50 [[ 9.97043437e-01 7.08869514e-02 -2.96551015e-02 3.21247631e+01] [-7.08394039e-02 9.97484208e-01 2.65221754e-03 7.07268546e-01] [ 2.97685030e-02 -5.43626375e-04 9.99556672e-01 -1.50353533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.977719421 meters Centerline goodness [0,1] 0.9547566892542019 Centerline is valid? [True, True] Translation: X:32.15, Y:0.71, Z:-1.50 [[ 9.96603431e-01 7.72137381e-02 -2.86293598e-02 3.21539843e+01] [-7.71721062e-02 9.97014505e-01 2.55790058e-03 7.09651704e-01] [ 2.87413920e-02 -3.39824501e-04 9.99586823e-01 -1.50069712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.007719421 meters Centerline goodness [0,1] 0.9559067368119384 Centerline is valid? [True, True] Translation: X:32.18, Y:0.71, Z:-1.50 [[ 9.96230344e-01 8.23509053e-02 -2.72659151e-02 3.21813987e+01] [-8.23151466e-02 9.96603380e-01 2.43320939e-03 7.08036357e-01] [ 2.73736801e-02 -1.79639233e-04 9.99625254e-01 -1.50073797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.037719421 meters Centerline goodness [0,1] 0.9559372053941059 Centerline is valid? [True, True] Translation: X:32.21, Y:0.71, Z:-1.50 [[ 9.96086869e-01 8.42334926e-02 -2.67519559e-02 3.22086811e+01] [-8.41998259e-02 9.96446037e-01 2.38445731e-03 7.05875952e-01] [ 2.68577316e-02 -1.22616594e-04 9.99639259e-01 -1.50009946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.067719421 meters Centerline goodness [0,1] 0.9561256928594718 Centerline is valid? [True, True] Translation: X:32.24, Y:0.71, Z:-1.50 [[ 9.95656022e-01 8.93094412e-02 -2.63231690e-02 3.22367933e+01] [-8.92786921e-02 9.96003927e-01 2.34343968e-03 7.06188386e-01] [ 2.64272710e-02 1.68382684e-05 9.99650739e-01 -1.49879756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.097719421 meters Centerline goodness [0,1] 0.9547864237401743 Centerline is valid? [True, True] Translation: X:32.27, Y:0.71, Z:-1.50 [[ 9.95349291e-01 9.26924857e-02 -2.62276985e-02 3.22650649e+01] [-9.26633436e-02 9.95694778e-01 2.32695054e-03 7.05753654e-01] [ 2.63304733e-02 1.14217668e-04 9.99653286e-01 -1.49828540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.127719421 meters Centerline goodness [0,1] 0.9519295319079684 Centerline is valid? [True, True] Translation: X:32.29, Y:0.70, Z:-1.50 [[ 9.94818145e-01 9.80067801e-02 -2.70467915e-02 3.22926773e+01] [-9.79778868e-02 9.95185711e-01 2.39464910e-03 7.02449612e-01] [ 2.71512723e-02 2.67747102e-04 9.99631300e-01 -1.49862772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.157719421 meters Centerline goodness [0,1] 0.9499928561223032 Centerline is valid? [True, False] Translation: X:32.29, Y:0.70, Z:-1.50 [[ 9.95043274e-01 9.56073691e-02 -2.73516693e-02 3.22932362e+01] [-9.56518261e-02 9.95414801e-01 -3.18662237e-04 7.00307739e-01] [ 2.71957900e-02 2.93331983e-03 9.99625822e-01 -1.49908568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.187719421 meters Centerline goodness [0,1] 0.9460769340419899 Centerline is valid? [False, False] Translation: X:32.29, Y:0.69, Z:-1.50 [[ 9.95157297e-01 9.42430525e-02 -2.79320891e-02 3.22949866e+01] [-9.43106287e-02 9.95542202e-01 -1.10891291e-03 6.92474493e-01] [ 2.77030661e-02 3.73783566e-03 9.99609208e-01 -1.50068467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.217719421 meters Centerline goodness [0,1] 0.9460769340419899 Centerline is valid? [False, False] Translation: X:32.29, Y:0.69, Z:-1.50 [[ 9.95157297e-01 9.42430525e-02 -2.79320891e-02 3.22949866e+01] [-9.43106287e-02 9.95542202e-01 -1.10891291e-03 6.92474493e-01] [ 2.77030661e-02 3.73783566e-03 9.99609208e-01 -1.50068467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.247719421 meters Centerline goodness [0,1] 0.9449416263271366 Centerline is valid? [False, False] Translation: X:32.30, Y:0.69, Z:-1.50 [[ 9.95304133e-01 9.24914574e-02 -2.85484312e-02 3.22971226e+01] [-9.26080236e-02 9.95698747e-01 -2.78545708e-03 6.89988370e-01] [ 2.81680062e-02 5.41619074e-03 9.99588529e-01 -1.50220282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.277719421 meters Centerline goodness [0,1] 0.9438900203665987 Centerline is valid? [False, False] Translation: X:32.30, Y:0.69, Z:-1.50 [[ 9.95425427e-01 9.10055174e-02 -2.90897931e-02 3.22989240e+01] [-9.11663189e-02 9.95826623e-01 -4.24735967e-03 6.87710516e-01] [ 2.85818572e-02 6.87993916e-03 9.99567779e-01 -1.50337732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.307719421 meters Centerline goodness [0,1] 0.940884191663103 Centerline is valid? [False, False] Translation: X:32.30, Y:0.68, Z:-1.50 [[ 9.95527022e-01 8.96248986e-02 -2.98885475e-02 3.23005871e+01] [-8.98075316e-02 9.95947464e-01 -4.82238094e-03 6.80100619e-01] [ 2.93352177e-02 7.48502721e-03 9.99541605e-01 -1.50432821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.337719421 meters Centerline goodness [0,1] 0.9368799248764953 Centerline is valid? [False, False] Translation: X:32.30, Y:0.67, Z:-1.51 [[ 9.95630058e-01 8.82851187e-02 -3.04388906e-02 3.23020346e+01] [-8.84931933e-02 9.96061291e-01 -5.55519194e-03 6.69416897e-01] [ 2.98285599e-02 8.22455071e-03 9.99521192e-01 -1.50568254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.367719421 meters Centerline goodness [0,1] 0.9361054973768551 Centerline is valid? [False, False] Translation: X:32.30, Y:0.67, Z:-1.51 [[ 9.95793071e-01 8.62229454e-02 -3.10123129e-02 3.23036391e+01] [-8.64847579e-02 9.96227158e-01 -7.19981097e-03 6.65163436e-01] [ 3.02745195e-02 9.85161425e-03 9.99493071e-01 -1.50696198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.397719421 meters Centerline goodness [0,1] 0.9364577812206956 Centerline is valid? [False, False] Translation: X:32.30, Y:0.66, Z:-1.51 [[ 9.95732982e-01 8.68920899e-02 -3.10739915e-02 3.23037131e+01] [-8.71035785e-02 9.96183990e-01 -5.51577415e-03 6.59828477e-01] [ 3.04761357e-02 8.19889410e-03 9.99501868e-01 -1.50730730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.427719421 meters Centerline goodness [0,1] 0.9373610912872378 Centerline is valid? [False, False] Translation: X:32.30, Y:0.65, Z:-1.51 [[ 9.95865072e-01 8.52302688e-02 -3.14413602e-02 3.23028122e+01] [-8.54379740e-02 9.96329286e-01 -5.32042311e-03 6.49082244e-01] [ 3.08724869e-02 7.98470966e-03 9.99491438e-01 -1.50667567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.457719421 meters Centerline goodness [0,1] 0.9374796217802412 Centerline is valid? [False, False] Translation: X:32.30, Y:0.64, Z:-1.51 [[ 9.96058315e-01 8.27366807e-02 -3.19761504e-02 3.23034646e+01] [-8.29960521e-02 9.96526204e-01 -6.86879062e-03 6.43392436e-01] [ 3.12967708e-02 9.49561026e-03 9.99465030e-01 -1.50711685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.487719421 meters Centerline goodness [0,1] 0.9379625287965587 Centerline is valid? [False, False] Translation: X:32.30, Y:0.63, Z:-1.51 [[ 9.96386667e-01 7.85037651e-02 -3.24155524e-02 3.23017368e+01] [-7.88288834e-02 9.96848659e-01 -8.87461062e-03 6.30580939e-01] [ 3.16167096e-02 1.13978255e-02 9.99435077e-01 -1.50586290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51771942099998 meters Centerline goodness [0,1] 0.9413904525778852 Centerline is valid? [False, False] Translation: X:32.31, Y:0.62, Z:-1.51 [[ 9.96845617e-01 7.46365753e-02 -2.69851515e-02 3.23091528e+01] [-7.46930600e-02 9.97205976e-01 -1.08987623e-03 6.23117712e-01] [ 2.68284097e-02 3.10204188e-03 9.99635240e-01 -1.50753131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54771942099998 meters Centerline goodness [0,1] 0.9412064190289997 Centerline is valid? [False, False] Translation: X:32.31, Y:0.61, Z:-1.51 [[ 9.97224404e-01 6.92314759e-02 -2.73950854e-02 3.23070367e+01] [-6.93689250e-02 9.97582658e-01 -4.09800256e-03 6.11517715e-01] [ 2.70451513e-02 5.98699579e-03 9.99616284e-01 -1.50576556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57771942099998 meters Centerline goodness [0,1] 0.9455101416777087 Centerline is valid? [False, False] Translation: X:32.30, Y:0.60, Z:-1.50 [[ 9.97681855e-01 6.21767170e-02 -2.76581208e-02 3.23043507e+01] [-6.24380083e-02 9.98011053e-01 -8.68523058e-03 5.98201814e-01] [ 2.70630912e-02 1.03920149e-02 9.99579709e-01 -1.50373144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60771942099998 meters Centerline goodness [0,1] 0.9440761377963964 Centerline is valid? [False, False] Translation: X:32.31, Y:0.59, Z:-1.50 [[ 9.98203662e-01 5.41636098e-02 -2.56076520e-02 3.23109708e+01] [-5.42946164e-02 9.98515052e-01 -4.44809611e-03 5.91308213e-01] [ 2.53287011e-02 5.83046347e-03 9.99662174e-01 -1.50315753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63771942099999 meters Centerline goodness [0,1] 0.9495644012812927 Centerline is valid? [False, False] Translation: X:32.31, Y:0.58, Z:-1.50 [[ 9.98415477e-01 5.00403026e-02 -2.57391239e-02 3.23103311e+01] [-5.02303031e-02 9.98714590e-01 -6.78856867e-03 5.84812317e-01] [ 2.53663366e-02 8.07069602e-03 9.99645644e-01 -1.50297722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.667719421 meters Centerline goodness [0,1] 0.9494465319386616 Centerline is valid? [False, False] Translation: X:32.32, Y:0.57, Z:-1.50 [[ 9.98772850e-01 3.82236287e-02 -3.14920414e-02 3.23187627e+01] [-3.84308329e-02 9.99243246e-01 -6.00055592e-03 5.73210746e-01] [ 3.12388466e-02 7.20345772e-03 9.99485990e-01 -1.50251539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.697719421 meters Centerline goodness [0,1] 0.9490465324749409 Centerline is valid? [False, False] Translation: X:32.32, Y:0.57, Z:-1.50 [[ 9.98894642e-01 3.45433352e-02 -3.18787085e-02 3.23199191e+01] [-3.48261889e-02 9.99358414e-01 -8.36046722e-03 5.68791786e-01] [ 3.15694571e-02 9.46143984e-03 9.99456778e-01 -1.50350633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.727719421 meters Centerline goodness [0,1] 0.944122609102181 Centerline is valid? [False, False] Translation: X:32.32, Y:0.56, Z:-1.51 [[ 9.99107758e-01 2.68446610e-02 -3.26044796e-02 3.23223475e+01] [-2.73024812e-02 9.99533628e-01 -1.36784687e-02 5.60091547e-01] [ 3.22220799e-02 1.45564474e-02 9.99374728e-01 -1.50581799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.757719421 meters Centerline goodness [0,1] 0.9394914184498239 Centerline is valid? [False, False] Translation: X:32.32, Y:0.56, Z:-1.51 [[ 9.99179791e-01 2.35102605e-02 -3.29698808e-02 3.23236859e+01] [-2.40506992e-02 9.99581215e-01 -1.60921983e-02 5.56168174e-01] [ 3.25777418e-02 1.68719480e-02 9.99326787e-01 -1.50687905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.787719421 meters Centerline goodness [0,1] 0.9287991498405951 Centerline is valid? [False, False] Translation: X:32.32, Y:0.55, Z:-1.51 [[ 9.99258339e-01 1.97168010e-02 -3.30759616e-02 3.23232953e+01] [-2.03375059e-02 9.99621334e-01 -1.85357404e-02 5.51179414e-01] [ 3.26979713e-02 1.91946758e-02 9.99280945e-01 -1.50649988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.817719421 meters Centerline goodness [0,1] 0.9309649015531368 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.51 [[ 9.99403326e-01 1.87116787e-02 -2.90321348e-02 3.23296298e+01] [-1.89521381e-02 9.99788149e-01 -8.02955887e-03 5.47885568e-01] [ 2.88757377e-02 8.57498887e-03 9.99546228e-01 -1.50629166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.847719421 meters Centerline goodness [0,1] 0.9373270951993491 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.51 [[ 9.99310162e-01 2.31555513e-02 -2.90348163e-02 3.23292827e+01] [-2.32598868e-02 9.99724134e-01 -3.26083693e-03 5.45213836e-01] [ 2.89513001e-02 3.93393402e-03 9.99573082e-01 -1.50573094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.877719421 meters Centerline goodness [0,1] 0.9442230265565903 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.51 [[ 9.99283753e-01 2.40854814e-02 -2.91868387e-02 3.23295847e+01] [-2.41844547e-02 9.99702883e-01 -3.04272196e-03 5.46195768e-01] [ 2.91048814e-02 3.74641040e-03 9.99569342e-01 -1.50555847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.907719421 meters Centerline goodness [0,1] 0.9445823835884077 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.50 [[ 9.99028181e-01 3.33588521e-02 -2.88076583e-02 3.23289248e+01] [-3.32103006e-02 9.99432585e-01 5.61995016e-03 5.45637919e-01] [ 2.89787875e-02 -4.65777759e-03 9.99569175e-01 -1.50499510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.937719421 meters Centerline goodness [0,1] 0.9452085452695829 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.50 [[ 9.98862293e-01 3.80534364e-02 -2.87411728e-02 3.23287034e+01] [-3.77858603e-02 9.99237838e-01 9.79648368e-03 5.45531478e-01] [ 2.90920572e-02 -8.69932821e-03 9.99538881e-01 -1.50449952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.967719421 meters Centerline goodness [0,1] 0.9472772125833351 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.50 [[ 9.98792146e-01 3.98724342e-02 -2.87130165e-02 3.23288065e+01] [-3.95887029e-02 9.99162108e-01 1.03834410e-02 5.46613618e-01] [ 2.91029712e-02 -9.23418828e-03 9.99533765e-01 -1.50435426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.997719421 meters Centerline goodness [0,1] 0.9438277628689924 Centerline is valid? [False, False] Translation: X:32.33, Y:0.54, Z:-1.51 [[ 9.98355448e-01 4.97795763e-02 -2.84322561e-02 3.23298791e+01] [-4.92324316e-02 9.98594417e-01 1.96305423e-02 5.44980069e-01] [ 2.93694923e-02 -1.81984697e-02 9.99402946e-01 -1.50532211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.027719421 meters Centerline goodness [0,1] 0.9440759261149096 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.51 [[ 9.97977714e-01 5.63259142e-02 -2.94597081e-02 3.23272679e+01] [-5.59160482e-02 9.98329350e-01 1.45569483e-02 5.46775275e-01] [ 3.02304247e-02 -1.28802395e-02 9.99459965e-01 -1.51084706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.057719421 meters Centerline goodness [0,1] 0.9348669170476812 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.51 [[ 9.97951672e-01 5.67025284e-02 -2.96189604e-02 3.23281731e+01] [-5.62785055e-02 9.98303035e-01 1.49592541e-02 5.45988660e-01] [ 3.04169256e-02 -1.32617018e-02 9.99449317e-01 -1.51155405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.087719421 meters Centerline goodness [0,1] 0.9354271459534618 Centerline is valid? [False, False] Translation: X:32.33, Y:0.55, Z:-1.51 [[ 9.98122493e-01 5.33997169e-02 -2.99993271e-02 3.23285734e+01] [-5.30815620e-02 9.98526197e-01 1.13040934e-02 5.45880131e-01] [ 3.05587494e-02 -9.69045874e-03 9.99485997e-01 -1.51157911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.117719421 meters Centerline goodness [0,1] 0.9380014737186835 Centerline is valid? [False, False] Translation: X:32.33, Y:0.54, Z:-1.51 [[ 9.98447910e-01 4.66266288e-02 -3.04586499e-02 3.23291920e+01] [-4.65001460e-02 9.98906518e-01 4.84820743e-03 5.42565106e-01] [ 3.06513995e-02 -3.42435091e-03 9.99524270e-01 -1.51204519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.147719421 meters Centerline goodness [0,1] 0.937641700198125 Centerline is valid? [False, False] Translation: X:32.33, Y:0.54, Z:-1.51 [[ 9.98598718e-01 4.30619429e-02 -3.07615039e-02 3.23295991e+01] [-4.30301835e-02 9.99072337e-01 1.69399595e-03 5.40540120e-01] [ 3.08059144e-02 -3.67949022e-04 9.99525317e-01 -1.51224380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.177719421 meters Centerline goodness [0,1] 0.9404071836801107 Centerline is valid? [False, False] Translation: X:32.34, Y:0.53, Z:-1.51 [[ 9.99048148e-01 3.65507009e-02 -2.38085105e-02 3.23370377e+01] [-3.64382785e-02 9.99322692e-01 5.13892533e-03 5.34877345e-01] [ 2.39802161e-02 -4.26649269e-03 9.99703329e-01 -1.51396363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.207719421 meters Centerline goodness [0,1] 0.94285364659814 Centerline is valid? [False, False] Translation: X:32.34, Y:0.53, Z:-1.51 [[ 9.99180275e-01 3.26281732e-02 -2.39620589e-02 3.23361965e+01] [-3.25932405e-02 9.99466992e-01 1.84705264e-03 5.32530760e-01] [ 2.40095529e-02 -1.06453741e-03 9.99711162e-01 -1.51292950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.237719421 meters Centerline goodness [0,1] 0.9415606948214978 Centerline is valid? [False, False] Translation: X:32.34, Y:0.53, Z:-1.51 [[ 9.99284702e-01 2.90328043e-02 -2.42318092e-02 3.23369724e+01] [-2.90858290e-02 9.99575227e-01 -1.83857515e-03 5.32144161e-01] [ 2.41681371e-02 2.54206228e-03 9.99704676e-01 -1.51345122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26771942099998 meters Centerline goodness [0,1] 0.9377756001959824 Centerline is valid? [False, False] Translation: X:32.34, Y:0.53, Z:-1.52 [[ 9.99374110e-01 2.56614948e-02 -2.43490475e-02 3.23389257e+01] [-2.57768622e-02 9.99657879e-01 -4.43603528e-03 5.26715647e-01] [ 2.42268819e-02 5.06090085e-03 9.99693676e-01 -1.51571937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29771942099998 meters Centerline goodness [0,1] 0.937068491476752 Centerline is valid? [False, False] Translation: X:32.34, Y:0.52, Z:-1.52 [[ 9.99426975e-01 2.30933782e-02 -2.47470809e-02 3.23407305e+01] [-2.32653905e-02 9.99706970e-01 -6.68554772e-03 5.24594639e-01] [ 2.45854373e-02 7.25746723e-03 9.99671389e-01 -1.51708682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32771942099998 meters Centerline goodness [0,1] 0.935305856479596 Centerline is valid? [False, False] Translation: X:32.34, Y:0.52, Z:-1.52 [[ 9.99452210e-01 2.14414460e-02 -2.52099897e-02 3.23436529e+01] [-2.16383000e-02 9.99737267e-01 -7.56185095e-03 5.22170396e-01] [ 2.50412292e-02 8.10320996e-03 9.99653577e-01 -1.51952748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35771942099998 meters Centerline goodness [0,1] 0.9331537158369563 Centerline is valid? [False, False] Translation: X:32.34, Y:0.52, Z:-1.52 [[ 9.99445569e-01 2.15334068e-02 -2.53942328e-02 3.23444923e+01] [-2.17183674e-02 9.99739409e-01 -7.03036091e-03 5.20521440e-01] [ 2.52362277e-02 7.57798434e-03 9.99652793e-01 -1.52019496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38771942099999 meters Centerline goodness [0,1] 0.9315781948898103 Centerline is valid? [False, False] Translation: X:32.35, Y:0.52, Z:-1.52 [[ 9.99449837e-01 2.14313014e-02 -2.53124973e-02 3.23455793e+01] [-2.15999122e-02 9.99746167e-01 -6.40660884e-03 5.15625477e-01] [ 2.51687702e-02 6.94983188e-03 9.99659058e-01 -1.52169344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.417719421 meters Centerline goodness [0,1] 0.9299628374239393 Centerline is valid? [False, False] Translation: X:32.35, Y:0.51, Z:-1.52 [[ 9.99438416e-01 2.19052954e-02 -2.53576450e-02 3.23457370e+01] [-2.20455199e-02 9.99743112e-01 -5.26354931e-03 5.12451587e-01] [ 2.52358313e-02 5.81961585e-03 9.99664586e-01 -1.52180390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.447719421 meters Centerline goodness [0,1] 0.9339832812148712 Centerline is valid? [False, False] Translation: X:32.34, Y:0.51, Z:-1.52 [[ 9.99487054e-01 1.95731152e-02 -2.53480100e-02 3.23434960e+01] [-1.97433478e-02 9.99784062e-01 -6.48303150e-03 5.07252600e-01] [ 2.52156433e-02 6.98016064e-03 9.99657666e-01 -1.51937674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.477719421 meters Centerline goodness [0,1] 0.9340697413740395 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99652020e-01 1.63031690e-02 -2.07375326e-02 3.23499694e+01] [-1.62793583e-02 9.99866616e-01 1.31650250e-03 5.03911032e-01] [ 2.07562297e-02 -9.78450660e-04 9.99784087e-01 -1.51933217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.507719421 meters Centerline goodness [0,1] 0.9365335842264583 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99697663e-01 1.30548924e-02 -2.08363255e-02 3.23497122e+01] [-1.30867671e-02 9.99913393e-01 -1.39413627e-03 5.01380968e-01] [ 2.08163206e-02 1.66639491e-03 9.99781928e-01 -1.51888934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.537719421 meters Centerline goodness [0,1] 0.9350024465829392 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99689897e-01 1.34683920e-02 -2.09454492e-02 3.23501627e+01] [-1.34864555e-02 9.99908793e-01 -7.21382068e-04 4.99896645e-01] [ 2.09338230e-02 1.00363823e-03 9.99780360e-01 -1.51919183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.567719421 meters Centerline goodness [0,1] 0.9367390153520381 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99679935e-01 1.41125263e-02 -2.09967765e-02 3.23500715e+01] [-1.41173481e-02 9.99900342e-01 -8.14278982e-05 4.98926469e-01] [ 2.09935348e-02 3.77820638e-04 9.99779540e-01 -1.51892695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.597719421 meters Centerline goodness [0,1] 0.9389203965890082 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99625101e-01 1.78873733e-02 -2.07291805e-02 3.23474969e+01] [-1.78236163e-02 9.99835844e-01 3.25641312e-03 4.96621919e-01] [ 2.07840264e-02 -2.88572334e-03 9.99779824e-01 -1.51640555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.627719421 meters Centerline goodness [0,1] 0.9348767828681188 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99510316e-01 2.35501819e-02 -2.06038300e-02 3.23474148e+01] [-2.33873627e-02 9.99693599e-01 8.10799714e-03 4.96473327e-01] [ 2.07884618e-02 -7.62215753e-03 9.99754841e-01 -1.51627720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.657719421 meters Centerline goodness [0,1] 0.9322199792010767 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99476954e-01 2.47698516e-02 -2.07911701e-02 3.23481163e+01] [-2.46001045e-02 9.99662241e-01 8.38085823e-03 4.98183023e-01] [ 2.09917403e-02 -7.86500970e-03 9.99748713e-01 -1.51661468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.687719421 meters Centerline goodness [0,1] 0.9313863261440704 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99323286e-01 3.03249060e-02 -2.08175329e-02 3.23493984e+01] [-3.00563383e-02 9.99462424e-01 1.30949845e-02 4.98423339e-01] [ 2.12034461e-02 -1.24604241e-02 9.99697530e-01 -1.51780707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.717719421 meters Centerline goodness [0,1] 0.9290486016057529 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99301593e-01 3.09478147e-02 -2.09418216e-02 3.23502246e+01] [-3.06686567e-02 9.99438128e-01 1.35226311e-02 4.97472102e-01] [ 2.13485509e-02 -1.28709293e-02 9.99689241e-01 -1.51853239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.747719421 meters Centerline goodness [0,1] 0.9299676931255878 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99382895e-01 2.80662901e-02 -2.11213853e-02 3.23508918e+01] [-2.78606525e-02 9.99562114e-01 9.96812878e-03 4.97565811e-01] [ 2.13919049e-02 -9.37352182e-03 9.99727225e-01 -1.51912502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.777719421 meters Centerline goodness [0,1] 0.9271913144819972 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99455505e-01 2.52927491e-02 -2.11889265e-02 3.23508897e+01] [-2.51507478e-02 9.99659569e-01 6.94161071e-03 4.96463209e-01] [ 2.13572855e-02 -6.40491369e-03 9.99751391e-01 -1.51917100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.807719421 meters Centerline goodness [0,1] 0.9300071567324404 Centerline is valid? [False, False] Translation: X:32.35, Y:0.50, Z:-1.52 [[ 9.99529380e-01 2.20143579e-02 -2.13632202e-02 3.23507840e+01] [-2.19506694e-02 9.99753898e-01 3.21118167e-03 4.96928653e-01] [ 2.14286548e-02 -2.74073344e-03 9.99766623e-01 -1.51881037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.837719421 meters Centerline goodness [0,1] 0.9216677195198989 Centerline is valid? [False, False] Translation: X:32.36, Y:0.49, Z:-1.52 [[ 9.99681884e-01 2.02188287e-02 -1.50774299e-02 3.23596902e+01] [-2.00610292e-02 9.99743148e-01 1.05447695e-02 4.90533079e-01] [ 1.52867602e-02 -1.02389463e-02 9.99830725e-01 -1.52106044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.867719421 meters Centerline goodness [0,1] 0.9307217251289159 Centerline is valid? [False, False] Translation: X:32.36, Y:0.49, Z:-1.52 [[ 9.99740663e-01 1.69449577e-02 -1.52143110e-02 3.23596965e+01] [-1.68354179e-02 9.99831631e-01 7.29924017e-03 4.88932363e-01] [ 1.53354347e-02 -7.04120792e-03 9.99857613e-01 -1.52088175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.897719421 meters Centerline goodness [0,1] 0.930162148981997 Centerline is valid? [False, False] Translation: X:32.36, Y:0.48, Z:-1.52 [[ 9.99778802e-01 1.43751352e-02 -1.53526285e-02 3.23603535e+01] [-1.42879332e-02 9.99881247e-01 5.77460834e-03 4.82578702e-01] [ 1.54338161e-02 -5.55397368e-03 9.99865466e-01 -1.52142008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.927719421 meters Centerline goodness [0,1] 0.928763824837775 Centerline is valid? [False, False] Translation: X:32.36, Y:0.48, Z:-1.52 [[ 9.99819024e-01 1.10807856e-02 -1.54639983e-02 3.23604663e+01] [-1.10401991e-02 9.99935390e-01 2.70748237e-03 4.80579902e-01] [ 1.54930002e-02 -2.53626676e-03 9.99876760e-01 -1.52139642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.957719421 meters Centerline goodness [0,1] 0.928114139381745 Centerline is valid? [False, False] Translation: X:32.36, Y:0.47, Z:-1.52 [[ 9.99835390e-01 9.02083526e-03 -1.57422362e-02 3.23617690e+01] [-8.99192174e-03 9.99957754e-01 1.90650160e-03 4.74451332e-01] [ 1.57587694e-02 -1.76463481e-03 9.99874266e-01 -1.52227224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.987719421 meters Centerline goodness [0,1] 0.924879182724659 Centerline is valid? [False, False] Translation: X:32.36, Y:0.47, Z:-1.52 [[ 9.99856199e-01 6.36216353e-03 -1.57195430e-02 3.23616911e+01] [-6.35900476e-03 9.99979750e-01 2.50921130e-04 4.68916181e-01] [ 1.57208211e-02 -1.50924398e-04 9.99876409e-01 -1.52224743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01771942099998 meters Centerline goodness [0,1] 0.9274214886125415 Centerline is valid? [False, False] Translation: X:32.36, Y:0.47, Z:-1.52 [[ 9.99857385e-01 5.54429736e-03 -1.59521537e-02 3.23634850e+01] [-5.54862435e-03 9.99984581e-01 -2.27001019e-04 4.66157912e-01] [ 1.59506492e-02 3.15481154e-04 9.99872731e-01 -1.52377708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04771942099998 meters Centerline goodness [0,1] 0.927618425884369 Centerline is valid? [False, False] Translation: X:32.36, Y:0.46, Z:-1.52 [[ 9.99856772e-01 5.87265078e-03 -1.58728273e-02 3.23633257e+01] [-5.86135403e-03 9.99982535e-01 7.58131283e-04 4.62728080e-01] [ 1.58770023e-02 -6.64986437e-04 9.99873731e-01 -1.52374697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07771942099998 meters Centerline goodness [0,1] 0.9297825734220347 Centerline is valid? [False, False] Translation: X:32.37, Y:0.46, Z:-1.53 [[ 9.99939781e-01 3.58921198e-03 -1.03707405e-02 3.23726730e+01] [-3.50552795e-03 9.99961243e-01 8.07618530e-03 4.57262037e-01] [ 1.03993257e-02 -8.03934404e-03 9.99913608e-01 -1.52662250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10771942099998 meters Centerline goodness [0,1] 0.9297825734220347 Centerline is valid? [False, False] Translation: X:32.37, Y:0.46, Z:-1.53 [[ 9.99939781e-01 3.58921198e-03 -1.03707405e-02 3.23726730e+01] [-3.50552795e-03 9.99961243e-01 8.07618530e-03 4.57262037e-01] [ 1.03993257e-02 -8.03934404e-03 9.99913608e-01 -1.52662250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13771942099999 meters Centerline goodness [0,1] 0.9278463760450782 Centerline is valid? [False, False] Translation: X:32.37, Y:0.46, Z:-1.53 [[ 9.99946825e-01 -8.61790507e-05 -1.03121075e-02 3.23730552e+01] [ 1.37267431e-04 9.99987721e-01 4.95360807e-03 4.55195148e-01] [ 1.03115540e-02 -4.95476018e-03 9.99934559e-01 -1.52720969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.167719421 meters Centerline goodness [0,1] 0.9267521123311155 Centerline is valid? [False, False] Translation: X:32.37, Y:0.45, Z:-1.53 [[ 9.99939099e-01 -3.73985438e-03 -1.03832617e-02 3.23732489e+01] [ 3.75663463e-03 9.99991669e-01 1.59705315e-03 4.53730818e-01] [ 1.03772025e-02 -1.63596201e-03 9.99944817e-01 -1.52726834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.197719421 meters Centerline goodness [0,1] 0.9264565230662787 Centerline is valid? [False, False] Translation: X:32.37, Y:0.45, Z:-1.53 [[ 9.99918100e-01 -7.35561432e-03 -1.04732436e-02 3.23732363e+01] [ 7.34022458e-03 9.99971924e-01 -1.50711593e-03 4.51222946e-01] [ 1.04840353e-02 1.43011654e-03 9.99944018e-01 -1.52698494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.227719421 meters Centerline goodness [0,1] 0.9286383828503892 Centerline is valid? [False, False] Translation: X:32.37, Y:0.45, Z:-1.53 [[ 9.99828208e-01 -1.53012491e-02 -1.04606735e-02 3.23736885e+01] [ 1.52140317e-02 9.99849252e-01 -8.36700029e-03 4.47163731e-01] [ 1.05871221e-02 8.20641389e-03 9.99910280e-01 -1.52735092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.257719421 meters Centerline goodness [0,1] 0.9277470841006753 Centerline is valid? [False, False] Translation: X:32.37, Y:0.45, Z:-1.53 [[ 9.99755399e-01 -1.94293261e-02 -1.05661125e-02 3.23746779e+01] [ 1.93040917e-02 9.99743692e-01 -1.18280227e-02 4.45338322e-01] [ 1.07932148e-02 1.16211603e-02 9.99874220e-01 -1.52817862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.287719421 meters Centerline goodness [0,1] 0.9262128006522625 Centerline is valid? [False, False] Translation: X:32.38, Y:0.44, Z:-1.53 [[ 9.99505897e-01 -2.99089684e-02 -9.66515681e-03 3.23819825e+01] [ 2.98603067e-02 9.99540863e-01 -5.14046689e-03 4.39446724e-01] [ 9.81446524e-03 4.84932242e-03 9.99940078e-01 -1.53156580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.317719421 meters Centerline goodness [0,1] 0.9262808773857486 Centerline is valid? [False, False] Translation: X:32.38, Y:0.44, Z:-1.53 [[ 9.99365555e-01 -3.42499913e-02 -9.76857866e-03 3.23827594e+01] [ 3.41639435e-02 9.99377114e-01 -8.84356884e-03 4.38220447e-01] [ 1.00653861e-02 8.50422491e-03 9.99913179e-01 -1.53195489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.347719421 meters Centerline goodness [0,1] 0.9198371788577974 Centerline is valid? [False, False] Translation: X:32.38, Y:0.44, Z:-1.53 [[ 9.99040872e-01 -4.27417230e-02 -9.51216375e-03 3.23822520e+01] [ 4.25809116e-02 9.98956584e-01 -1.65109126e-02 4.36535870e-01] [ 1.02079435e-02 1.60900399e-02 9.99818438e-01 -1.53108890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.377719421 meters Centerline goodness [0,1] 0.9073249448484353 Centerline is valid? [False, False] Translation: X:32.38, Y:0.43, Z:-1.53 [[ 9.99008485e-01 -4.34888333e-02 -9.52722834e-03 3.23821508e+01] [ 4.33313050e-02 9.98930052e-01 -1.61601202e-02 4.33613377e-01] [ 1.02198195e-02 1.57312700e-02 9.99824026e-01 -1.53077786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.407719421 meters Centerline goodness [0,1] 0.8938792221084954 Centerline is valid? [False, False] Translation: X:32.38, Y:0.43, Z:-1.53 [[ 9.98985559e-01 -4.39857371e-02 -9.64922822e-03 3.23821713e+01] [ 4.38303689e-02 9.98914640e-01 -1.57620012e-02 4.31249718e-01] [ 1.03320586e-02 1.53230823e-02 9.99829211e-01 -1.53043076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.437719421 meters Centerline goodness [0,1] 0.8703980048651854 Centerline is valid? [False, False] Translation: X:32.38, Y:0.43, Z:-1.53 [[ 9.98918540e-01 -4.55342569e-02 -9.40117521e-03 3.23817348e+01] [ 4.53787939e-02 9.98839525e-01 -1.61359594e-02 4.30275783e-01] [ 1.01250043e-02 1.56918950e-02 9.99825609e-01 -1.53020527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.467719421 meters Centerline goodness [0,1] 0.844559585492228 Centerline is valid? [False, False] Translation: X:32.38, Y:0.43, Z:-1.53 [[ 9.98889282e-01 -4.61757500e-02 -9.38100022e-03 3.23814448e+01] [ 4.60177282e-02 9.98805746e-01 -1.64149736e-02 4.30953266e-01] [ 1.01277706e-02 1.59650489e-02 9.99821257e-01 -1.52984789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.497719421 meters Centerline goodness [0,1] 0.837018100010226 Centerline is valid? [False, False] Translation: X:32.38, Y:0.43, Z:-1.53 [[ 9.98797385e-01 -4.81513003e-02 -9.23235513e-03 3.23809806e+01] [ 4.79831849e-02 9.98692371e-01 -1.76397742e-02 4.32447002e-01] [ 1.00696607e-02 1.71755626e-02 9.99801781e-01 -1.52943124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.527719421 meters Centerline goodness [0,1] 0.758059589027147 Centerline is valid? [False, False] Translation: X:32.38, Y:0.43, Z:-1.53 [[ 9.98539034e-01 -5.32689462e-02 -9.06733973e-03 3.23816585e+01] [ 5.30501625e-02 9.98330027e-01 -2.28656412e-02 4.34609783e-01] [ 1.02702261e-02 2.23512115e-02 9.99697427e-01 -1.53010495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.557719421 meters Centerline goodness [0,1] 0.758499581401997 Centerline is valid? [False, False] Translation: X:32.38, Y:0.44, Z:-1.53 [[ 9.98503107e-01 -5.39386920e-02 -9.06439079e-03 3.23820952e+01] [ 5.37130985e-02 9.98279391e-01 -2.35193777e-02 4.35922375e-01] [ 1.03173990e-02 2.29972952e-02 9.99682287e-01 -1.53058551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.587719421 meters Centerline goodness [0,1] 0.7686973547347596 Centerline is valid? [False, False] Translation: X:32.38, Y:0.44, Z:-1.53 [[ 9.98455671e-01 -5.47899385e-02 -9.18341366e-03 3.23828474e+01] [ 5.45484694e-02 9.98204254e-01 -2.47534297e-02 4.39072632e-01] [ 1.05231615e-02 2.42142611e-02 9.99651406e-01 -1.53121107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.617719421 meters Centerline goodness [0,1] 0.7472997758304463 Centerline is valid? [False, False] Translation: X:32.38, Y:0.45, Z:-1.53 [[ 9.98526495e-01 -5.34704571e-02 -9.26011008e-03 3.23838324e+01] [ 5.32338723e-02 9.98290097e-01 -2.41461422e-02 4.47857710e-01] [ 1.05353815e-02 2.36176112e-02 9.99665551e-01 -1.53245545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.647719421 meters Centerline goodness [0,1] 0.7057514899175443 Centerline is valid? [False, False] Translation: X:32.38, Y:0.45, Z:-1.53 [[ 9.98666693e-01 -5.07577203e-02 -9.40687861e-03 3.23844067e+01] [ 5.05431669e-02 9.98484090e-01 -2.17924394e-02 4.51889194e-01] [ 1.04987532e-02 2.12879300e-02 9.99718260e-01 -1.53319325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.677719421 meters Centerline goodness [0,1] 0.7365902333727039 Centerline is valid? [False, False] Translation: X:32.38, Y:0.46, Z:-1.53 [[ 9.98891156e-01 -4.60775911e-02 -9.65992990e-03 3.23849477e+01] [ 4.58967456e-02 9.98780849e-01 -1.81742884e-02 4.60485128e-01] [ 1.04855804e-02 1.77107766e-02 9.99788168e-01 -1.53391231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.707719421 meters Centerline goodness [0,1] 0.7454181803338912 Centerline is valid? [False, False] Translation: X:32.38, Y:0.46, Z:-1.53 [[ 9.99023983e-01 -4.30681417e-02 -9.80900360e-03 3.23848088e+01] [ 4.29095933e-02 9.98953415e-01 -1.58379454e-02 4.64420926e-01] [ 1.04808485e-02 1.54015870e-02 9.99826456e-01 -1.53376794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.737719421 meters Centerline goodness [0,1] 0.7518861209964413 Centerline is valid? [False, False] Translation: X:32.38, Y:0.48, Z:-1.53 [[ 9.99233706e-01 -3.78117307e-02 -1.01130794e-02 3.23845991e+01] [ 3.76821885e-02 9.99208978e-01 -1.27070950e-02 4.75734802e-01] [ 1.05855570e-02 1.23162747e-02 9.99868119e-01 -1.53331677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76771942099998 meters Centerline goodness [0,1] 0.7692323405646116 Centerline is valid? [False, False] Translation: X:32.38, Y:0.48, Z:-1.53 [[ 9.99435233e-01 -3.20394016e-02 -1.01336754e-02 3.23837745e+01] [ 3.19652906e-02 9.99461639e-01 -7.39269727e-03 4.80926663e-01] [ 1.03650774e-02 7.06459624e-03 9.99921325e-01 -1.53279241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79771942099998 meters Centerline goodness [0,1] 0.7939677927605329 Centerline is valid? [False, False] Translation: X:32.38, Y:0.49, Z:-1.53 [[ 9.99646676e-01 -2.47675500e-02 -9.64843804e-03 3.23823830e+01] [ 2.47551477e-02 9.99692560e-01 -1.40275353e-03 4.92809387e-01] [ 9.68021449e-03 1.16340939e-03 9.99952469e-01 -1.53277983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82771942099998 meters Centerline goodness [0,1] 0.8135433907517522 Centerline is valid? [False, False] Translation: X:32.38, Y:0.50, Z:-1.53 [[ 9.99755957e-01 -1.97999498e-02 -9.79736712e-03 3.23828319e+01] [ 1.98194731e-02 9.99801770e-01 1.89963185e-03 5.02311539e-01] [ 9.75781237e-03 -2.09334691e-03 9.99950200e-01 -1.53330999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85771942099998 meters Centerline goodness [0,1] 0.851596538957187 Centerline is valid? [False, False] Translation: X:32.38, Y:0.51, Z:-1.53 [[ 9.99811450e-01 -1.67172757e-02 -9.87908247e-03 3.23829203e+01] [ 1.67599465e-02 9.99850499e-01 4.25241536e-03 5.06225890e-01] [ 9.80651674e-03 -4.41718646e-03 9.99942159e-01 -1.53334495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88771942099999 meters Centerline goodness [0,1] 0.8661814910971646 Centerline is valid? [False, False] Translation: X:32.38, Y:0.51, Z:-1.53 [[ 9.99852168e-01 -1.38715766e-02 -1.01598223e-02 3.23835168e+01] [ 1.39341889e-02 9.99884197e-01 6.11809588e-03 5.11283038e-01] [ 1.00737782e-02 -6.25876031e-03 9.99929671e-01 -1.53353635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.917719421 meters Centerline goodness [0,1] 0.8881440883437582 Centerline is valid? [False, False] Translation: X:32.38, Y:0.52, Z:-1.53 [[ 9.99920407e-01 -7.06918378e-03 -1.04502022e-02 3.23845856e+01] [ 7.17649785e-03 9.99921535e-01 1.02675098e-02 5.22451993e-01] [ 1.03767993e-02 -1.03416885e-02 9.99892680e-01 -1.53419600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.947719421 meters Centerline goodness [0,1] 0.9186695061352804 Centerline is valid? [False, False] Translation: X:32.39, Y:0.53, Z:-1.53 [[ 9.99935916e-01 -3.18517578e-03 -1.08636019e-02 3.23859869e+01] [ 3.32253820e-03 9.99914469e-01 1.26497572e-02 5.28081046e-01] [ 1.08223810e-02 -1.26850412e-02 9.99860973e-01 -1.53491828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.977719421 meters Centerline goodness [0,1] 0.9405591555609896 Centerline is valid? [False, False] Translation: X:32.39, Y:0.54, Z:-1.54 [[ 9.99909972e-01 7.50315701e-03 -1.11242913e-02 3.23874651e+01] [-7.28080860e-03 9.99775560e-01 1.98951896e-02 5.38404883e-01] [ 1.12710713e-02 -1.98124046e-02 9.99740182e-01 -1.53609692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.007719421 meters Centerline goodness [0,1] 0.9450896057347671 Centerline is valid? [False, False] Translation: X:32.39, Y:0.54, Z:-1.54 [[ 9.99873456e-01 1.13835816e-02 -1.11123842e-02 3.23875354e+01] [-1.11342670e-02 9.99690535e-01 2.22455197e-02 5.43651674e-01] [ 1.13621790e-02 -2.21189764e-02 9.99690778e-01 -1.53606357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.037719421 meters Centerline goodness [0,1] 0.9437365142694296 Centerline is valid? [False, False] Translation: X:32.39, Y:0.55, Z:-1.54 [[ 9.99768112e-01 1.86141013e-02 -1.08276420e-02 3.23871873e+01] [-1.83166357e-02 9.99468903e-01 2.69520495e-02 5.53302569e-01] [ 1.13235796e-02 -2.67474737e-02 9.99578086e-01 -1.53580879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.067719421 meters Centerline goodness [0,1] 0.9436264540795575 Centerline is valid? [False, False] Translation: X:32.39, Y:0.56, Z:-1.54 [[ 9.99698553e-01 2.20086790e-02 -1.08821215e-02 3.23876208e+01] [-2.16779025e-02 9.99325745e-01 2.96331710e-02 5.56689559e-01] [ 1.15269711e-02 -2.93883366e-02 9.99501603e-01 -1.53605926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.097719421 meters Centerline goodness [0,1] 0.9460230166004685 Centerline is valid? [False, False] Translation: X:32.39, Y:0.56, Z:-1.54 [[ 9.99615628e-01 2.55733199e-02 -1.07052342e-02 3.23873594e+01] [-2.52256544e-02 9.99187253e-01 3.14404010e-02 5.63104160e-01] [ 1.15005689e-02 -3.11582697e-02 9.99448297e-01 -1.53587805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.127719421 meters Centerline goodness [0,1] 0.9464714745286477 Centerline is valid? [False, False] Translation: X:32.39, Y:0.57, Z:-1.54 [[ 9.99616609e-01 2.54410090e-02 -1.09265830e-02 3.23879794e+01] [-2.51011261e-02 9.99228908e-01 3.01914276e-02 5.67135346e-01] [ 1.16862580e-02 -2.99055829e-02 9.99484411e-01 -1.53611291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.157719421 meters Centerline goodness [0,1] 0.9461726883037355 Centerline is valid? [False, False] Translation: X:32.39, Y:0.57, Z:-1.54 [[ 9.99546495e-01 2.81257204e-02 -1.07586223e-02 3.23889932e+01] [-2.77731528e-02 9.99113868e-01 3.16248482e-02 5.71746877e-01] [ 1.16385604e-02 -3.13117053e-02 9.99441905e-01 -1.53741914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.187719421 meters Centerline goodness [0,1] 0.94619163116809 Centerline is valid? [False, False] Translation: X:32.39, Y:0.57, Z:-1.54 [[ 9.99536297e-01 2.83762484e-02 -1.10444480e-02 3.23896589e+01] [-2.80199703e-02 9.99121060e-01 3.11767482e-02 5.73124052e-01] [ 1.19194197e-02 -3.08528264e-02 9.99452866e-01 -1.53753656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.217719421 meters Centerline goodness [0,1] 0.9465220949263502 Centerline is valid? [False, False] Translation: X:32.38, Y:0.57, Z:-1.54 [[ 9.99323771e-01 3.42759309e-02 -1.33102040e-02 3.23830689e+01] [-3.39473874e-02 9.99131286e-01 2.41712146e-02 5.74978671e-01] [ 1.41271322e-02 -2.37030226e-02 9.99619223e-01 -1.53816922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.247719421 meters Centerline goodness [0,1] 0.9460021615448928 Centerline is valid? [False, False] Translation: X:32.38, Y:0.58, Z:-1.54 [[ 9.99274114e-01 3.55193367e-02 -1.37703468e-02 3.23845389e+01] [-3.51722735e-02 9.99076581e-01 2.46758475e-02 5.76143169e-01] [ 1.46341007e-02 -2.41736012e-02 9.99600660e-01 -1.53879619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.277719421 meters Centerline goodness [0,1] 0.9471479081935049 Centerline is valid? [False, False] Translation: X:32.38, Y:0.58, Z:-1.54 [[ 9.99092713e-01 4.03345753e-02 -1.36701230e-02 3.23843612e+01] [-3.99218555e-02 9.98775255e-01 2.92273032e-02 5.75701609e-01] [ 1.48322514e-02 -2.86550490e-02 9.99479311e-01 -1.53836154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.307719421 meters Centerline goodness [0,1] 0.9467954740410931 Centerline is valid? [False, False] Translation: X:32.38, Y:0.57, Z:-1.54 [[ 9.99072356e-01 4.07853033e-02 -1.38198177e-02 3.23847037e+01] [-4.03626321e-02 9.98746712e-01 2.95950027e-02 5.74970286e-01] [ 1.50095386e-02 -2.90097448e-02 9.99466432e-01 -1.53838901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.337719421 meters Centerline goodness [0,1] 0.9456819950042996 Centerline is valid? [False, False] Translation: X:32.38, Y:0.57, Z:-1.54 [[ 9.99162004e-01 3.85000327e-02 -1.38937768e-02 3.23844177e+01] [-3.81122701e-02 9.98904002e-01 2.71707661e-02 5.71763785e-01] [ 1.49246247e-02 -2.66184738e-02 9.99534248e-01 -1.53800570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.367719421 meters Centerline goodness [0,1] 0.9498176304249826 Centerline is valid? [False, False] Translation: X:32.38, Y:0.57, Z:-1.54 [[ 9.99273713e-01 3.53280643e-02 -1.42819363e-02 3.23843796e+01] [-3.49797913e-02 9.99101214e-01 2.39411441e-02 5.69994021e-01] [ 1.51148942e-02 -2.34241768e-02 9.99611348e-01 -1.53729831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.397719421 meters Centerline goodness [0,1] 0.9488528213839825 Centerline is valid? [False, False] Translation: X:32.38, Y:0.56, Z:-1.54 [[ 9.99445810e-01 2.98499110e-02 -1.47328119e-02 3.23849052e+01] [-2.95728006e-02 9.99388037e-01 1.86815855e-02 5.64758434e-01] [ 1.52814396e-02 -1.82355418e-02 9.99716931e-01 -1.53723068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.427719421 meters Centerline goodness [0,1] 0.9448452028200675 Centerline is valid? [False, False] Translation: X:32.39, Y:0.56, Z:-1.54 [[ 9.99523281e-01 2.69068806e-02 -1.51403445e-02 3.23861415e+01] [-2.66687495e-02 9.99520773e-01 1.57162910e-02 5.63057625e-01] [ 1.55559652e-02 -1.53050247e-02 9.99761856e-01 -1.53794546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.457719421 meters Centerline goodness [0,1] 0.9421731949513692 Centerline is valid? [False, False] Translation: X:32.39, Y:0.56, Z:-1.54 [[ 9.99555787e-01 2.53444215e-02 -1.56808534e-02 3.23889725e+01] [-2.51134178e-02 9.99575681e-01 1.47571864e-02 5.57957553e-01] [ 1.60482121e-02 -1.43568312e-02 9.99768141e-01 -1.54020217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.487719421 meters Centerline goodness [0,1] 0.9347148993343241 Centerline is valid? [False, False] Translation: X:32.39, Y:0.56, Z:-1.54 [[ 9.99589214e-01 2.37011912e-02 -1.61138701e-02 3.23911319e+01] [-2.34929475e-02 9.99639579e-01 1.29920276e-02 5.55880346e-01] [ 1.64159889e-02 -1.26081283e-02 9.99785752e-01 -1.54175160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51771942099998 meters Centerline goodness [0,1] 0.9281892079571913 Centerline is valid? [False, False] Translation: X:32.39, Y:0.55, Z:-1.54 [[ 9.99626759e-01 2.18704336e-02 -1.63715242e-02 3.23911747e+01] [-2.16793721e-02 9.99695828e-01 1.17582661e-02 5.49649514e-01] [ 1.66237028e-02 -1.13989531e-02 9.99796838e-01 -1.54130583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54771942099998 meters Centerline goodness [0,1] 0.9258199067637196 Centerline is valid? [False, False] Translation: X:32.39, Y:0.55, Z:-1.54 [[ 9.99683402e-01 1.90016712e-02 -1.64933968e-02 3.23908669e+01] [-1.88583196e-02 9.99783404e-01 8.80391304e-03 5.47348586e-01] [ 1.66571135e-02 -8.49008799e-03 9.99825214e-01 -1.54070974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57771942099998 meters Centerline goodness [0,1] 0.8966200752002615 Centerline is valid? [False, False] Translation: X:32.39, Y:0.54, Z:-1.54 [[ 9.99701304e-01 1.79195856e-02 -1.66190319e-02 3.23909238e+01] [-1.77941127e-02 9.99812273e-01 7.66734767e-03 5.42374728e-01] [ 1.67533077e-02 -7.36933654e-03 9.99832496e-01 -1.54044516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60771942099998 meters Centerline goodness [0,1] 0.9000997983665655 Centerline is valid? [False, False] Translation: X:32.39, Y:0.54, Z:-1.54 [[ 9.99723044e-01 1.61918113e-02 -1.70780723e-02 3.23926758e+01] [-1.60968675e-02 9.99854291e-01 5.68229371e-03 5.40559305e-01] [ 1.71675905e-02 -5.40581649e-03 9.99838012e-01 -1.54145345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63771942099999 meters Centerline goodness [0,1] 0.9025439351112203 Centerline is valid? [False, False] Translation: X:32.39, Y:0.53, Z:-1.54 [[ 9.99756333e-01 1.37268973e-02 -1.72872158e-02 3.23936221e+01] [-1.36507074e-02 9.99896619e-01 4.51761581e-03 5.33070925e-01] [ 1.73474415e-02 -4.28053229e-03 9.99840359e-01 -1.54220312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.667719421 meters Centerline goodness [0,1] 0.9157688939575993 Centerline is valid? [False, False] Translation: X:32.40, Y:0.53, Z:-1.55 [[ 9.99871775e-01 9.46342691e-03 -1.29181087e-02 3.24046860e+01] [-9.33301162e-03 9.99905248e-01 1.01187676e-02 5.28207434e-01] [ 1.30126429e-02 -9.99690528e-03 9.99865357e-01 -1.54544135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.697719421 meters Centerline goodness [0,1] 0.9311372356927096 Centerline is valid? [False, False] Translation: X:32.40, Y:0.52, Z:-1.54 [[ 9.99919509e-01 2.13461654e-03 -1.25067346e-02 3.24025948e+01] [-2.07173579e-03 9.99985160e-01 5.03855151e-03 5.18299628e-01] [ 1.25173044e-02 -5.01223531e-03 9.99909093e-01 -1.54370981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.727719421 meters Centerline goodness [0,1] 0.9408614194073923 Centerline is valid? [False, False] Translation: X:32.40, Y:0.51, Z:-1.54 [[ 9.99917561e-01 -1.44740514e-03 -1.27583736e-02 3.24032048e+01] [ 1.48346668e-03 9.99994931e-01 2.81748919e-03 5.13133560e-01] [ 1.27542309e-02 -2.83618354e-03 9.99914639e-01 -1.54382103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.757719421 meters Centerline goodness [0,1] 0.9468961728621131 Centerline is valid? [False, False] Translation: X:32.40, Y:0.50, Z:-1.54 [[ 9.99846866e-01 -1.18109278e-02 -1.29130368e-02 3.24035699e+01] [ 1.17462038e-02 9.99918124e-01 -5.07670175e-03 5.03533093e-01] [ 1.29719401e-02 4.92424518e-03 9.99903736e-01 -1.54366138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.787719421 meters Centerline goodness [0,1] 0.9442808100916127 Centerline is valid? [False, False] Translation: X:32.40, Y:0.50, Z:-1.54 [[ 9.99794463e-01 -1.53909051e-02 -1.31966853e-02 3.24041249e+01] [ 1.52988040e-02 9.99858099e-01 -7.05189537e-03 4.97529339e-01] [ 1.33033478e-02 6.84855244e-03 9.99888053e-01 -1.54349214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.817719421 meters Centerline goodness [0,1] 0.9434027565707771 Centerline is valid? [False, False] Translation: X:32.40, Y:0.49, Z:-1.54 [[ 9.99579870e-01 -2.57612206e-02 -1.32831639e-02 3.24044879e+01] [ 2.55611878e-02 9.99560488e-01 -1.50152041e-02 4.87544554e-01] [ 1.36641358e-02 1.46693624e-02 9.99799030e-01 -1.54315575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.847719421 meters Centerline goodness [0,1] 0.9452951823154984 Centerline is valid? [False, False] Translation: X:32.41, Y:0.48, Z:-1.54 [[ 9.99480690e-01 -2.92461760e-02 -1.35281679e-02 3.24054912e+01] [ 2.90103759e-02 9.99429218e-01 -1.73099804e-02 4.83006517e-01] [ 1.40266970e-02 1.69085339e-02 9.99758648e-01 -1.54355113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.877719421 meters Centerline goodness [0,1] 0.941943224337075 Centerline is valid? [False, False] Translation: X:32.41, Y:0.48, Z:-1.54 [[ 9.99360709e-01 -3.29963204e-02 -1.37628471e-02 3.24068999e+01] [ 3.27351663e-02 9.99287464e-01 -1.87875621e-02 4.75321245e-01] [ 1.43729610e-02 1.83250222e-02 9.99728769e-01 -1.54443677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.907719421 meters Centerline goodness [0,1] 0.9439457776149478 Centerline is valid? [False, False] Translation: X:32.41, Y:0.47, Z:-1.54 [[ 9.99363438e-01 -3.28007708e-02 -1.40295826e-02 3.24071115e+01] [ 3.25562417e-02 9.99319882e-01 -1.73166125e-02 4.70799298e-01] [ 1.45880391e-02 1.68488389e-02 9.99751622e-01 -1.54402537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.937719421 meters Centerline goodness [0,1] 0.945743210278094 Centerline is valid? [False, False] Translation: X:32.41, Y:0.47, Z:-1.54 [[ 9.99374798e-01 -3.24054476e-02 -1.41385714e-02 3.24065508e+01] [ 3.21784534e-02 9.99354105e-01 -1.59974876e-02 4.67041331e-01] [ 1.46478452e-02 1.55325285e-02 9.99772065e-01 -1.54304114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.967719421 meters Centerline goodness [0,1] 0.9484910277324633 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99416640e-01 -3.10756155e-02 -1.41663949e-02 3.24054355e+01] [ 3.08811202e-02 9.99428520e-01 -1.37473930e-02 4.62481694e-01] [ 1.45855078e-02 1.33018991e-02 9.99805142e-01 -1.54160279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.997719421 meters Centerline goodness [0,1] 0.9435136234241561 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99567949e-01 -2.53879301e-02 -1.48110883e-02 3.24080064e+01] [ 2.52732713e-02 9.99649539e-01 -7.87791969e-03 4.60001581e-01] [ 1.50059017e-02 7.50019137e-03 9.99859275e-01 -1.54350308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.027719421 meters Centerline goodness [0,1] 0.9435136234241561 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99567949e-01 -2.53879301e-02 -1.48110883e-02 3.24080064e+01] [ 2.52732713e-02 9.99649539e-01 -7.87791969e-03 4.60001581e-01] [ 1.50059017e-02 7.50019137e-03 9.99859275e-01 -1.54350308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.057719421 meters Centerline goodness [0,1] 0.9444002366815613 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99675496e-01 -2.06508115e-02 -1.49146167e-02 3.24081370e+01] [ 2.06074136e-02 9.99782969e-01 -3.05761634e-03 4.58392669e-01] [ 1.49745220e-02 2.74927246e-03 9.99884096e-01 -1.54359596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.087719421 meters Centerline goodness [0,1] 0.9453136155022948 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99790542e-01 -1.33428288e-02 -1.55190627e-02 3.24093076e+01] [ 1.33921747e-02 9.99905577e-01 3.08012331e-03 4.57163757e-01] [ 1.54764997e-02 -3.28731216e-03 9.99874828e-01 -1.54388522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.117719421 meters Centerline goodness [0,1] 0.9456249872908067 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99834228e-01 -9.12911701e-03 -1.57536165e-02 3.24099216e+01] [ 9.24419074e-03 9.99931008e-01 7.24729647e-03 4.56851343e-01] [ 1.56863682e-02 -7.39172451e-03 9.99849639e-01 -1.54417123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.147719421 meters Centerline goodness [0,1] 0.9442700476986424 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99864673e-01 -4.44573916e-03 -1.58388844e-02 3.24100263e+01] [ 4.62678498e-03 9.99924174e-01 1.14122179e-02 4.57915237e-01] [ 1.57869476e-02 -1.14839566e-02 9.99809427e-01 -1.54416582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.177719421 meters Centerline goodness [0,1] 0.9436272512427675 Centerline is valid? [False, False] Translation: X:32.41, Y:0.46, Z:-1.54 [[ 9.99861268e-01 -4.21781821e-03 -1.61137766e-02 3.24106875e+01] [ 4.40249590e-03 9.99924839e-01 1.14426273e-02 4.57968894e-01] [ 1.60643025e-02 -1.15119807e-02 9.99804687e-01 -1.54433713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.207719421 meters Centerline goodness [0,1] 0.9401624162986181 Centerline is valid? [False, False] Translation: X:32.41, Y:0.45, Z:-1.55 [[ 9.99847777e-01 -4.96985744e-03 -1.67249070e-02 3.24130864e+01] [ 5.14503270e-03 9.99932190e-01 1.04472379e-02 4.54908190e-01] [ 1.66718516e-02 -1.05316978e-02 9.99805547e-01 -1.54574705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.237719421 meters Centerline goodness [0,1] 0.9387002079341135 Centerline is valid? [False, False] Translation: X:32.41, Y:0.45, Z:-1.55 [[ 9.99829188e-01 -7.57130154e-03 -1.68603388e-02 3.24138589e+01] [ 7.69686322e-03 9.99943036e-01 7.39476511e-03 4.54229921e-01] [ 1.68033904e-02 -7.52327371e-03 9.99830509e-01 -1.54633043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26771942099998 meters Centerline goodness [0,1] 0.9370829166751699 Centerline is valid? [False, False] Translation: X:32.41, Y:0.45, Z:-1.55 [[ 9.99838737e-01 -6.60646361e-03 -1.66989411e-02 3.24139754e+01] [ 6.74632476e-03 9.99942522e-01 8.33303995e-03 4.52697413e-01] [ 1.66429293e-02 -8.44435262e-03 9.99825838e-01 -1.54678741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29771942099998 meters Centerline goodness [0,1] 0.934252256647963 Centerline is valid? [False, False] Translation: X:32.41, Y:0.45, Z:-1.55 [[ 9.99837804e-01 -5.79334460e-03 -1.70529209e-02 3.24144711e+01] [ 5.94459581e-03 9.99943325e-01 8.83223215e-03 4.52960982e-01] [ 1.70007863e-02 -8.93217232e-03 9.99815578e-01 -1.54662014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32771942099998 meters Centerline goodness [0,1] 0.9325691988781856 Centerline is valid? [False, False] Translation: X:32.41, Y:0.45, Z:-1.54 [[ 9.99845791e-01 -2.98057037e-03 -1.73063640e-02 3.24134848e+01] [ 3.17861687e-03 9.99929653e-01 1.14273570e-02 4.50067936e-01] [ 1.72710865e-02 -1.14806051e-02 9.99784930e-01 -1.54482514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35771942099998 meters Centerline goodness [0,1] 0.9282007621827617 Centerline is valid? [False, False] Translation: X:32.41, Y:0.45, Z:-1.54 [[ 9.99840768e-01 -2.03893414e-03 -1.77279591e-02 3.24141177e+01] [ 2.26219494e-03 9.99918275e-01 1.25827914e-02 4.46911022e-01] [ 1.77008548e-02 -1.26208920e-02 9.99763668e-01 -1.54453351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38771942099999 meters Centerline goodness [0,1] 0.9093709203655352 Centerline is valid? [False, False] Translation: X:32.41, Y:0.44, Z:-1.54 [[ 9.99840485e-01 2.62802406e-04 -1.78587850e-02 3.24143256e+01] [ 1.27213997e-05 9.99881011e-01 1.54260498e-02 4.39561880e-01] [ 1.78607140e-02 -1.54238163e-02 9.99721512e-01 -1.54431400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.417719421 meters Centerline goodness [0,1] 0.8298114897601889 Centerline is valid? [False, False] Translation: X:32.42, Y:0.44, Z:-1.54 [[ 9.99836291e-01 9.04111922e-04 -1.80713397e-02 3.24150044e+01] [-6.05467675e-04 9.99863278e-01 1.65244946e-02 4.36722445e-01] [ 1.80838089e-02 -1.65108478e-02 9.99700139e-01 -1.54452235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.447719421 meters Centerline goodness [0,1] 0.8683921600520494 Centerline is valid? [False, False] Translation: X:32.42, Y:0.43, Z:-1.55 [[ 9.99827212e-01 6.44283413e-04 -1.85777041e-02 3.24171581e+01] [-3.29249238e-04 9.99856187e-01 1.69557232e-02 4.30020564e-01] [ 1.85859567e-02 -1.69466768e-02 9.99683636e-01 -1.54580805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.477719421 meters Centerline goodness [0,1] 0.887818222648674 Centerline is valid? [False, False] Translation: X:32.42, Y:0.43, Z:-1.55 [[ 9.99824562e-01 -2.30693604e-03 -1.85882660e-02 3.24176028e+01] [ 2.57420192e-03 9.99893474e-01 1.43671290e-02 4.26982643e-01] [ 1.85531418e-02 -1.44124584e-02 9.99723993e-01 -1.54623322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.507719421 meters Centerline goodness [0,1] 0.8848035219305397 Centerline is valid? [False, False] Translation: X:32.42, Y:0.42, Z:-1.55 [[ 9.99796011e-01 -5.84057734e-03 -1.93345418e-02 3.24220780e+01] [ 6.07216894e-03 9.99910265e-01 1.19411697e-02 4.18030935e-01] [ 1.92630635e-02 -1.20561365e-02 9.99741759e-01 -1.54952625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.537719421 meters Centerline goodness [0,1] 0.874026503567788 Centerline is valid? [False, False] Translation: X:32.42, Y:0.41, Z:-1.55 [[ 9.99771165e-01 -8.90629219e-03 -1.94498420e-02 3.24231078e+01] [ 9.09399362e-03 9.99912724e-01 9.58350780e-03 4.13650487e-01] [ 1.93627909e-02 -9.75819149e-03 9.99764902e-01 -1.55025423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.567719421 meters Centerline goodness [0,1] 0.9138517990011212 Centerline is valid? [False, False] Translation: X:32.42, Y:0.40, Z:-1.55 [[ 9.99717535e-01 -1.37878615e-02 -1.93583178e-02 3.24223402e+01] [ 1.39125625e-02 9.99883230e-01 6.32189247e-03 4.02342330e-01] [ 1.92688920e-02 -6.58943056e-03 9.99792623e-01 -1.54900267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.597719421 meters Centerline goodness [0,1] 0.9124966931889869 Centerline is valid? [False, False] Translation: X:32.42, Y:0.40, Z:-1.55 [[ 9.99675065e-01 -1.64710949e-02 -1.94542533e-02 3.24221682e+01] [ 1.65591499e-02 9.99853321e-01 4.37386769e-03 3.97744161e-01] [ 1.93793574e-02 -4.69459237e-03 9.99801181e-01 -1.54831823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.627719421 meters Centerline goodness [0,1] 0.9257659630553359 Centerline is valid? [False, False] Translation: X:32.42, Y:0.39, Z:-1.55 [[ 9.99649416e-01 -1.72048568e-02 -2.01255360e-02 3.24245456e+01] [ 1.72966268e-02 9.99840744e-01 4.39472242e-03 3.93017417e-01] [ 2.00467204e-02 -4.74128559e-03 9.99787802e-01 -1.54931405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.657719421 meters Centerline goodness [0,1] 0.9364856334127517 Centerline is valid? [False, False] Translation: X:32.42, Y:0.39, Z:-1.55 [[ 9.99608911e-01 -1.92162073e-02 -2.03165741e-02 3.24244567e+01] [ 1.93013116e-02 9.99805706e-01 4.00113534e-03 3.85414516e-01] [ 2.02357401e-02 -4.39170707e-03 9.99785591e-01 -1.54835983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.687719421 meters Centerline goodness [0,1] 0.9315987397093201 Centerline is valid? [False, False] Translation: X:32.43, Y:0.38, Z:-1.55 [[ 9.99591721e-01 -1.93629448e-02 -2.10111514e-02 3.24258116e+01] [ 1.94545002e-02 9.99802081e-01 4.16182841e-03 3.80167112e-01] [ 2.09264077e-02 -4.56889067e-03 9.99770579e-01 -1.54825745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.717719421 meters Centerline goodness [0,1] 0.9225780217546 Centerline is valid? [False, False] Translation: X:32.42, Y:0.37, Z:-1.55 [[ 9.99615433e-01 -1.84164171e-02 -2.07321608e-02 3.24241027e+01] [ 1.85358419e-02 9.99812609e-01 5.58300161e-03 3.68841224e-01] [ 2.06254569e-02 -5.96514262e-03 9.99769477e-01 -1.54664223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.747719421 meters Centerline goodness [0,1] 0.8835371551619063 Centerline is valid? [False, False] Translation: X:32.43, Y:0.36, Z:-1.55 [[ 9.99666851e-01 -1.46234939e-02 -2.12682767e-02 3.24256290e+01] [ 1.48378491e-02 9.99840346e-01 9.95598860e-03 3.60367310e-01] [ 2.11192898e-02 -1.02682473e-02 9.99724231e-01 -1.54707941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.777719421 meters Centerline goodness [0,1] 0.8277510023895347 Centerline is valid? [False, False] Translation: X:32.43, Y:0.36, Z:-1.55 [[ 9.99683048e-01 -1.27075335e-02 -2.17329760e-02 3.24267535e+01] [ 1.29743851e-02 9.99841619e-01 1.21820377e-02 3.55998589e-01] [ 2.15747303e-02 -1.24601485e-02 9.99689590e-01 -1.54723020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.807719421 meters Centerline goodness [0,1] 0.7883697792938215 Centerline is valid? [False, False] Translation: X:32.43, Y:0.35, Z:-1.55 [[ 9.99719308e-01 -9.77125454e-03 -2.15830614e-02 3.24276340e+01] [ 1.01108832e-02 9.99825888e-01 1.56832223e-02 3.45911018e-01] [ 2.14260588e-02 -1.58970440e-02 9.99644041e-01 -1.54829127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.837719421 meters Centerline goodness [0,1] 0.7918234516424285 Centerline is valid? [False, False] Translation: X:32.43, Y:0.34, Z:-1.55 [[ 9.99720947e-01 -8.84459052e-03 -2.19043725e-02 3.24288283e+01] [ 9.22477100e-03 9.99807501e-01 1.73165817e-02 3.41310628e-01] [ 2.17469979e-02 -1.75138122e-02 9.99610091e-01 -1.54874593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.867719421 meters Centerline goodness [0,1] 0.7666368187553421 Centerline is valid? [False, False] Translation: X:32.43, Y:0.34, Z:-1.55 [[ 9.99714558e-01 -8.32333621e-03 -2.23947261e-02 3.24306072e+01] [ 8.73872660e-03 9.99790391e-01 1.85151025e-02 3.36324097e-01] [ 2.22359245e-02 -1.87055189e-02 9.99577744e-01 -1.54947659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.897719421 meters Centerline goodness [0,1] 0.7761923178700104 Centerline is valid? [False, False] Translation: X:32.43, Y:0.32, Z:-1.55 [[ 9.99681169e-01 -1.00559244e-02 -2.31611526e-02 3.24316620e+01] [ 1.04651641e-02 9.99790051e-01 1.76163225e-02 3.23756797e-01] [ 2.29791415e-02 -1.78530911e-02 9.99576523e-01 -1.54851994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.927719421 meters Centerline goodness [0,1] 0.7784117444009016 Centerline is valid? [False, False] Translation: X:32.43, Y:0.31, Z:-1.55 [[ 9.99645911e-01 -1.20539617e-02 -2.37224664e-02 3.24326575e+01] [ 1.24564983e-02 9.99779680e-01 1.68946003e-02 3.11018020e-01] [ 2.35135930e-02 -1.71841170e-02 9.99575819e-01 -1.54786979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.957719421 meters Centerline goodness [0,1] 0.7521246171632558 Centerline is valid? [False, False] Translation: X:32.43, Y:0.31, Z:-1.55 [[ 9.99627364e-01 -1.24526818e-02 -2.42912288e-02 3.24346422e+01] [ 1.28677500e-02 9.99772577e-01 1.70063554e-02 3.05745296e-01] [ 2.40739296e-02 -1.73125917e-02 9.99560263e-01 -1.54867006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.987719421 meters Centerline goodness [0,1] 0.7548862413996063 Centerline is valid? [False, False] Translation: X:32.44, Y:0.30, Z:-1.55 [[ 9.99618584e-01 -1.36902278e-02 -2.39846719e-02 3.24358008e+01] [ 1.40970388e-02 9.99758223e-01 1.68751159e-02 2.96681797e-01] [ 2.37478488e-02 -1.72067923e-02 9.99569890e-01 -1.55017419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01771942099998 meters Centerline goodness [0,1] 0.7649682306940371 Centerline is valid? [False, False] Translation: X:32.44, Y:0.29, Z:-1.55 [[ 9.99597938e-01 -1.40182330e-02 -2.46465406e-02 3.24383350e+01] [ 1.44377511e-02 9.99752490e-01 1.69266272e-02 2.91762751e-01] [ 2.44031589e-02 -1.72756622e-02 9.99552919e-01 -1.55144513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04771942099998 meters Centerline goodness [0,1] 0.7458114222820105 Centerline is valid? [False, False] Translation: X:32.44, Y:0.28, Z:-1.55 [[ 9.99575905e-01 -1.53243033e-02 -2.47623919e-02 3.24393944e+01] [ 1.57372044e-02 9.99738910e-01 1.65665763e-02 2.81207906e-01] [ 2.45020555e-02 -1.69492413e-02 9.99556088e-01 -1.55183815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07771942099998 meters Centerline goodness [0,1] 0.7424733484172119 Centerline is valid? [False, False] Translation: X:32.44, Y:0.28, Z:-1.55 [[ 9.99539632e-01 -1.66496891e-02 -2.53635988e-02 3.24411634e+01] [ 1.70496318e-02 9.99732399e-01 1.56345739e-02 2.75820664e-01] [ 2.50965007e-02 -1.60598163e-02 9.99556025e-01 -1.55233180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10771942099998 meters Centerline goodness [0,1] 0.730428959863642 Centerline is valid? [False, False] Translation: X:32.44, Y:0.27, Z:-1.55 [[ 9.99497926e-01 -1.87636848e-02 -2.55307639e-02 3.24422678e+01] [ 1.91479540e-02 9.99705765e-01 1.48909146e-02 2.65533689e-01] [ 2.52438435e-02 -1.53723001e-02 9.99563125e-01 -1.55256856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13771942099999 meters Centerline goodness [0,1] 0.7048873709034724 Centerline is valid? [False, False] Translation: X:32.44, Y:0.26, Z:-1.55 [[ 9.99441425e-01 -2.17804962e-02 -2.53465580e-02 3.24423469e+01] [ 2.21009869e-02 9.99678424e-01 1.24336305e-02 2.62069874e-01] [ 2.50675965e-02 -1.29868694e-02 9.99601399e-01 -1.55280194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.167719421 meters Centerline goodness [0,1] 0.779285134037368 Centerline is valid? [False, False] Translation: X:32.44, Y:0.25, Z:-1.55 [[ 9.99306695e-01 -2.75706250e-02 -2.50197791e-02 3.24423716e+01] [ 2.78136714e-02 9.99568751e-01 9.41866123e-03 2.51473298e-01] [ 2.47493110e-02 -1.01080231e-02 9.99642586e-01 -1.55203498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.197719421 meters Centerline goodness [0,1] 0.8316477803501077 Centerline is valid? [False, False] Translation: X:32.44, Y:0.24, Z:-1.55 [[ 9.99212881e-01 -3.07411187e-02 -2.50719383e-02 3.24424609e+01] [ 3.09407226e-02 9.99492232e-01 7.61246263e-03 2.44066248e-01] [ 2.48251919e-02 -8.38221460e-03 9.99656665e-01 -1.55116783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.227719421 meters Centerline goodness [0,1] 0.8988931547132821 Centerline is valid? [False, False] Translation: X:32.44, Y:0.23, Z:-1.55 [[ 9.98912673e-01 -3.98211256e-02 -2.42435616e-02 3.24407574e+01] [ 3.98734903e-02 9.99203324e-01 1.68018485e-03 2.31233051e-01] [ 2.41573405e-02 -2.64503336e-03 9.99704670e-01 -1.54866346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.257719421 meters Centerline goodness [0,1] 0.8864400905217231 Centerline is valid? [False, False] Translation: X:32.44, Y:0.23, Z:-1.55 [[ 9.98769652e-01 -4.31917850e-02 -2.43649848e-02 3.24416212e+01] [ 4.31925119e-02 9.99066645e-01 -4.96681455e-04 2.26404507e-01] [ 2.43636962e-02 -5.56314532e-04 9.99703006e-01 -1.54869166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.287719421 meters Centerline goodness [0,1] 0.9412029644187856 Centerline is valid? [False, False] Translation: X:32.44, Y:0.22, Z:-1.55 [[ 9.98461037e-01 -4.98538637e-02 -2.42929934e-02 3.24433385e+01] [ 4.97562366e-02 9.98750765e-01 -4.60712453e-03 2.17544822e-01] [ 2.44923287e-02 3.39130641e-03 9.99694266e-01 -1.54919872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.317719421 meters Centerline goodness [0,1] 0.9439486552567237 Centerline is valid? [False, False] Translation: X:32.45, Y:0.21, Z:-1.55 [[ 9.98277000e-01 -5.33046856e-02 -2.45283781e-02 3.24450428e+01] [ 5.31449240e-02 9.98561425e-01 -7.12022465e-03 2.13534273e-01] [ 2.48726335e-02 5.80439772e-03 9.99673777e-01 -1.54995254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.347719421 meters Centerline goodness [0,1] 0.9451305683563748 Centerline is valid? [False, False] Translation: X:32.45, Y:0.21, Z:-1.55 [[ 9.97871487e-01 -6.04870069e-02 -2.43683569e-02 3.24477439e+01] [ 6.01991090e-02 9.98109610e-01 -1.23803376e-02 2.06497036e-01] [ 2.50711407e-02 1.08870326e-02 9.99626385e-01 -1.55186419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.377719421 meters Centerline goodness [0,1] 0.9432099274406333 Centerline is valid? [False, False] Translation: X:32.45, Y:0.20, Z:-1.55 [[ 9.97407586e-01 -6.77589645e-02 -2.42245658e-02 3.24500982e+01] [ 6.73308949e-02 9.97567034e-01 -1.80710698e-02 2.01461033e-01] [ 2.53901052e-02 1.63931605e-02 9.99543199e-01 -1.55336196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.407719421 meters Centerline goodness [0,1] 0.943097303199489 Centerline is valid? [False, False] Translation: X:32.45, Y:0.20, Z:-1.55 [[ 9.97365688e-01 -6.81984532e-02 -2.47114487e-02 3.24515982e+01] [ 6.77794093e-02 9.97548298e-01 -1.74167756e-02 1.98546200e-01] [ 2.58386608e-02 1.56959670e-02 9.99542896e-01 -1.55361158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.437719421 meters Centerline goodness [0,1] 0.9419031512951658 Centerline is valid? [False, False] Translation: X:32.45, Y:0.20, Z:-1.55 [[ 9.97335029e-01 -6.84970923e-02 -2.51194985e-02 3.24528618e+01] [ 6.80834204e-02 9.97535290e-01 -1.69703544e-02 1.96938490e-01] [ 2.62200061e-02 1.52149075e-02 9.99540403e-01 -1.55389688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.467719421 meters Centerline goodness [0,1] 0.9413496983051546 Centerline is valid? [False, False] Translation: X:32.45, Y:0.20, Z:-1.55 [[ 9.97002119e-01 -7.31819612e-02 -2.51232054e-02 3.24540856e+01] [ 7.26623647e-02 9.97135320e-01 -2.10079413e-02 1.96331294e-01] [ 2.65886378e-02 1.91194504e-02 9.99463602e-01 -1.55449992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.497719421 meters Centerline goodness [0,1] 0.938963555408971 Centerline is valid? [False, False] Translation: X:32.45, Y:0.19, Z:-1.55 [[ 9.96650267e-01 -7.78105906e-02 -2.51745471e-02 3.24548537e+01] [ 7.71887641e-02 9.96708093e-01 -2.47965994e-02 1.94562647e-01] [ 2.70211128e-02 2.27703452e-02 9.99375490e-01 -1.55417520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.527719421 meters Centerline goodness [0,1] 0.9366809981279958 Centerline is valid? [False, False] Translation: X:32.46, Y:0.19, Z:-1.55 [[ 9.96608580e-01 -7.81908852e-02 -2.56422316e-02 3.24558838e+01] [ 7.75621718e-02 9.96682473e-01 -2.46608390e-02 1.93424213e-01] [ 2.74854157e-02 2.25883366e-02 9.99366959e-01 -1.55404540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.557719421 meters Centerline goodness [0,1] 0.9363283575960413 Centerline is valid? [False, False] Translation: X:32.46, Y:0.19, Z:-1.55 [[ 9.96565140e-01 -7.86013760e-02 -2.60719336e-02 3.24569289e+01] [ 7.79565483e-02 9.96645973e-01 -2.48913794e-02 1.93649876e-01] [ 2.79409843e-02 2.27734030e-02 9.99350126e-01 -1.55418813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.587719421 meters Centerline goodness [0,1] 0.936957326858977 Centerline is valid? [False, False] Translation: X:32.46, Y:0.20, Z:-1.55 [[ 9.96783650e-01 -7.57127483e-02 -2.62665967e-02 3.24569753e+01] [ 7.51461589e-02 9.96931417e-01 -2.19272727e-02 1.96210880e-01] [ 2.78461695e-02 1.98829131e-02 9.99414459e-01 -1.55412016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.617719421 meters Centerline goodness [0,1] 0.9378715875660886 Centerline is valid? [False, False] Translation: X:32.46, Y:0.20, Z:-1.55 [[ 9.97061711e-01 -7.17671267e-02 -2.67847643e-02 3.24568378e+01] [ 7.12995385e-02 9.97292103e-01 -1.80232597e-02 1.97155332e-01] [ 2.80057115e-02 1.60605608e-02 9.99478733e-01 -1.55330943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.647719421 meters Centerline goodness [0,1] 0.9458784516815754 Centerline is valid? [False, False] Translation: X:32.47, Y:0.20, Z:-1.56 [[ 9.97700312e-01 -6.43335377e-02 -2.13373687e-02 3.24671925e+01] [ 6.38924352e-02 9.97741084e-01 -2.07481565e-02 2.02943264e-01] [ 2.26239716e-02 1.93371457e-02 9.99557017e-01 -1.55519075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.677719421 meters Centerline goodness [0,1] 0.9449208915815543 Centerline is valid? [False, False] Translation: X:32.47, Y:0.20, Z:-1.55 [[ 9.98121937e-01 -5.70362511e-02 -2.23486922e-02 3.24679892e+01] [ 5.67523983e-02 9.98301858e-01 -1.31364173e-02 2.02861081e-01] [ 2.30599929e-02 1.18434045e-02 9.99663929e-01 -1.55439338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.707719421 meters Centerline goodness [0,1] 0.9448768896718424 Centerline is valid? [False, False] Translation: X:32.47, Y:0.21, Z:-1.55 [[ 9.98553064e-01 -4.85505622e-02 -2.31218911e-02 3.24671293e+01] [ 4.84229857e-02 9.98808619e-01 -6.04618914e-03 2.07673969e-01] [ 2.33878900e-02 4.91780968e-03 9.99714370e-01 -1.55283824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.737719421 meters Centerline goodness [0,1] 0.9446400786176399 Centerline is valid? [False, False] Translation: X:32.47, Y:0.21, Z:-1.55 [[ 9.98872373e-01 -4.08907375e-02 -2.41232462e-02 3.24682404e+01] [ 4.09140230e-02 9.99162559e-01 4.72295943e-04 2.11319891e-01] [ 2.40837319e-02 -1.45874242e-03 9.99708881e-01 -1.55280369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76771942099998 meters Centerline goodness [0,1] 0.9440332742063735 Centerline is valid? [False, False] Translation: X:32.47, Y:0.21, Z:-1.55 [[ 9.98989694e-01 -3.75010299e-02 -2.47641813e-02 3.24695555e+01] [ 3.75971242e-02 9.99287105e-01 3.42607505e-03 2.13193251e-01] [ 2.46180457e-02 -4.35367566e-03 9.99687450e-01 -1.55326157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79771942099998 meters Centerline goodness [0,1] 0.9464974391413472 Centerline is valid? [False, False] Translation: X:32.47, Y:0.21, Z:-1.55 [[ 9.99099376e-01 -3.40973439e-02 -2.52548482e-02 3.24703852e+01] [ 3.42736440e-02 9.99390818e-01 6.58107100e-03 2.14712212e-01] [ 2.50150664e-02 -7.44071961e-03 9.99659383e-01 -1.55339944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82771942099998 meters Centerline goodness [0,1] 0.9445351066867936 Centerline is valid? [False, False] Translation: X:32.47, Y:0.22, Z:-1.55 [[ 9.99209342e-01 -3.04225498e-02 -2.55960646e-02 3.24705468e+01] [ 3.06692480e-02 9.99486309e-01 9.30131776e-03 2.18889006e-01] [ 2.52999464e-02 -1.00789757e-02 9.99629095e-01 -1.55327344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85771942099998 meters Centerline goodness [0,1] 0.9448250550526058 Centerline is valid? [False, False] Translation: X:32.47, Y:0.22, Z:-1.55 [[ 9.99197136e-01 -3.04982809e-02 -2.59795804e-02 3.24716374e+01] [ 3.07261352e-02 9.99492402e-01 8.41685142e-03 2.21796192e-01] [ 2.57096937e-02 -9.20834593e-03 9.99627039e-01 -1.55402708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88771942099999 meters Centerline goodness [0,1] 0.9421523104301757 Centerline is valid? [False, False] Translation: X:32.47, Y:0.23, Z:-1.56 [[ 9.99178962e-01 -3.06010401e-02 -2.65514131e-02 3.24735315e+01] [ 3.07970847e-02 9.99501102e-01 7.00625157e-03 2.25839117e-01] [ 2.63237680e-02 -7.81820529e-03 9.99622896e-01 -1.55557780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.917719421 meters Centerline goodness [0,1] 0.9421523104301757 Centerline is valid? [False, False] Translation: X:32.47, Y:0.23, Z:-1.56 [[ 9.99178962e-01 -3.06010401e-02 -2.65514131e-02 3.24735315e+01] [ 3.07970847e-02 9.99501102e-01 7.00625157e-03 2.25839117e-01] [ 2.63237680e-02 -7.81820529e-03 9.99622896e-01 -1.55557780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.947719421 meters Centerline goodness [0,1] 0.9415327514479158 Centerline is valid? [False, False] Translation: X:32.47, Y:0.23, Z:-1.56 [[ 9.99157185e-01 -3.09855388e-02 -2.69224068e-02 3.24747867e+01] [ 3.11631628e-02 9.99495061e-01 6.20320114e-03 2.27516426e-01] [ 2.67166031e-02 -7.03696033e-03 9.99618279e-01 -1.55637995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.977719421 meters Centerline goodness [0,1] 0.9398400916099217 Centerline is valid? [False, False] Translation: X:32.48, Y:0.23, Z:-1.56 [[ 9.99148514e-01 -3.09186465e-02 -2.73181876e-02 3.24759859e+01] [ 3.10749726e-02 9.99502917e-01 5.31643602e-03 2.30197956e-01] [ 2.71402312e-02 -6.16082109e-03 9.99612651e-01 -1.55735938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.007719421 meters Centerline goodness [0,1] 0.9359519332951851 Centerline is valid? [False, False] Translation: X:32.48, Y:0.23, Z:-1.56 [[ 9.99141420e-01 -3.07593510e-02 -2.77540124e-02 3.24769226e+01] [ 3.09076278e-02 9.99510090e-01 4.92935813e-03 2.32128759e-01] [ 2.75887916e-02 -5.78293657e-03 9.99602629e-01 -1.55775971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.037719421 meters Centerline goodness [0,1] 0.9301255572369228 Centerline is valid? [False, False] Translation: X:32.48, Y:0.24, Z:-1.56 [[ 9.99216826e-01 -2.75069556e-02 -2.84447052e-02 3.24790438e+01] [ 2.77278478e-02 9.99588114e-01 7.40054255e-03 2.35865724e-01] [ 2.82294228e-02 -8.18345709e-03 9.99567972e-01 -1.55922066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.067719421 meters Centerline goodness [0,1] 0.9260491508817766 Centerline is valid? [False, False] Translation: X:32.48, Y:0.24, Z:-1.56 [[ 9.99218992e-01 -2.71659481e-02 -2.86952423e-02 3.24795787e+01] [ 2.73817875e-02 9.99599436e-01 7.15573701e-03 2.37248958e-01] [ 2.84893557e-02 -7.93587535e-03 9.99562594e-01 -1.55952868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.097719421 meters Centerline goodness [0,1] 0.9236633420536298 Centerline is valid? [False, False] Translation: X:32.48, Y:0.24, Z:-1.56 [[ 9.99397944e-01 -2.24222892e-02 -2.64762435e-02 3.24837092e+01] [ 2.23952645e-02 9.99748327e-01 -1.31683346e-03 2.37472093e-01] [ 2.64991066e-02 7.23098173e-04 9.99648575e-01 -1.55698991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.127719421 meters Centerline goodness [0,1] 0.9180163803843876 Centerline is valid? [False, False] Translation: X:32.49, Y:0.24, Z:-1.56 [[ 9.99593753e-01 -1.93159451e-02 -2.09576729e-02 3.24931054e+01] [ 1.91430832e-02 9.99781319e-01 -8.41766562e-03 2.38307590e-01] [ 2.11156850e-02 8.01305149e-03 9.99744927e-01 -1.55918653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.157719421 meters Centerline goodness [0,1] 0.884329273277201 Centerline is valid? [False, False] Translation: X:32.49, Y:0.24, Z:-1.56 [[ 9.99662687e-01 -1.52574272e-02 -2.10172266e-02 3.24928955e+01] [ 1.51873571e-02 9.99878576e-01 -3.48953383e-03 2.36157113e-01] [ 2.10679159e-02 3.16916063e-03 9.99773024e-01 -1.55842964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.187719421 meters Centerline goodness [0,1] 0.9200179918627711 Centerline is valid? [False, False] Translation: X:32.49, Y:0.24, Z:-1.56 [[ 9.99703994e-01 -1.18866277e-02 -2.12281038e-02 3.24935762e+01] [ 1.19020968e-02 9.99928986e-01 6.02513238e-04 2.35048073e-01] [ 2.12194344e-02 -8.54993837e-04 9.99774477e-01 -1.55846616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.217719421 meters Centerline goodness [0,1] 0.9103046411776733 Centerline is valid? [False, False] Translation: X:32.49, Y:0.24, Z:-1.56 [[ 9.99699897e-01 -1.16918587e-02 -2.15271054e-02 3.24944120e+01] [ 1.17123298e-02 9.99931068e-01 8.25108708e-04 2.35079848e-01] [ 2.15159744e-02 -1.07699365e-03 9.99767925e-01 -1.55883508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.247719421 meters Centerline goodness [0,1] 0.8917622566028494 Centerline is valid? [False, False] Translation: X:32.50, Y:0.23, Z:-1.56 [[ 9.99682370e-01 -1.20662344e-02 -2.21261384e-02 3.24962258e+01] [ 1.20851442e-02 9.99926712e-01 7.21114758e-04 2.33561198e-01] [ 2.21158157e-02 -9.88283283e-04 9.99754927e-01 -1.55955172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.277719421 meters Centerline goodness [0,1] 0.9130762799991844 Centerline is valid? [False, False] Translation: X:32.50, Y:0.23, Z:-1.56 [[ 9.99659064e-01 -1.26480111e-02 -2.28425926e-02 3.24986373e+01] [ 1.26653933e-02 9.99919601e-01 6.16435816e-04 2.31391326e-01] [ 2.28329594e-02 -9.05536071e-04 9.99738884e-01 -1.56060116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.307719421 meters Centerline goodness [0,1] 0.9111206526406183 Centerline is valid? [False, False] Translation: X:32.50, Y:0.23, Z:-1.56 [[ 9.99614322e-01 -1.47609636e-02 -2.35227918e-02 3.25011091e+01] [ 1.47458836e-02 9.99890942e-01 -8.14419737e-04 2.26663838e-01] [ 2.35322480e-02 4.67241284e-04 9.99722969e-01 -1.56184524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.337719421 meters Centerline goodness [0,1] 0.9175682848160699 Centerline is valid? [False, False] Translation: X:32.50, Y:0.22, Z:-1.56 [[ 9.99611729e-01 -1.46644783e-02 -2.36927196e-02 3.25019673e+01] [ 1.46735157e-02 9.99892317e-01 2.07628697e-04 2.23549217e-01] [ 2.36871236e-02 -5.55203575e-04 9.99719267e-01 -1.56226752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.367719421 meters Centerline goodness [0,1] 0.9164644219199315 Centerline is valid? [False, False] Translation: X:32.50, Y:0.22, Z:-1.57 [[ 9.99839424e-01 -1.44026062e-02 -1.06626329e-02 3.25037845e+01] [ 1.44252085e-02 9.99893858e-01 2.04590183e-03 2.22528850e-01] [ 1.06320348e-02 -2.19938401e-03 9.99941060e-01 -1.56692593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.397719421 meters Centerline goodness [0,1] 0.9270077468675265 Centerline is valid? [False, False] Translation: X:32.50, Y:0.22, Z:-1.56 [[ 9.99859152e-01 -1.33249521e-02 -1.02040127e-02 3.25013470e+01] [ 1.33710041e-02 9.99900665e-01 4.45828432e-03 2.18200439e-01] [ 1.01435927e-02 -4.59409427e-03 9.99937999e-01 -1.56428499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.427719421 meters Centerline goodness [0,1] 0.9253288598842085 Centerline is valid? [False, False] Translation: X:32.50, Y:0.22, Z:-1.56 [[ 9.99856873e-01 -1.32447903e-02 -1.05265907e-02 3.25016594e+01] [ 1.32988168e-02 9.99898667e-01 5.07905507e-03 2.15477512e-01] [ 1.04582530e-02 -5.21831932e-03 9.99931695e-01 -1.56375337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.457719421 meters Centerline goodness [0,1] 0.9360009789525208 Centerline is valid? [False, False] Translation: X:32.50, Y:0.21, Z:-1.57 [[ 9.99826162e-01 -1.46755547e-02 -1.15009963e-02 3.25048350e+01] [ 1.47223127e-02 9.99883654e-01 3.99149689e-03 2.11138811e-01] [ 1.14410808e-02 -4.16012428e-03 9.99925895e-01 -1.56529165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.487719421 meters Centerline goodness [0,1] 0.9179293444966306 Centerline is valid? [False, False] Translation: X:32.51, Y:0.21, Z:-1.57 [[ 9.99818801e-01 -1.47751331e-02 -1.20025592e-02 3.25065130e+01] [ 1.48285989e-02 9.99880467e-01 4.37782207e-03 2.09199653e-01] [ 1.19364416e-02 -4.55500995e-03 9.99918383e-01 -1.56606754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51771942099998 meters Centerline goodness [0,1] 0.9390744713453877 Centerline is valid? [False, False] Translation: X:32.51, Y:0.21, Z:-1.57 [[ 9.99796078e-01 -1.59432158e-02 -1.23941993e-02 3.25086925e+01] [ 1.60022123e-02 9.99861025e-01 4.67549794e-03 2.05469526e-01] [ 1.23179343e-02 -4.87287911e-03 9.99912258e-01 -1.56728195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54771942099998 meters Centerline goodness [0,1] 0.9410731428337997 Centerline is valid? [False, False] Translation: X:32.51, Y:0.20, Z:-1.57 [[ 9.99776684e-01 -1.67378364e-02 -1.29006937e-02 3.25099346e+01] [ 1.67998493e-02 9.99847762e-01 4.71365390e-03 2.03547563e-01] [ 1.28198333e-02 -4.92933097e-03 9.99905672e-01 -1.56729237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57771942099998 meters Centerline goodness [0,1] 0.9464402085369827 Centerline is valid? [False, False] Translation: X:32.52, Y:0.20, Z:-1.57 [[ 9.99784182e-01 -1.86044827e-02 -9.24455966e-03 3.25227715e+01] [ 1.86072660e-02 9.99826847e-01 2.15144265e-04 1.98291576e-01] [ 9.23895629e-03 -3.87113813e-04 9.99957245e-01 -1.56506863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60771942099998 meters Centerline goodness [0,1] 0.9464793923138347 Centerline is valid? [False, False] Translation: X:32.52, Y:0.20, Z:-1.56 [[ 9.99775949e-01 -1.89265047e-02 -9.47834894e-03 3.25232935e+01] [ 1.89368977e-02 9.99820173e-01 1.00795177e-03 1.95218916e-01] [ 9.45756747e-03 -1.18721646e-03 9.99954571e-01 -1.56474782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63771942099999 meters Centerline goodness [0,1] 0.9457158606046996 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.57 [[ 9.99754967e-01 -1.97398696e-02 -1.00171611e-02 3.25250913e+01] [ 1.97501029e-02 9.99804521e-01 9.23679135e-04 1.93345989e-01] [ 9.99696964e-03 -1.12129277e-03 9.99949400e-01 -1.56544936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.667719421 meters Centerline goodness [0,1] 0.9479258244566662 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.57 [[ 9.99743132e-01 -2.03565301e-02 -9.96403199e-03 3.25254689e+01] [ 2.03708408e-02 9.99791599e-01 1.33685251e-03 1.91512547e-01] [ 9.93474180e-03 -1.53948482e-03 9.99949464e-01 -1.56562769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.697719421 meters Centerline goodness [0,1] 0.9469550953454993 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.57 [[ 9.99740166e-01 -2.04597668e-02 -1.00498443e-02 3.25255035e+01] [ 2.04774667e-02 9.99788934e-01 1.66147422e-03 1.90914260e-01] [ 1.00137297e-02 -1.86683787e-03 9.99948119e-01 -1.56537607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.727719421 meters Centerline goodness [0,1] 0.9488097918414966 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.56 [[ 9.99719063e-01 -2.12623129e-02 -1.04742456e-02 3.25260840e+01] [ 2.12795306e-02 9.99772387e-01 1.53510204e-03 1.90432867e-01] [ 1.04392217e-02 -1.75755780e-03 9.99943965e-01 -1.56475745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.757719421 meters Centerline goodness [0,1] 0.9484045054068971 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.56 [[ 9.99704065e-01 -2.16342401e-02 -1.11239486e-02 3.25270431e+01] [ 2.16530742e-02 9.99764303e-01 1.57546399e-03 1.89456994e-01] [ 1.10872428e-02 -1.81586544e-03 9.99936886e-01 -1.56425491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.787719421 meters Centerline goodness [0,1] 0.946404078039593 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.57 [[ 9.99667395e-01 -2.29321891e-02 -1.17988759e-02 3.25294032e+01] [ 2.29421955e-02 9.99736539e-01 7.13412660e-04 1.89466198e-01] [ 1.17794073e-02 -9.83867495e-04 9.99930136e-01 -1.56536843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.817719421 meters Centerline goodness [0,1] 0.9412763693654983 Centerline is valid? [False, False] Translation: X:32.53, Y:0.19, Z:-1.57 [[ 9.99710544e-01 -2.06475820e-02 -1.23492765e-02 3.25318100e+01] [ 2.06849281e-02 9.99781826e-01 2.90410101e-03 1.92729315e-01] [ 1.22866195e-02 -3.15870430e-03 9.99919528e-01 -1.56716135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.847719421 meters Centerline goodness [0,1] 0.9439616483068135 Centerline is valid? [False, False] Translation: X:32.53, Y:0.20, Z:-1.57 [[ 9.99706001e-01 -2.07333712e-02 -1.25713450e-02 3.25320772e+01] [ 2.07633117e-02 9.99781874e-01 2.25581411e-03 1.95227935e-01] [ 1.25218322e-02 -2.51617365e-03 9.99918433e-01 -1.56712647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.877719421 meters Centerline goodness [0,1] 0.9467716278500632 Centerline is valid? [False, False] Translation: X:32.53, Y:0.20, Z:-1.57 [[ 9.99705199e-01 -2.05160562e-02 -1.29848293e-02 3.25317716e+01] [ 2.05432938e-02 9.99787028e-01 1.96773671e-03 1.96813570e-01] [ 1.29416937e-02 -2.23390778e-03 9.99913757e-01 -1.56593729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.907719421 meters Centerline goodness [0,1] 0.9474650991917708 Centerline is valid? [False, False] Translation: X:32.53, Y:0.20, Z:-1.56 [[ 9.99705847e-01 -2.02696868e-02 -1.33176559e-02 3.25309428e+01] [ 2.02893740e-02 9.99793245e-01 1.34481796e-03 2.00152772e-01] [ 1.32876433e-02 -1.61462928e-03 9.99910412e-01 -1.56440319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.937719421 meters Centerline goodness [0,1] 0.9466639377814163 Centerline is valid? [False, False] Translation: X:32.53, Y:0.20, Z:-1.56 [[ 9.99759157e-01 -1.71427770e-02 -1.37023180e-02 3.25319720e+01] [ 1.72092770e-02 9.99840626e-01 4.75010034e-03 2.00870805e-01] [ 1.36187043e-02 -4.98476329e-03 9.99894836e-01 -1.56471387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.967719421 meters Centerline goodness [0,1] 0.9449323910290452 Centerline is valid? [False, False] Translation: X:32.53, Y:0.21, Z:-1.57 [[ 9.99781793e-01 -1.51592102e-02 -1.43723888e-02 3.25347850e+01] [ 1.52497529e-02 9.99864424e-01 6.21123990e-03 2.05419762e-01] [ 1.42762828e-02 -6.42905994e-03 9.99877420e-01 -1.56675226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.997719421 meters Centerline goodness [0,1] 0.9432072629564793 Centerline is valid? [False, False] Translation: X:32.54, Y:0.21, Z:-1.57 [[ 9.99768898e-01 -1.55479829e-02 -1.48462469e-02 3.25359850e+01] [ 1.56250797e-02 9.99864959e-01 5.09120823e-03 2.08571031e-01] [ 1.47650840e-02 -5.32200543e-03 9.99876827e-01 -1.56733806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.027719421 meters Centerline goodness [0,1] 0.940534698289047 Centerline is valid? [False, False] Translation: X:32.54, Y:0.21, Z:-1.57 [[ 9.99794590e-01 -1.29823026e-02 -1.55639683e-02 3.25379055e+01] [ 1.30866556e-02 9.99892440e-01 6.62178292e-03 2.13778694e-01] [ 1.54763282e-02 -6.82410303e-03 9.99856947e-01 -1.56832629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.057719421 meters Centerline goodness [0,1] 0.9393828217357629 Centerline is valid? [False, False] Translation: X:32.54, Y:0.22, Z:-1.57 [[ 9.99784983e-01 -1.32267099e-02 -1.59700298e-02 3.25388679e+01] [ 1.33153635e-02 9.99896452e-01 5.45773385e-03 2.17345933e-01] [ 1.58961883e-02 -5.66920709e-03 9.99857576e-01 -1.56885552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.087719421 meters Centerline goodness [0,1] 0.9374489295636542 Centerline is valid? [False, False] Translation: X:32.54, Y:0.22, Z:-1.57 [[ 9.99805800e-01 -1.07592444e-02 -1.65106459e-02 3.25400211e+01] [ 1.08721264e-02 9.99918030e-01 6.76245882e-03 2.23567357e-01] [ 1.64365336e-02 -6.94065138e-03 9.99840821e-01 -1.56935175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.117719421 meters Centerline goodness [0,1] 0.9356766901954384 Centerline is valid? [False, False] Translation: X:32.54, Y:0.23, Z:-1.57 [[ 9.99791617e-01 -1.15138735e-02 -1.68568691e-02 3.25411244e+01] [ 1.16037476e-02 9.99918926e-01 5.24353642e-03 2.27584726e-01] [ 1.67951290e-02 -5.43804661e-03 9.99844164e-01 -1.57007166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.147719421 meters Centerline goodness [0,1] 0.9340112902239703 Centerline is valid? [False, False] Translation: X:32.54, Y:0.23, Z:-1.57 [[ 9.99764491e-01 -1.32432913e-02 -1.71923779e-02 3.25422479e+01] [ 1.32918524e-02 9.99907978e-01 2.71338116e-03 2.33301674e-01] [ 1.71548617e-02 -2.94126069e-03 9.99848518e-01 -1.57076726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.177719421 meters Centerline goodness [0,1] 0.9340563018529465 Centerline is valid? [False, False] Translation: X:32.54, Y:0.24, Z:-1.57 [[ 9.99749772e-01 -1.40382682e-02 -1.74161206e-02 3.25428508e+01] [ 1.40723787e-02 9.99899291e-01 1.83754864e-03 2.35008618e-01] [ 1.73885707e-02 -2.08217508e-03 9.99846639e-01 -1.57093181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.207719421 meters Centerline goodness [0,1] 0.9318916282189387 Centerline is valid? [False, False] Translation: X:32.55, Y:0.24, Z:-1.57 [[ 9.99677498e-01 -1.77304882e-02 -1.81804573e-02 3.25454093e+01] [ 1.77143038e-02 9.99842537e-01 -1.05087337e-03 2.38306181e-01] [ 1.81962270e-02 7.28480315e-04 9.99834170e-01 -1.57165046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.237719421 meters Centerline goodness [0,1] 0.9312455370804855 Centerline is valid? [False, False] Translation: X:32.55, Y:0.24, Z:-1.57 [[ 9.99652020e-01 -1.88476599e-02 -1.84554500e-02 3.25461042e+01] [ 1.88191809e-02 9.99821432e-01 -1.71559412e-03 2.39201739e-01] [ 1.84844894e-02 1.36768068e-03 9.99828212e-01 -1.57162817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26771942099998 meters Centerline goodness [0,1] 0.9312798140824398 Centerline is valid? [False, False] Translation: X:32.55, Y:0.24, Z:-1.57 [[ 9.99624249e-01 -2.00150265e-02 -1.87285487e-02 3.25468209e+01] [ 1.99738978e-02 9.99797668e-01 -2.38054440e-03 2.39927632e-01] [ 1.87724060e-02 2.00556780e-03 9.99821771e-01 -1.57159501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29771942099998 meters Centerline goodness [0,1] 0.9337202199144777 Centerline is valid? [False, False] Translation: X:32.55, Y:0.24, Z:-1.57 [[ 9.99485241e-01 -2.59631767e-02 -1.88458395e-02 3.25464028e+01] [ 2.58160207e-02 9.99634618e-01 -8.01017959e-03 2.43362724e-01] [ 1.90469233e-02 7.51953170e-03 9.99790314e-01 -1.57026841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32771942099998 meters Centerline goodness [0,1] 0.9287759702674709 Centerline is valid? [False, False] Translation: X:32.55, Y:0.24, Z:-1.57 [[ 9.99452330e-01 -2.69594778e-02 -1.91892418e-02 3.25470100e+01] [ 2.67977208e-02 9.99603560e-01 -8.63741818e-03 2.44006832e-01] [ 1.94144947e-02 8.11845978e-03 9.99778559e-01 -1.56993816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35771942099998 meters Centerline goodness [0,1] 0.9187758578729618 Centerline is valid? [False, False] Translation: X:32.55, Y:0.25, Z:-1.57 [[ 9.99385327e-01 -2.90652664e-02 -1.96004628e-02 3.25488276e+01] [ 2.88591708e-02 9.99526035e-01 -1.07170244e-02 2.47690841e-01] [ 1.99026660e-02 1.01447839e-02 9.99750452e-01 -1.57086084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38771942099999 meters Centerline goodness [0,1] 0.8789163961038962 Centerline is valid? [False, False] Translation: X:32.55, Y:0.25, Z:-1.57 [[ 9.99451823e-01 -2.64509503e-02 -1.99098185e-02 3.25496555e+01] [ 2.63021435e-02 9.99624389e-01 -7.69920433e-03 2.49004887e-01] [ 2.01059914e-02 7.17131290e-03 9.99772135e-01 -1.57101327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.417719421 meters Centerline goodness [0,1] 0.9182756798504126 Centerline is valid? [False, False] Translation: X:32.55, Y:0.25, Z:-1.57 [[ 9.99517392e-01 -2.36925886e-02 -2.00909087e-02 3.25492985e+01] [ 2.35823403e-02 9.99705610e-01 -5.70678289e-03 2.54614209e-01] [ 2.02202026e-02 5.23023810e-03 9.99781870e-01 -1.57025753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.447719421 meters Centerline goodness [0,1] 0.9193410616229408 Centerline is valid? [False, False] Translation: X:32.55, Y:0.26, Z:-1.57 [[ 9.99581786e-01 -2.04569395e-02 -2.04393646e-02 3.25498432e+01] [ 2.04038487e-02 9.99787891e-01 -2.80267506e-03 2.56634398e-01] [ 2.04923634e-02 2.38446123e-03 9.99787166e-01 -1.57015388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.477719421 meters Centerline goodness [0,1] 0.9289163961038961 Centerline is valid? [False, False] Translation: X:32.56, Y:0.26, Z:-1.57 [[ 9.99748209e-01 -1.23985081e-02 -1.87028115e-02 3.25591594e+01] [ 1.22666685e-02 9.99899216e-01 -7.14751672e-03 2.64004894e-01] [ 1.87895451e-02 6.91629586e-03 9.99799539e-01 -1.57119080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.507719421 meters Centerline goodness [0,1] 0.9273708747392958 Centerline is valid? [False, False] Translation: X:32.56, Y:0.27, Z:-1.57 [[ 9.99782172e-01 -8.74820757e-03 -1.89493266e-02 3.25596009e+01] [ 8.66537070e-03 9.99952557e-01 -4.44920250e-03 2.68341550e-01] [ 1.89873502e-02 4.28403040e-03 9.99810546e-01 -1.57128952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.537719421 meters Centerline goodness [0,1] 0.9315298354751576 Centerline is valid? [False, False] Translation: X:32.56, Y:0.28, Z:-1.57 [[ 9.99807932e-01 -1.89683272e-03 -1.95064385e-02 3.25609893e+01] [ 1.88875011e-03 9.99998123e-01 -4.32770707e-04 2.78176679e-01] [ 1.95072228e-02 3.95844797e-04 9.99809638e-01 -1.57232921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.567719421 meters Centerline goodness [0,1] 0.9287141633701725 Centerline is valid? [False, False] Translation: X:32.57, Y:0.28, Z:-1.57 [[ 9.99873944e-01 4.36140206e-03 -1.52667900e-02 3.25704256e+01] [-4.45088814e-03 9.99973086e-01 -5.83242402e-03 2.82759451e-01] [ 1.52409415e-02 5.89963959e-03 9.99866445e-01 -1.57488472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.597719421 meters Centerline goodness [0,1] 0.9307986648212977 Centerline is valid? [False, False] Translation: X:32.58, Y:0.29, Z:-1.57 [[ 9.99788044e-01 1.51574504e-02 -1.39326342e-02 3.25755867e+01] [-1.53103487e-02 9.99823007e-01 -1.09337530e-02 2.93015493e-01] [ 1.37644404e-02 1.11447490e-02 9.99843155e-01 -1.57417820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.627719421 meters Centerline goodness [0,1] 0.9320017953321365 Centerline is valid? [False, False] Translation: X:32.58, Y:0.30, Z:-1.57 [[ 9.99721774e-01 1.89840893e-02 -1.39992580e-02 3.25755826e+01] [-1.91013216e-02 9.99783196e-01 -8.28855809e-03 2.97385223e-01] [ 1.38388722e-02 8.55365633e-03 9.99867652e-01 -1.57381553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.657719421 meters Centerline goodness [0,1] 0.9324578244352764 Centerline is valid? [False, False] Translation: X:32.58, Y:0.31, Z:-1.57 [[ 9.99552099e-01 2.63438015e-02 -1.41988102e-02 3.25760839e+01] [-2.63895531e-02 9.99647099e-01 -3.04451216e-03 3.05282549e-01] [ 1.41135954e-02 3.41784878e-03 9.99894557e-01 -1.57362507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.687719421 meters Centerline goodness [0,1] 0.930649636823635 Centerline is valid? [False, False] Translation: X:32.58, Y:0.31, Z:-1.57 [[ 9.99533996e-01 2.69316504e-02 -1.43693342e-02 3.25763931e+01] [-2.69891600e-02 9.99628414e-01 -3.82341276e-03 3.09603398e-01] [ 1.42610240e-02 4.20944730e-03 9.99889446e-01 -1.57372823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.717719421 meters Centerline goodness [0,1] 0.9341319805227879 Centerline is valid? [False, False] Translation: X:32.58, Y:0.31, Z:-1.57 [[ 9.99431644e-01 3.04500036e-02 -1.44632889e-02 3.25765713e+01] [-3.04759749e-02 9.99534253e-01 -1.57862478e-03 3.14498800e-01] [ 1.44084835e-02 2.01851038e-03 9.99894155e-01 -1.57344064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.747719421 meters Centerline goodness [0,1] 0.9315032200211951 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99433459e-01 3.03737715e-02 -1.44981040e-02 3.25768188e+01] [-3.04129796e-02 9.99534313e-01 -2.49154171e-03 3.17208136e-01] [ 1.44156749e-02 2.93106069e-03 9.99891793e-01 -1.57373127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.777719421 meters Centerline goodness [0,1] 0.9368425344532333 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99439840e-01 3.02239587e-02 -1.43707319e-02 3.25765660e+01] [-3.02788106e-02 9.99534956e-01 -3.61473388e-03 3.20632333e-01] [ 1.42547973e-02 4.04783772e-03 9.99890202e-01 -1.57377954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.807719421 meters Centerline goodness [0,1] 0.9366980150553867 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99451113e-01 2.98226226e-02 -1.44251136e-02 3.25764333e+01] [-2.98818695e-02 9.99545793e-01 -3.90920970e-03 3.20681566e-01] [ 1.43019787e-02 4.33811335e-03 9.99888311e-01 -1.57343132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.837719421 meters Centerline goodness [0,1] 0.9366980150553867 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99451113e-01 2.98226226e-02 -1.44251136e-02 3.25764333e+01] [-2.98818695e-02 9.99545793e-01 -3.90920970e-03 3.20681566e-01] [ 1.43019787e-02 4.33811335e-03 9.99888311e-01 -1.57343132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.867719421 meters Centerline goodness [0,1] 0.9369638042323719 Centerline is valid? [False, False] Translation: X:32.57, Y:0.32, Z:-1.57 [[ 9.99534026e-01 2.69783464e-02 -1.42793294e-02 3.25747559e+01] [-2.70793047e-02 9.99609303e-01 -6.92471833e-03 3.20863394e-01] [ 1.40869331e-02 7.30816591e-03 9.99874067e-01 -1.57200396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.897719421 meters Centerline goodness [0,1] 0.9402211613008529 Centerline is valid? [False, False] Translation: X:32.57, Y:0.32, Z:-1.57 [[ 9.99642685e-01 2.24933215e-02 -1.44413691e-02 3.25740201e+01] [-2.26497615e-02 9.99685533e-01 -1.07621583e-02 3.19934518e-01] [ 1.41947511e-02 1.10854064e-02 9.99837798e-01 -1.57086230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.927719421 meters Centerline goodness [0,1] 0.939732506931985 Centerline is valid? [False, False] Translation: X:32.57, Y:0.32, Z:-1.57 [[ 9.99753125e-01 1.68515488e-02 -1.44815418e-02 3.25744453e+01] [-1.70759288e-02 9.99733847e-01 -1.55128137e-02 3.20493942e-01] [ 1.42162726e-02 1.57562697e-02 9.99774793e-01 -1.57129295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.957719421 meters Centerline goodness [0,1] 0.9389450423538077 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99782586e-01 1.46739898e-02 -1.48140316e-02 3.25761850e+01] [-1.49218799e-02 9.99748122e-01 -1.67639643e-02 3.19409025e-01] [ 1.45643061e-02 1.69813728e-02 9.99749726e-01 -1.57245142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.987719421 meters Centerline goodness [0,1] 0.929483631592973 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99870157e-01 5.63649426e-03 -1.50963101e-02 3.25768148e+01] [-6.00995523e-03 9.99674156e-01 -2.48085285e-02 3.17461919e-01] [ 1.49515579e-02 2.48960354e-02 9.99578230e-01 -1.57273670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01771942099998 meters Centerline goodness [0,1] 0.931651001225991 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99880062e-01 1.53037949e-03 -1.54116529e-02 3.25774604e+01] [-1.97058862e-03 9.99589313e-01 -2.85888407e-02 3.16435075e-01] [ 1.53615718e-02 2.86157818e-02 9.99472440e-01 -1.57288155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04771942099998 meters Centerline goodness [0,1] 0.9354574996423389 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99878930e-01 -2.96785112e-04 -1.55575401e-02 3.25782336e+01] [-1.60635571e-04 9.99567938e-01 -2.93923719e-02 3.16219270e-01] [ 1.55595415e-02 2.93913125e-02 9.99446873e-01 -1.57324215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07771942099998 meters Centerline goodness [0,1] 0.9312503836474126 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99877366e-01 2.01244868e-03 -1.55306959e-02 3.25787113e+01] [-2.41846039e-03 9.99654629e-01 -2.61681878e-02 3.15732799e-01] [ 1.54726699e-02 2.62025391e-02 9.99536904e-01 -1.57360716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10771942099998 meters Centerline goodness [0,1] 0.9295538615601562 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99876353e-01 1.22724151e-03 -1.56771275e-02 3.25797691e+01] [-1.65219812e-03 9.99630747e-01 -2.71226657e-02 3.17867678e-01] [ 1.56380526e-02 2.71452138e-02 9.99509174e-01 -1.57450204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13771942099999 meters Centerline goodness [0,1] 0.9310401276883096 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99865913e-01 4.63993475e-03 -1.57043417e-02 3.25799981e+01] [-5.00491623e-03 9.99716413e-01 -2.32818553e-02 3.17452870e-01] [ 1.55918619e-02 2.33573324e-02 9.99605587e-01 -1.57451768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.167719421 meters Centerline goodness [0,1] 0.935374149659864 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99837148e-01 8.65658914e-03 -1.58347765e-02 3.25798443e+01] [-8.97683893e-03 9.99754314e-01 -2.02664499e-02 3.20950294e-01] [ 1.56554477e-02 2.04052957e-02 9.99669211e-01 -1.57382808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.197719421 meters Centerline goodness [0,1] 0.9369640408505762 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99792394e-01 1.26235665e-02 -1.59941746e-02 3.25802853e+01] [-1.28921892e-02 9.99775671e-01 -1.68047463e-02 3.22737750e-01] [ 1.57784508e-02 1.70074575e-02 9.99730857e-01 -1.57380828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.227719421 meters Centerline goodness [0,1] 0.9393185571845115 Centerline is valid? [False, False] Translation: X:32.58, Y:0.33, Z:-1.57 [[ 9.99655781e-01 2.06107454e-02 -1.62331973e-02 3.25812726e+01] [-2.07908936e-02 9.99723243e-01 -1.10080450e-02 3.29357491e-01] [ 1.60018206e-02 1.13417585e-02 9.99807635e-01 -1.57413548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.257719421 meters Centerline goodness [0,1] 0.9398606826956468 Centerline is valid? [False, False] Translation: X:32.58, Y:0.33, Z:-1.57 [[ 9.99569036e-01 2.44947759e-02 -1.61786194e-02 3.25811487e+01] [-2.46316032e-02 9.99662033e-01 -8.31285066e-03 3.34115528e-01] [ 1.59695302e-02 8.70777345e-03 9.99834561e-01 -1.57383107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.287719421 meters Centerline goodness [0,1] 0.9388308721546871 Centerline is valid? [False, False] Translation: X:32.58, Y:0.34, Z:-1.57 [[ 9.99358959e-01 3.20103745e-02 -1.60314340e-02 3.25800760e+01] [-3.20577661e-02 9.99482349e-01 -2.70789368e-03 3.42209804e-01] [ 1.59364546e-02 3.22008977e-03 9.99867821e-01 -1.57219704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.317719421 meters Centerline goodness [0,1] 0.9407537105279231 Centerline is valid? [False, False] Translation: X:32.58, Y:0.35, Z:-1.57 [[ 9.99218351e-01 3.61569404e-02 -1.59800873e-02 3.25798273e+01] [-3.61702006e-02 9.99345498e-01 -5.41460226e-04 3.47864548e-01] [ 1.59500507e-02 1.11903996e-03 9.99872164e-01 -1.57151387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.347719421 meters Centerline goodness [0,1] 0.9419654687404448 Centerline is valid? [False, False] Translation: X:32.58, Y:0.35, Z:-1.57 [[ 9.99209262e-01 3.63673665e-02 -1.60706209e-02 3.25800332e+01] [-3.63961677e-02 9.99336309e-01 -1.50324439e-03 3.51355552e-01] [ 1.60052859e-02 2.08696473e-03 9.99869729e-01 -1.57153984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.377719421 meters Centerline goodness [0,1] 0.9411656928808453 Centerline is valid? [False, False] Translation: X:32.58, Y:0.36, Z:-1.57 [[ 9.99063907e-01 4.01673021e-02 -1.60591802e-02 3.25808521e+01] [-4.01598931e-02 9.99192959e-01 7.83707137e-04 3.56853632e-01] [ 1.60776992e-02 -1.38038555e-04 9.99870736e-01 -1.57216400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.407719421 meters Centerline goodness [0,1] 0.9437984100059267 Centerline is valid? [False, False] Translation: X:32.58, Y:0.36, Z:-1.57 [[ 9.99060469e-01 4.02429037e-02 -1.60837780e-02 3.25810515e+01] [-4.02489576e-02 9.99189681e-01 -5.27429620e-05 3.59888620e-01] [ 1.60686225e-02 7.00048707e-04 9.99870646e-01 -1.57237345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.437719421 meters Centerline goodness [0,1] 0.9432420314665362 Centerline is valid? [False, False] Translation: X:32.58, Y:0.36, Z:-1.57 [[ 9.99045906e-01 4.06103411e-02 -1.60648290e-02 3.25811565e+01] [-4.06280581e-02 9.99174037e-01 -7.77888872e-04 3.62549614e-01] [ 1.60199697e-02 1.42982950e-03 9.99870650e-01 -1.57253269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.467719421 meters Centerline goodness [0,1] 0.9426252963780558 Centerline is valid? [False, False] Translation: X:32.58, Y:0.36, Z:-1.57 [[ 9.99043441e-01 4.06187549e-02 -1.61963077e-02 3.25815475e+01] [-4.06411896e-02 9.99173245e-01 -1.05831345e-03 3.63423538e-01] [ 1.61399299e-02 1.71553832e-03 9.99868271e-01 -1.57269574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.497719421 meters Centerline goodness [0,1] 0.9375229694965086 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.57 [[ 9.99042756e-01 4.05309201e-02 -1.64564712e-02 3.25832099e+01] [-4.05667533e-02 9.99175119e-01 -1.84937492e-03 3.65873619e-01] [ 1.63679397e-02 2.51519023e-03 9.99862873e-01 -1.57420930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.527719421 meters Centerline goodness [0,1] 0.9351040860390272 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.57 [[ 9.99043538e-01 4.04179499e-02 -1.66852787e-02 3.25842608e+01] [-4.04636918e-02 9.99178096e-01 -2.41288028e-03 3.67511459e-01] [ 1.65740413e-02 3.08572043e-03 9.99857880e-01 -1.57498849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.557719421 meters Centerline goodness [0,1] 0.9338982705587582 Centerline is valid? [False, False] Translation: X:32.59, Y:0.37, Z:-1.58 [[ 9.99021422e-01 4.09103117e-02 -1.68090869e-02 3.25850788e+01] [-4.09632373e-02 9.99156685e-01 -2.81633831e-03 3.69549012e-01] [ 1.66796943e-02 3.50213692e-03 9.99854751e-01 -1.57570228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.587719421 meters Centerline goodness [0,1] 0.9339347306977979 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.58 [[ 9.99012395e-01 4.10826556e-02 -1.69248268e-02 3.25849137e+01] [-4.11362955e-02 9.99149527e-01 -2.83330115e-03 3.69564404e-01] [ 1.67940331e-02 3.52672764e-03 9.99852750e-01 -1.57524544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.617719421 meters Centerline goodness [0,1] 0.9349832557379727 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.57 [[ 9.98960196e-01 4.23772985e-02 -1.68134249e-02 3.25830372e+01] [-4.24091276e-02 9.99099140e-01 -1.54091097e-03 3.66924070e-01] [ 1.67329787e-02 2.25235141e-03 9.99857457e-01 -1.57317870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.647719421 meters Centerline goodness [0,1] 0.9356114667862823 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.57 [[ 9.98947146e-01 4.26509948e-02 -1.68965134e-02 3.25829780e+01] [-4.26773084e-02 9.99088188e-01 -1.19967749e-03 3.65758326e-01] [ 1.68299396e-02 1.91951212e-03 9.99856524e-01 -1.57294779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.677719421 meters Centerline goodness [0,1] 0.9341307587107837 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.57 [[ 9.98901951e-01 4.37967063e-02 -1.66355447e-02 3.25831965e+01] [-4.38094987e-02 9.99039821e-01 -4.05166165e-04 3.65507070e-01] [ 1.66018267e-02 1.13351615e-03 9.99861538e-01 -1.57381840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.707719421 meters Centerline goodness [0,1] 0.9278436817281581 Centerline is valid? [False, False] Translation: X:32.58, Y:0.37, Z:-1.57 [[ 9.98885007e-01 4.41963973e-02 -1.65957976e-02 3.25834306e+01] [-4.42037108e-02 9.99022536e-01 -7.39376923e-05 3.65278773e-01] [ 1.65763080e-02 8.07451088e-04 9.99862278e-01 -1.57421153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.737719421 meters Centerline goodness [0,1] 0.920694433124134 Centerline is valid? [False, False] Translation: X:32.58, Y:0.36, Z:-1.57 [[ 9.98843811e-01 4.51599003e-02 -1.64810371e-02 3.25834014e+01] [-4.51414278e-02 9.98979493e-01 1.49132574e-03 3.60955070e-01] [ 1.65315662e-02 -7.45623938e-04 9.99863066e-01 -1.57449049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76771942099998 meters Centerline goodness [0,1] 0.8817270058708415 Centerline is valid? [False, False] Translation: X:32.58, Y:0.36, Z:-1.57 [[ 9.98927509e-01 4.33252205e-02 -1.63326986e-02 3.25826727e+01] [-4.33328218e-02 9.99060686e-01 -1.11629797e-04 3.55310228e-01] [ 1.63125207e-02 8.19251992e-04 9.99866606e-01 -1.57444232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79771942099998 meters Centerline goodness [0,1] 0.902995895194723 Centerline is valid? [False, False] Translation: X:32.58, Y:0.35, Z:-1.57 [[ 9.99029833e-01 4.09229466e-02 -1.62697507e-02 3.25820681e+01] [-4.09746241e-02 9.99156107e-01 -2.85560208e-03 3.53742228e-01] [ 1.61391611e-02 3.51947859e-03 9.99863561e-01 -1.57427369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82771942099998 meters Centerline goodness [0,1] 0.8836658430499683 Centerline is valid? [False, False] Translation: X:32.58, Y:0.35, Z:-1.57 [[ 9.99007551e-01 4.14199903e-02 -1.63797805e-02 3.25826524e+01] [-4.14574091e-02 9.99138366e-01 -1.95138631e-03 3.50949820e-01] [ 1.62848408e-02 2.62851292e-03 9.99863938e-01 -1.57477828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85771942099998 meters Centerline goodness [0,1] 0.8362260610634089 Centerline is valid? [False, False] Translation: X:32.58, Y:0.34, Z:-1.58 [[ 9.98921343e-01 4.35110146e-02 -1.62155034e-02 3.25832704e+01] [-4.35032764e-02 9.99052940e-01 8.29812099e-04 3.44166874e-01] [ 1.62362523e-02 -1.23489490e-04 9.99868176e-01 -1.57591105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88771942099999 meters Centerline goodness [0,1] 0.7869659341557063 Centerline is valid? [False, False] Translation: X:32.58, Y:0.34, Z:-1.58 [[ 9.98970482e-01 4.24445814e-02 -1.60135204e-02 3.25823705e+01] [-4.24426602e-02 9.99098798e-01 4.59956505e-04 3.37418309e-01] [ 1.60186116e-02 2.20173432e-04 9.99871670e-01 -1.57571128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.917719421 meters Centerline goodness [0,1] 0.8015808177770516 Centerline is valid? [False, False] Translation: X:32.58, Y:0.33, Z:-1.57 [[ 9.99073006e-01 3.99868202e-02 -1.59431342e-02 3.25812324e+01] [-4.00202193e-02 9.99197282e-01 -1.78125540e-03 3.34683302e-01] [ 1.58591096e-02 2.41765192e-03 9.99871314e-01 -1.57490931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.947719421 meters Centerline goodness [0,1] 0.7929292929292929 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99166080e-01 3.78970094e-02 -1.51974321e-02 3.25767240e+01] [-3.79348627e-02 9.99277770e-01 -2.21017724e-03 3.23860334e-01] [ 1.51026969e-02 2.78484662e-03 9.99882070e-01 -1.57143223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.977719421 meters Centerline goodness [0,1] 0.8034484872009643 Centerline is valid? [False, False] Translation: X:32.58, Y:0.32, Z:-1.57 [[ 9.99263165e-01 3.52994439e-02 -1.50690642e-02 3.25757515e+01] [-3.53639843e-02 9.99366340e-01 -4.03812431e-03 3.18255513e-01] [ 1.49169720e-02 4.56805103e-03 9.99878301e-01 -1.57090992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.007719421 meters Centerline goodness [0,1] 0.7905653450807636 Centerline is valid? [False, False] Translation: X:32.58, Y:0.31, Z:-1.57 [[ 9.99353757e-01 3.27102201e-02 -1.49033443e-02 3.25752246e+01] [-3.28008647e-02 9.99444617e-01 -5.87881188e-03 3.12888046e-01] [ 1.47027700e-02 6.36385532e-03 9.99871657e-01 -1.57096388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.037719421 meters Centerline goodness [0,1] 0.8011080219151198 Centerline is valid? [False, False] Translation: X:32.58, Y:0.30, Z:-1.57 [[ 9.99408247e-01 3.11978433e-02 -1.44862258e-02 3.25750116e+01] [-3.12829054e-02 9.99494415e-01 -5.68287918e-03 3.02675213e-01] [ 1.43016082e-02 6.13268755e-03 9.99878920e-01 -1.57188498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.067719421 meters Centerline goodness [0,1] 0.782319041974905 Centerline is valid? [False, False] Translation: X:32.58, Y:0.30, Z:-1.57 [[ 9.99403794e-01 3.12074185e-02 -1.47700347e-02 3.25766083e+01] [-3.12840391e-02 9.99498102e-01 -4.98521653e-03 2.98485194e-01] [ 1.46070459e-02 5.44431066e-03 9.99878489e-01 -1.57318838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.097719421 meters Centerline goodness [0,1] 0.7530576824910669 Centerline is valid? [False, False] Translation: X:32.58, Y:0.29, Z:-1.58 [[ 9.99412705e-01 3.08986404e-02 -1.48162073e-02 3.25782824e+01] [-3.09679085e-02 9.99510390e-01 -4.46869269e-03 2.90823226e-01] [ 1.46708766e-02 4.92489520e-03 9.99880248e-01 -1.57538149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.127719421 meters Centerline goodness [0,1] 0.7263846311056612 Centerline is valid? [False, False] Translation: X:32.58, Y:0.28, Z:-1.58 [[ 9.99445056e-01 3.00148281e-02 -1.44460777e-02 3.25779497e+01] [-3.00854171e-02 9.99536309e-01 -4.69406661e-03 2.83167768e-01] [ 1.42984876e-02 5.12607794e-03 9.99884632e-01 -1.57611370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.157719421 meters Centerline goodness [0,1] 0.7225186331609172 Centerline is valid? [False, False] Translation: X:32.58, Y:0.28, Z:-1.58 [[ 9.99437031e-01 3.01675150e-02 -1.46813243e-02 3.25788440e+01] [-3.02289553e-02 9.99535072e-01 -3.98111592e-03 2.78385866e-01] [ 1.45543982e-02 4.42267577e-03 9.99884298e-01 -1.57670163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.187719421 meters Centerline goodness [0,1] 0.7080655363081757 Centerline is valid? [False, False] Translation: X:32.58, Y:0.27, Z:-1.58 [[ 9.99486523e-01 2.86491841e-02 -1.43497460e-02 3.25774920e+01] [-2.87182463e-02 9.99576823e-01 -4.63002730e-03 2.70447546e-01] [ 1.42110270e-02 5.03974942e-03 9.99886317e-01 -1.57612300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.217719421 meters Centerline goodness [0,1] 0.706876516278975 Centerline is valid? [False, False] Translation: X:32.58, Y:0.27, Z:-1.58 [[ 9.99482667e-01 2.86441498e-02 -1.46256945e-02 3.25788308e+01] [-2.87068693e-02 9.99579479e-01 -4.09648606e-03 2.67214892e-01] [ 1.45022037e-02 4.51422472e-03 9.99884647e-01 -1.57714127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.247719421 meters Centerline goodness [0,1] 0.7567987250475042 Centerline is valid? [False, False] Translation: X:32.58, Y:0.26, Z:-1.58 [[ 9.99522954e-01 2.73646321e-02 -1.43192622e-02 3.25791954e+01] [-2.74315617e-02 9.99613561e-01 -4.49871248e-03 2.60912022e-01] [ 1.41906231e-02 4.88936611e-03 9.99887354e-01 -1.57839749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.277719421 meters Centerline goodness [0,1] 0.7552991627527057 Centerline is valid? [False, False] Translation: X:32.58, Y:0.26, Z:-1.58 [[ 9.99587109e-01 2.49696848e-02 -1.42171315e-02 3.25793479e+01] [-2.50648817e-02 9.99664319e-01 -6.55755940e-03 2.57738919e-01] [ 1.40486189e-02 6.91120256e-03 9.99877428e-01 -1.57900170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.307719421 meters Centerline goodness [0,1] 0.7692512057549252 Centerline is valid? [False, False] Translation: X:32.58, Y:0.25, Z:-1.58 [[ 9.99658631e-01 2.19113113e-02 -1.42308160e-02 3.25797178e+01] [-2.20222940e-02 9.99727909e-01 -7.68943073e-03 2.48158932e-01] [ 1.40584584e-02 8.00020100e-03 9.99869170e-01 -1.57946928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.337719421 meters Centerline goodness [0,1] 0.8259272111204099 Centerline is valid? [False, False] Translation: X:32.58, Y:0.24, Z:-1.58 [[ 9.99781736e-01 1.51178153e-02 -1.44198580e-02 3.25796858e+01] [-1.52918812e-02 9.99810600e-01 -1.20383670e-02 2.38980261e-01] [ 1.42351331e-02 1.22562462e-02 9.99823557e-01 -1.57887973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.367719421 meters Centerline goodness [0,1] 0.8611020207804958 Centerline is valid? [False, False] Translation: X:32.58, Y:0.23, Z:-1.58 [[ 9.99827836e-01 1.13672993e-02 -1.46657002e-02 3.25800675e+01] [-1.15822627e-02 9.99825499e-01 -1.46568445e-02 2.34770812e-01] [ 1.44965322e-02 1.48241831e-02 9.99785024e-01 -1.57883367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.397719421 meters Centerline goodness [0,1] 0.8365565459154469 Centerline is valid? [False, False] Translation: X:32.58, Y:0.23, Z:-1.58 [[ 9.99860801e-01 7.57087489e-03 -1.48681177e-02 3.25801121e+01] [-7.82801520e-03 9.99819468e-01 -1.73133850e-02 2.30734107e-01] [ 1.47343561e-02 1.74273628e-02 9.99739559e-01 -1.57844737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.427719421 meters Centerline goodness [0,1] 0.9326285282772415 Centerline is valid? [False, False] Translation: X:32.58, Y:0.22, Z:-1.57 [[ 9.99906685e-01 -9.03250518e-04 -1.36310127e-02 3.25775580e+01] [ 6.27874687e-04 9.99795905e-01 -2.01929291e-02 2.20828011e-01] [ 1.36464699e-02 2.01824862e-02 9.99703177e-01 -1.57389168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.457719421 meters Centerline goodness [0,1] 0.9357316004970361 Centerline is valid? [False, False] Translation: X:32.58, Y:0.22, Z:-1.57 [[ 9.99893106e-01 -5.01143374e-03 -1.37354189e-02 3.25773569e+01] [ 4.69972175e-03 9.99732792e-01 -2.26331112e-02 2.15908061e-01] [ 1.38451730e-02 2.25661393e-02 9.99649479e-01 -1.57298507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.487719421 meters Centerline goodness [0,1] 0.9381097498619434 Centerline is valid? [False, False] Translation: X:32.57, Y:0.21, Z:-1.57 [[ 9.99837311e-01 -1.41039020e-02 -1.12441872e-02 3.25741616e+01] [ 1.37850924e-02 9.99514443e-01 -2.79436848e-02 2.09064207e-01] [ 1.16328425e-02 2.77841365e-02 9.99546256e-01 -1.57263278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51771942099998 meters Centerline goodness [0,1] 0.9391144288782084 Centerline is valid? [False, False] Translation: X:32.57, Y:0.21, Z:-1.57 [[ 9.99827475e-01 -1.47053996e-02 -1.13477686e-02 3.25745892e+01] [ 1.43906823e-02 9.99522761e-01 -2.73341930e-02 2.05896045e-01] [ 1.17443133e-02 2.71661750e-02 9.99561939e-01 -1.57254639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54771942099998 meters Centerline goodness [0,1] 0.9455608479669645 Centerline is valid? [False, False] Translation: X:32.57, Y:0.20, Z:-1.57 [[ 9.99820439e-01 -1.52175280e-02 -1.12923458e-02 3.25744405e+01] [ 1.49133774e-02 9.99536329e-01 -2.65465298e-02 2.02610223e-01] [ 1.16910824e-02 2.63733560e-02 9.99583796e-01 -1.57201370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57771942099998 meters Centerline goodness [0,1] 0.9454530568802832 Centerline is valid? [False, False] Translation: X:32.57, Y:0.20, Z:-1.57 [[ 9.99822929e-01 -1.48828934e-02 -1.15156841e-02 3.25746720e+01] [ 1.45797988e-02 9.99556370e-01 -2.59709936e-02 2.00848221e-01] [ 1.18970989e-02 2.57984986e-02 9.99596367e-01 -1.57177947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60771942099998 meters Centerline goodness [0,1] 0.9429530888465713 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99855271e-01 -1.20997980e-02 -1.19596130e-02 3.25765075e+01] [ 1.18275840e-02 9.99675172e-01 -2.25756055e-02 1.99227749e-01] [ 1.22288884e-02 2.24308848e-02 9.99673602e-01 -1.57279579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63771942099999 meters Centerline goodness [0,1] 0.9427086517884439 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99882499e-01 -9.07177905e-03 -1.23568555e-02 3.25787192e+01] [ 8.83172431e-03 9.99773864e-01 -1.93448105e-02 2.00215297e-01] [ 1.25295530e-02 1.92334051e-02 9.99736509e-01 -1.57452690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.667719421 meters Centerline goodness [0,1] 0.9415636177823199 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99904924e-01 -5.35222720e-03 -1.27081307e-02 3.25796532e+01] [ 5.15834749e-03 9.99870552e-01 -1.52404248e-02 1.99771110e-01] [ 1.27880559e-02 1.51734229e-02 9.99803097e-01 -1.57476821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.697719421 meters Centerline goodness [0,1] 0.9401768754723147 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99915070e-01 -1.32711663e-03 -1.29649994e-02 3.25800368e+01] [ 1.18323596e-03 9.99937704e-01 -1.10989972e-02 1.99692899e-01] [ 1.29789214e-02 1.10827139e-02 9.99854350e-01 -1.57455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.727719421 meters Centerline goodness [0,1] 0.9401768754723147 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99915070e-01 -1.32711663e-03 -1.29649994e-02 3.25800368e+01] [ 1.18323596e-03 9.99937704e-01 -1.10989972e-02 1.99692899e-01] [ 1.29789214e-02 1.10827139e-02 9.99854350e-01 -1.57455014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.757719421 meters Centerline goodness [0,1] 0.9418775510204082 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99909805e-01 2.69911772e-03 -1.31566008e-02 3.25800625e+01] [-2.78822145e-03 9.99973271e-01 -6.75891868e-03 1.98464496e-01] [ 1.31380060e-02 6.79499257e-03 9.99890604e-01 -1.57393830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.787719421 meters Centerline goodness [0,1] 0.9387717615364206 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99883122e-01 7.31578683e-03 -1.34246757e-02 3.25797892e+01] [-7.35399048e-03 9.99969043e-01 -2.79862301e-03 1.98885184e-01] [ 1.34037859e-02 2.89702085e-03 9.99905968e-01 -1.57301512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.817719421 meters Centerline goodness [0,1] 0.9370680842363525 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99826860e-01 1.26815445e-02 -1.36172023e-02 3.25803683e+01] [-1.26733847e-02 9.99919455e-01 6.85351960e-04 2.02955004e-01] [ 1.36247969e-02 -5.12657254e-04 9.99907047e-01 -1.57400856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.847719421 meters Centerline goodness [0,1] 0.9340547577397177 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99766617e-01 1.67961272e-02 -1.35868314e-02 3.25807974e+01] [-1.67435375e-02 9.99851915e-01 3.97518115e-03 2.05878882e-01] [ 1.36515870e-02 -3.74676179e-03 9.99899793e-01 -1.57461863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.877719421 meters Centerline goodness [0,1] 0.924974536565492 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99582548e-01 2.56793374e-02 -1.32401678e-02 3.25794368e+01] [-2.55237563e-02 9.99604703e-01 1.17887494e-02 2.09298033e-01] [ 1.35376613e-02 -1.14458894e-02 9.99842849e-01 -1.57348476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.907719421 meters Centerline goodness [0,1] 0.9137265316962553 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99571789e-01 2.61086895e-02 -1.32127103e-02 3.25788695e+01] [-2.59571713e-02 9.99596768e-01 1.15120586e-02 2.10970946e-01] [ 1.35079473e-02 -1.11641644e-02 9.99846437e-01 -1.57298501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.937719421 meters Centerline goodness [0,1] 0.9021313880511859 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99565116e-01 2.63327538e-02 -1.32726962e-02 3.25784278e+01] [-2.61811699e-02 9.99591432e-01 1.14679753e-02 2.11316776e-01] [ 1.35692568e-02 -1.11154934e-02 9.99846149e-01 -1.57232843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.967719421 meters Centerline goodness [0,1] 0.900734693877551 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99642056e-01 2.31474374e-02 -1.34147979e-02 3.25780345e+01] [-2.30525525e-02 9.99708434e-01 7.18515410e-03 2.12819470e-01] [ 1.35772045e-02 -6.87333688e-03 9.99884202e-01 -1.57216997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.997719421 meters Centerline goodness [0,1] 0.8782973011450304 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99659323e-01 2.22067212e-02 -1.37149356e-02 3.25802676e+01] [-2.21262592e-02 9.99737234e-01 5.99089896e-03 2.13833142e-01] [ 1.38443700e-02 -5.68539778e-03 9.99887999e-01 -1.57428539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.027719421 meters Centerline goodness [0,1] 0.9027183437258018 Centerline is valid? [False, False] Translation: X:32.58, Y:0.22, Z:-1.57 [[ 9.99722552e-01 1.91954253e-02 -1.36511946e-02 3.25800626e+01] [-1.91631428e-02 9.99813265e-01 2.49171263e-03 2.16201214e-01] [ 1.36964749e-02 -2.22942152e-03 9.99903713e-01 -1.57458297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.057719421 meters Centerline goodness [0,1] 0.8968304053091221 Centerline is valid? [False, False] Translation: X:32.58, Y:0.22, Z:-1.57 [[ 9.99783842e-01 1.60085673e-02 -1.32663276e-02 3.25792948e+01] [-1.60228724e-02 9.99871152e-01 -9.72707738e-04 2.17810773e-01] [ 1.32490467e-02 1.18506215e-03 9.99911525e-01 -1.57474772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.087719421 meters Centerline goodness [0,1] 0.9004219581303382 Centerline is valid? [False, False] Translation: X:32.58, Y:0.22, Z:-1.57 [[ 9.99829497e-01 1.30254109e-02 -1.30887496e-02 3.25781715e+01] [-1.30801355e-02 9.99906029e-01 -4.10416654e-03 2.17890098e-01] [ 1.30340612e-02 4.27466939e-03 9.99905916e-01 -1.57403768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.117719421 meters Centerline goodness [0,1] 0.9075225554742745 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99864188e-01 9.62623097e-03 -1.33768785e-02 3.25786516e+01] [-9.71629636e-03 9.99930454e-01 -6.68431484e-03 2.13178265e-01] [ 1.33116035e-02 6.81338075e-03 9.99888183e-01 -1.57400728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.147719421 meters Centerline goodness [0,1] 0.9171602467219476 Centerline is valid? [False, False] Translation: X:32.58, Y:0.21, Z:-1.57 [[ 9.99862406e-01 9.50055691e-03 -1.35980716e-02 3.25794096e+01] [-9.58360927e-03 9.99935740e-01 -6.05558113e-03 2.09672691e-01] [ 1.35396663e-02 6.18506653e-03 9.99889205e-01 -1.57422799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.177719421 meters Centerline goodness [0,1] 0.9259901292980381 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99861189e-01 9.38937059e-03 -1.37638062e-02 3.25804060e+01] [-9.45845607e-03 9.99942952e-01 -4.96288455e-03 2.04281914e-01] [ 1.37164226e-02 5.09238001e-03 9.99892958e-01 -1.57475726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.207719421 meters Centerline goodness [0,1] 0.9177105257780411 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99859626e-01 9.62498115e-03 -1.37145247e-02 3.25802509e+01] [-9.68318732e-03 9.99944363e-01 -4.18406070e-03 2.02488142e-01] [ 1.36734902e-02 4.31627368e-03 9.99897197e-01 -1.57457139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.237719421 meters Centerline goodness [0,1] 0.9257738277658596 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99854636e-01 1.04344573e-02 -1.34843816e-02 3.25793856e+01] [-1.04628347e-02 9.99943191e-01 -2.03562906e-03 1.97381340e-01] [ 1.34623748e-02 2.17641800e-03 9.99907010e-01 -1.57362018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26771942099998 meters Centerline goodness [0,1] 0.9241284891086681 Centerline is valid? [False, False] Translation: X:32.58, Y:0.20, Z:-1.57 [[ 9.99881929e-01 7.92702081e-03 -1.31639812e-02 3.25778610e+01] [-7.98566964e-03 9.99958395e-01 -4.40867810e-03 1.95168135e-01] [ 1.31284858e-02 4.51328077e-03 9.99903632e-01 -1.57263664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29771942099998 meters Centerline goodness [0,1] 0.9337791684561425 Centerline is valid? [False, False] Translation: X:32.58, Y:0.19, Z:-1.57 [[ 9.99874860e-01 8.68763498e-03 -1.32208123e-02 3.25772069e+01] [-8.72453419e-03 9.99958198e-01 -2.73588204e-03 1.89817528e-01] [ 1.31964913e-02 2.85088510e-03 9.99908858e-01 -1.57148659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32771942099998 meters Centerline goodness [0,1] 0.9332705419848891 Centerline is valid? [False, False] Translation: X:32.58, Y:0.19, Z:-1.57 [[ 9.99872005e-01 9.18518941e-03 -1.30998435e-02 3.25766656e+01] [-9.21281453e-03 9.99955460e-01 -2.05002751e-03 1.87885127e-01] [ 1.30804301e-02 2.17045155e-03 9.99912092e-01 -1.57107078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35771942099998 meters Centerline goodness [0,1] 0.9295257249574158 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99867209e-01 9.94515273e-03 -1.29096524e-02 3.25769784e+01] [-9.96129234e-03 9.99949681e-01 -1.18649688e-03 1.84638736e-01] [ 1.28972029e-02 1.31493615e-03 9.99915963e-01 -1.57196971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38771942099999 meters Centerline goodness [0,1] 0.9164836518133864 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99821653e-01 1.36044696e-02 -1.30988975e-02 3.25795182e+01] [-1.35745209e-02 9.99905047e-01 2.37256130e-03 1.83736654e-01] [ 1.31299311e-02 -2.19432691e-03 9.99911391e-01 -1.57463211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.417719421 meters Centerline goodness [0,1] 0.8607342951546371 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99816519e-01 1.39948110e-02 -1.30794725e-02 3.25795119e+01] [-1.39627810e-02 9.99899297e-01 2.53699634e-03 1.83698418e-01] [ 1.31136602e-02 -2.35390504e-03 9.99911242e-01 -1.57471499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.447719421 meters Centerline goodness [0,1] 0.8339161911773728 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99798671e-01 1.51027047e-02 -1.32108390e-02 3.25791872e+01] [-1.50569937e-02 9.99880325e-01 3.55276399e-03 1.81469025e-01] [ 1.32629144e-02 -3.35313319e-03 9.99906421e-01 -1.57407735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.477719421 meters Centerline goodness [0,1] 0.8351889442496565 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99837209e-01 1.26081384e-02 -1.29070228e-02 3.25781444e+01] [-1.26042772e-02 9.99920491e-01 3.80463224e-04 1.81751868e-01] [ 1.29107935e-02 -2.17717595e-04 9.99916629e-01 -1.57395122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.507719421 meters Centerline goodness [0,1] 0.8172372888288951 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99833745e-01 1.30380243e-02 -1.27472328e-02 3.25778193e+01] [-1.30231407e-02 9.99914414e-01 1.24991052e-03 1.79113081e-01] [ 1.27624382e-02 -1.08369371e-03 9.99917970e-01 -1.57384564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.537719421 meters Centerline goodness [0,1] 0.893612651468474 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99871202e-01 1.04043687e-02 -1.22199774e-02 3.25759903e+01] [-1.04240627e-02 9.99944468e-01 -1.54904036e-03 1.78605294e-01] [ 1.22031820e-02 1.67622266e-03 9.99924133e-01 -1.57305651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.567719421 meters Centerline goodness [0,1] 0.8544654062172115 Centerline is valid? [False, False] Translation: X:32.58, Y:0.18, Z:-1.57 [[ 9.99871944e-01 9.88591283e-03 -1.25843092e-02 3.25773503e+01] [-9.90723226e-03 9.99949589e-01 -1.63291465e-03 1.76275398e-01] [ 1.25675320e-02 1.75738122e-03 9.99919481e-01 -1.57379276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.597719421 meters Centerline goodness [0,1] 0.8601748331232305 Centerline is valid? [False, False] Translation: X:32.58, Y:0.17, Z:-1.58 [[ 9.99897426e-01 7.26287345e-03 -1.23445707e-02 3.25788402e+01] [-7.30874431e-03 9.99966538e-01 -3.67483055e-03 1.71877411e-01] [ 1.23174678e-02 3.76467692e-03 9.99917050e-01 -1.57596144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.627719421 meters Centerline goodness [0,1] 0.8830171447548674 Centerline is valid? [False, False] Translation: X:32.58, Y:0.17, Z:-1.58 [[ 9.99894451e-01 7.31533906e-03 -1.25527982e-02 3.25805696e+01] [-7.35376806e-03 9.99968406e-01 -3.01796756e-03 1.67780081e-01] [ 1.25303242e-02 3.10995938e-03 9.99916656e-01 -1.57749949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.657719421 meters Centerline goodness [0,1] 0.8607339220259913 Centerline is valid? [False, False] Translation: X:32.58, Y:0.17, Z:-1.58 [[ 9.99890903e-01 7.73398894e-03 -1.25844428e-02 3.25804021e+01] [-7.76249184e-03 9.99967412e-01 -2.21766417e-03 1.65377570e-01] [ 1.25668813e-02 2.31510886e-03 9.99918354e-01 -1.57714045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.687719421 meters Centerline goodness [0,1] 0.8146502954364497 Centerline is valid? [False, False] Translation: X:32.58, Y:0.16, Z:-1.58 [[ 9.99977018e-01 6.74154577e-03 7.17017121e-04 3.25822407e+01] [-6.73856919e-03 9.99968990e-01 -4.07574623e-03 1.61069289e-01] [-7.44471716e-04 4.07082090e-03 9.99991437e-01 -1.58074882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.717719421 meters Centerline goodness [0,1] 0.8773459154095169 Centerline is valid? [False, False] Translation: X:32.58, Y:0.16, Z:-1.58 [[ 9.99991694e-01 3.96123848e-03 9.59036117e-04 3.25812563e+01] [-3.95454060e-03 9.99968458e-01 -6.88794016e-03 1.59633186e-01] [-9.86290641e-04 6.88409040e-03 9.99975818e-01 -1.58028751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.747719421 meters Centerline goodness [0,1] 0.8540537092555973 Centerline is valid? [False, False] Translation: X:32.58, Y:0.15, Z:-1.58 [[ 9.99998634e-01 9.91808048e-04 1.32234297e-03 3.25807000e+01] [-9.80049220e-04 9.99960237e-01 -8.86360789e-03 1.54732499e-01] [-1.33108139e-03 8.86229982e-03 9.99959843e-01 -1.58027974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.777719421 meters Centerline goodness [0,1] 0.9102030248764806 Centerline is valid? [False, False] Translation: X:32.58, Y:0.15, Z:-1.58 [[ 9.99995506e-01 -2.59795726e-03 1.49612391e-03 3.25814450e+01] [ 2.61485084e-03 9.99931570e-01 -1.14025415e-02 1.49601839e-01] [-1.46639822e-03 1.14064024e-02 9.99933870e-01 -1.58135398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.807719421 meters Centerline goodness [0,1] 0.8765763813651137 Centerline is valid? [False, False] Translation: X:32.58, Y:0.15, Z:-1.58 [[ 9.99994907e-01 -2.97547401e-03 1.15404247e-03 3.25830763e+01] [ 2.98806673e-03 9.99934282e-01 -1.10680850e-02 1.46911870e-01] [-1.12103383e-03 1.10714770e-02 9.99938081e-01 -1.58242035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.837719421 meters Centerline goodness [0,1] 0.8960638805711062 Centerline is valid? [False, False] Translation: X:32.58, Y:0.14, Z:-1.58 [[ 9.99995358e-01 -2.90966198e-03 9.03890727e-04 3.25839784e+01] [ 2.91882209e-03 9.99942655e-01 -1.03037005e-02 1.44194061e-01] [-8.73858609e-04 1.03062909e-02 9.99946507e-01 -1.58280914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.867719421 meters Centerline goodness [0,1] 0.9226472321019442 Centerline is valid? [False, False] Translation: X:32.59, Y:0.14, Z:-1.58 [[ 9.99995040e-01 -3.09698410e-03 5.73261716e-04 3.25853927e+01] [ 3.10219829e-03 9.99951663e-01 -9.32994512e-03 1.38679017e-01] [-5.44339315e-04 9.33167722e-03 9.99956311e-01 -1.58341462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.897719421 meters Centerline goodness [0,1] 0.889954568399798 Centerline is valid? [False, False] Translation: X:32.59, Y:0.13, Z:-1.58 [[ 9.99996469e-01 -2.64181014e-03 2.87541399e-04 3.25861543e+01] [ 2.64398671e-03 9.99965673e-01 -7.85251372e-03 1.33477650e-01] [-2.66786678e-04 7.85324625e-03 9.99969127e-01 -1.58341995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.927719421 meters Centerline goodness [0,1] 0.9127583029877594 Centerline is valid? [False, False] Translation: X:32.59, Y:0.13, Z:-1.58 [[ 9.99997172e-01 -2.36510510e-03 2.49596897e-04 3.25864304e+01] [ 2.36685060e-03 9.99970979e-01 -7.24146618e-03 1.31924698e-01] [-2.32462825e-04 7.24203646e-03 9.99973749e-01 -1.58363207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.957719421 meters Centerline goodness [0,1] 0.900698931821179 Centerline is valid? [False, False] Translation: X:32.59, Y:0.13, Z:-1.58 [[ 9.99998523e-01 -1.70009897e-03 2.52003564e-04 3.25862866e+01] [ 1.70161907e-03 9.99979580e-01 -6.15981430e-03 1.29776835e-01] [-2.41526124e-04 6.16023401e-03 9.99980996e-01 -1.58337543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.987719421 meters Centerline goodness [0,1] 0.881714298247538 Centerline is valid? [False, False] Translation: X:32.59, Y:0.13, Z:-1.58 [[ 9.99999058e-01 -1.36472597e-03 1.47441638e-04 3.25866199e+01] [ 1.36552394e-03 9.99983640e-01 -5.55481606e-03 1.28049665e-01] [-1.39858424e-04 5.55501216e-03 9.99984561e-01 -1.58348842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01771942099998 meters Centerline goodness [0,1] 0.8815815616928273 Centerline is valid? [False, False] Translation: X:32.59, Y:0.13, Z:-1.58 [[ 9.99999583e-01 -9.10159281e-04 -7.20500075e-05 3.25868906e+01] [ 9.09814840e-04 9.99988801e-01 -4.64438172e-03 1.25460951e-01] [ 7.62763277e-05 4.64431423e-03 9.99989212e-01 -1.58324679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04771942099998 meters Centerline goodness [0,1] 0.8748725225025495 Centerline is valid? [False, False] Translation: X:32.59, Y:0.12, Z:-1.58 [[ 9.99999397e-01 -1.04241316e-03 -3.44612046e-04 3.25883859e+01] [ 1.04104666e-03 9.99991688e-01 -3.94201863e-03 1.20851871e-01] [ 3.48718394e-04 3.94165750e-03 9.99992171e-01 -1.58422302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07771942099998 meters Centerline goodness [0,1] 0.8869916521583858 Centerline is valid? [False, False] Translation: X:32.59, Y:0.12, Z:-1.58 [[ 9.99998588e-01 -1.56117778e-03 -6.21190435e-04 3.25898574e+01] [ 1.55916530e-03 9.99993577e-01 -3.22711706e-03 1.15237991e-01] [ 6.26224549e-04 3.22614397e-03 9.99994600e-01 -1.58497151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10771942099998 meters Centerline goodness [0,1] 0.8995813089134183 Centerline is valid? [False, False] Translation: X:32.59, Y:0.11, Z:-1.58 [[ 9.99997619e-01 -1.89569476e-03 -1.08069044e-03 3.25908934e+01] [ 1.89286654e-03 9.99994797e-01 -2.61209018e-03 1.11975872e-01] [ 1.08563654e-03 2.61003836e-03 9.99996005e-01 -1.58481652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13771942099999 meters Centerline goodness [0,1] 0.9251504428767834 Centerline is valid? [False, False] Translation: X:32.59, Y:0.11, Z:-1.58 [[ 9.99982812e-01 -5.74256243e-03 -1.18232667e-03 3.25904464e+01] [ 5.73684542e-03 9.99972104e-01 -4.78329423e-03 1.06882415e-01] [ 1.20976206e-03 4.77642919e-03 9.99987861e-01 -1.58319720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.167719421 meters Centerline goodness [0,1] 0.9403849198272157 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99977039e-01 -6.57752047e-03 -1.63010513e-03 3.25918346e+01] [ 6.57033819e-03 9.99968854e-01 -4.37289489e-03 1.03450491e-01] [ 1.65881717e-03 4.36208414e-03 9.99989110e-01 -1.58327332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.197719421 meters Centerline goodness [0,1] 0.9403712561211707 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99895202e-01 -1.44033143e-02 -1.45898573e-03 3.25917659e+01] [ 1.43859549e-02 9.99832870e-01 -1.12816557e-02 9.93915489e-02] [ 1.62123512e-03 1.12594846e-02 9.99935296e-01 -1.58314616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.227719421 meters Centerline goodness [0,1] 0.9458140493974247 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99885777e-01 -1.50242296e-02 -1.64497258e-03 3.25922572e+01] [ 1.50062203e-02 9.99832668e-01 -1.04617664e-02 9.57289898e-02] [ 1.80187730e-03 1.04358866e-02 9.99943921e-01 -1.58252685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.257719421 meters Centerline goodness [0,1] 0.9447240800753867 Centerline is valid? [False, False] Translation: X:32.59, Y:0.09, Z:-1.58 [[ 9.99849416e-01 -1.72740013e-02 -1.65953001e-03 3.25941204e+01] [ 1.72546081e-02 9.99789903e-01 -1.10647433e-02 9.30033934e-02] [ 1.85031374e-03 1.10344426e-02 9.99937407e-01 -1.58367244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.287719421 meters Centerline goodness [0,1] 0.9455630811617495 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.58 [[ 9.99839597e-01 -1.77925982e-02 -2.05053070e-03 3.25955818e+01] [ 1.77689289e-02 9.99781226e-01 -1.10346892e-02 9.21167651e-02] [ 2.24641789e-03 1.09964834e-02 9.99937013e-01 -1.58434573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.317719421 meters Centerline goodness [0,1] 0.9434205379535676 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.58 [[ 9.99896420e-01 -1.41445050e-02 -2.66126944e-03 3.25967526e+01] [ 1.41265103e-02 9.99878014e-01 -6.66317343e-03 9.05260200e-02] [ 2.75519209e-03 6.62488881e-03 9.99974260e-01 -1.58411469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.347719421 meters Centerline goodness [0,1] 0.9421741422383167 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.58 [[ 9.99943903e-01 -1.01000705e-02 -3.19066868e-03 3.25974223e+01] [ 1.00929087e-02 9.99946528e-01 -2.25279194e-03 8.95545036e-02] [ 3.21325143e-03 2.22046243e-03 9.99992372e-01 -1.58354221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.377719421 meters Centerline goodness [0,1] 0.944137395514548 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.58 [[ 9.99984602e-01 -4.60389662e-03 -3.09838373e-03 3.25954094e+01] [ 4.61123745e-03 9.99986569e-01 2.36628560e-03 8.98055830e-02] [ 3.08744798e-03 -2.38053654e-03 9.99992400e-01 -1.58170714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.407719421 meters Centerline goodness [0,1] 0.9399206240591214 Centerline is valid? [False, False] Translation: X:32.59, Y:0.09, Z:-1.58 [[ 9.99991834e-01 -3.11610469e-03 -2.57329148e-03 3.25932859e+01] [ 3.12347488e-03 9.99991018e-01 2.86507595e-03 9.13002524e-02] [ 2.56434049e-03 -2.87309017e-03 9.99992585e-01 -1.58084771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.437719421 meters Centerline goodness [0,1] 0.9359744351018743 Centerline is valid? [False, False] Translation: X:32.59, Y:0.09, Z:-1.58 [[ 9.99994969e-01 1.83464578e-03 -2.58783381e-03 3.25929235e+01] [-1.81745264e-03 9.99976366e-01 6.63061147e-03 9.40166459e-02] [ 2.59993747e-03 -6.62587484e-03 9.99974669e-01 -1.58101602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.467719421 meters Centerline goodness [0,1] 0.9200904977375566 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99978114e-01 6.11075894e-03 -2.53591810e-03 3.25936440e+01] [-6.08454302e-03 9.99929263e-01 1.02199022e-02 9.53941253e-02] [ 2.59819008e-03 -1.02042486e-02 9.99944560e-01 -1.58231383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.497719421 meters Centerline goodness [0,1] 0.9194673430564363 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99978001e-01 6.12500431e-03 -2.54597935e-03 3.25943139e+01] [-6.09999824e-03 9.99934191e-01 9.71617465e-03 9.62547131e-02] [ 2.60532342e-03 -9.70043043e-03 9.99949556e-01 -1.58338126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.527719421 meters Centerline goodness [0,1] 0.8827931871272084 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99991589e-01 3.27373307e-03 -2.47055831e-03 3.25941151e+01] [-3.25918382e-03 9.99977459e-01 5.87027623e-03 9.66418092e-02] [ 2.48972034e-03 -5.86217485e-03 9.99979718e-01 -1.58406599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.557719421 meters Centerline goodness [0,1] 0.8722104928602239 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99991157e-01 3.16087524e-03 -2.77403122e-03 3.25947661e+01] [-3.14436080e-03 9.99977429e-01 5.93753314e-03 9.53150788e-02] [ 2.79273641e-03 -5.92875808e-03 9.99978525e-01 -1.58409595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.587719421 meters Centerline goodness [0,1] 0.9059472520458638 Centerline is valid? [False, False] Translation: X:32.59, Y:0.10, Z:-1.58 [[ 9.99996423e-01 -3.14303328e-04 -2.65598964e-03 3.25943743e+01] [ 3.20120851e-04 9.99997550e-01 2.19019980e-03 9.50195172e-02] [ 2.65529475e-03 -2.19104220e-03 9.99994074e-01 -1.58413774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.617719421 meters Centerline goodness [0,1] 0.9068598327315937 Centerline is valid? [False, False] Translation: X:32.59, Y:0.09, Z:-1.58 [[ 9.99996258e-01 -6.21075345e-04 -2.66420214e-03 3.25948804e+01] [ 6.26396595e-04 9.99997810e-01 1.99694545e-03 9.48047197e-02] [ 2.66295605e-03 -1.99860683e-03 9.99994457e-01 -1.58470877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.647719421 meters Centerline goodness [0,1] 0.9148181214660165 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99994383e-01 -1.49012742e-03 -3.00213410e-03 3.25966900e+01] [ 1.49558604e-03 9.99997231e-01 1.81682283e-03 9.30817318e-02] [ 2.99941849e-03 -1.82130257e-03 9.99993843e-01 -1.58581603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.677719421 meters Centerline goodness [0,1] 0.9148181214660165 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99994383e-01 -1.49012742e-03 -3.00213410e-03 3.25966900e+01] [ 1.49558604e-03 9.99997231e-01 1.81682283e-03 9.30817318e-02] [ 2.99941849e-03 -1.82130257e-03 9.99993843e-01 -1.58581603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.707719421 meters Centerline goodness [0,1] 0.9109875465281927 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99993237e-01 -1.77922845e-03 -3.21881182e-03 3.25979743e+01] [ 1.78564134e-03 9.99996425e-01 1.99054316e-03 8.99476761e-02] [ 3.21525868e-03 -1.99627734e-03 9.99992838e-01 -1.58672912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.737719421 meters Centerline goodness [0,1] 0.9059056751648149 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99991860e-01 -2.04048141e-03 -3.48081381e-03 3.25992441e+01] [ 2.04685549e-03 9.99996233e-01 1.82862529e-03 8.86556033e-02] [ 3.47706943e-03 -1.83573513e-03 9.99992270e-01 -1.58765705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76771942099998 meters Centerline goodness [0,1] 0.91738939383427 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99992977e-01 -1.71141984e-03 -3.33419833e-03 3.25994225e+01] [ 1.71914218e-03 9.99995844e-01 2.31461359e-03 8.67453357e-02] [ 3.33022320e-03 -2.32032929e-03 9.99991763e-01 -1.58819388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79771942099998 meters Centerline goodness [0,1] 0.9239306733398212 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99992975e-01 -1.71639430e-03 -3.33217032e-03 3.25998069e+01] [ 1.72342059e-03 9.99996295e-01 2.10689734e-03 8.69283760e-02] [ 3.32854171e-03 -2.11262527e-03 9.99992229e-01 -1.58878416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82771942099998 meters Centerline goodness [0,1] 0.8951128167190678 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99994367e-01 -1.26200089e-03 -3.11033324e-03 3.25995513e+01] [ 1.26816730e-03 9.99997233e-01 1.98138352e-03 8.77169728e-02] [ 3.10782412e-03 -1.98531678e-03 9.99993200e-01 -1.58932850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85771942099998 meters Centerline goodness [0,1] 0.8492630897017653 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99994498e-01 -1.15536813e-03 -3.10946052e-03 3.25996511e+01] [ 1.16097388e-03 9.99997703e-01 1.80160241e-03 8.79440382e-02] [ 3.10737186e-03 -1.80520251e-03 9.99993543e-01 -1.58960413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88771942099999 meters Centerline goodness [0,1] 0.8567323956716175 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99995140e-01 -7.51867103e-04 -3.02555108e-03 3.25991578e+01] [ 7.58283228e-04 9.99997465e-01 2.12005879e-03 8.68747212e-02] [ 3.02394941e-03 -2.12234271e-03 9.99993176e-01 -1.58923997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.917719421 meters Centerline goodness [0,1] 0.8486623433977175 Centerline is valid? [False, False] Translation: X:32.60, Y:0.09, Z:-1.59 [[ 9.99994648e-01 -6.95627571e-04 -3.19698764e-03 3.25993621e+01] [ 7.03009280e-04 9.99997088e-01 2.30841431e-03 8.57736154e-02] [ 3.19537254e-03 -2.31064947e-03 9.99992225e-01 -1.58903514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.947719421 meters Centerline goodness [0,1] 0.8893631910426872 Centerline is valid? [False, False] Translation: X:32.60, Y:0.08, Z:-1.59 [[ 9.99992748e-01 -1.25296598e-03 -3.59637998e-03 3.26007677e+01] [ 1.26119552e-03 9.99996590e-01 2.28692985e-03 8.36876852e-02] [ 3.59350227e-03 -2.29144901e-03 9.99990918e-01 -1.58957785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.977719421 meters Centerline goodness [0,1] 0.8714502746289587 Centerline is valid? [False, False] Translation: X:32.60, Y:0.08, Z:-1.59 [[ 9.99990808e-01 -1.81183029e-03 -3.88599839e-03 3.26024128e+01] [ 1.81908459e-03 9.99996608e-01 1.86405830e-03 8.31200926e-02] [ 3.88260786e-03 -1.87111012e-03 9.99990712e-01 -1.59088773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.007719421 meters Centerline goodness [0,1] 0.8739774330042314 Centerline is valid? [False, False] Translation: X:32.61, Y:0.08, Z:-1.59 [[ 9.99986690e-01 -2.86981106e-03 -4.28758008e-03 3.26050384e+01] [ 2.87607641e-03 9.99994804e-01 1.45582904e-03 8.07812049e-02] [ 4.28337984e-03 -1.46814108e-03 9.99989749e-01 -1.59289828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.037719421 meters Centerline goodness [0,1] 0.8756304501531935 Centerline is valid? [False, False] Translation: X:32.61, Y:0.08, Z:-1.59 [[ 9.99984684e-01 -3.12056768e-03 -4.57092173e-03 3.26063038e+01] [ 3.12765761e-03 9.99993916e-01 1.54476966e-03 7.86880658e-02] [ 4.56607337e-03 -1.55904228e-03 9.99988360e-01 -1.59367778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.067719421 meters Centerline goodness [0,1] 0.9086800132519286 Centerline is valid? [False, False] Translation: X:32.61, Y:0.08, Z:-1.59 [[ 9.99983757e-01 -3.36974992e-03 -4.59676694e-03 3.26072010e+01] [ 3.37855157e-03 9.99992472e-01 1.90832793e-03 7.51726721e-02] [ 4.59030174e-03 -1.92382735e-03 9.99987614e-01 -1.59445831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.097719421 meters Centerline goodness [0,1] 0.8958772907233115 Centerline is valid? [False, False] Translation: X:32.61, Y:0.07, Z:-1.59 [[ 9.99982678e-01 -3.51963833e-03 -4.71756147e-03 3.26079430e+01] [ 3.52995087e-03 9.99991395e-01 2.17945004e-03 7.29886533e-02] [ 4.70985000e-03 -2.19606505e-03 9.99986497e-01 -1.59492484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.127719421 meters Centerline goodness [0,1] 0.8859453562280618 Centerline is valid? [False, False] Translation: X:32.61, Y:0.07, Z:-1.60 [[ 9.99982446e-01 -3.46279139e-03 -4.80797405e-03 3.26082970e+01] [ 3.47436735e-03 9.99991081e-01 2.40139745e-03 7.16803028e-02] [ 4.79961563e-03 -2.41805996e-03 9.99985558e-01 -1.59510268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.157719421 meters Centerline goodness [0,1] 0.8503511486727771 Centerline is valid? [False, False] Translation: X:32.61, Y:0.07, Z:-1.59 [[ 9.99984050e-01 -3.06959726e-03 -4.74104061e-03 3.26077118e+01] [ 3.08314157e-03 9.99991180e-01 2.85215879e-03 7.06294186e-02] [ 4.73224382e-03 -2.86673059e-03 9.99984694e-01 -1.59456874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.187719421 meters Centerline goodness [0,1] 0.8639118194398053 Centerline is valid? [False, False] Translation: X:32.61, Y:0.07, Z:-1.59 [[ 9.99987246e-01 -2.41600213e-03 -4.43515298e-03 3.26067175e+01] [ 2.43146268e-03 9.99990975e-01 3.48383619e-03 6.87725877e-02] [ 4.42669600e-03 -3.49457566e-03 9.99984096e-01 -1.59412712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.217719421 meters Centerline goodness [0,1] 0.840357568533969 Centerline is valid? [False, False] Translation: X:32.61, Y:0.07, Z:-1.59 [[ 9.99988506e-01 -1.93793851e-03 -4.38544343e-03 3.26068471e+01] [ 1.95479464e-03 9.99990706e-01 3.84263760e-03 6.75990685e-02] [ 4.37795588e-03 -3.85116607e-03 9.99983001e-01 -1.59454124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.247719421 meters Centerline goodness [0,1] 0.8729355928953235 Centerline is valid? [False, False] Translation: X:32.61, Y:0.07, Z:-1.59 [[ 9.99989198e-01 -1.53866593e-03 -4.38600735e-03 3.26064421e+01] [ 1.55757652e-03 9.99989493e-01 4.31142174e-03 6.64964671e-02] [ 4.37932743e-03 -4.31820671e-03 9.99981087e-01 -1.59406864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.277719421 meters Centerline goodness [0,1] 0.8238984639792313 Centerline is valid? [False, False] Translation: X:32.61, Y:0.06, Z:-1.59 [[ 9.99989556e-01 -1.17397542e-03 -4.41702312e-03 3.26062608e+01] [ 1.19687365e-03 9.99985841e-01 5.18501945e-03 6.28782877e-02] [ 4.41087349e-03 -5.19025192e-03 9.99976802e-01 -1.59359147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.307719421 meters Centerline goodness [0,1] 0.8645689508998862 Centerline is valid? [False, False] Translation: X:32.61, Y:0.06, Z:-1.59 [[ 9.99988078e-01 -1.46714568e-03 -4.65732629e-03 3.26074337e+01] [ 1.49136350e-03 9.99985364e-01 5.20073447e-03 6.10969358e-02] [ 4.64962789e-03 -5.20761823e-03 9.99975631e-01 -1.59436578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.337719421 meters Centerline goodness [0,1] 0.8587448833773342 Centerline is valid? [False, False] Translation: X:32.61, Y:0.06, Z:-1.60 [[ 9.99985396e-01 -2.10154645e-03 -4.97902855e-03 3.26093815e+01] [ 2.12569898e-03 9.99985977e-01 4.85053498e-03 5.95997523e-02] [ 4.96876511e-03 -4.86104806e-03 9.99975841e-01 -1.59595104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.367719421 meters Centerline goodness [0,1] 0.8807044857448671 Centerline is valid? [False, False] Translation: X:32.61, Y:0.06, Z:-1.60 [[ 9.99974750e-01 -5.17836824e-03 -4.86670482e-03 3.26121603e+01] [ 5.19139174e-03 9.99982968e-01 2.66722857e-03 5.61584454e-02] [ 4.85281004e-03 -2.69242619e-03 9.99984600e-01 -1.59888575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.397719421 meters Centerline goodness [0,1] 0.9165458076251813 Centerline is valid? [False, False] Translation: X:32.61, Y:0.05, Z:-1.60 [[ 9.99939831e-01 -9.70121582e-03 -5.12064712e-03 3.26138548e+01] [ 9.69736768e-03 9.99952678e-01 -7.75790769e-04 5.15387956e-02] [ 5.12793092e-03 7.26087292e-04 9.99986588e-01 -1.59985187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.427719421 meters Centerline goodness [0,1] 0.9278668310727497 Centerline is valid? [False, False] Translation: X:32.62, Y:0.05, Z:-1.60 [[ 9.99931500e-01 -1.02447029e-02 -5.66045316e-03 3.26154422e+01] [ 1.02430417e-02 9.99947487e-01 -3.22382665e-04 4.83175942e-02] [ 5.66345863e-03 2.64380324e-04 9.99983928e-01 -1.59998952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.457719421 meters Centerline goodness [0,1] 0.9383032140992816 Centerline is valid? [False, False] Translation: X:32.62, Y:0.04, Z:-1.60 [[ 9.99916935e-01 -1.14027036e-02 -6.00836633e-03 3.26178534e+01] [ 1.14012149e-02 9.99934964e-01 -2.81953652e-04 4.41011115e-02] [ 6.01119060e-03 2.13427555e-04 9.99981910e-01 -1.60140626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.487719421 meters Centerline goodness [0,1] 0.9415067501809198 Centerline is valid? [False, False] Translation: X:32.62, Y:0.04, Z:-1.60 [[ 9.99916617e-01 -1.12773296e-02 -6.29126405e-03 3.26183767e+01] [ 1.12798277e-02 9.99936315e-01 3.61732091e-04 4.18279791e-02] [ 6.28678402e-03 -4.32666303e-04 9.99980144e-01 -1.60119439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51771942099998 meters Centerline goodness [0,1] 0.9394511106080045 Centerline is valid? [False, False] Translation: X:32.62, Y:0.04, Z:-1.60 [[ 9.99918499e-01 -1.10086946e-02 -6.46558157e-03 3.26187193e+01] [ 1.10178787e-02 9.99938340e-01 1.38657331e-03 3.80718537e-02] [ 6.44991854e-03 -1.45769730e-03 9.99978137e-01 -1.60088334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54771942099998 meters Centerline goodness [0,1] 0.9403798138760687 Centerline is valid? [False, False] Translation: X:32.62, Y:0.04, Z:-1.60 [[ 9.99924646e-01 -1.04145477e-02 -6.49924397e-03 3.26184436e+01] [ 1.04295398e-02 9.99943018e-01 2.27713167e-03 3.58172772e-02] [ 6.47515834e-03 -2.34474420e-03 9.99976287e-01 -1.60042485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57771942099998 meters Centerline goodness [0,1] 0.9378170347003154 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99932392e-01 -9.64531381e-03 -6.49456509e-03 3.26187307e+01] [ 9.66670098e-03 9.99947930e-01 3.26978846e-03 3.21083141e-02] [ 6.46268878e-03 -3.33234841e-03 9.99973564e-01 -1.60087463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60771942099998 meters Centerline goodness [0,1] 0.9197821867043134 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99943736e-01 -8.57667794e-03 -6.24225019e-03 3.26185440e+01] [ 8.60191433e-03 9.99954893e-01 4.02727886e-03 3.05903149e-02] [ 6.20742794e-03 -4.08074757e-03 9.99972407e-01 -1.60168160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63771942099999 meters Centerline goodness [0,1] 0.9117877052695306 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99950929e-01 -7.97215272e-03 -5.88077552e-03 3.26177436e+01] [ 7.99686881e-03 9.99959240e-01 4.19139008e-03 3.07483284e-02] [ 5.84712142e-03 -4.23821219e-03 9.99973924e-01 -1.60189660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.667719421 meters Centerline goodness [0,1] 0.8821280342095335 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.61 [[ 9.99996836e-01 -2.43255962e-03 6.40930531e-04 3.26231233e+01] [ 2.43506579e-03 9.99989278e-01 -3.93888173e-03 3.07711716e-02] [-6.31342094e-04 3.94042997e-03 9.99992037e-01 -1.60537280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.697719421 meters Centerline goodness [0,1] 0.8500868951968366 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99998592e-01 -1.59596149e-03 5.17708592e-04 3.26221195e+01] [ 1.59759178e-03 9.99993718e-01 -3.16408171e-03 2.97590028e-02] [-5.12655588e-04 3.16490434e-03 9.99994860e-01 -1.60391211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.727719421 meters Centerline goodness [0,1] 0.7998530938932651 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99999425e-01 5.47420151e-04 9.22302412e-04 3.26190051e+01] [-5.45906987e-04 9.99998506e-01 -1.64009119e-03 2.75352011e-02] [-9.23198853e-04 1.63958675e-03 9.99998230e-01 -1.60170840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.757719421 meters Centerline goodness [0,1] 0.796562112351586 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99999500e-01 6.02150735e-04 7.98528035e-04 3.26195470e+01] [-6.00791252e-04 9.99998372e-01 -1.70163378e-03 2.75549414e-02] [-7.99551375e-04 1.70115318e-03 9.99998233e-01 -1.60221491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.787719421 meters Centerline goodness [0,1] 0.7886321017687903 Centerline is valid? [False, False] Translation: X:32.62, Y:0.03, Z:-1.60 [[ 9.99999411e-01 5.78767756e-04 9.18567918e-04 3.26207425e+01] [-5.77167189e-04 9.99998317e-01 -1.74176934e-03 2.65532222e-02] [-9.19574451e-04 1.74123815e-03 9.99998061e-01 -1.60415421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.817719421 meters Centerline goodness [0,1] 0.7856508162177258 Centerline is valid? [False, False] Translation: X:32.62, Y:0.02, Z:-1.61 [[ 9.99999868e-01 1.83055487e-04 4.80893985e-04 3.26224345e+01] [-1.82248596e-04 9.99998577e-01 -1.67740662e-03 2.46310567e-02] [-4.81200359e-04 1.67731876e-03 9.99998478e-01 -1.60501865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.847719421 meters Centerline goodness [0,1] 0.7919793740746414 Centerline is valid? [False, False] Translation: X:32.62, Y:0.02, Z:-1.61 [[ 9.99994806e-01 -3.14258732e-03 7.15069999e-04 3.26222730e+01] [ 3.14578038e-03 9.99984887e-01 -4.50895069e-03 2.04456029e-02] [-7.00889421e-04 4.51117672e-03 9.99989579e-01 -1.60532126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.877719421 meters Centerline goodness [0,1] 0.8056374874964733 Centerline is valid? [False, False] Translation: X:32.62, Y:0.02, Z:-1.60 [[ 9.99994572e-01 -3.28944829e-03 1.90741590e-04 3.26233473e+01] [ 3.29010117e-03 9.99988357e-01 -3.53000245e-03 1.71230227e-02] [-1.79127609e-04 3.53061085e-03 9.99993751e-01 -1.60473016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.907719421 meters Centerline goodness [0,1] 0.8055555555555556 Centerline is valid? [False, False] Translation: X:32.63, Y:0.01, Z:-1.61 [[ 9.99991488e-01 -4.10483704e-03 -4.16906857e-04 3.26258198e+01] [ 4.10356021e-03 9.99987024e-01 -3.01865701e-03 1.32503463e-02] [ 4.29292543e-04 3.01692051e-03 9.99995357e-01 -1.60548438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.937719421 meters Centerline goodness [0,1] 0.8378461855245547 Centerline is valid? [False, False] Translation: X:32.63, Y:0.01, Z:-1.61 [[ 9.99991247e-01 -4.13856829e-03 -6.14937257e-04 3.26266644e+01] [ 4.13681333e-03 9.99987444e-01 -2.82827624e-03 1.25898804e-02] [ 6.26634550e-04 2.82570761e-03 9.99995811e-01 -1.60594679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.967719421 meters Centerline goodness [0,1] 0.8001964433416047 Centerline is valid? [False, False] Translation: X:32.63, Y:0.01, Z:-1.61 [[ 9.99992437e-01 -3.84629064e-03 -5.76580044e-04 3.26270679e+01] [ 3.84496064e-03 9.99989985e-01 -2.29033664e-03 1.01806547e-02] [ 5.85383571e-04 2.28810239e-03 9.99997211e-01 -1.60653315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.997719421 meters Centerline goodness [0,1] 0.8005738880918221 Centerline is valid? [False, False] Translation: X:32.63, Y:0.00, Z:-1.61 [[ 9.99992187e-01 -3.84886414e-03 -9.01096330e-04 3.26271838e+01] [ 3.84730270e-03 9.99991106e-01 -1.72818569e-03 3.58269090e-03] [ 9.07739868e-04 1.72470540e-03 9.99998101e-01 -1.60585122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.027719421 meters Centerline goodness [0,1] 0.8006895290829785 Centerline is valid? [False, False] Translation: X:32.63, Y:0.00, Z:-1.61 [[ 9.99992443e-01 -3.70896287e-03 -1.16533463e-03 3.26276372e+01] [ 3.70785134e-03 9.99992670e-01 -9.54540924e-04 1.00179781e-03] [ 1.16886645e-03 9.50212823e-04 9.99998865e-01 -1.60544419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.057719421 meters Centerline goodness [0,1] 0.8007039499413375 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.00, Z:-1.61 [[ 9.99990251e-01 -4.12536000e-03 -1.57431726e-03 3.26295829e+01] [ 4.12451436e-03 9.99991348e-01 -5.40015207e-04 -1.06318858e-03] [ 1.57653140e-03 5.33516648e-04 9.99998615e-01 -1.60637690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.087719421 meters Centerline goodness [0,1] 0.8293033590380342 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.00, Z:-1.61 [[ 9.99990323e-01 -4.03769549e-03 -1.74690006e-03 3.26300206e+01] [ 4.03757959e-03 9.99991847e-01 -6.98677818e-05 -2.35944449e-03] [ 1.74716792e-03 6.28138576e-05 9.99998472e-01 -1.60630917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.117719421 meters Centerline goodness [0,1] 0.8130566907681023 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99991092e-01 -3.75171709e-03 -1.93426718e-03 3.26300631e+01] [ 3.75335156e-03 9.99992602e-01 8.42071230e-04 -5.74419641e-03] [ 1.93109366e-03 -8.49323713e-04 9.99997775e-01 -1.60558033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.147719421 meters Centerline goodness [0,1] 0.8122012710751615 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99992108e-01 -3.49134795e-03 -1.89585535e-03 3.26297558e+01] [ 3.49373613e-03 9.99993106e-01 1.25783866e-03 -7.33770178e-03] [ 1.89145072e-03 -1.26445235e-03 9.99997412e-01 -1.60528925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.177719421 meters Centerline goodness [0,1] 0.8461376274938723 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99992396e-01 -3.36815446e-03 -1.96545274e-03 3.26299819e+01] [ 3.37186792e-03 9.99992531e-01 1.88911641e-03 -9.58079729e-03] [ 1.95907523e-03 -1.89572929e-03 9.99996284e-01 -1.60511204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.207719421 meters Centerline goodness [0,1] 0.8269109119662625 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99990476e-01 -3.71289178e-03 -2.29412143e-03 3.26314092e+01] [ 3.71676374e-03 9.99991672e-01 1.68582463e-03 -1.02991158e-02] [ 2.28784304e-03 -1.69433529e-03 9.99995947e-01 -1.60602871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.237719421 meters Centerline goodness [0,1] 0.8228813336488654 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99990247e-01 -3.69724461e-03 -2.41601775e-03 3.26320838e+01] [ 3.70131344e-03 9.99991736e-01 1.68180981e-03 -1.04321173e-02] [ 2.40977972e-03 -1.69073584e-03 9.99995667e-01 -1.60664307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26771942099998 meters Centerline goodness [0,1] 0.8356478431579225 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99991109e-01 -3.43510654e-03 -2.44588339e-03 3.26318122e+01] [ 3.43981701e-03 9.99992232e-01 1.92428191e-03 -1.13965640e-02] [ 2.43925428e-03 -1.93267820e-03 9.99995157e-01 -1.60629539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29771942099998 meters Centerline goodness [0,1] 0.8262935586061246 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99989907e-01 -3.54800923e-03 -2.75647899e-03 3.26323817e+01] [ 3.55365992e-03 9.99991589e-01 2.04778017e-03 -1.26899491e-02] [ 2.74919026e-03 -2.05755509e-03 9.99994104e-01 -1.60608614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32771942099998 meters Centerline goodness [0,1] 0.8139620945785202 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99989760e-01 -3.47993549e-03 -2.89303722e-03 3.26326040e+01] [ 3.48622294e-03 9.99991566e-01 2.17110846e-03 -1.41285647e-02] [ 2.88545750e-03 -2.18117200e-03 9.99993458e-01 -1.60607628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35771942099998 meters Centerline goodness [0,1] 0.8090930730778386 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99988822e-01 -3.66680461e-03 -2.98488307e-03 3.26334507e+01] [ 3.67230925e-03 9.99991563e-01 1.84078592e-03 -1.38480057e-02] [ 2.97810809e-03 -1.85172676e-03 9.99993851e-01 -1.60704126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38771942099999 meters Centerline goodness [0,1] 0.8000476770673306 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99988934e-01 -3.71054938e-03 -2.89209934e-03 3.26343305e+01] [ 3.71487011e-03 9.99991990e-01 1.49003947e-03 -1.42544097e-02] [ 2.88654731e-03 -1.50076676e-03 9.99994708e-01 -1.60875807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.417719421 meters Centerline goodness [0,1] 0.792776571519356 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.01, Z:-1.61 [[ 9.99989529e-01 -3.48710693e-03 -2.96343721e-03 3.26343057e+01] [ 3.49230573e-03 9.99992369e-01 1.75095569e-03 -1.49505221e-02] [ 2.95730883e-03 -1.76128659e-03 9.99994076e-01 -1.60859498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.447719421 meters Centerline goodness [0,1] 0.7865520352385501 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.02, Z:-1.61 [[ 9.99990665e-01 -3.13273264e-03 -2.97595604e-03 3.26340979e+01] [ 3.13953255e-03 9.99992466e-01 2.28303453e-03 -1.66528079e-02] [ 2.96878149e-03 -2.29235632e-03 9.99992966e-01 -1.60824547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.477719421 meters Centerline goodness [0,1] 0.80966550652249 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.02, Z:-1.61 [[ 9.99991752e-01 -2.79079762e-03 -2.95086059e-03 3.26336223e+01] [ 2.79865711e-03 9.99992539e-01 2.66269028e-03 -1.75893478e-02] [ 2.94340755e-03 -2.67092676e-03 9.99992101e-01 -1.60776373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.507719421 meters Centerline goodness [0,1] 0.814638555818467 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.02, Z:-1.61 [[ 9.99992336e-01 -2.66841378e-03 -2.86475356e-03 3.26335371e+01] [ 2.67611202e-03 9.99992810e-01 2.68676643e-03 -1.82131472e-02] [ 2.85756356e-03 -2.69441224e-03 9.99992287e-01 -1.60801745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.537719421 meters Centerline goodness [0,1] 0.814638555818467 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.02, Z:-1.61 [[ 9.99992336e-01 -2.66841378e-03 -2.86475356e-03 3.26335371e+01] [ 2.67611202e-03 9.99992810e-01 2.68676643e-03 -1.82131472e-02] [ 2.85756356e-03 -2.69441224e-03 9.99992287e-01 -1.60801745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.567719421 meters Centerline goodness [0,1] 0.8018481039625054 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.02, Z:-1.61 [[ 9.99991860e-01 -2.76005662e-03 -2.94301207e-03 3.26339552e+01] [ 2.76839378e-03 9.99992156e-01 2.83256292e-03 -1.99223220e-02] [ 2.93517095e-03 -2.84068728e-03 9.99991658e-01 -1.60822361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.597719421 meters Centerline goodness [0,1] 0.823811180390163 Centerline is valid? [False, False] Translation: X:32.63, Y:-0.02, Z:-1.61 [[ 9.99989960e-01 -2.97047086e-03 -3.35496537e-03 3.26348853e+01] [ 2.98088781e-03 9.99990739e-01 3.10421548e-03 -2.18898559e-02] [ 3.34571332e-03 -3.11418509e-03 9.99989554e-01 -1.60809513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.627719421 meters Centerline goodness [0,1] 0.8575121163166397 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99965088e-01 -7.50697586e-03 -3.66995574e-03 3.26367457e+01] [ 7.50312662e-03 9.99971288e-01 -1.06149610e-03 -2.35364636e-02] [ 3.67781899e-03 1.03392290e-03 9.99992702e-01 -1.60945393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.657719421 meters Centerline goodness [0,1] 0.8904648905188222 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99960471e-01 -7.93528360e-03 -4.01095807e-03 3.26377208e+01] [ 7.93313304e-03 9.99968380e-01 -5.51798583e-04 -2.55811317e-02] [ 4.01520993e-03 5.19957307e-04 9.99991804e-01 -1.60916142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.687719421 meters Centerline goodness [0,1] 0.9183849724711217 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99950191e-01 -9.01769519e-03 -4.27756471e-03 3.26392276e+01] [ 9.01830299e-03 9.99959327e-01 1.22822917e-04 -2.84176233e-02] [ 4.27628315e-03 -1.61393174e-04 9.99990844e-01 -1.60882870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.717719421 meters Centerline goodness [0,1] 0.9278813628122209 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99948214e-01 -9.18689546e-03 -4.37844101e-03 3.26399427e+01] [ 9.18801249e-03 9.99957762e-01 2.35074290e-04 -2.91092192e-02] [ 4.37609647e-03 -2.75291287e-04 9.99990387e-01 -1.60927523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.747719421 meters Centerline goodness [0,1] 0.9070263555843595 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99941528e-01 -9.62780552e-03 -4.92405236e-03 3.26418154e+01] [ 9.62789187e-03 9.99953651e-01 -6.16804389e-06 -2.94542015e-02] [ 4.92388352e-03 -4.12405605e-05 9.99987877e-01 -1.61009192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.777719421 meters Centerline goodness [0,1] 0.9073645081348992 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99959899e-01 -6.64765409e-03 -6.00069187e-03 3.26448466e+01] [ 6.66842891e-03 9.99971819e-01 3.44872714e-03 -2.96383086e-02] [ 5.97759682e-03 -3.48860403e-03 9.99976049e-01 -1.61073199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.807719421 meters Centerline goodness [0,1] 0.8833638123924269 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99962531e-01 -6.30983508e-03 -5.92648181e-03 3.26446478e+01] [ 6.32799632e-03 9.99975325e-01 3.05068577e-03 -2.76692145e-02] [ 5.90708625e-03 -3.08807422e-03 9.99977785e-01 -1.61121043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.837719421 meters Centerline goodness [0,1] 0.8554992356585405 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.03, Z:-1.61 [[ 9.99969055e-01 -5.61556993e-03 -5.50941792e-03 3.26432918e+01] [ 5.63150668e-03 9.99979992e-01 2.88140246e-03 -2.59252848e-02] [ 5.49312697e-03 -2.91233962e-03 9.99980672e-01 -1.61119426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.867719421 meters Centerline goodness [0,1] 0.8466210070094708 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99982133e-01 -1.66336815e-03 -5.74167147e-03 3.26434027e+01] [ 1.70181308e-03 9.99976124e-01 6.69739359e-03 -2.48888477e-02] [ 5.73039415e-03 -6.70704518e-03 9.99961088e-01 -1.61071423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.897719421 meters Centerline goodness [0,1] 0.8388654677410747 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99982672e-01 -1.63031323e-03 -5.65660082e-03 3.26435191e+01] [ 1.66492086e-03 9.99979894e-01 6.11879158e-03 -2.33997998e-02] [ 5.64651154e-03 -6.12810334e-03 9.99965281e-01 -1.61149765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.927719421 meters Centerline goodness [0,1] 0.8241728922091782 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99982447e-01 -1.47885829e-03 -5.73742786e-03 3.26433861e+01] [ 1.51248794e-03 9.99981677e-01 5.86154611e-03 -2.20835751e-02] [ 5.72865434e-03 -5.87012102e-03 9.99966362e-01 -1.61141546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.957719421 meters Centerline goodness [0,1] 0.81832686273467 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99980900e-01 -1.61596411e-03 -5.96563281e-03 3.26433704e+01] [ 1.65099092e-03 9.99981402e-01 5.87118421e-03 -2.19183626e-02] [ 5.95603423e-03 -5.88092127e-03 9.99964970e-01 -1.61066971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.987719421 meters Centerline goodness [0,1] 0.8247195193279098 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99980001e-01 -1.85155574e-03 -6.04731548e-03 3.26436987e+01] [ 1.88603567e-03 9.99981971e-01 5.70097452e-03 -2.18612955e-02] [ 6.03665078e-03 -5.71226595e-03 9.99965464e-01 -1.61079919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01771942099998 meters Centerline goodness [0,1] 0.8220958354373189 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99979947e-01 -1.87398556e-03 -6.04920290e-03 3.26434615e+01] [ 1.90805411e-03 9.99982325e-01 5.63105798e-03 -2.20689897e-02] [ 6.03854346e-03 -5.64248727e-03 9.99965849e-01 -1.61050775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04771942099998 meters Centerline goodness [0,1] 0.8248557526124066 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99978915e-01 -1.89261299e-03 -6.21196288e-03 3.26433014e+01] [ 1.92813265e-03 9.99981799e-01 5.71694504e-03 -2.20539030e-02] [ 6.20102985e-03 -5.72880198e-03 9.99964363e-01 -1.60977030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07771942099998 meters Centerline goodness [0,1] 0.8221742835836796 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99977851e-01 -2.02736064e-03 -6.33931187e-03 3.26432852e+01] [ 2.06327557e-03 9.99981831e-01 5.66403276e-03 -2.21543779e-02] [ 6.32771365e-03 -5.67698705e-03 9.99963865e-01 -1.60936077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10771942099998 meters Centerline goodness [0,1] 0.8656342458085668 Centerline is valid? [False, False] Translation: X:32.64, Y:-0.02, Z:-1.61 [[ 9.99973794e-01 -3.00543987e-03 -6.58618322e-03 3.26445497e+01] [ 3.04004637e-03 9.99981594e-01 5.25071348e-03 -2.22806252e-02] [ 6.57028129e-03 -5.27059819e-03 9.99964525e-01 -1.60974672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13771942099999 meters Centerline goodness [0,1] 0.847665716796719 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.61 [[ 9.99968611e-01 -3.83964094e-03 -6.93073916e-03 3.26461173e+01] [ 3.87369806e-03 9.99980457e-01 4.90720488e-03 -2.26455282e-02] [ 6.91176180e-03 -4.93389843e-03 9.99963941e-01 -1.61042909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.167719421 meters Centerline goodness [0,1] 0.9239630723388406 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.61 [[ 9.99945895e-01 -7.14544658e-03 -7.55972871e-03 3.26507463e+01] [ 7.16948832e-03 9.99969312e-01 3.15793189e-03 -2.33485042e-02] [ 7.53693189e-03 -3.21196042e-03 9.99966438e-01 -1.61297911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.197719421 meters Centerline goodness [0,1] 0.9467379679144385 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.61 [[ 9.99907066e-01 -1.08613602e-02 -8.23956935e-03 3.26552044e+01] [ 1.08714828e-02 9.99940202e-01 1.18473594e-03 -2.46738786e-02] [ 8.22620879e-03 -1.27420217e-03 9.99965352e-01 -1.61488364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.227719421 meters Centerline goodness [0,1] 0.9499144750908702 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.03, Z:-1.62 [[ 9.99893789e-01 -1.15495458e-02 -8.88924546e-03 3.26571148e+01] [ 1.15603729e-02 9.99932495e-01 1.16757154e-03 -2.57809944e-02] [ 8.87516047e-03 -1.27021052e-03 9.99959808e-01 -1.61511555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.257719421 meters Centerline goodness [0,1] 0.9497646051786861 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.03, Z:-1.62 [[ 9.99887328e-01 -1.18887292e-02 -9.16455247e-03 3.26581054e+01] [ 1.19004266e-02 9.99928440e-01 1.22289838e-03 -2.64785929e-02] [ 9.14935794e-03 -1.33182268e-03 9.99957257e-01 -1.61528669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.287719421 meters Centerline goodness [0,1] 0.9482886904761905 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.03, Z:-1.62 [[ 9.99907991e-01 -9.13530125e-03 -1.00277685e-02 3.26607417e+01] [ 9.18248786e-03 9.99946937e-01 4.66968208e-03 -2.63490835e-02] [ 9.98457741e-03 -4.76133229e-03 9.99938817e-01 -1.61580641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.317719421 meters Centerline goodness [0,1] 0.9403409090909091 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99915490e-01 -8.68507926e-03 -9.67381634e-03 3.26611067e+01] [ 8.71685932e-03 9.99956733e-01 3.24785653e-03 -2.10973313e-02] [ 9.64518990e-03 -3.33190735e-03 9.99947933e-01 -1.61870255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.347719421 meters Centerline goodness [0,1] 0.936542960442365 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99921898e-01 -8.09017387e-03 -9.52614674e-03 3.26604787e+01] [ 8.12230781e-03 9.99961438e-01 3.33939255e-03 -2.05517905e-02] [ 9.49876312e-03 -3.41650603e-03 9.99949049e-01 -1.61865281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.377719421 meters Centerline goodness [0,1] 0.8883898913130133 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99934800e-01 -6.58522120e-03 -9.32906993e-03 3.26580945e+01] [ 6.62444056e-03 9.99969324e-01 4.17934944e-03 -2.14112585e-02] [ 9.30126181e-03 -4.24087682e-03 9.99947749e-01 -1.61675844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.407719421 meters Centerline goodness [0,1] 0.8748072936048057 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99949587e-01 -5.05634525e-03 -8.67503183e-03 3.26554864e+01] [ 5.09522448e-03 9.99977049e-01 4.46550735e-03 -2.01611338e-02] [ 8.65225358e-03 -4.50948347e-03 9.99952400e-01 -1.61618040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.437719421 meters Centerline goodness [0,1] 0.8933789409487445 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.62 [[ 9.99953995e-01 -4.71796205e-03 -8.35158013e-03 3.26547922e+01] [ 4.75336251e-03 9.99979781e-01 4.22401182e-03 -1.84704857e-02] [ 8.33148254e-03 -4.26351558e-03 9.99956203e-01 -1.61650501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.467719421 meters Centerline goodness [0,1] 0.8840848314755487 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.62 [[ 9.99959931e-01 -4.18848719e-03 -7.91161012e-03 3.26538210e+01] [ 4.21979513e-03 9.99983316e-01 3.94467667e-03 -1.66905442e-02] [ 7.89495589e-03 -3.97790399e-03 9.99960922e-01 -1.61702423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.497719421 meters Centerline goodness [0,1] 0.8784138168525337 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.62 [[ 9.99960884e-01 -3.89776235e-03 -7.93963816e-03 3.26536252e+01] [ 3.93167610e-03 9.99983196e-01 4.26032761e-03 -1.74333103e-02] [ 7.92289900e-03 -4.29137705e-03 9.99959405e-01 -1.61672704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.527719421 meters Centerline goodness [0,1] 0.868022730893834 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.62 [[ 9.99959509e-01 -3.73677439e-03 -8.18639195e-03 3.26531591e+01] [ 3.77888565e-03 9.99979678e-01 5.13464186e-03 -2.11920081e-02] [ 8.16703859e-03 -5.16536939e-03 9.99953308e-01 -1.61503403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.557719421 meters Centerline goodness [0,1] 0.8735290211183424 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.61 [[ 9.99954937e-01 -4.10311025e-03 -8.56083783e-03 3.26537294e+01] [ 4.14781521e-03 9.99977821e-01 5.21082769e-03 -2.22326840e-02] [ 8.53926736e-03 -5.24610165e-03 9.99949778e-01 -1.61450239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.587719421 meters Centerline goodness [0,1] 0.8975341153938233 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.02, Z:-1.61 [[ 9.99950791e-01 -4.86058738e-03 -8.64816700e-03 3.26546706e+01] [ 4.90344653e-03 9.99975768e-01 4.94158324e-03 -2.15032938e-02] [ 8.62393845e-03 -4.98374589e-03 9.99950394e-01 -1.61492814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.617719421 meters Centerline goodness [0,1] 0.9237601382794841 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99947169e-01 -5.36068423e-03 -8.77054289e-03 3.26555526e+01] [ 5.40053518e-03 9.99975173e-01 4.52637069e-03 -2.10892143e-02] [ 8.74606070e-03 -4.57349718e-03 9.99951294e-01 -1.61561632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.647719421 meters Centerline goodness [0,1] 0.9357213346491345 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.61 [[ 9.99942548e-01 -5.90412791e-03 -8.94659799e-03 3.26558642e+01] [ 5.94739764e-03 9.99970709e-01 4.81758232e-03 -2.34527785e-02] [ 8.91789232e-03 -4.87051451e-03 9.99948373e-01 -1.61483280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.677719421 meters Centerline goodness [0,1] 0.9414162404092071 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.61 [[ 9.99937936e-01 -6.32514616e-03 -9.17152246e-03 3.26566183e+01] [ 6.36898630e-03 9.99968395e-01 4.75872541e-03 -2.46115285e-02] [ 9.14113296e-03 -4.81684337e-03 9.99946617e-01 -1.61491903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.707719421 meters Centerline goodness [0,1] 0.9487773076820734 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99924493e-01 -7.59466781e-03 -9.66066237e-03 3.26591961e+01] [ 7.63331986e-03 9.99962983e-01 3.97041271e-03 -2.42575397e-02] [ 9.63015080e-03 -4.04385584e-03 9.99945452e-01 -1.61640174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.737719421 meters Centerline goodness [0,1] 0.9469235880398671 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99917906e-01 -8.09368423e-03 -9.93347522e-03 3.26606556e+01] [ 8.12683233e-03 9.99961528e-01 3.30119329e-03 -2.26598731e-02] [ 9.90637424e-03 -3.38164996e-03 9.99945213e-01 -1.61760424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76771942099998 meters Centerline goodness [0,1] 0.9462696873921012 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99917439e-01 -8.25345015e-03 -9.84867510e-03 3.26610446e+01] [ 8.27996198e-03 9.99962198e-01 2.65418672e-03 -2.05326230e-02] [ 9.82639660e-03 -2.73551425e-03 9.99947978e-01 -1.61858744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79771942099998 meters Centerline goodness [0,1] 0.9479296864611866 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99919288e-01 -7.79217933e-03 -1.00349022e-02 3.26603855e+01] [ 7.82299880e-03 9.99964792e-01 3.03564577e-03 -2.13540107e-02] [ 1.00108946e-02 -3.11390379e-03 9.99945041e-01 -1.61736908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82771942099998 meters Centerline goodness [0,1] 0.9455461378538301 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99922921e-01 -7.42944782e-03 -9.94764994e-03 3.26598474e+01] [ 7.46137022e-03 9.99967121e-01 3.17578172e-03 -2.12299092e-02] [ 9.92372856e-03 -3.24976004e-03 9.99945478e-01 -1.61706937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85771942099998 meters Centerline goodness [0,1] 0.9376097016116164 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99930143e-01 -7.01257872e-03 -9.51488320e-03 3.26594871e+01] [ 7.03547369e-03 9.99972431e-01 2.37489183e-03 -1.74494086e-02] [ 9.49796676e-03 -2.44166764e-03 9.99951912e-01 -1.61862222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88771942099999 meters Centerline goodness [0,1] 0.9416690960167493 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99935338e-01 -6.66394022e-03 -9.21472830e-03 3.26590619e+01] [ 6.68385880e-03 9.99975389e-01 2.13249869e-03 -1.57176646e-02] [ 9.20029067e-03 -2.19395074e-03 9.99955270e-01 -1.61923696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.917719421 meters Centerline goodness [0,1] 0.8936653976311337 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99944447e-01 -5.25049130e-03 -9.13975250e-03 3.26579747e+01] [ 5.27282030e-03 9.99983169e-01 2.42068382e-03 -1.37401565e-02] [ 9.12688888e-03 -2.46874162e-03 9.99955302e-01 -1.61907370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.947719421 meters Centerline goodness [0,1] 0.872103163068467 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99949641e-01 -4.54632882e-03 -8.94686735e-03 3.26568195e+01] [ 4.57014667e-03 9.99986063e-01 2.64350202e-03 -1.30760336e-02] [ 8.93472442e-03 -2.68425739e-03 9.99956482e-01 -1.61845326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.977719421 meters Centerline goodness [0,1] 0.8754711013889255 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99956637e-01 -3.38433843e-03 -8.67586917e-03 3.26552395e+01] [ 3.40708227e-03 9.99990795e-01 2.60806720e-03 -1.10237997e-02] [ 8.66696272e-03 -2.63751351e-03 9.99958963e-01 -1.61805139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.007719421 meters Centerline goodness [0,1] 0.8471830800431954 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99958594e-01 -2.99324579e-03 -8.59369386e-03 3.26547261e+01] [ 3.01432879e-03 9.99992477e-01 2.44140725e-03 -9.77838804e-03] [ 8.58632148e-03 -2.46721038e-03 9.99960093e-01 -1.61796169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.037719421 meters Centerline goodness [0,1] 0.8250406760090274 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99966117e-01 -1.92484693e-03 -8.00378383e-03 3.26525602e+01] [ 1.94457821e-03 9.99995088e-01 2.45819298e-03 -7.70208149e-03] [ 7.99901287e-03 -2.47367367e-03 9.99964948e-01 -1.61750041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.067719421 meters Centerline goodness [0,1] 0.8634600262123198 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99968996e-01 -1.79333772e-03 -7.66747017e-03 3.26511416e+01] [ 1.81325408e-03 9.99994998e-01 2.59135081e-03 -7.08226253e-03] [ 7.66278466e-03 -2.60517354e-03 9.99967247e-01 -1.61643706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.097719421 meters Centerline goodness [0,1] 0.8573790280256114 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99965074e-01 -2.25545982e-03 -8.04761966e-03 3.26517538e+01] [ 2.27843726e-03 9.99993351e-01 2.84716072e-03 -8.47085341e-03] [ 8.04114449e-03 -2.86539728e-03 9.99963564e-01 -1.61571604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.127719421 meters Centerline goodness [0,1] 0.89807104458733 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99937805e-01 -7.34569150e-03 -8.39210970e-03 3.26537900e+01] [ 7.33155374e-03 9.99971655e-01 -1.71417323e-03 -9.09116121e-03] [ 8.40446361e-03 1.65253941e-03 9.99963316e-01 -1.61697182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.157719421 meters Centerline goodness [0,1] 0.9334758850083156 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99929248e-01 -7.95477029e-03 -8.84429443e-03 3.26552795e+01] [ 7.93914406e-03 9.99966864e-01 -1.80052283e-03 -9.56110081e-03] [ 8.85832410e-03 1.73017931e-03 9.99959267e-01 -1.61733876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.187719421 meters Centerline goodness [0,1] 0.9252518858469168 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99927876e-01 -7.91151727e-03 -9.03610816e-03 3.26550584e+01] [ 7.90295265e-03 9.99968288e-01 -9.83135323e-04 -1.12291487e-02] [ 9.04359970e-03 9.11652480e-04 9.99958690e-01 -1.61597971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.217719421 meters Centerline goodness [0,1] 0.9386337831058066 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.61 [[ 9.99930134e-01 -7.44644309e-03 -9.18023579e-03 3.26545273e+01] [ 7.44419649e-03 9.99972253e-01 -2.78867786e-04 -1.25858716e-02] [ 9.18205764e-03 2.10508824e-04 9.99957822e-01 -1.61487116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.247719421 meters Centerline goodness [0,1] 0.9199387798184505 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99933915e-01 -7.12349208e-03 -9.02339955e-03 3.26548293e+01] [ 7.12017598e-03 9.99974571e-01 -3.99571708e-04 -1.22594491e-02] [ 9.02601644e-03 3.35297109e-04 9.99959208e-01 -1.61604280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.277719421 meters Centerline goodness [0,1] 0.9361405539044212 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99944374e-01 -4.15510801e-03 -9.69451773e-03 3.26572500e+01] [ 4.18927065e-03 9.99985078e-01 3.50627080e-03 -1.33647598e-02] [ 9.67980413e-03 -3.54668871e-03 9.99946860e-01 -1.61667239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.307719421 meters Centerline goodness [0,1] 0.9277492427235612 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99942926e-01 -4.27765863e-03 -9.79007506e-03 3.26586449e+01] [ 4.30906531e-03 9.99985630e-01 3.18917039e-03 -1.40599452e-02] [ 9.77629220e-03 -3.23117445e-03 9.99946990e-01 -1.61846004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.337719421 meters Centerline goodness [0,1] 0.9195020309120642 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99942113e-01 -4.24775265e-03 -9.88572158e-03 3.26591685e+01] [ 4.28016179e-03 9.99985528e-01 3.25953472e-03 -1.50228938e-02] [ 9.87173282e-03 -3.30165852e-03 9.99945823e-01 -1.61890304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.367719421 meters Centerline goodness [0,1] 0.9174452362100818 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99944861e-01 -3.72211015e-03 -9.81941480e-03 3.26588581e+01] [ 3.75591424e-03 9.99987076e-01 3.42638432e-03 -1.53235512e-02] [ 9.80653452e-03 -3.46307627e-03 9.99945918e-01 -1.61906069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.397719421 meters Centerline goodness [0,1] 0.9092399640344846 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99944099e-01 -3.57077639e-03 -9.95232871e-03 3.26589551e+01] [ 3.60503374e-03 9.99987632e-01 3.42633207e-03 -1.50206537e-02] [ 9.93997096e-03 -3.46201901e-03 9.99944604e-01 -1.61896968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.427719421 meters Centerline goodness [0,1] 0.881446698498958 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99946247e-01 -3.10790864e-03 -9.89159368e-03 3.26586086e+01] [ 3.14119597e-03 9.99989450e-01 3.35145849e-03 -1.46494338e-02] [ 9.88107330e-03 -3.38234977e-03 9.99945461e-01 -1.61910485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.457719421 meters Centerline goodness [0,1] 0.8532704617897315 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99947524e-01 -3.03058666e-03 -9.78599826e-03 3.26588265e+01] [ 3.05999119e-03 9.99990845e-01 2.99118083e-03 -1.40166292e-02] [ 9.77684363e-03 -3.02096894e-03 9.99947642e-01 -1.61993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.487719421 meters Centerline goodness [0,1] 0.8532704617897315 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99947524e-01 -3.03058666e-03 -9.78599826e-03 3.26588265e+01] [ 3.05999119e-03 9.99990845e-01 2.99118083e-03 -1.40166292e-02] [ 9.77684363e-03 -3.02096894e-03 9.99947642e-01 -1.61993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51771942099998 meters Centerline goodness [0,1] 0.8126801152737753 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99956255e-01 -1.54574460e-03 -9.22486517e-03 3.26566562e+01] [ 1.57508542e-03 9.99993722e-01 3.17420564e-03 -1.17057549e-02] [ 9.21990075e-03 -3.18859674e-03 9.99952412e-01 -1.61970965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54771942099998 meters Centerline goodness [0,1] 0.8369818229370996 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99961380e-01 -1.00702482e-03 -8.73065937e-03 3.26554117e+01] [ 1.03238641e-03 9.99995260e-01 2.90086832e-03 -9.56967351e-03] [ 8.72769673e-03 -2.90976970e-03 9.99957679e-01 -1.61989972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57771942099998 meters Centerline goodness [0,1] 0.7905910547292193 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99963055e-01 -7.21359110e-04 -8.56550848e-03 3.26547649e+01] [ 7.40219831e-04 9.99997308e-01 2.19897217e-03 -5.87837010e-03] [ 8.56389918e-03 -2.20523129e-03 9.99960898e-01 -1.62008849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60771942099998 meters Centerline goodness [0,1] 0.7902647043528005 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.00, Z:-1.62 [[ 9.99961967e-01 -8.62058912e-04 -8.67881805e-03 3.26547926e+01] [ 8.78957150e-04 9.99997725e-01 1.94344087e-03 -4.95002211e-03] [ 8.67712294e-03 -1.95099527e-03 9.99960450e-01 -1.61984681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63771942099999 meters Centerline goodness [0,1] 0.7926155609984887 Centerline is valid? [False, False] Translation: X:32.65, Y:-0.01, Z:-1.62 [[ 9.99960663e-01 -9.68310104e-04 -8.81672404e-03 3.26539682e+01] [ 9.88826823e-04 9.99996813e-01 2.32296120e-03 -5.24621413e-03] [ 8.81444659e-03 -2.33158803e-03 9.99958434e-01 -1.61794182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.667719421 meters Centerline goodness [0,1] 0.8374661387789123 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.01, Z:-1.62 [[ 9.99951357e-01 -2.49591259e-03 -9.54221946e-03 3.26562983e+01] [ 2.51038762e-03 9.99995716e-01 1.50526985e-03 -5.16959730e-03] [ 9.53842156e-03 -1.52915130e-03 9.99953339e-01 -1.61837654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.697719421 meters Centerline goodness [0,1] 0.8685264143094842 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.00, Z:-1.62 [[ 9.99944551e-01 -3.21459326e-03 -1.00280514e-02 3.26580980e+01] [ 3.22605263e-03 9.99994161e-01 1.12676499e-03 -4.95122073e-03] [ 1.00243707e-02 -1.15905353e-03 9.99949083e-01 -1.61913019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.727719421 meters Centerline goodness [0,1] 0.9279876759184313 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.00, Z:-1.62 [[ 9.99930849e-01 -5.07193066e-03 -1.06100696e-02 3.26616433e+01] [ 5.07235617e-03 9.99987135e-01 1.31953504e-05 -4.41691738e-03] [ 1.06098661e-02 -6.70124897e-05 9.99943712e-01 -1.62139476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.757719421 meters Centerline goodness [0,1] 0.9286943821396901 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.00, Z:-1.62 [[ 9.99924286e-01 -5.53422469e-03 -1.09906652e-02 3.26631722e+01] [ 5.53393398e-03 9.99984686e-01 -5.68627109e-05 -4.98016853e-03] [ 1.09908116e-02 -3.96321009e-06 9.99939599e-01 -1.62211641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.787719421 meters Centerline goodness [0,1] 0.9399313651009876 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.62 [[ 9.99913538e-01 -6.51515500e-03 -1.14223348e-02 3.26653036e+01] [ 6.51314451e-03 9.99978767e-01 -2.13204418e-04 -6.61328360e-03] [ 1.14234813e-02 1.38790667e-04 9.99934740e-01 -1.62309574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.817719421 meters Centerline goodness [0,1] 0.9240804778371581 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.62 [[ 9.99908351e-01 -6.62792300e-03 -1.18051157e-02 3.26658797e+01] [ 6.63086246e-03 9.99977994e-01 2.09875398e-04 -8.27761733e-03] [ 1.18034649e-02 -2.88134262e-04 9.99930295e-01 -1.62255733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.847719421 meters Centerline goodness [0,1] 0.9516960294504339 Centerline is valid? [False, True] Translation: X:32.67, Y:-0.01, Z:-1.62 [[ 9.99903120e-01 -6.72786434e-03 -1.21854867e-02 3.26655398e+01] [ 6.74846542e-03 9.99975867e-01 1.65029480e-03 -1.23970269e-02] [ 1.21740897e-02 -1.73236826e-03 9.99924392e-01 -1.61994626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.877719421 meters Centerline goodness [0,1] 0.9478892515001579 Centerline is valid? [True, False] Translation: X:32.67, Y:-0.01, Z:-1.62 [[ 9.99902488e-01 -6.71012155e-03 -1.22469745e-02 3.26655353e+01] [ 6.73420526e-03 9.99975470e-01 1.92632463e-03 -1.32485907e-02] [ 1.22337482e-02 -2.00861043e-03 9.99923147e-01 -1.61966203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.907719421 meters Centerline goodness [0,1] 0.9463265682171155 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.62 [[ 9.99909053e-01 -6.41158449e-03 -1.18649918e-02 3.26652226e+01] [ 6.43514592e-03 9.99977396e-01 1.94868189e-03 -1.33074530e-02] [ 1.18522295e-02 -2.02485762e-03 9.99927710e-01 -1.62054009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.937719421 meters Centerline goodness [0,1] 0.9401203900849039 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99915051e-01 -5.73542520e-03 -1.17044935e-02 3.26643223e+01] [ 5.76540048e-03 9.99980182e-01 2.52887282e-03 -1.50324017e-02] [ 1.16897573e-02 -2.59613909e-03 9.99928302e-01 -1.62003311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.967719421 meters Centerline goodness [0,1] 0.9467364857717127 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99921181e-01 -4.97050882e-03 -1.15293671e-02 3.26631760e+01] [ 5.00971222e-03 9.99981760e-01 3.37392288e-03 -1.65209172e-02] [ 1.15123867e-02 -3.43141576e-03 9.99927843e-01 -1.61909668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.997719421 meters Centerline goodness [0,1] 0.9368630046326936 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99925850e-01 -4.35491993e-03 -1.13722824e-02 3.26620482e+01] [ 4.40112627e-03 9.99982149e-01 4.04120568e-03 -1.77742978e-02] [ 1.13544802e-02 -4.09095687e-03 9.99927167e-01 -1.61811802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.027719421 meters Centerline goodness [0,1] 0.94242030790429 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99927316e-01 -4.26947708e-03 -1.12754074e-02 3.26621225e+01] [ 4.31345832e-03 9.99983173e-01 3.87920035e-03 -1.76245065e-02] [ 1.12586555e-02 -3.92755439e-03 9.99928906e-01 -1.61861016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.057719421 meters Centerline goodness [0,1] 0.9113689831090904 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99932096e-01 -4.01940937e-03 -1.09383278e-02 3.26623597e+01] [ 4.05529423e-03 9.99986462e-01 3.26045367e-03 -1.63511870e-02] [ 1.09250746e-02 -3.30459042e-03 9.99934859e-01 -1.62044298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.087719421 meters Centerline goodness [0,1] 0.9242700488836042 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99933030e-01 -4.08107702e-03 -1.08296061e-02 3.26629605e+01] [ 4.11333063e-03 9.99987166e-01 2.95768145e-03 -1.61578626e-02] [ 1.08173966e-02 -3.00202912e-03 9.99936984e-01 -1.62162724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.117719421 meters Centerline goodness [0,1] 0.917302192564347 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99929950e-01 -4.35060087e-03 -1.10075816e-02 3.26642607e+01] [ 4.38142923e-03 9.99986543e-01 2.77808365e-03 -1.72534118e-02] [ 1.09953471e-02 -2.82611799e-03 9.99935556e-01 -1.62276215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.147719421 meters Centerline goodness [0,1] 0.9311622981202012 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99927482e-01 -4.43317115e-03 -1.11972185e-02 3.26648141e+01] [ 4.46485940e-03 9.99986094e-01 2.80660055e-03 -1.78595541e-02] [ 1.11846207e-02 -2.85639103e-03 9.99933370e-01 -1.62290382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.177719421 meters Centerline goodness [0,1] 0.9150870867686435 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99921316e-01 -4.77437545e-03 -1.16003136e-02 3.26661196e+01] [ 4.80264842e-03 9.99985562e-01 2.41062528e-03 -1.78778804e-02] [ 1.15886369e-02 -2.46614783e-03 9.99929808e-01 -1.62361528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.207719421 meters Centerline goodness [0,1] 0.910249615771901 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99920077e-01 -4.69662150e-03 -1.17380132e-02 3.26662726e+01] [ 4.72537172e-03 9.99985900e-01 2.42279304e-03 -1.77879273e-02] [ 1.17264688e-02 -2.47806588e-03 9.99928172e-01 -1.62353569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.237719421 meters Centerline goodness [0,1] 0.9208419489952813 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99922439e-01 -4.31087530e-03 -1.16847149e-02 3.26656645e+01] [ 4.34481060e-03 9.99986413e-01 2.88042044e-03 -1.83992257e-02] [ 1.16721390e-02 -2.93096490e-03 9.99927583e-01 -1.62292842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26771942099998 meters Centerline goodness [0,1] 0.9189662957159173 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99919746e-01 -4.53875455e-03 -1.18279545e-02 3.26665923e+01] [ 4.57488126e-03 9.99984947e-01 3.02908561e-03 -2.01694081e-02] [ 1.18140281e-02 -3.08295400e-03 9.99925459e-01 -1.62351496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29771942099998 meters Centerline goodness [0,1] 0.9180110731410104 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99915917e-01 -4.85987682e-03 -1.20224780e-02 3.26676983e+01] [ 4.89350733e-03 9.99984192e-01 2.76946933e-03 -2.04359154e-02] [ 1.20088287e-02 -2.82806855e-03 9.99923892e-01 -1.62437055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32771942099998 meters Centerline goodness [0,1] 0.9220290469627902 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99916229e-01 -4.95449337e-03 -1.19577969e-02 3.26682521e+01] [ 4.98529821e-03 9.99984328e-01 2.54769889e-03 -1.99923275e-02] [ 1.19449870e-02 -2.60709865e-03 9.99925257e-01 -1.62531671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35771942099998 meters Centerline goodness [0,1] 0.8892861872599656 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99920854e-01 -4.81244463e-03 -1.16243937e-02 3.26678429e+01] [ 4.83636368e-03 9.99986243e-01 2.03042642e-03 -1.81547702e-02] [ 1.16144625e-02 -2.08648551e-03 9.99930373e-01 -1.62609730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38771942099999 meters Centerline goodness [0,1] 0.8654495203167769 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99926083e-01 -3.51252974e-03 -1.16400365e-02 3.26655111e+01] [ 3.54928243e-03 9.99988777e-01 3.13828608e-03 -1.94262196e-02] [ 1.16288825e-02 -3.17936788e-03 9.99927328e-01 -1.62339144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.417719421 meters Centerline goodness [0,1] 0.8448275862068966 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99926105e-01 -3.18746213e-03 -1.17313722e-02 3.26652565e+01] [ 3.22575434e-03 9.99989527e-01 3.24661335e-03 -1.97949274e-02] [ 1.17209008e-02 -3.28421597e-03 9.99925914e-01 -1.62301401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.447719421 meters Centerline goodness [0,1] 0.8435960918989431 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99936052e-01 -2.47868502e-03 -1.10339419e-02 3.26638744e+01] [ 2.51167026e-03 9.99992416e-01 2.97658051e-03 -1.88681370e-02] [ 1.10264802e-02 -3.00410379e-03 9.99934694e-01 -1.62383678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.477719421 meters Centerline goodness [0,1] 0.8247009839021933 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.62 [[ 9.99940902e-01 -2.13740744e-03 -1.06595011e-02 3.26630622e+01] [ 2.16801933e-03 9.99993557e-01 2.86106619e-03 -1.77300477e-02] [ 1.06533172e-02 -2.88400711e-03 9.99939093e-01 -1.62409557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.507719421 meters Centerline goodness [0,1] 0.8448125082814364 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.63 [[ 9.99945095e-01 -2.10935262e-03 -1.02643568e-02 3.26627466e+01] [ 2.13353869e-03 9.99994972e-01 2.34593683e-03 -1.61740971e-02] [ 1.02593568e-02 -2.36770743e-03 9.99944568e-01 -1.62509877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.537719421 meters Centerline goodness [0,1] 0.8114312982158479 Centerline is valid? [False, False] Translation: X:32.66, Y:-0.02, Z:-1.63 [[ 9.99940398e-01 -2.50592132e-03 -1.06264556e-02 3.26638853e+01] [ 2.52736735e-03 9.99994796e-01 2.00522540e-03 -1.61555183e-02] [ 1.06213753e-02 -2.03196285e-03 9.99941527e-01 -1.62557485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.567719421 meters Centerline goodness [0,1] 0.8660284536630767 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99932782e-01 -3.08393177e-03 -1.11767577e-02 3.26652040e+01] [ 3.10870645e-03 9.99992748e-01 2.19993003e-03 -1.82814838e-02] [ 1.11698922e-02 -2.23452742e-03 9.99935118e-01 -1.62527586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.597719421 meters Centerline goodness [0,1] 0.8524049083020575 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99926809e-01 -3.47656890e-03 -1.15883362e-02 3.26661163e+01] [ 3.50256002e-03 9.99991394e-01 2.22332868e-03 -1.90608743e-02] [ 1.15805069e-02 -2.26375480e-03 9.99930381e-01 -1.62506398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.627719421 meters Centerline goodness [0,1] 0.9010749255002128 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99919095e-01 -4.35973729e-03 -1.19497564e-02 3.26674132e+01] [ 4.38575358e-03 9.99988067e-01 2.15180018e-03 -1.94263559e-02] [ 1.19402325e-02 -2.20403478e-03 9.99926284e-01 -1.62505427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.657719421 meters Centerline goodness [0,1] 0.9101994972455474 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99907066e-01 -5.27952185e-03 -1.25692385e-02 3.26690331e+01] [ 5.30688420e-03 9.99983619e-01 2.14457283e-03 -2.02129620e-02] [ 1.25577103e-02 -2.21107702e-03 9.99918704e-01 -1.62474049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.687719421 meters Centerline goodness [0,1] 0.9159793952011103 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99896342e-01 -5.92219793e-03 -1.31237702e-02 3.26707845e+01] [ 5.94749151e-03 9.99980529e-01 1.88912094e-03 -2.06760938e-02] [ 1.31123269e-02 -1.96697863e-03 9.99912095e-01 -1.62521162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.717719421 meters Centerline goodness [0,1] 0.9204372750299961 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99883509e-01 -6.92353881e-03 -1.36026793e-02 3.26734696e+01] [ 6.94063108e-03 9.99975182e-01 1.20973058e-03 -2.08008674e-02] [ 1.35939661e-02 -1.30400084e-03 9.99906747e-01 -1.62703581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.747719421 meters Centerline goodness [0,1] 0.9222512949217707 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99878534e-01 -7.19040545e-03 -1.38280319e-02 3.26744715e+01] [ 7.20642226e-03 9.99973419e-01 1.10880613e-03 -2.08469264e-02] [ 1.38196916e-02 -1.20832209e-03 9.99903773e-01 -1.62760276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.777719421 meters Centerline goodness [0,1] 0.9268077836798975 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99883566e-01 -6.78241289e-03 -1.36694303e-02 3.26733902e+01] [ 6.80866095e-03 9.99975064e-01 1.87457886e-03 -2.19036953e-02] [ 1.36563752e-02 -1.96743111e-03 9.99904812e-01 -1.62639888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.807719421 meters Centerline goodness [0,1] 0.9273914201971756 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99884584e-01 -6.70286497e-03 -1.36341845e-02 3.26732595e+01] [ 6.72911016e-03 9.99975592e-01 1.87999092e-03 -2.15746527e-02] [ 1.36212504e-02 -1.97151987e-03 9.99905283e-01 -1.62636246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.837719421 meters Centerline goodness [0,1] 0.9122750814245288 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99893925e-01 -5.90940083e-03 -1.33122791e-02 3.26716758e+01] [ 5.94065738e-03 9.99979687e-01 2.30963002e-03 -2.10870150e-02] [ 1.32983601e-02 -2.38846871e-03 9.99908720e-01 -1.62549851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.867719421 meters Centerline goodness [0,1] 0.9368039644056055 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.62 [[ 9.99899135e-01 -5.46026989e-03 -1.31112849e-02 3.26706828e+01] [ 5.49320139e-03 9.99981844e-01 2.47699291e-03 -2.07470875e-02] [ 1.30975218e-02 -2.54876600e-03 9.99910975e-01 -1.62496037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.897719421 meters Centerline goodness [0,1] 0.9312391854119526 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99897599e-01 -5.58874271e-03 -1.31741545e-02 3.26712927e+01] [ 5.61682221e-03 9.99982030e-01 2.09537208e-03 -1.98053430e-02] [ 1.31622072e-02 -2.16915439e-03 9.99911022e-01 -1.62571821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.927719421 meters Centerline goodness [0,1] 0.87246007745769 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99898690e-01 -5.60580590e-03 -1.30837476e-02 3.26714488e+01] [ 5.62794953e-03 9.99982791e-01 1.65624802e-03 -1.81297746e-02] [ 1.30742378e-02 -1.72971490e-03 9.99913032e-01 -1.62638468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.957719421 meters Centerline goodness [0,1] 0.919539314810392 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99898942e-01 -5.51049570e-03 -1.31049785e-02 3.26713356e+01] [ 5.53260350e-03 9.99983332e-01 1.65132210e-03 -1.78660239e-02] [ 1.30956605e-02 -1.72365987e-03 9.99912763e-01 -1.62623484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.987719421 meters Centerline goodness [0,1] 0.9342269078964796 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.02, Z:-1.63 [[ 9.99892502e-01 -5.94542489e-03 -1.34028215e-02 3.26723667e+01] [ 5.95515727e-03 9.99982032e-01 6.86351352e-04 -1.50452003e-02] [ 1.33985001e-02 -7.66093481e-04 9.99909943e-01 -1.62706863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01771942099998 meters Centerline goodness [0,1] 0.9349403973509933 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.63 [[ 9.99887437e-01 -6.11433554e-03 -1.37014027e-02 3.26729285e+01] [ 6.12289796e-03 9.99981085e-01 5.83068676e-04 -1.42660285e-02] [ 1.36975785e-02 -6.66895335e-04 9.99905961e-01 -1.62691137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04771942099998 meters Centerline goodness [0,1] 0.9221287626302703 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.63 [[ 9.99878522e-01 -6.39120486e-03 -1.42159999e-02 3.26734709e+01] [ 6.40381603e-03 9.99979141e-01 8.41767351e-04 -1.47609309e-02] [ 1.42103234e-02 -9.32701742e-04 9.99898593e-01 -1.62575735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07771942099998 meters Centerline goodness [0,1] 0.9414844390385785 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.63 [[ 9.99874716e-01 -6.94127170e-03 -1.42257114e-02 3.26746429e+01] [ 6.94010676e-03 9.99975909e-01 -1.31255254e-04 -1.24474122e-02] [ 1.42262797e-02 3.25108538e-05 9.99898801e-01 -1.62747573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10771942099998 meters Centerline goodness [0,1] 0.9270332097499409 Centerline is valid? [False, False] Translation: X:32.67, Y:-0.01, Z:-1.63 [[ 9.99873646e-01 -6.93254773e-03 -1.43049352e-02 3.26746999e+01] [ 6.93289951e-03 9.99975967e-01 -2.49987475e-05 -1.16239594e-02] [ 1.43047647e-02 -7.41790896e-05 9.99897679e-01 -1.62724025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13771942099999 meters Centerline goodness [0,1] 0.9193070734072385 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.01, Z:-1.63 [[ 9.99945916e-01 -5.86353165e-03 -8.58977152e-03 3.26865816e+01] [ 5.79542837e-03 9.99951747e-01 -7.93196767e-03 -8.69462977e-03] [ 8.63586638e-03 7.88175727e-03 9.99931648e-01 -1.62921036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.167719421 meters Centerline goodness [0,1] 0.9455866480638113 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.01, Z:-1.63 [[ 9.99945895e-01 -5.65578914e-03 -8.73038732e-03 3.26860955e+01] [ 5.58846657e-03 9.99954611e-01 -7.71652231e-03 -8.10866604e-03] [ 8.77363408e-03 7.66731533e-03 9.99932116e-01 -1.62821279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.197719421 meters Centerline goodness [0,1] 0.927269384324438 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.01, Z:-1.63 [[ 9.99956367e-01 -1.59030888e-03 -9.20517816e-03 3.26856935e+01] [ 1.56253891e-03 9.99994209e-01 -3.02318328e-03 -8.43772773e-03] [ 9.20993265e-03 3.00866792e-03 9.99953061e-01 -1.62583238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.227719421 meters Centerline goodness [0,1] 0.9324793518859488 Centerline is valid? [False, False] Translation: X:32.68, Y:-0.01, Z:-1.63 [[ 9.99957661e-01 -1.08126125e-03 -9.13821358e-03 3.26848092e+01] [ 1.05502696e-03 9.99995310e-01 -2.87516702e-03 -7.63690594e-03] [ 9.14127953e-03 2.86540423e-03 9.99954112e-01 -1.62509692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.257719421 meters Centerline goodness [0,1] 0.9062123828963207 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.01, Z:-1.63 [[ 9.99950743e-01 2.68598317e-03 -9.55491273e-03 3.26856417e+01] [-2.67931074e-03 9.99996158e-01 7.11056903e-04 -6.15525133e-03] [ 9.55678590e-03 -6.85421298e-04 9.99954098e-01 -1.62500433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.287719421 meters Centerline goodness [0,1] 0.8871867020999427 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.00, Z:-1.63 [[ 9.99951552e-01 2.65354517e-03 -9.47900685e-03 3.26859449e+01] [-2.65471579e-03 9.99996470e-01 -1.10914929e-04 -3.13003548e-03] [ 9.47867907e-03 1.36073625e-04 9.99955067e-01 -1.62603584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.317719421 meters Centerline goodness [0,1] 0.8774048407116259 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.00, Z:-1.63 [[ 9.99936387e-01 4.68895697e-03 -1.02583995e-02 3.26896234e+01] [-4.66402943e-03 9.99986116e-01 2.45253945e-03 -1.14562923e-03] [ 1.02697569e-02 -2.40453796e-03 9.99944374e-01 -1.62786543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.347719421 meters Centerline goodness [0,1] 0.8774048407116259 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.00, Z:-1.63 [[ 9.99936387e-01 4.68895697e-03 -1.02583995e-02 3.26896234e+01] [-4.66402943e-03 9.99986116e-01 2.45253945e-03 -1.14562923e-03] [ 1.02697569e-02 -2.40453796e-03 9.99944374e-01 -1.62786543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.377719421 meters Centerline goodness [0,1] 0.895226431809891 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.00, Z:-1.63 [[ 9.99945349e-01 3.87668821e-04 -1.04473906e-02 3.26903263e+01] [-4.09676751e-04 9.99997702e-01 -2.10449033e-03 -4.16455412e-04] [ 1.04465507e-02 2.10865537e-03 9.99943210e-01 -1.62855404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.407719421 meters Centerline goodness [0,1] 0.9120807299155578 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.00, Z:-1.63 [[ 9.99939266e-01 -1.78298725e-04 -1.10196687e-02 3.26912078e+01] [ 1.61731061e-04 9.99998855e-01 -1.50433586e-03 -2.91282246e-03] [ 1.10199243e-02 1.50246227e-03 9.99938150e-01 -1.62732297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.437719421 meters Centerline goodness [0,1] 0.9451983162078071 Centerline is valid? [False, False] Translation: X:32.69, Y:-0.01, Z:-1.63 [[ 9.99932269e-01 -2.35715285e-03 -1.13974629e-02 3.26933196e+01] [ 2.33820366e-03 9.99995863e-01 -1.67561867e-03 -5.00712535e-03] [ 1.14013654e-02 1.64885559e-03 9.99933643e-01 -1.62704030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.467719421 meters Centerline goodness [0,1] 0.9430327015205165 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.00, Z:-1.63 [[ 9.99921978e-01 -3.40963849e-03 -1.20171600e-02 3.26957248e+01] [ 3.38246365e-03 9.99991678e-01 -2.28093559e-03 -3.95010957e-03] [ 1.20248372e-02 2.24011002e-03 9.99925190e-01 -1.62800787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.497719421 meters Centerline goodness [0,1] 0.9429142545624465 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.00, Z:-1.63 [[ 9.99908192e-01 -4.88980195e-03 -1.26371463e-02 3.26984261e+01] [ 4.84710700e-03 9.99982449e-01 -3.40695022e-03 -1.00103496e-03] [ 1.26535838e-02 3.34538383e-03 9.99914344e-01 -1.62925586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.527719421 meters Centerline goodness [0,1] 0.9469260700389105 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.00, Z:-1.63 [[ 9.99903137e-01 -5.06541284e-03 -1.29637559e-02 3.26988176e+01] [ 5.02296618e-03 9.99981924e-01 -3.30472474e-03 -8.16647186e-04] [ 1.29802613e-02 3.23928813e-03 9.99910506e-01 -1.62869069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.557719421 meters Centerline goodness [0,1] 0.9459431309238621 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.00, Z:-1.63 [[ 9.99900686e-01 -4.97821898e-03 -1.31846490e-02 3.26986020e+01] [ 4.93877144e-03 9.99983235e-01 -3.02280100e-03 -9.42378310e-04] [ 1.31994761e-02 2.95738483e-03 9.99908510e-01 -1.62761307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.587719421 meters Centerline goodness [0,1] 0.9445430809399478 Centerline is valid? [False, False] Translation: X:32.70, Y:-0.00, Z:-1.63 [[ 9.99900762e-01 -4.75618121e-03 -1.32606187e-02 3.26983642e+01] [ 4.71850788e-03 9.99984747e-01 -2.87083481e-03 -4.73520713e-04] [ 1.32740707e-02 2.80797958e-03 9.99907953e-01 -1.62710242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.617719421 meters Centerline goodness [0,1] 0.9460723514211886 Centerline is valid? [False, False] Translation: X:32.70, Y:0.00, Z:-1.63 [[ 9.99903725e-01 -1.05879520e-03 -1.38354813e-02 3.26990374e+01] [ 1.07131828e-03 9.99999023e-01 8.97762279e-04 1.14812342e-03] [ 1.38345172e-02 -9.12498050e-04 9.99903882e-01 -1.62618069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.647719421 meters Centerline goodness [0,1] 0.9326030497055723 Centerline is valid? [False, False] Translation: X:32.70, Y:0.00, Z:-1.63 [[ 9.99899100e-01 3.25289832e-03 -1.38278054e-02 3.26985420e+01] [-3.19345585e-03 9.99985575e-01 4.31867329e-03 4.82472560e-03] [ 1.38416542e-02 -4.27407905e-03 9.99895065e-01 -1.62590629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.677719421 meters Centerline goodness [0,1] 0.9216089178845709 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99897821e-01 3.35399987e-03 -1.38959980e-02 3.26989721e+01] [-3.30719608e-03 9.99988786e-01 3.38976081e-03 7.56165569e-03] [ 1.39072114e-02 -3.34345766e-03 9.99897700e-01 -1.62691065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.707719421 meters Centerline goodness [0,1] 0.9280990246789675 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99898616e-01 3.30572992e-03 -1.38502846e-02 3.26995629e+01] [-3.27201299e-03 9.99991630e-01 2.45633827e-03 9.75719918e-03] [ 1.38582886e-02 -2.41077093e-03 9.99901063e-01 -1.62827081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.737719421 meters Centerline goodness [0,1] 0.9180584016393443 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99894399e-01 3.51282896e-03 -1.41014433e-02 3.27003132e+01] [-3.48690927e-03 9.99992187e-01 1.86225387e-03 1.08669188e-02] [ 1.41078749e-02 -1.81288676e-03 9.99898836e-01 -1.62915112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76771942099998 meters Centerline goodness [0,1] 0.9145083716982588 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99892026e-01 3.70572615e-03 -1.42198602e-02 3.27001827e+01] [-3.67716058e-03 9.99991170e-01 2.03447012e-03 1.03491118e-02] [ 1.42272739e-02 -1.98196174e-03 9.99896823e-01 -1.62868694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79771942099998 meters Centerline goodness [0,1] 0.9134585771481367 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99892035e-01 4.12077568e-03 -1.41045297e-02 3.26992481e+01] [-4.08948578e-03 9.99989114e-01 2.24655256e-03 1.07754090e-02] [ 1.41136337e-02 -2.18862974e-03 9.99898002e-01 -1.62788643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82771942099998 meters Centerline goodness [0,1] 0.9107545622308797 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99895290e-01 4.54351975e-03 -1.37391867e-02 3.26982426e+01] [-4.51605676e-03 9.99987744e-01 2.02924553e-03 1.27146799e-02] [ 1.37482382e-02 -1.96698610e-03 9.99903554e-01 -1.62791737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85771942099998 meters Centerline goodness [0,1] 0.860980678931568 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99894100e-01 4.58515902e-03 -1.38117597e-02 3.26985074e+01] [-4.55809460e-03 9.99987631e-01 1.99036281e-03 1.25034642e-02] [ 1.38207150e-02 -1.92719672e-03 9.99902632e-01 -1.62808377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88771942099999 meters Centerline goodness [0,1] 0.8149375674425775 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99890988e-01 4.66754014e-03 -1.40080634e-02 3.26988073e+01] [-4.63286020e-03 9.99986125e-01 2.50714287e-03 9.62818336e-03] [ 1.40195712e-02 -2.44197217e-03 9.99898739e-01 -1.62766051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.917719421 meters Centerline goodness [0,1] 0.9143363377243664 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99890151e-01 4.43454556e-03 -1.41428934e-02 3.26997832e+01] [-4.40168110e-03 9.99987542e-01 2.35402566e-03 9.26524489e-03] [ 1.41531562e-02 -2.29151456e-03 9.99897213e-01 -1.62845047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.947719421 meters Centerline goodness [0,1] 0.8750032083365417 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99895688e-01 4.49569192e-03 -1.37259232e-02 3.26995995e+01] [-4.46707042e-03 9.99987786e-01 2.11516205e-03 1.01919363e-02] [ 1.37352647e-02 -2.05362675e-03 9.99903558e-01 -1.62938982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.977719421 meters Centerline goodness [0,1] 0.8701993193971804 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99891542e-01 4.29840954e-03 -1.40864629e-02 3.27002073e+01] [-4.26985768e-03 9.99988770e-01 2.05635000e-03 1.04274915e-02] [ 1.40951437e-02 -1.99597978e-03 9.99898666e-01 -1.62903848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.007719421 meters Centerline goodness [0,1] 0.8970599603184828 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99904248e-01 1.75710418e-03 -1.37261583e-02 3.26980154e+01] [-1.77624821e-03 9.99997467e-01 -1.38264458e-03 1.05394303e-02] [ 1.37236941e-02 1.40689325e-03 9.99904836e-01 -1.62803305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.037719421 meters Centerline goodness [0,1] 0.8864544400051553 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99899844e-01 1.84190168e-03 -1.40324335e-02 3.26992711e+01] [-1.85972621e-03 9.99997480e-01 -1.25729501e-03 9.29429974e-03] [ 1.40300823e-02 1.28326557e-03 9.99900750e-01 -1.62873875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.067719421 meters Centerline goodness [0,1] 0.8281403146762961 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99896444e-01 1.54998345e-03 -1.43073051e-02 3.27011336e+01] [-1.57480713e-03 9.99997274e-01 -1.72393221e-03 9.72299654e-03] [ 1.43045940e-02 1.74628493e-03 9.99896159e-01 -1.63041206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.097719421 meters Centerline goodness [0,1] 0.8535859893843432 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99901433e-01 1.65012330e-03 -1.39427899e-02 3.27038219e+01] [-1.67146746e-03 9.99997449e-01 -1.51932438e-03 1.11921687e-02] [ 1.39402472e-02 1.54247954e-03 9.99901640e-01 -1.63375873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.127719421 meters Centerline goodness [0,1] 0.837191397628702 Centerline is valid? [False, False] Translation: X:32.71, Y:0.01, Z:-1.64 [[ 9.99887180e-01 4.31343202e-03 -1.43882642e-02 3.27072502e+01] [-4.29478343e-03 9.99989897e-01 1.32674506e-03 1.25379280e-02] [ 1.43938416e-02 -1.26480090e-03 9.99895603e-01 -1.63652273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.157719421 meters Centerline goodness [0,1] 0.8542784524145721 Centerline is valid? [False, False] Translation: X:32.71, Y:0.01, Z:-1.64 [[ 9.99882977e-01 4.37356881e-03 -1.46595983e-02 3.27075216e+01] [-4.35053916e-03 9.99989252e-01 1.60248282e-03 1.15615983e-02] [ 1.46664493e-02 -1.53851814e-03 9.99891258e-01 -1.63602911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.187719421 meters Centerline goodness [0,1] 0.8386439804073215 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99891070e-01 2.92646368e-03 -1.44666537e-02 3.27035425e+01] [-2.92822250e-03 9.99995708e-01 -1.00397109e-04 8.61587200e-03] [ 1.44662978e-02 1.42747754e-04 9.99895347e-01 -1.63208142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.217719421 meters Centerline goodness [0,1] 0.809036284395389 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99890473e-01 3.12567555e-03 -1.44662090e-02 3.27031982e+01] [-3.12432113e-03 9.99995113e-01 1.16224805e-04 8.02943384e-03] [ 1.44665016e-02 -7.10149924e-05 9.99895352e-01 -1.63159092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.247719421 meters Centerline goodness [0,1] 0.8145620315759652 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99891032e-01 3.33746636e-03 -1.43800329e-02 3.27028877e+01] [-3.33271005e-03 9.99994384e-01 3.54708417e-04 8.29734255e-03] [ 1.43811359e-02 -3.06745285e-04 9.99896539e-01 -1.63126404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.277719421 meters Centerline goodness [0,1] 0.7972629723705354 Centerline is valid? [False, False] Translation: X:32.70, Y:0.01, Z:-1.63 [[ 9.99890537e-01 3.70260530e-03 -1.43249694e-02 3.27022839e+01] [-3.68771847e-03 9.99992633e-01 1.06549734e-03 6.34827391e-03] [ 1.43288090e-02 -1.01255425e-03 9.99896825e-01 -1.63041049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.307719421 meters Centerline goodness [0,1] 0.8332382532932269 Centerline is valid? [False, False] Translation: X:32.70, Y:0.00, Z:-1.63 [[ 9.99888183e-01 3.73762201e-03 -1.44793251e-02 3.27027886e+01] [-3.71783982e-03 9.99992119e-01 1.39291338e-03 4.90480929e-03] [ 1.44844172e-02 -1.33892581e-03 9.99894199e-01 -1.63045898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.337719421 meters Centerline goodness [0,1] 0.8458784151942087 Centerline is valid? [False, False] Translation: X:32.70, Y:0.00, Z:-1.63 [[ 9.99888256e-01 2.96034731e-03 -1.46530524e-02 3.27046416e+01] [-2.94314604e-03 9.99994955e-01 1.19532889e-03 3.78541515e-03] [ 1.46565171e-02 -1.15206924e-03 9.99891924e-01 -1.63182721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.367719421 meters Centerline goodness [0,1] 0.8397724334109129 Centerline is valid? [False, False] Translation: X:32.71, Y:0.00, Z:-1.63 [[ 9.99881190e-01 2.14480972e-03 -1.52645207e-02 3.27066453e+01] [-2.13104934e-03 9.99997308e-01 9.17670035e-04 3.79628484e-03] [ 1.52664478e-02 -8.85031560e-04 9.99883069e-01 -1.63231155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.397719421 meters Centerline goodness [0,1] 0.9163921568627451 Centerline is valid? [False, False] Translation: X:32.71, Y:0.00, Z:-1.63 [[ 9.99879568e-01 -2.09486122e-03 -1.53772581e-02 3.27073433e+01] [ 2.04599583e-03 9.99992810e-01 -3.19281396e-03 3.77212988e-03] [ 1.53838360e-02 3.16096764e-03 9.99876665e-01 -1.63278687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.427719421 meters Centerline goodness [0,1] 0.9203285956448037 Centerline is valid? [False, False] Translation: X:32.71, Y:0.00, Z:-1.63 [[ 9.99863140e-01 -2.94896988e-03 -1.62789730e-02 3.27096481e+01] [ 2.89954368e-03 9.99991118e-01 -3.05896681e-03 2.24555779e-03] [ 1.62878492e-02 3.01134657e-03 9.99862809e-01 -1.63258650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.457719421 meters Centerline goodness [0,1] 0.9318676705931737 Centerline is valid? [False, False] Translation: X:32.71, Y:0.00, Z:-1.63 [[ 9.99845899e-01 -3.86553362e-03 -1.71241532e-02 3.27117575e+01] [ 3.81500493e-03 9.99988275e-01 -2.98241129e-03 9.91391563e-04] [ 1.71354810e-02 2.91662296e-03 9.99848923e-01 -1.63220369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.487719421 meters Centerline goodness [0,1] 0.9336895034569453 Centerline is valid? [False, False] Translation: X:32.71, Y:0.00, Z:-1.63 [[ 9.99837916e-01 -3.98404066e-03 -1.75575939e-02 3.27127124e+01] [ 3.93352247e-03 9.99988027e-01 -2.91088020e-03 1.36719260e-03] [ 1.75689808e-02 2.84134520e-03 9.99841616e-01 -1.63207044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51771942099998 meters Centerline goodness [0,1] 0.9235837999739549 Centerline is valid? [False, False] Translation: X:32.72, Y:0.00, Z:-1.63 [[ 9.99829359e-01 -1.03935079e-03 -1.84437658e-02 3.27155044e+01] [ 1.04898748e-03 9.99999318e-01 5.12823358e-04 2.23718440e-03] [ 1.84432202e-02 -5.32083129e-04 9.99829768e-01 -1.63263120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54771942099998 meters Centerline goodness [0,1] 0.9121751809613081 Centerline is valid? [False, False] Translation: X:32.72, Y:0.00, Z:-1.63 [[ 9.99832019e-01 -8.96195090e-04 -1.83065808e-02 3.27158977e+01] [ 8.95700622e-04 9.99999598e-01 -3.52096940e-05 4.62783442e-03] [ 1.83066050e-02 1.88065636e-05 9.99832420e-01 -1.63383663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57771942099998 meters Centerline goodness [0,1] 0.9114396887159533 Centerline is valid? [False, False] Translation: X:32.72, Y:0.01, Z:-1.63 [[ 9.99813840e-01 2.42243403e-03 -1.91420203e-02 3.27181853e+01] [-2.35593696e-03 9.99991115e-01 3.49566683e-03 5.32092015e-03] [ 1.91503183e-02 -3.44991868e-03 9.99810664e-01 -1.63416719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60771942099998 meters Centerline goodness [0,1] 0.8968064079891813 Centerline is valid? [False, False] Translation: X:32.72, Y:0.00, Z:-1.63 [[ 9.99810937e-01 2.62040845e-03 -1.92671627e-02 3.27181829e+01] [-2.55075261e-03 9.99990126e-01 3.63894864e-03 4.94734390e-03] [ 1.92765080e-02 -3.58911488e-03 9.99807749e-01 -1.63386613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63771942099999 meters Centerline goodness [0,1] 0.8814050334962883 Centerline is valid? [False, False] Translation: X:32.73, Y:0.01, Z:-1.64 [[ 9.99873044e-01 3.18682386e-03 -1.56121748e-02 3.27327477e+01] [-3.27826411e-03 9.99977603e-01 -5.83489674e-03 7.10266713e-03] [ 1.55932303e-02 5.88533680e-03 9.99861097e-01 -1.63808000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.667719421 meters Centerline goodness [0,1] 0.8800176216020109 Centerline is valid? [False, False] Translation: X:32.73, Y:0.01, Z:-1.64 [[ 9.99871779e-01 3.60402590e-03 -1.56024530e-02 3.27323163e+01] [-3.68821675e-03 9.99978777e-01 -5.37059337e-03 7.08584169e-03] [ 1.55827661e-02 5.42744998e-03 9.99863851e-01 -1.63743400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.697719421 meters Centerline goodness [0,1] 0.8731819473507453 Centerline is valid? [False, False] Translation: X:32.73, Y:0.01, Z:-1.64 [[ 9.99841321e-01 6.85845200e-03 -1.64406606e-02 3.27340280e+01] [-6.87581481e-03 9.99975861e-01 -9.99796346e-04 6.39679921e-03] [ 1.64334067e-02 1.11268064e-03 9.99864343e-01 -1.63613782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.727719421 meters Centerline goodness [0,1] 0.9000283424802247 Centerline is valid? [False, False] Translation: X:32.73, Y:0.01, Z:-1.64 [[ 9.99840935e-01 7.12949533e-03 -1.63485768e-02 3.27339920e+01] [-7.14928880e-03 9.99973779e-01 -1.15258982e-03 7.57410827e-03] [ 1.63399308e-02 1.26928718e-03 9.99865689e-01 -1.63649921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.757719421 meters Centerline goodness [0,1] 0.8248252107752416 Centerline is valid? [False, False] Translation: X:32.73, Y:0.01, Z:-1.64 [[ 9.99835974e-01 7.87594732e-03 -1.63093234e-02 3.27337530e+01] [-7.90048912e-03 9.99967753e-01 -1.44088744e-03 9.58834167e-03] [ 1.62974492e-02 1.56950273e-03 9.99865956e-01 -1.63691988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.787719421 meters Centerline goodness [0,1] 0.8141617903705984 Centerline is valid? [False, False] Translation: X:32.73, Y:0.01, Z:-1.64 [[ 9.99830942e-01 7.73854292e-03 -1.66794029e-02 3.27347558e+01] [-7.76873021e-03 9.99968299e-01 -1.74582038e-03 1.01604522e-02] [ 1.66653641e-02 1.87510302e-03 9.99859365e-01 -1.63722848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.817719421 meters Centerline goodness [0,1] 0.8430251928547631 Centerline is valid? [False, False] Translation: X:32.74, Y:0.01, Z:-1.64 [[ 9.99824505e-01 7.71162325e-03 -1.70730920e-02 3.27353892e+01] [-7.74542288e-03 9.99968171e-01 -1.91446298e-03 1.07641859e-02] [ 1.70577850e-02 2.04636532e-03 9.99852411e-01 -1.63696514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.847719421 meters Centerline goodness [0,1] 0.8578114954352578 Centerline is valid? [False, False] Translation: X:32.74, Y:0.01, Z:-1.64 [[ 9.99821328e-01 7.06686017e-03 -1.75319910e-02 3.27369648e+01] [-7.10976431e-03 9.99971879e-01 -2.38607008e-03 1.12342151e-02] [ 1.75146360e-02 2.51029208e-03 9.99843456e-01 -1.63752556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.877719421 meters Centerline goodness [0,1] 0.8634199078483359 Centerline is valid? [False, False] Translation: X:32.74, Y:0.01, Z:-1.64 [[ 9.99819456e-01 6.59044814e-03 -1.78219436e-02 3.27378511e+01] [-6.63591653e-03 9.99974874e-01 -2.49332555e-03 1.12067175e-02] [ 1.78050637e-02 2.61114032e-03 9.99838068e-01 -1.63751367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.907719421 meters Centerline goodness [0,1] 0.9020565815726198 Centerline is valid? [False, False] Translation: X:32.74, Y:0.01, Z:-1.64 [[ 9.99813976e-01 4.71809132e-03 -1.87017077e-02 3.27406127e+01] [-4.76653500e-03 9.99985397e-01 -2.54660626e-03 1.04374857e-02] [ 1.86894195e-02 2.63527487e-03 9.99821865e-01 -1.63688484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.937719421 meters Centerline goodness [0,1] 0.9194715562308465 Centerline is valid? [False, False] Translation: X:32.74, Y:0.01, Z:-1.64 [[ 9.99806150e-01 3.72752346e-03 -1.93330568e-02 3.27424405e+01] [-3.78010121e-03 9.99989254e-01 -2.68374681e-03 9.17050131e-03] [ 1.93228453e-02 2.75630748e-03 9.99809497e-01 -1.63688163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.967719421 meters Centerline goodness [0,1] 0.9424415745749114 Centerline is valid? [False, False] Translation: X:32.74, Y:0.01, Z:-1.64 [[ 9.99796211e-01 2.15651486e-03 -2.00720397e-02 3.27445970e+01] [-2.21718920e-03 9.99993039e-01 -3.00106584e-03 7.41446127e-03] [ 2.00654281e-02 3.04495776e-03 9.99794032e-01 -1.63655026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.997719421 meters Centerline goodness [0,1] 0.943796394485684 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99789930e-01 1.66764156e-03 -2.04283074e-02 3.27461340e+01] [-1.73480981e-03 9.99993146e-01 -3.27071857e-03 7.98476214e-03] [ 2.04227130e-02 3.30547071e-03 9.99785970e-01 -1.63732241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.027719421 meters Centerline goodness [0,1] 0.9420846435383268 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99784845e-01 1.25040212e-03 -2.07050986e-02 3.27505275e+01] [-1.30759332e-03 9.99995367e-01 -2.74887162e-03 9.52027231e-03] [ 2.07015655e-02 2.77535404e-03 9.99781848e-01 -1.64054463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.057719421 meters Centerline goodness [0,1] 0.9419344862245819 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99775063e-01 9.88607866e-04 -2.11860066e-02 3.27520966e+01] [-1.04813590e-03 9.99995534e-01 -2.79886094e-03 9.28314236e-03] [ 2.11831450e-02 2.82043719e-03 9.99771634e-01 -1.64106146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.087719421 meters Centerline goodness [0,1] 0.9413146752039657 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99772229e-01 1.55945872e-03 -2.12851526e-02 3.27513110e+01] [-1.60090955e-03 9.99996855e-01 -1.93050488e-03 7.34421870e-03] [ 2.12820752e-02 1.96414078e-03 9.99771582e-01 -1.63955841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.117719421 meters Centerline goodness [0,1] 0.9415918673530097 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99769882e-01 2.09237579e-03 -2.13496019e-02 3.27507322e+01] [-2.12373924e-03 9.99996699e-01 -1.44647402e-03 7.20908240e-03] [ 2.13465048e-02 1.49148214e-03 9.99771025e-01 -1.63870849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.147719421 meters Centerline goodness [0,1] 0.9334209712341479 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99739570e-01 5.86039863e-03 -2.20555668e-02 3.27518369e+01] [-5.80393498e-03 9.99979716e-01 2.62320585e-03 7.66803321e-03] [ 2.20704924e-02 -2.49451361e-03 9.99753305e-01 -1.63773327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.177719421 meters Centerline goodness [0,1] 0.923654890255513 Centerline is valid? [False, False] Translation: X:32.75, Y:0.01, Z:-1.64 [[ 9.99738756e-01 6.34286546e-03 -2.19587825e-02 3.27512697e+01] [-6.28902155e-03 9.99977048e-01 2.52023511e-03 8.88115277e-03] [ 2.19742641e-02 -2.38147746e-03 9.99755700e-01 -1.63762598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.207719421 meters Centerline goodness [0,1] 0.8975182406741342 Centerline is valid? [False, False] Translation: X:32.76, Y:0.01, Z:-1.64 [[ 9.99822860e-01 1.00000043e-02 -1.59451953e-02 3.27616487e+01] [-1.00778703e-02 9.99937646e-01 -4.81050295e-03 1.18026940e-02] [ 1.58960960e-02 4.97034443e-03 9.99861295e-01 -1.64129278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.237719421 meters Centerline goodness [0,1] 0.881309965459895 Centerline is valid? [False, False] Translation: X:32.76, Y:0.01, Z:-1.64 [[ 9.99770082e-01 1.31368746e-02 -1.69471265e-02 3.27636058e+01] [-1.31536709e-02 9.99913099e-01 -8.80011883e-04 1.09638253e-02] [ 1.69340932e-02 1.10272648e-03 9.99856000e-01 -1.64019449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26771942099998 meters Centerline goodness [0,1] 0.881309965459895 Centerline is valid? [False, False] Translation: X:32.76, Y:0.01, Z:-1.64 [[ 9.99770082e-01 1.31368746e-02 -1.69471265e-02 3.27636058e+01] [-1.31536709e-02 9.99913099e-01 -8.80011883e-04 1.09638253e-02] [ 1.69340932e-02 1.10272648e-03 9.99856000e-01 -1.64019449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29771942099998 meters Centerline goodness [0,1] 0.8609736713923142 Centerline is valid? [False, False] Translation: X:32.76, Y:0.01, Z:-1.64 [[ 9.99766884e-01 1.32431117e-02 -1.70527681e-02 3.27641207e+01] [-1.32679011e-02 9.99911078e-01 -1.34137218e-03 1.25871484e-02] [ 1.70334878e-02 1.56731392e-03 9.99853691e-01 -1.64087256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32771942099998 meters Centerline goodness [0,1] 0.8432165433931359 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99755372e-01 1.37668465e-02 -1.73110052e-02 3.27652886e+01] [-1.38006084e-02 9.99903088e-01 -1.83236315e-03 1.59118498e-02] [ 1.72841016e-02 2.07081730e-03 9.99848474e-01 -1.64213444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35771942099998 meters Centerline goodness [0,1] 0.8261646914589293 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99749948e-01 1.36898830e-02 -1.76812865e-02 3.27660758e+01] [-1.37312001e-02 9.99903264e-01 -2.21748020e-03 1.75977771e-02] [ 1.76492191e-02 2.45971100e-03 9.99841215e-01 -1.64220156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38771942099999 meters Centerline goodness [0,1] 0.8012362322895734 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99736912e-01 1.43904893e-02 -1.78611753e-02 3.27655587e+01] [-1.44317918e-02 9.99893467e-01 -2.18567538e-03 2.03665000e-02] [ 1.78278196e-02 2.44286912e-03 9.99838088e-01 -1.64123813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.417719421 meters Centerline goodness [0,1] 0.7975721868095589 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99735047e-01 1.42808835e-02 -1.80525074e-02 3.27660673e+01] [-1.43286499e-02 9.99894166e-01 -2.51939709e-03 2.15624913e-02] [ 1.80146176e-02 2.77739763e-03 9.99833866e-01 -1.64142007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.447719421 meters Centerline goodness [0,1] 0.8427852092975943 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99733031e-01 1.36239841e-02 -1.86615586e-02 3.27676809e+01] [-1.36848713e-02 9.99901431e-01 -3.13889457e-03 2.26932998e-02] [ 1.86169549e-02 3.39343761e-03 9.99820931e-01 -1.64162706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.477719421 meters Centerline goodness [0,1] 0.8810456186746681 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99731103e-01 1.31180925e-02 -1.91216465e-02 3.27692282e+01] [-1.31869095e-02 9.99907003e-01 -3.47726565e-03 2.27621423e-02] [ 1.90742531e-02 3.72848605e-03 9.99811118e-01 -1.64217709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.507719421 meters Centerline goodness [0,1] 0.9098832764157194 Centerline is valid? [False, False] Translation: X:32.77, Y:0.02, Z:-1.64 [[ 9.99734275e-01 1.18446418e-02 -1.97758619e-02 3.27720120e+01] [-1.19314797e-02 9.99919662e-01 -4.27890188e-03 2.30337156e-02] [ 1.97235911e-02 4.51372016e-03 9.99795282e-01 -1.64354679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.537719421 meters Centerline goodness [0,1] 0.9241128252125655 Centerline is valid? [False, False] Translation: X:32.78, Y:0.02, Z:-1.64 [[ 9.99734985e-01 1.04829381e-02 -2.04955541e-02 3.27750319e+01] [-1.05864025e-02 9.99931729e-01 -4.94617327e-03 2.30590670e-02] [ 2.04423044e-02 5.16183665e-03 9.99777709e-01 -1.64485554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.567719421 meters Centerline goodness [0,1] 0.9155177247126584 Centerline is valid? [False, False] Translation: X:32.78, Y:0.02, Z:-1.65 [[ 9.99729103e-01 1.02150778e-02 -2.09134397e-02 3.27762342e+01] [-1.03199747e-02 9.99934673e-01 -4.91399408e-03 2.28774983e-02] [ 2.08618767e-02 5.12848906e-03 9.99769214e-01 -1.64504542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.597719421 meters Centerline goodness [0,1] 0.9316960859554874 Centerline is valid? [False, False] Translation: X:32.78, Y:0.02, Z:-1.64 [[ 9.99718336e-01 1.02315050e-02 -2.14141190e-02 3.27763377e+01] [-1.03216086e-02 9.99938320e-01 -4.10138120e-03 2.05215979e-02] [ 2.13708349e-02 4.32125415e-03 9.99762279e-01 -1.64332242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.627719421 meters Centerline goodness [0,1] 0.932603849012121 Centerline is valid? [False, False] Translation: X:32.78, Y:0.02, Z:-1.64 [[ 9.99715362e-01 1.01045482e-02 -2.16123495e-02 3.27771772e+01] [-1.01954460e-02 9.99939621e-01 -4.09978298e-03 2.00449979e-02] [ 2.15696181e-02 4.31896356e-03 9.99758020e-01 -1.64374672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.657719421 meters Centerline goodness [0,1] 0.9167559569365784 Centerline is valid? [False, False] Translation: X:32.78, Y:0.02, Z:-1.65 [[ 9.99664769e-01 1.28009265e-02 -2.25052197e-02 3.27815028e+01] [-1.28349888e-02 9.99916690e-01 -1.36973170e-03 2.15973671e-02] [ 2.24858110e-02 1.65812676e-03 9.99745787e-01 -1.64644319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.687719421 meters Centerline goodness [0,1] 0.912555195385283 Centerline is valid? [False, False] Translation: X:32.78, Y:0.02, Z:-1.65 [[ 9.99659790e-01 1.32640093e-02 -2.24582069e-02 3.27816510e+01] [-1.33019906e-02 9.99910335e-01 -1.54264737e-03 2.32253285e-02] [ 2.24357315e-02 1.84086140e-03 9.99746592e-01 -1.64698847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.717719421 meters Centerline goodness [0,1] 0.8640863170216556 Centerline is valid? [False, False] Translation: X:32.79, Y:0.02, Z:-1.65 [[ 9.99687932e-01 1.72392241e-02 -1.80789478e-02 3.27931374e+01] [-1.74041521e-02 9.99807981e-01 -9.00533335e-03 2.47625819e-02] [ 1.79202314e-02 9.31717182e-03 9.99796007e-01 -1.65031234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.747719421 meters Centerline goodness [0,1] 0.8468003576446546 Centerline is valid? [False, False] Translation: X:32.79, Y:0.02, Z:-1.65 [[ 9.99672126e-01 1.81543132e-02 -1.80571672e-02 3.27921588e+01] [-1.83069419e-02 9.99797768e-01 -8.32343707e-03 2.45647826e-02] [ 1.79024092e-02 8.65127954e-03 9.99802310e-01 -1.64928665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.777719421 meters Centerline goodness [0,1] 0.8445175606396818 Centerline is valid? [False, False] Translation: X:32.79, Y:0.02, Z:-1.65 [[ 9.99598357e-01 2.12464101e-02 -1.87540578e-02 3.27939745e+01] [-2.13338420e-02 9.99762396e-01 -4.47431568e-03 2.39767572e-02] [ 1.86545386e-02 4.87261471e-03 9.99814116e-01 -1.64880554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.807719421 meters Centerline goodness [0,1] 0.8253649356594273 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99592880e-01 2.11385515e-02 -1.91633920e-02 3.27950753e+01] [-2.12271509e-02 9.99764856e-01 -4.43178143e-03 2.41451453e-02] [ 1.90652044e-02 4.83676138e-03 9.99806543e-01 -1.64896304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.837719421 meters Centerline goodness [0,1] 0.8144818276749102 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99591657e-01 2.09907186e-02 -1.93883829e-02 3.27960846e+01] [-2.10790970e-02 9.99768281e-01 -4.36523565e-03 2.32079454e-02] [ 1.92922609e-02 4.77214274e-03 9.99802498e-01 -1.64943379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.867719421 meters Centerline goodness [0,1] 0.8398746911850852 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99588476e-01 2.08617935e-02 -1.96892043e-02 3.27970813e+01] [-2.09496600e-02 9.99771426e-01 -4.26699307e-03 2.26443320e-02] [ 1.95956867e-02 4.67771923e-03 9.99797043e-01 -1.64968291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.897719421 meters Centerline goodness [0,1] 0.8099148185097076 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99590405e-01 2.04148986e-02 -2.00562674e-02 3.27982930e+01] [-2.05010094e-02 9.99781437e-01 -4.09725635e-03 2.03265629e-02] [ 1.99682387e-02 4.50675186e-03 9.99790457e-01 -1.64984204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.927719421 meters Centerline goodness [0,1] 0.8556175747644408 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99586292e-01 2.00670269e-02 -2.06048436e-02 3.27997453e+01] [-2.01524500e-02 9.99789130e-01 -3.94651694e-03 1.89931587e-02] [ 2.05213038e-02 4.36012232e-03 9.99779908e-01 -1.64993947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.957719421 meters Centerline goodness [0,1] 0.8615400426504971 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99588382e-01 1.99027277e-02 -2.06627015e-02 3.28001410e+01] [-1.99820594e-02 9.99793713e-01 -3.64000676e-03 1.78407769e-02] [ 2.05859930e-02 4.05139180e-03 9.99779877e-01 -1.64989414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.987719421 meters Centerline goodness [0,1] 0.873314671665939 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99587851e-01 1.94932596e-02 -2.10746510e-02 3.28015523e+01] [-1.95742350e-02 9.99801770e-01 -3.64285930e-03 1.70407567e-02] [ 2.09994622e-02 4.05387807e-03 9.99771268e-01 -1.65031640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01771942099998 meters Centerline goodness [0,1] 0.8417481489125668 Centerline is valid? [False, False] Translation: X:32.80, Y:0.02, Z:-1.65 [[ 9.99603175e-01 1.78623924e-02 -2.17813354e-02 3.28049178e+01] [-1.79604420e-02 9.99829390e-01 -4.31424465e-03 1.50627156e-02] [ 2.17005565e-02 4.70373507e-03 9.99753450e-01 -1.65202466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04771942099998 meters Centerline goodness [0,1] 0.8782601965792122 Centerline is valid? [False, False] Translation: X:32.81, Y:0.01, Z:-1.65 [[ 9.99605699e-01 1.71800596e-02 -2.22101947e-02 3.28068607e+01] [-1.72879742e-02 9.99839618e-01 -4.67593104e-03 1.45753921e-02] [ 2.21262999e-02 5.05805659e-03 9.99742388e-01 -1.65310449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07771942099998 meters Centerline goodness [0,1] 0.891627786417833 Centerline is valid? [False, False] Translation: X:32.81, Y:0.01, Z:-1.65 [[ 9.99605982e-01 1.65926852e-02 -2.26398471e-02 3.28081915e+01] [-1.66991541e-02 9.99850335e-01 -4.52178377e-03 1.32554600e-02] [ 2.25614302e-02 4.89806841e-03 9.99733460e-01 -1.65309653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10771942099998 meters Centerline goodness [0,1] 0.900453544123364 Centerline is valid? [False, False] Translation: X:32.81, Y:0.01, Z:-1.65 [[ 9.99597967e-01 1.61452017e-02 -2.33074549e-02 3.28099015e+01] [-1.62532302e-02 9.99857992e-01 -4.45294692e-03 1.25972115e-02] [ 2.32322513e-02 4.82997811e-03 9.99718427e-01 -1.65314566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13771942099999 meters Centerline goodness [0,1] 0.9042553191489362 Centerline is valid? [False, False] Translation: X:32.81, Y:0.01, Z:-1.65 [[ 9.99593392e-01 1.58880426e-02 -2.36774335e-02 3.28113536e+01] [-1.59966306e-02 9.99862348e-01 -4.40380003e-03 1.16926082e-02] [ 2.36042065e-02 4.78076857e-03 9.99709951e-01 -1.65364750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.167719421 meters Centerline goodness [0,1] 0.88871376156271 Centerline is valid? [False, False] Translation: X:32.81, Y:0.01, Z:-1.65 [[ 9.99526246e-01 1.84045786e-02 -2.46689233e-02 3.28146899e+01] [-1.84328862e-02 9.99829676e-01 -9.20579406e-04 1.11555750e-02] [ 2.46477787e-02 1.37486273e-03 9.99695252e-01 -1.65417262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.197719421 meters Centerline goodness [0,1] 0.8866969634373063 Centerline is valid? [False, False] Translation: X:32.82, Y:0.01, Z:-1.65 [[ 9.99449912e-01 2.18204118e-02 -2.49748348e-02 3.28162848e+01] [-2.17623533e-02 9.99759806e-01 2.59415169e-03 1.23868067e-02] [ 2.50254414e-02 -2.04921350e-03 9.99684714e-01 -1.65473655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.227719421 meters Centerline goodness [0,1] 0.870124845233182 Centerline is valid? [False, False] Translation: X:32.82, Y:0.01, Z:-1.65 [[ 9.99440301e-01 2.19782125e-02 -2.52198996e-02 3.28165580e+01] [-2.19167068e-02 9.99756120e-01 2.71263574e-03 1.25140579e-02] [ 2.52733679e-02 -2.15838033e-03 9.99678247e-01 -1.65441672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.257719421 meters Centerline goodness [0,1] 0.8613692688971499 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99537003e-01 2.28506638e-02 -2.00904839e-02 3.28282997e+01] [-2.29983955e-02 9.99709910e-01 -7.15324937e-03 1.44569548e-02] [ 1.99211994e-02 7.61198633e-03 9.99772576e-01 -1.65815413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.287719421 meters Centerline goodness [0,1] 0.8275772795526329 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99527814e-01 2.32458551e-02 -2.00942826e-02 3.28271046e+01] [-2.33809227e-02 9.99705413e-01 -6.51306296e-03 1.44738839e-02] [ 1.99369613e-02 6.97981044e-03 9.99776875e-01 -1.65619854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.317719421 meters Centerline goodness [0,1] 0.8452598757956039 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99517872e-01 2.33679250e-02 -2.04441438e-02 3.28276402e+01] [-2.34982701e-02 9.99704907e-01 -6.15881439e-03 1.41044696e-02] [ 2.02941922e-02 6.63624707e-03 9.99772027e-01 -1.65570539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.347719421 meters Centerline goodness [0,1] 0.8828465928163813 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99508623e-01 2.36221717e-02 -2.06035554e-02 3.28276247e+01] [-2.37476892e-02 9.99700758e-01 -5.86875203e-03 1.37868906e-02] [ 2.04587573e-02 6.35515509e-03 9.99770499e-01 -1.65522194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.377719421 meters Centerline goodness [0,1] 0.8609548758250507 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99414995e-01 2.69552156e-02 -2.10495733e-02 3.28294857e+01] [-2.70095832e-02 9.99632522e-01 -2.30277043e-03 1.37668930e-02] [ 2.09797664e-02 2.86996350e-03 9.99775781e-01 -1.65566988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.407719421 meters Centerline goodness [0,1] 0.8594589039336091 Centerline is valid? [False, False] Translation: X:32.83, Y:0.02, Z:-1.66 [[ 9.99316544e-01 3.04109012e-02 -2.10147907e-02 3.28306978e+01] [-3.03967869e-02 9.99537420e-01 9.90811040e-04 1.54101925e-02] [ 2.10352011e-02 -3.51351751e-04 9.99778674e-01 -1.65676940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.437719421 meters Centerline goodness [0,1] 0.8077713815789473 Centerline is valid? [False, False] Translation: X:32.83, Y:0.02, Z:-1.66 [[ 9.99315291e-01 3.02800433e-02 -2.12618979e-02 3.28314445e+01] [-3.02716324e-02 9.99541452e-01 7.17401390e-04 1.59265408e-02] [ 2.12738712e-02 -7.32778240e-05 9.99773683e-01 -1.65706222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.467719421 meters Centerline goodness [0,1] 0.8388091140281024 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99314539e-01 2.97410384e-02 -2.20436397e-02 3.28330976e+01] [-2.97317687e-02 9.99557633e-01 7.48209457e-04 1.46154642e-02] [ 2.20561409e-02 -9.23001920e-05 9.99756729e-01 -1.65671281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.497719421 meters Centerline goodness [0,1] 0.8458344080474594 Centerline is valid? [False, False] Translation: X:32.83, Y:0.01, Z:-1.66 [[ 9.99321702e-01 2.92320074e-02 -2.23969993e-02 3.28343460e+01] [-2.92279473e-02 9.99572643e-01 5.08676659e-04 1.42350810e-02] [ 2.24022975e-02 1.46286693e-04 9.99749026e-01 -1.65718121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.527719421 meters Centerline goodness [0,1] 0.8625944357063662 Centerline is valid? [False, False] Translation: X:32.84, Y:0.01, Z:-1.66 [[ 9.99373777e-01 2.67680673e-02 -2.31413956e-02 3.28381597e+01] [-2.67960296e-02 9.99640518e-01 -8.99021412e-04 1.27620423e-02] [ 2.31090116e-02 1.51855594e-03 9.99731798e-01 -1.65912828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.557719421 meters Centerline goodness [0,1] 0.8942730139039644 Centerline is valid? [False, False] Translation: X:32.84, Y:0.01, Z:-1.66 [[ 9.99417950e-01 2.45026404e-02 -2.37356504e-02 3.28420939e+01] [-2.45577578e-02 9.99696345e-01 -2.03339389e-03 1.16856599e-02] [ 2.36786194e-02 2.61510470e-03 9.99716202e-01 -1.66151753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.587719421 meters Centerline goodness [0,1] 0.9062233368668717 Centerline is valid? [False, False] Translation: X:32.84, Y:0.01, Z:-1.66 [[ 9.99425026e-01 2.38636388e-02 -2.40861940e-02 3.28437358e+01] [-2.39233364e-02 9.99711390e-01 -2.19335417e-03 1.13600572e-02] [ 2.40269010e-02 2.76831517e-03 9.99707479e-01 -1.66227423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.617719421 meters Centerline goodness [0,1] 0.9174587552769936 Centerline is valid? [False, False] Translation: X:32.85, Y:0.01, Z:-1.66 [[ 9.99438488e-01 2.28174325e-02 -2.45371879e-02 3.28453145e+01] [-2.28785202e-02 9.99735806e-01 -2.21172061e-03 9.55899981e-03] [ 2.44802395e-02 2.77185325e-03 9.99696471e-01 -1.66226899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.647719421 meters Centerline goodness [0,1] 0.9231825483185657 Centerline is valid? [False, False] Translation: X:32.85, Y:0.01, Z:-1.66 [[ 9.99433959e-01 2.22204645e-02 -2.52589088e-02 3.28471336e+01] [-2.22894611e-02 9.99748549e-01 -2.45327972e-03 8.84302049e-03] [ 2.51980444e-02 3.01489853e-03 9.99677933e-01 -1.66250768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.677719421 meters Centerline goodness [0,1] 0.9335144927536232 Centerline is valid? [False, False] Translation: X:32.85, Y:0.01, Z:-1.66 [[ 9.99427610e-01 2.17543780e-02 -2.59075105e-02 3.28492607e+01] [-2.18361109e-02 9.99757427e-01 -2.87604379e-03 9.23699938e-03] [ 2.58386595e-02 3.44011684e-03 9.99660207e-01 -1.66337500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.707719421 meters Centerline goodness [0,1] 0.9304496212219149 Centerline is valid? [False, False] Translation: X:32.85, Y:0.01, Z:-1.66 [[ 9.99421123e-01 2.18457163e-02 -2.60803272e-02 3.28498738e+01] [-2.19326502e-02 9.99754792e-01 -3.05188852e-03 1.04434181e-02] [ 2.60072614e-02 3.62213254e-03 9.99655192e-01 -1.66368085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.737719421 meters Centerline goodness [0,1] 0.911897338109104 Centerline is valid? [False, False] Translation: X:32.85, Y:0.01, Z:-1.66 [[ 9.99323512e-01 2.53836843e-02 -2.66117866e-02 3.28516291e+01] [-2.53827915e-02 9.99677736e-01 3.71403661e-04 1.16678526e-02] [ 2.66126382e-02 3.04329022e-04 9.99645775e-01 -1.66397838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76771942099998 meters Centerline goodness [0,1] 0.8929625163557996 Centerline is valid? [False, False] Translation: X:32.85, Y:0.01, Z:-1.66 [[ 9.99311797e-01 2.54736373e-02 -2.69634227e-02 3.28527725e+01] [-2.54866634e-02 9.99675153e-01 -1.39489505e-04 1.33076814e-02] [ 2.69511104e-02 8.26601186e-04 9.99636411e-01 -1.66480662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79771942099998 meters Centerline goodness [0,1] 0.864399406315574 Centerline is valid? [False, False] Translation: X:32.85, Y:0.02, Z:-1.67 [[ 9.99293755e-01 2.61934339e-02 -2.69424405e-02 3.28533426e+01] [-2.62211520e-02 9.99655938e-01 -6.75948042e-04 1.60398659e-02] [ 2.69154652e-02 1.38193248e-03 9.99636758e-01 -1.66609914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82771942099998 meters Centerline goodness [0,1] 0.8412008387459725 Centerline is valid? [False, False] Translation: X:32.85, Y:0.02, Z:-1.67 [[ 9.99266972e-01 2.69074793e-02 -2.72306256e-02 3.28537868e+01] [-2.69428053e-02 9.99636543e-01 -9.31152163e-04 1.77987707e-02] [ 2.71956735e-02 1.66413905e-03 9.99628744e-01 -1.66637634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85771942099998 meters Centerline goodness [0,1] 0.8183093919832624 Centerline is valid? [False, False] Translation: X:32.85, Y:0.02, Z:-1.67 [[ 9.99251741e-01 2.72346935e-02 -2.74632290e-02 3.28543018e+01] [-2.72755759e-02 9.99627330e-01 -1.11504700e-03 1.89172156e-02] [ 2.74226263e-02 1.86328804e-03 9.99622192e-01 -1.66663261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88771942099999 meters Centerline goodness [0,1] 0.7786195712765418 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.67 [[ 9.99120817e-01 3.11406532e-02 -2.80687278e-02 3.28560783e+01] [-3.10872844e-02 9.99513944e-01 2.33584352e-03 2.08292685e-02] [ 2.81278246e-02 -1.46120936e-03 9.99603266e-01 -1.66698149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.917719421 meters Centerline goodness [0,1] 0.7667961262987996 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.67 [[ 9.98990436e-01 3.44892709e-02 -2.87853828e-02 3.28578508e+01] [-3.43191488e-02 9.99390538e-01 6.38343551e-03 1.98112834e-02] [ 2.89879993e-02 -5.38910119e-03 9.99565232e-01 -1.66630716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.947719421 meters Centerline goodness [0,1] 0.7508678575953376 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.66 [[ 9.98956678e-01 3.54885834e-02 -2.87422272e-02 3.28561846e+01] [-3.52883334e-02 9.99349443e-01 7.44478493e-03 1.85071537e-02] [ 2.89877336e-02 -6.42275233e-03 9.99559133e-01 -1.66416328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.977719421 meters Centerline goodness [0,1] 0.7488725614390677 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.66 [[ 9.98950273e-01 3.53068789e-02 -2.91852011e-02 3.28575056e+01] [-3.51064292e-02 9.99356533e-01 7.35245886e-03 1.83509544e-02] [ 2.94260138e-02 -6.32015259e-03 9.99546980e-01 -1.66458151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.007719421 meters Centerline goodness [0,1] 0.7476545463765911 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.67 [[ 9.98974406e-01 3.42804408e-02 -2.95802043e-02 3.28605411e+01] [-3.41046551e-02 9.99397601e-01 6.42702551e-03 1.89462714e-02] [ 2.97827065e-02 -5.41161133e-03 9.99541747e-01 -1.66711646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.037719421 meters Centerline goodness [0,1] 0.7530575995940116 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.67 [[ 9.98980583e-01 3.35672981e-02 -3.01833109e-02 3.28628095e+01] [-3.34005250e-02 9.99423960e-01 6.01279266e-03 1.87403112e-02] [ 3.03677573e-02 -4.99852468e-03 9.99526295e-01 -1.66815429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.067719421 meters Centerline goodness [0,1] 0.7979269320125609 Centerline is valid? [False, False] Translation: X:32.86, Y:0.02, Z:-1.67 [[ 9.99105692e-01 2.91225642e-02 -3.06544188e-02 3.28640834e+01] [-2.90777026e-02 9.99575333e-01 1.90832569e-03 1.72531932e-02] [ 3.06969762e-02 -1.01525899e-03 9.99528221e-01 -1.66872937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.097719421 meters Centerline goodness [0,1] 0.8157235597812197 Centerline is valid? [False, False] Translation: X:32.87, Y:0.01, Z:-1.67 [[ 9.99112677e-01 2.79528678e-02 -3.15038929e-02 3.28664458e+01] [-2.79119263e-02 9.99608874e-01 1.73868363e-03 1.49456388e-02] [ 3.15401721e-02 -8.57806517e-04 9.99502117e-01 -1.66881679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.127719421 meters Centerline goodness [0,1] 0.8465787918497392 Centerline is valid? [False, False] Translation: X:32.87, Y:0.01, Z:-1.67 [[ 9.99211992e-01 2.32577374e-02 -3.21632110e-02 3.28681867e+01] [-2.33415794e-02 9.99725053e-01 -2.23371001e-03 1.29437414e-02] [ 3.21024168e-02 2.98268997e-03 9.99480134e-01 -1.66916358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.157719421 meters Centerline goodness [0,1] 0.8465787918497392 Centerline is valid? [False, False] Translation: X:32.87, Y:0.01, Z:-1.67 [[ 9.99211992e-01 2.32577374e-02 -3.21632110e-02 3.28681867e+01] [-2.33415794e-02 9.99725053e-01 -2.23371001e-03 1.29437414e-02] [ 3.21024168e-02 2.98268997e-03 9.99480134e-01 -1.66916358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.187719421 meters Centerline goodness [0,1] 0.8950845052251323 Centerline is valid? [False, False] Translation: X:32.87, Y:0.01, Z:-1.67 [[ 9.99208285e-01 2.26792699e-02 -3.26872199e-02 3.28696763e+01] [-2.27588343e-02 9.99738853e-01 -2.06406234e-03 1.10575992e-02] [ 3.26318723e-02 2.80635122e-03 9.99463499e-01 -1.66921785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.217719421 meters Centerline goodness [0,1] 0.9002041924061103 Centerline is valid? [False, False] Translation: X:32.87, Y:0.01, Z:-1.67 [[ 9.99213555e-01 2.20689504e-02 -3.29428889e-02 3.28714648e+01] [-2.21478615e-02 9.99752640e-01 -2.03236469e-03 9.63831206e-03] [ 3.28898880e-02 2.76038089e-03 9.99455169e-01 -1.67021878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.247719421 meters Centerline goodness [0,1] 0.897257269654514 Centerline is valid? [False, False] Translation: X:32.87, Y:0.01, Z:-1.67 [[ 9.99207705e-01 2.19336011e-02 -3.32096349e-02 3.28733409e+01] [-2.20186794e-02 9.99755143e-01 -2.19826585e-03 1.00598679e-02] [ 3.31532874e-02 2.92775648e-03 9.99445990e-01 -1.67178868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.277719421 meters Centerline goodness [0,1] 0.8750323214562755 Centerline is valid? [False, False] Translation: X:32.88, Y:0.01, Z:-1.67 [[ 9.99200426e-01 2.19459724e-02 -3.34198113e-02 3.28755605e+01] [-2.20394358e-02 9.99754147e-01 -2.43079597e-03 9.87516590e-03] [ 3.33582488e-02 3.16540616e-03 9.99438446e-01 -1.67403259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.307719421 meters Centerline goodness [0,1] 0.8579213701829506 Centerline is valid? [False, False] Translation: X:32.88, Y:0.01, Z:-1.67 [[ 9.99173808e-01 2.25959656e-02 -3.37805157e-02 3.28753086e+01] [-2.26570602e-02 9.99742278e-01 -1.42683086e-03 6.66491407e-03] [ 3.37395691e-02 2.19101921e-03 9.99428257e-01 -1.67257706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.337719421 meters Centerline goodness [0,1] 0.8059929952004151 Centerline is valid? [False, False] Translation: X:32.88, Y:0.01, Z:-1.67 [[ 9.99150529e-01 2.30123111e-02 -3.41855750e-02 3.28755838e+01] [-2.30546074e-02 9.99733851e-01 -8.43538210e-04 5.01804281e-03] [ 3.41570648e-02 1.63095666e-03 9.99415146e-01 -1.67181718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.367719421 meters Centerline goodness [0,1] 0.8097467103552296 Centerline is valid? [False, False] Translation: X:32.87, Y:0.00, Z:-1.67 [[ 9.99121522e-01 2.41028188e-02 -3.42817573e-02 3.28749035e+01] [-2.41110664e-02 9.99709271e-01 1.72864659e-04 3.16831804e-03] [ 3.42759571e-02 6.53856923e-04 9.99412193e-01 -1.67073139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.397719421 meters Centerline goodness [0,1] 0.7928643764119343 Centerline is valid? [False, False] Translation: X:32.88, Y:0.00, Z:-1.67 [[ 9.99107938e-01 2.44183663e-02 -3.44539114e-02 3.28756596e+01] [-2.44283300e-02 9.99701575e-01 1.31795724e-04 3.59249602e-03] [ 3.44468477e-02 7.09973362e-04 9.99406279e-01 -1.67143021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.427719421 meters Centerline goodness [0,1] 0.799710249909453 Centerline is valid? [False, False] Translation: X:32.88, Y:0.00, Z:-1.67 [[ 9.98994499e-01 2.78313621e-02 -3.51483480e-02 3.28778813e+01] [-2.77015000e-02 9.99607515e-01 4.17637376e-03 2.37325898e-03] [ 3.52507869e-02 -3.19851246e-03 9.99373379e-01 -1.67154572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.457719421 meters Centerline goodness [0,1] 0.7817198148051813 Centerline is valid? [False, False] Translation: X:32.88, Y:0.00, Z:-1.67 [[ 9.98976121e-01 2.86442224e-02 -3.50174014e-02 3.28776617e+01] [-2.84915621e-02 9.99582263e-01 4.85091539e-03 7.93139167e-04] [ 3.51417240e-02 -3.84824817e-03 9.99374930e-01 -1.67176499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.487719421 meters Centerline goodness [0,1] 0.7834626132831883 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.00, Z:-1.67 [[ 9.99018122e-01 2.68190014e-02 -3.52637603e-02 3.28794092e+01] [-2.67157166e-02 9.99637300e-01 3.39694661e-03 -2.94396540e-03] [ 3.53420728e-02 -2.45151459e-03 9.99372267e-01 -1.67311396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51771942099998 meters Centerline goodness [0,1] 0.801581483033096 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.00, Z:-1.67 [[ 9.99019754e-01 2.61776631e-02 -3.56967986e-02 3.28810548e+01] [-2.60757987e-02 9.99654468e-01 3.31626068e-03 -4.24162539e-03] [ 3.57712761e-02 -2.38218740e-03 9.99357164e-01 -1.67364552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54771942099998 meters Centerline goodness [0,1] 0.8302791977978765 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.01, Z:-1.67 [[ 9.99022408e-01 2.47390554e-02 -3.66361416e-02 3.28836452e+01] [-2.46199688e-02 9.99690042e-01 3.69817416e-03 -7.22937151e-03] [ 3.67162752e-02 -2.79257819e-03 9.99321828e-01 -1.67292474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57771942099998 meters Centerline goodness [0,1] 0.8388261970048513 Centerline is valid? [False, False] Translation: X:32.88, Y:-0.01, Z:-1.67 [[ 9.99107366e-01 2.11517968e-02 -3.65660015e-02 3.28833251e+01] [-2.11679578e-02 9.99775932e-01 -5.48376605e-05 -7.13817357e-03] [ 3.65566483e-02 8.28816287e-04 9.99331239e-01 -1.67315739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60771942099998 meters Centerline goodness [0,1] 0.8554392088423501 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.67 [[ 9.99105336e-01 2.00361299e-02 -3.72435438e-02 3.28858952e+01] [-2.00631346e-02 9.99798653e-01 -3.51446212e-04 -9.11344269e-03] [ 3.72290033e-02 1.09835402e-03 9.99306157e-01 -1.67391816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63771942099999 meters Centerline goodness [0,1] 0.8966265953503151 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.99098517e-01 1.93671561e-02 -3.77765419e-02 3.28882805e+01] [-1.94170884e-02 9.99811014e-01 -9.55308885e-04 -8.88692490e-03] [ 3.77509010e-02 1.68795814e-03 9.99285755e-01 -1.67536234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.667719421 meters Centerline goodness [0,1] 0.8295750559136956 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.99015274e-01 2.17933543e-02 -3.86462331e-02 3.28924182e+01] [-2.17316221e-02 9.99761806e-01 2.01677605e-03 -8.84618333e-03] [ 3.86809801e-02 -1.17494474e-03 9.99250920e-01 -1.67718272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.697719421 meters Centerline goodness [0,1] 0.8412885638646431 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.98994656e-01 2.23773059e-02 -3.88449840e-02 3.28933715e+01] [-2.23194025e-02 9.99749040e-01 1.92370493e-03 -7.82995177e-03] [ 3.88782828e-02 -1.05477411e-03 9.99243397e-01 -1.67815542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.727719421 meters Centerline goodness [0,1] 0.8288354317723738 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.98984697e-01 2.23294732e-02 -3.91276064e-02 3.28947119e+01] [-2.22847592e-02 9.99750418e-01 1.57859732e-03 -7.20845641e-03] [ 3.91530901e-02 -7.05045281e-04 9.99232975e-01 -1.67919760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.757719421 meters Centerline goodness [0,1] 0.7674400293947824 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.98963243e-01 2.31673034e-02 -3.91882116e-02 3.28943728e+01] [-2.31063645e-02 9.99730997e-01 2.00730103e-03 -7.46463171e-03] [ 3.92241736e-02 -1.09972284e-03 9.99229831e-01 -1.67884659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.787719421 meters Centerline goodness [0,1] 0.8174565685193933 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.98938742e-01 2.35159053e-02 -3.96029375e-02 3.28944051e+01] [-2.34360362e-02 9.99722263e-01 2.47985571e-03 -8.42911116e-03] [ 3.96502544e-02 -1.54908807e-03 9.99212419e-01 -1.67778202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.817719421 meters Centerline goodness [0,1] 0.7523200335552875 Centerline is valid? [False, False] Translation: X:32.89, Y:-0.01, Z:-1.68 [[ 9.98911957e-01 2.40525867e-02 -3.99546720e-02 3.28946017e+01] [-2.39469748e-02 9.99708362e-01 3.11985105e-03 -1.01305768e-02] [ 4.00180602e-02 -2.15966300e-03 9.99196623e-01 -1.67700367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.847719421 meters Centerline goodness [0,1] 0.7975691423449076 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.01, Z:-1.68 [[ 9.98906306e-01 2.40323709e-02 -4.01078205e-02 3.28951967e+01] [-2.39229982e-02 9.99708667e-01 3.20475417e-03 -1.06009341e-02] [ 4.01731536e-02 -2.24174983e-03 9.99190218e-01 -1.67725788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.877719421 meters Centerline goodness [0,1] 0.8088487632322272 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.01, Z:-1.68 [[ 9.98893412e-01 2.38665774e-02 -4.05257621e-02 3.28958024e+01] [-2.37109438e-02 9.99709536e-01 4.31674533e-03 -1.32579151e-02] [ 4.06170167e-02 -3.35106441e-03 9.99169169e-01 -1.67580850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.907719421 meters Centerline goodness [0,1] 0.7470641134151502 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.02, Z:-1.68 [[ 9.98884765e-01 2.35965319e-02 -4.08953422e-02 3.28965847e+01] [-2.34202814e-02 9.99714263e-01 4.78360533e-03 -1.56335478e-02] [ 4.09965334e-02 -3.82049007e-03 9.99151984e-01 -1.67533881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.937719421 meters Centerline goodness [0,1] 0.8443271767810027 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.02, Z:-1.68 [[ 9.98970752e-01 1.92095020e-02 -4.10905188e-02 3.28977190e+01] [-1.91879663e-02 9.99815472e-01 9.18463492e-04 -1.79331761e-02] [ 4.11005797e-02 -1.29074674e-04 9.99155006e-01 -1.67625748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.967719421 meters Centerline goodness [0,1] 0.851506264996001 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.02, Z:-1.68 [[ 9.98962895e-01 1.81111251e-02 -4.17746495e-02 3.29003655e+01] [-1.81085553e-02 9.99835930e-01 4.39950846e-04 -1.89130883e-02] [ 4.17757635e-02 3.16983978e-04 9.99126961e-01 -1.67726039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.997719421 meters Centerline goodness [0,1] 0.8697134334718227 Centerline is valid? [False, False] Translation: X:32.90, Y:-0.02, Z:-1.68 [[ 9.98955430e-01 1.66799850e-02 -4.25420688e-02 3.29042918e+01] [-1.67037834e-02 9.99860461e-01 -2.03978226e-04 -1.99865324e-02] [ 4.25327301e-02 9.14378660e-04 9.99094656e-01 -1.67928126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.027719421 meters Centerline goodness [0,1] 0.8568420491497415 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:-1.68 [[ 9.98950541e-01 1.64939586e-02 -4.27289819e-02 3.29054904e+01] [-1.65248496e-02 9.99863387e-01 -3.69823087e-04 -2.02874704e-02] [ 4.27170447e-02 1.07552497e-03 9.99086632e-01 -1.68016149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.057719421 meters Centerline goodness [0,1] 0.8779310160855763 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:-1.68 [[ 9.98936313e-01 1.64623706e-02 -4.30724192e-02 3.29068142e+01] [-1.64986993e-02 9.99863768e-01 -4.88060048e-04 -2.09076636e-02] [ 4.30585168e-02 1.19817980e-03 9.99071834e-01 -1.68088505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.087719421 meters Centerline goodness [0,1] 0.8281814532316338 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:-1.68 [[ 9.98924236e-01 1.65578449e-02 -4.33152188e-02 3.29070823e+01] [-1.65812709e-02 9.99862505e-01 -1.81577885e-04 -2.22223866e-02] [ 4.33062566e-02 8.99603927e-04 9.99061439e-01 -1.68044787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.117719421 meters Centerline goodness [0,1] 0.8215941058271936 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:-1.68 [[ 9.98912594e-01 1.64310649e-02 -4.36308351e-02 3.29083197e+01] [-1.64526625e-02 9.99864637e-01 -1.35937445e-04 -2.30427361e-02] [ 4.36226955e-02 8.53633033e-04 9.99047712e-01 -1.68089372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.147719421 meters Centerline goodness [0,1] 0.8451811255179789 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:-1.68 [[ 9.98836540e-01 1.84071812e-02 -4.45728807e-02 3.29130381e+01] [-1.83028894e-02 9.99828715e-01 2.74681807e-03 -2.34080372e-02] [ 4.46158072e-02 -1.92780975e-03 9.99002359e-01 -1.68284995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.177719421 meters Centerline goodness [0,1] 0.8021413276231264 Centerline is valid? [False, False] Translation: X:32.91, Y:-0.02, Z:-1.68 [[ 9.98823281e-01 1.81262915e-02 -4.49832321e-02 3.29146349e+01] [-1.80258239e-02 9.99834041e-01 2.63811011e-03 -2.42225145e-02] [ 4.50235859e-02 -1.82414598e-03 9.98984259e-01 -1.68361749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.207719421 meters Centerline goodness [0,1] 0.7942270137235494 Centerline is valid? [False, False] Translation: X:32.92, Y:-0.03, Z:-1.68 [[ 9.98809104e-01 1.80850533e-02 -4.53134023e-02 3.29155942e+01] [-1.79743686e-02 9.99834389e-01 2.84894094e-03 -2.55948956e-02] [ 4.53574211e-02 -2.03106835e-03 9.98968758e-01 -1.68374406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.237719421 meters Centerline goodness [0,1] 0.8094063388212581 Centerline is valid? [False, False] Translation: X:32.93, Y:-0.03, Z:-1.69 [[ 9.99026039e-01 1.95921492e-02 -3.95363222e-02 3.29276792e+01] [-1.97689223e-02 9.99796230e-01 -4.08513444e-03 -2.61456616e-02] [ 3.94482293e-02 4.86274616e-03 9.99209783e-01 -1.68560257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26771942099998 meters Centerline goodness [0,1] 0.7977220222425186 Centerline is valid? [False, False] Translation: X:32.93, Y:-0.03, Z:-1.68 [[ 9.99017050e-01 2.02699179e-02 -3.94216109e-02 3.29267317e+01] [-2.04088734e-02 9.99786832e-01 -3.12558480e-03 -2.70535649e-02] [ 3.93498521e-02 3.92706318e-03 9.99217778e-01 -1.68437097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29771942099998 meters Centerline goodness [0,1] 0.7903924258317867 Centerline is valid? [False, False] Translation: X:32.93, Y:-0.03, Z:-1.68 [[ 9.99001856e-01 2.05920343e-02 -3.96391283e-02 3.29269992e+01] [-2.07055020e-02 9.99782606e-01 -2.45406917e-03 -2.82994873e-02] [ 3.95799768e-02 3.27236770e-03 9.99211047e-01 -1.68367951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32771942099998 meters Centerline goodness [0,1] 0.7808454638233873 Centerline is valid? [False, False] Translation: X:32.93, Y:-0.03, Z:-1.68 [[ 9.98990967e-01 2.02745388e-02 -4.00748139e-02 3.29285332e+01] [-2.03935974e-02 9.99788740e-01 -2.56430304e-03 -2.87767654e-02] [ 4.00143577e-02 3.37898520e-03 9.99193392e-01 -1.68425386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35771942099998 meters Centerline goodness [0,1] 0.7893019870049338 Centerline is valid? [False, False] Translation: X:32.93, Y:-0.03, Z:-1.69 [[ 9.98998374e-01 1.90452628e-02 -4.04910601e-02 3.29311357e+01] [-1.91749265e-02 9.99812178e-01 -2.81629268e-03 -3.09707068e-02] [ 4.04298180e-02 3.58988491e-03 9.99175932e-01 -1.68533640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38771942099999 meters Centerline goodness [0,1] 0.8249177321033608 Centerline is valid? [False, False] Translation: X:32.93, Y:-0.03, Z:-1.69 [[ 9.99024327e-01 1.63609600e-02 -4.10208941e-02 3.29346806e+01] [-1.65051811e-02 9.99858725e-01 -3.17957151e-03 -3.37905368e-02] [ 4.09630780e-02 3.85352657e-03 9.99153230e-01 -1.68570862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.417719421 meters Centerline goodness [0,1] 0.8560076200843652 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.03, Z:-1.69 [[ 9.99016185e-01 1.53325363e-02 -4.16122121e-02 3.29369799e+01] [-1.54884912e-02 9.99874170e-01 -3.42799352e-03 -3.48797856e-02] [ 4.15544162e-02 4.06913138e-03 9.99127956e-01 -1.68637699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.447719421 meters Centerline goodness [0,1] 0.8733476874437873 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.99016151e-01 1.31588295e-02 -4.23506324e-02 3.29411545e+01] [-1.33569525e-02 9.99901117e-01 -4.39858901e-03 -3.63525946e-02] [ 4.22885644e-02 4.95993684e-03 9.99093127e-01 -1.68834227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.477719421 meters Centerline goodness [0,1] 0.8943763813473764 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.98998405e-01 1.23666945e-02 -4.30029252e-02 3.29435734e+01] [-1.25819309e-02 9.99909619e-01 -4.73809999e-03 -3.67697433e-02] [ 4.29404439e-02 5.27441416e-03 9.99063711e-01 -1.68924876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.507719421 meters Centerline goodness [0,1] 0.8739576213260424 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.04, Z:-1.69 [[ 9.98989583e-01 1.23724104e-02 -4.32057484e-02 3.29452377e+01] [-1.25965221e-02 9.99908563e-01 -4.91868092e-03 -3.69353034e-02] [ 4.31409419e-02 5.45795317e-03 9.99054088e-01 -1.69081785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.537719421 meters Centerline goodness [0,1] 0.8476998172943198 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.04, Z:-1.69 [[ 9.98971932e-01 1.25168653e-02 -4.35707032e-02 3.29463228e+01] [-1.27471216e-02 9.99906197e-01 -5.01083384e-03 -3.67014475e-02] [ 4.35038962e-02 5.56108342e-03 9.99037780e-01 -1.69140418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.567719421 meters Centerline goodness [0,1] 0.8862640972298259 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.98961699e-01 1.44205402e-02 -4.32154226e-02 3.29441944e+01] [-1.46004908e-02 9.99885990e-01 -3.85128656e-03 -3.79801197e-02] [ 4.31549580e-02 4.47825414e-03 9.99058354e-01 -1.69037961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.597719421 meters Centerline goodness [0,1] 0.7648489818231515 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.98882301e-01 1.87913228e-02 -4.33708960e-02 3.29447408e+01] [-1.87784907e-02 9.99823421e-01 7.03297923e-04 -3.92429341e-02] [ 4.33764535e-02 1.11928119e-04 9.99058792e-01 -1.69001684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.627719421 meters Centerline goodness [0,1] 0.8227155903100563 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.98874000e-01 1.91121497e-02 -4.34218498e-02 3.29448823e+01] [-1.90985236e-02 9.99817341e-01 7.28664313e-04 -3.92583247e-02] [ 4.34278448e-02 1.01449388e-04 9.99056561e-01 -1.69028295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.657719421 meters Centerline goodness [0,1] 0.8036583365232133 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.98859382e-01 2.01877925e-02 -4.32711081e-02 3.29437696e+01] [-2.01305935e-02 9.99795815e-01 1.75725251e-03 -4.08874269e-02] [ 4.32977478e-02 -8.84175065e-04 9.99061822e-01 -1.68926854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.687719421 meters Centerline goodness [0,1] 0.8315870106420813 Centerline is valid? [False, False] Translation: X:32.94, Y:-0.04, Z:-1.69 [[ 9.98850906e-01 1.99656331e-02 -4.35688119e-02 3.29448605e+01] [-1.99143207e-02 9.99800392e-01 1.61148630e-03 -4.13575226e-02] [ 4.35922895e-02 -7.41991260e-04 9.99049129e-01 -1.68979218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.717719421 meters Centerline goodness [0,1] 0.8236548556430446 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.04, Z:-1.69 [[ 9.98849253e-01 1.93643289e-02 -4.38770104e-02 3.29470110e+01] [-1.93302433e-02 9.99812432e-01 1.20103127e-03 -4.21106122e-02] [ 4.38920377e-02 -3.51495902e-04 9.99036218e-01 -1.69138919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.747719421 meters Centerline goodness [0,1] 0.8252123869553303 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.04, Z:-1.69 [[ 9.98840348e-01 1.88001352e-02 -4.43228500e-02 3.29489103e+01] [-1.87810305e-02 9.99823262e-01 8.47451187e-04 -4.24408588e-02] [ 4.43309486e-02 -1.40396405e-05 9.99016900e-01 -1.69237831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.777719421 meters Centerline goodness [0,1] 0.8348163861263396 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.04, Z:-1.69 [[ 9.98901902e-01 1.48279656e-02 -4.44423351e-02 3.29499674e+01] [-1.49772481e-02 9.99883250e-01 -3.02790567e-03 -4.39832660e-02] [ 4.43922488e-02 3.69020461e-03 9.99007363e-01 -1.69364283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.807719421 meters Centerline goodness [0,1] 0.8461113260737383 Centerline is valid? [False, False] Translation: X:32.95, Y:-0.05, Z:-1.69 [[ 9.98877485e-01 1.39033051e-02 -4.52820905e-02 3.29525136e+01] [-1.40510510e-02 9.99896939e-01 -2.94611577e-03 -4.60129856e-02] [ 4.52364629e-02 3.57906967e-03 9.98969896e-01 -1.69380248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.837719421 meters Centerline goodness [0,1] 0.8832092546979216 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.05, Z:-1.69 [[ 9.98858107e-01 1.17747577e-02 -4.63015992e-02 3.29565314e+01] [-1.19273632e-02 9.99924303e-01 -3.02099750e-03 -4.85038672e-02] [ 4.62625228e-02 3.56980383e-03 9.98922938e-01 -1.69395745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.867719421 meters Centerline goodness [0,1] 0.8974850632207865 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.05, Z:-1.69 [[ 9.98842269e-01 1.11045043e-02 -4.68061005e-02 3.29583387e+01] [-1.12604423e-02 9.99931889e-01 -3.06920889e-03 -4.96043475e-02] [ 4.67688304e-02 3.59271297e-03 9.98899279e-01 -1.69435037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.897719421 meters Centerline goodness [0,1] 0.8985217849516044 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.05, Z:-1.70 [[ 9.98819466e-01 9.74076452e-03 -4.75898240e-02 3.29619580e+01] [-9.90287542e-03 9.99945935e-01 -3.17183057e-03 -5.21093961e-02] [ 4.75563550e-02 3.63936221e-03 9.98861926e-01 -1.69548453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.927719421 meters Centerline goodness [0,1] 0.9074914241451809 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.05, Z:-1.70 [[ 9.98803935e-01 9.62128679e-03 -4.79388161e-02 3.29627917e+01] [-9.76360783e-03 9.99948593e-01 -2.73552284e-03 -5.32612051e-02] [ 4.79100324e-02 3.20030677e-03 9.98846528e-01 -1.69507461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.957719421 meters Centerline goodness [0,1] 0.9351067670008053 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.05, Z:-1.69 [[ 9.98803479e-01 9.95817892e-03 -4.78794801e-02 3.29624266e+01] [-1.00750243e-02 9.99946826e-01 -2.19968729e-03 -5.42302249e-02] [ 4.78550293e-02 2.67944224e-03 9.98850698e-01 -1.69458505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.987719421 meters Centerline goodness [0,1] 0.9219937416182387 Centerline is valid? [False, False] Translation: X:32.96, Y:-0.05, Z:-1.70 [[ 9.98803259e-01 1.03394120e-02 -4.78032010e-02 3.29626938e+01] [-1.04412836e-02 9.99943718e-01 -1.88184154e-03 -5.47637623e-02] [ 4.77810534e-02 2.37871624e-03 9.98855001e-01 -1.69509882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01771942099998 meters Centerline goodness [0,1] 0.8934771099779877 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98731100e-01 1.32336657e-02 -4.85907468e-02 3.29658302e+01] [-1.31572499e-02 9.99911649e-01 1.89216832e-03 -5.69819357e-02] [ 4.86114941e-02 -1.25044675e-03 9.98816980e-01 -1.69569775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04771942099998 meters Centerline goodness [0,1] 0.8812475568213548 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98710563e-01 1.33334326e-02 -4.89839965e-02 3.29667136e+01] [-1.32493377e-02 9.99910140e-01 2.04109345e-03 -5.79571368e-02] [ 4.90068097e-02 -1.38945608e-03 9.98797478e-01 -1.69574947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07771942099998 meters Centerline goodness [0,1] 0.8812475568213548 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98710563e-01 1.33334326e-02 -4.89839965e-02 3.29667136e+01] [-1.32493377e-02 9.99910140e-01 2.04109345e-03 -5.79571368e-02] [ 4.90068097e-02 -1.38945608e-03 9.98797478e-01 -1.69574947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10771942099998 meters Centerline goodness [0,1] 0.8532728850082557 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98684681e-01 1.38083845e-02 -4.93785049e-02 3.29670837e+01] [-1.36996224e-02 9.99902929e-01 2.54039777e-03 -5.95857075e-02] [ 4.94087905e-02 -1.86058946e-03 9.98776907e-01 -1.69517878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13771942099999 meters Centerline goodness [0,1] 0.8745889429157649 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98673277e-01 1.36710766e-02 -4.96466329e-02 3.29679804e+01] [-1.35661854e-02 9.99904976e-01 2.44912269e-03 -6.01091599e-02] [ 4.96753974e-02 -1.77235795e-03 9.98763843e-01 -1.69553824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.167719421 meters Centerline goodness [0,1] 0.859893198426082 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98657010e-01 1.32012599e-02 -5.00989356e-02 3.29703246e+01] [-1.31035766e-02 9.99911550e-01 2.27776407e-03 -6.10491927e-02] [ 5.01245737e-02 -1.61822981e-03 9.98741663e-01 -1.69689783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.197719421 meters Centerline goodness [0,1] 0.855564900476591 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98607249e-01 1.53388018e-02 -5.04805217e-02 3.29740861e+01] [-1.50760979e-02 9.99870775e-01 5.58074757e-03 -6.21269453e-02] [ 5.05596003e-02 -4.81192570e-03 9.98709453e-01 -1.69864994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.227719421 meters Centerline goodness [0,1] 0.8549456080986605 Centerline is valid? [False, False] Translation: X:32.97, Y:-0.06, Z:-1.70 [[ 9.98595773e-01 1.51453415e-02 -5.07651548e-02 3.29749985e+01] [-1.48787226e-02 9.99873479e-01 5.62582257e-03 -6.21631864e-02] [ 5.08439369e-02 -4.86260198e-03 9.98694773e-01 -1.69868837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.257719421 meters Centerline goodness [0,1] 0.8651675906903442 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.06, Z:-1.70 [[ 9.98904673e-01 1.37490299e-02 -4.47260367e-02 3.29852898e+01] [-1.39445566e-02 9.99894517e-01 -4.06258158e-03 -6.23968541e-02] [ 4.46654623e-02 4.68181647e-03 9.98991030e-01 -1.69847217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.287719421 meters Centerline goodness [0,1] 0.8713475057169475 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.06, Z:-1.70 [[ 9.98875963e-01 1.36763947e-02 -4.53846517e-02 3.29856919e+01] [-1.38254941e-02 9.99900004e-01 -2.97295713e-03 -6.45459625e-02] [ 4.53394540e-02 3.59708065e-03 9.98965162e-01 -1.69623515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.317719421 meters Centerline goodness [0,1] 0.8824854937749986 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.07, Z:-1.70 [[ 9.98858605e-01 1.34188126e-02 -4.58412851e-02 3.29866793e+01] [-1.35520157e-02 9.99904797e-01 -2.59618557e-03 -6.53143446e-02] [ 4.58020831e-02 3.21446412e-03 9.98945362e-01 -1.69561371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.347719421 meters Centerline goodness [0,1] 0.9071342268678524 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.06, Z:-1.70 [[ 9.98863546e-01 1.27373354e-02 -4.59279515e-02 3.29888485e+01] [-1.29040373e-02 9.99911178e-01 -3.33497046e-03 -6.34622960e-02] [ 4.58813935e-02 3.92383641e-03 9.98939188e-01 -1.69769501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.377719421 meters Centerline goodness [0,1] 0.9043869516310461 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.06, Z:-1.70 [[ 9.98860400e-01 1.21811180e-02 -4.61467501e-02 3.29907315e+01] [-1.23821763e-02 9.99915040e-01 -4.07358023e-03 -6.20047168e-02] [ 4.60932087e-02 4.64033517e-03 9.98926365e-01 -1.69935328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.407719421 meters Centerline goodness [0,1] 0.9167228780213603 Centerline is valid? [False, False] Translation: X:32.99, Y:-0.06, Z:-1.70 [[ 9.98833165e-01 1.11904278e-02 -4.69795943e-02 3.29943643e+01] [-1.14397003e-02 9.99921860e-01 -5.04045911e-03 -6.08203461e-02] [ 4.69195184e-02 5.57201021e-03 9.98883132e-01 -1.70139871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.437719421 meters Centerline goodness [0,1] 0.9047002533070645 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98809376e-01 1.10613453e-02 -4.75129198e-02 3.29956223e+01] [-1.13024449e-02 9.99924563e-01 -4.80873576e-03 -6.19692058e-02] [ 4.74561444e-02 5.34002252e-03 9.98859048e-01 -1.70114750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.467719421 meters Centerline goodness [0,1] 0.892899308483724 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98786726e-01 1.08331814e-02 -4.80387066e-02 3.29970499e+01] [-1.10779839e-02 9.99926959e-01 -4.83262647e-03 -6.17165899e-02] [ 4.79828451e-02 5.35893519e-03 9.98833784e-01 -1.70126921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.497719421 meters Centerline goodness [0,1] 0.8679816205312114 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98712664e-01 1.31972209e-02 -4.89780325e-02 3.30013452e+01] [-1.33001893e-02 9.99909970e-01 -1.77701611e-03 -6.13666742e-02] [ 4.89501713e-02 2.42614560e-03 9.98798275e-01 -1.70281158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.527719421 meters Centerline goodness [0,1] 0.8563069652301114 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98710433e-01 1.33973372e-02 -4.89692039e-02 3.30018937e+01] [-1.35056112e-02 9.99907026e-01 -1.88083861e-03 -6.10411003e-02] [ 4.89394528e-02 2.53977217e-03 9.98798518e-01 -1.70367277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.557719421 meters Centerline goodness [0,1] 0.8540436710827377 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98702801e-01 1.45559734e-02 -4.87938441e-02 3.30005965e+01] [-1.46344882e-02 9.99892126e-01 -1.25223117e-03 -6.18670761e-02] [ 4.87703530e-02 1.96467971e-03 9.98808086e-01 -1.70310105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.587719421 meters Centerline goodness [0,1] 0.8130122805524831 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98675534e-01 1.52354207e-02 -4.91432617e-02 3.29992567e+01] [-1.51862611e-02 9.99883739e-01 1.37357619e-03 -6.48191831e-02] [ 4.91584752e-02 -6.25454539e-04 9.98790795e-01 -1.69830998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.617719421 meters Centerline goodness [0,1] 0.8692579505300353 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.07, Z:-1.70 [[ 9.98659332e-01 1.50437786e-02 -4.95300160e-02 3.29997274e+01] [-1.49699106e-02 9.99886211e-01 1.86201931e-03 -6.57462154e-02] [ 4.95523918e-02 -1.11806305e-03 9.98770900e-01 -1.69720398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.647719421 meters Centerline goodness [0,1] 0.859126312224856 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.07, Z:-1.70 [[ 9.98644418e-01 1.46060746e-02 -4.99598770e-02 3.30011425e+01] [-1.45337083e-02 9.99892739e-01 1.81147868e-03 -6.59961823e-02] [ 4.99809769e-02 -1.08292079e-03 9.98749583e-01 -1.69735064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.677719421 meters Centerline goodness [0,1] 0.8773296323571065 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.07, Z:-1.70 [[ 9.98647166e-01 1.42690754e-02 -5.00023119e-02 3.30024110e+01] [-1.42109965e-02 9.99897868e-01 1.51686320e-03 -6.59827880e-02] [ 5.00188493e-02 -8.04228454e-04 9.98747950e-01 -1.69860112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.707719421 meters Centerline goodness [0,1] 0.8723199637947616 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.07, Z:-1.70 [[ 9.98638227e-01 1.39417041e-02 -5.02724551e-02 3.30037394e+01] [-1.38993865e-02 9.99902689e-01 1.19128283e-03 -6.53720113e-02] [ 5.02841716e-02 -4.90904295e-04 9.98734830e-01 -1.69935364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.737719421 meters Centerline goodness [0,1] 0.8646137284342332 Centerline is valid? [False, False] Translation: X:33.00, Y:-0.06, Z:-1.70 [[ 9.98639557e-01 1.41047370e-02 -5.02005197e-02 3.30040960e+01] [-1.40707134e-02 9.99900471e-01 1.03110838e-03 -6.44544170e-02] [ 5.02100668e-02 -3.23348495e-04 9.98738627e-01 -1.70003110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76771942099998 meters Centerline goodness [0,1] 0.8552448939123538 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.06, Z:-1.70 [[ 9.98629319e-01 1.37858861e-02 -5.04919050e-02 3.30051991e+01] [-1.37650597e-02 9.99904968e-01 7.60198145e-04 -6.43427007e-02] [ 5.04975867e-02 -6.41320696e-05 9.98724181e-01 -1.70047975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79771942099998 meters Centerline goodness [0,1] 0.8714431760095417 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.06, Z:-1.70 [[ 9.98606647e-01 1.26543250e-02 -5.12311658e-02 3.30075995e+01] [-1.26537867e-02 9.99919882e-01 3.34868550e-04 -6.47785969e-02] [ 5.12312988e-02 3.13866283e-04 9.98686765e-01 -1.70070406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82771942099998 meters Centerline goodness [0,1] 0.9026769509981851 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.06, Z:-1.70 [[ 9.98586607e-01 1.06881104e-02 -5.20629685e-02 3.30116953e+01] [-1.07525783e-02 9.99941730e-01 -9.58321354e-04 -6.37768168e-02] [ 5.20496921e-02 1.51677801e-03 9.98643344e-01 -1.70258675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85771942099998 meters Centerline goodness [0,1] 0.9048601883004891 Centerline is valid? [False, False] Translation: X:33.01, Y:-0.06, Z:-1.70 [[ 9.98562319e-01 9.41325158e-03 -5.27701187e-02 3.30147864e+01] [-9.52030377e-03 9.99953101e-01 -1.77764435e-03 -6.28461503e-02] [ 5.27509104e-02 2.27747622e-03 9.98605104e-01 -1.70384003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88771942099999 meters Centerline goodness [0,1] 0.9170755089381379 Centerline is valid? [False, False] Translation: X:33.02, Y:-0.06, Z:-1.71 [[ 9.98518422e-01 7.36526942e-03 -5.39139523e-02 3.30200156e+01] [-7.54386554e-03 9.99966709e-01 -3.10985353e-03 -6.09488399e-02] [ 5.38892525e-02 3.51196565e-03 9.98540743e-01 -1.70595772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.917719421 meters Centerline goodness [0,1] 0.9219488853861743 Centerline is valid? [False, False] Translation: X:33.02, Y:-0.06, Z:-1.71 [[ 9.98492510e-01 6.81536146e-03 -5.44633747e-02 3.30219488e+01] [-7.01188323e-03 9.99969575e-01 -3.41805440e-03 -6.03362293e-02] [ 5.44384223e-02 3.79479254e-03 9.98509919e-01 -1.70646632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.947719421 meters Centerline goodness [0,1] 0.9086430180180181 Centerline is valid? [False, False] Translation: X:33.02, Y:-0.06, Z:-1.71 [[ 9.98470893e-01 6.72934455e-03 -5.48688634e-02 3.30226906e+01] [-6.92841250e-03 9.99970086e-01 -3.43865264e-03 -5.97471437e-02] [ 5.48440822e-02 3.81354869e-03 9.98487648e-01 -1.70608593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.977719421 meters Centerline goodness [0,1] 0.8986864680898939 Centerline is valid? [False, False] Translation: X:33.03, Y:-0.06, Z:-1.71 [[ 9.98392023e-01 9.29921172e-03 -5.59186226e-02 3.30259342e+01] [-9.28767490e-03 9.99956760e-01 4.66196763e-04 -6.06212712e-02] [ 5.59205399e-02 5.39068573e-05 9.98435221e-01 -1.70549913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.007719421 meters Centerline goodness [0,1] 0.884903175181459 Centerline is valid? [False, False] Translation: X:33.03, Y:-0.06, Z:-1.71 [[ 9.98297166e-01 1.17423012e-02 -5.71391863e-02 3.30305534e+01] [-1.15570444e-02 9.99926837e-01 3.57158435e-03 -6.00530739e-02] [ 5.71769444e-02 -2.90514242e-03 9.98359834e-01 -1.70667325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.037719421 meters Centerline goodness [0,1] 0.86923700617888 Centerline is valid? [False, False] Translation: X:33.03, Y:-0.06, Z:-1.71 [[ 9.98286304e-01 1.15205283e-02 -5.73736150e-02 3.30317037e+01] [-1.13643693e-02 9.99930780e-01 3.04733504e-03 -5.88122883e-02] [ 5.74047505e-02 -2.39009788e-03 9.98348127e-01 -1.70755066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.067719421 meters Centerline goodness [0,1] 0.8894566895970799 Centerline is valid? [False, False] Translation: X:33.03, Y:-0.06, Z:-1.71 [[ 9.98293154e-01 1.25444389e-02 -5.70387230e-02 3.30296518e+01] [-1.23525611e-02 9.99916802e-01 3.71533718e-03 -5.81645702e-02] [ 5.70805843e-02 -3.00442136e-03 9.98365054e-01 -1.70608202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.097719421 meters Centerline goodness [0,1] 0.8575305671357825 Centerline is valid? [False, False] Translation: X:33.04, Y:-0.06, Z:-1.71 [[ 9.98570601e-01 1.33650439e-02 -5.17506537e-02 3.30443438e+01] [-1.35796433e-02 9.99900582e-01 -3.79739067e-03 -5.52851611e-02] [ 5.16947565e-02 4.49471811e-03 9.98652817e-01 -1.70920121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.127719421 meters Centerline goodness [0,1] 0.9212580798612082 Centerline is valid? [False, False] Translation: X:33.04, Y:-0.05, Z:-1.71 [[ 9.98549154e-01 1.34946503e-02 -5.21294590e-02 3.30444675e+01] [-1.36800407e-02 9.99901300e-01 -3.20115892e-03 -5.48496063e-02] [ 5.20811153e-02 3.90964765e-03 9.98635205e-01 -1.70768655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.157719421 meters Centerline goodness [0,1] 0.9280516926534625 Centerline is valid? [False, False] Translation: X:33.05, Y:-0.06, Z:-1.71 [[ 9.98533096e-01 1.31681939e-02 -5.25190910e-02 3.30450715e+01] [-1.33435540e-02 9.99906501e-01 -2.98972316e-03 -5.54209571e-02] [ 5.24748112e-02 3.68612885e-03 9.98615445e-01 -1.70687627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.187719421 meters Centerline goodness [0,1] 0.9237986524862186 Centerline is valid? [False, False] Translation: X:33.05, Y:-0.06, Z:-1.70 [[ 9.98481691e-01 1.11900319e-02 -5.39360355e-02 3.30545880e+01] [-1.10117167e-02 9.99932881e-01 3.60210474e-03 -5.65013810e-02] [ 5.39727231e-02 -3.00270729e-03 9.98537896e-01 -1.70092813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.217719421 meters Centerline goodness [0,1] 0.93580930024592 Centerline is valid? [False, False] Translation: X:33.06, Y:-0.06, Z:-1.70 [[ 9.98456093e-01 1.00229974e-02 -5.46348753e-02 3.30570378e+01] [-9.86515025e-03 9.99946351e-01 3.15806171e-03 -5.62716375e-02] [ 5.46635975e-02 -2.61420470e-03 9.98501406e-01 -1.70128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.247719421 meters Centerline goodness [0,1] 0.9588530425764498 Centerline is valid? [False, True] Translation: X:33.07, Y:-0.06, Z:-1.70 [[ 9.98407097e-01 3.24132340e-03 -5.63272794e-02 3.30670190e+01] [-3.05512037e-03 9.99989582e-01 3.39153202e-03 -5.72132129e-02] [ 5.63376856e-02 -3.21404302e-03 9.98406598e-01 -1.69862855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.277719421 meters Centerline goodness [0,1] 0.9568193341220212 Centerline is valid? [True, True] Translation: X:33.10, Y:-0.07, Z:-1.70 [[ 9.98391843e-01 -6.63939805e-03 -5.62996156e-02 3.30975333e+01] [ 6.58267380e-03 9.99977622e-01 -1.19293260e-03 -6.86816532e-02] [ 5.63062761e-02 8.20412177e-04 9.98413206e-01 -1.69970350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.307719421 meters Centerline goodness [0,1] 0.9525114413243686 Centerline is valid? [True, True] Translation: X:33.13, Y:-0.07, Z:-1.70 [[ 9.98297869e-01 -1.03416482e-02 -5.73969977e-02 3.31255780e+01] [ 1.02886851e-02 9.99946328e-01 -1.21819430e-03 -7.02871943e-02] [ 5.74065152e-02 6.25581140e-04 9.98350690e-01 -1.70196967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.337719421 meters Centerline goodness [0,1] 0.9500691914485018 Centerline is valid? [True, True] Translation: X:33.16, Y:-0.08, Z:-1.70 [[ 9.98153156e-01 -1.71121922e-02 -5.82876527e-02 3.31550612e+01] [ 1.70686665e-02 9.99853545e-01 -1.24456265e-03 -7.57496835e-02] [ 5.83004134e-02 2.47371631e-04 9.98299054e-01 -1.70100397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.367719421 meters Centerline goodness [0,1] 0.9486288796633624 Centerline is valid? [True, False] Translation: X:33.16, Y:-0.08, Z:-1.70 [[ 9.98117099e-01 -1.76409562e-02 -5.87456750e-02 3.31563415e+01] [ 1.76091748e-02 9.99844386e-01 -1.05867516e-03 -7.60626562e-02] [ 5.87552094e-02 2.22189207e-05 9.98272420e-01 -1.70052646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.397719421 meters Centerline goodness [0,1] 0.9507389162561576 Centerline is valid? [False, True] Translation: X:33.16, Y:-0.08, Z:-1.70 [[ 9.98070296e-01 -1.81583791e-02 -5.93797777e-02 3.31579628e+01] [ 1.81328425e-02 9.99835117e-01 -9.68909167e-04 -7.60438107e-02] [ 5.93875808e-02 -1.09684700e-04 9.98234994e-01 -1.70010804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.427719421 meters Centerline goodness [0,1] 0.9502595643832524 Centerline is valid? [True, True] Translation: X:33.19, Y:-0.08, Z:-1.70 [[ 9.98020229e-01 -2.13411120e-02 -5.91623175e-02 3.31855664e+01] [ 2.13084786e-02 9.99772249e-01 -1.18249045e-03 -7.63719425e-02] [ 5.91740789e-02 -8.05095865e-05 9.98247676e-01 -1.69783666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.457719421 meters Centerline goodness [0,1] 0.947481062206077 Centerline is valid? [True, False] Translation: X:33.19, Y:-0.07, Z:-1.70 [[ 9.97959257e-01 -2.15235314e-02 -6.01170517e-02 3.31909814e+01] [ 2.15966288e-02 9.99766605e-01 5.66356467e-04 -7.39481980e-02] [ 6.00908307e-02 -1.86352633e-03 9.98191174e-01 -1.69893123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.487719421 meters Centerline goodness [0,1] 0.9458591549295775 Centerline is valid? [False, False] Translation: X:33.19, Y:-0.07, Z:-1.70 [[ 9.97896202e-01 -2.24273967e-02 -6.08291250e-02 3.31933991e+01] [ 2.24759373e-02 9.99747378e-01 1.13785836e-04 -7.23823387e-02] [ 6.08112063e-02 -1.48073805e-03 9.98148188e-01 -1.69938749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51771942099998 meters Centerline goodness [0,1] 0.9433363299247106 Centerline is valid? [False, False] Translation: X:33.20, Y:-0.07, Z:-1.70 [[ 9.97770736e-01 -2.45223158e-02 -6.20662059e-02 3.31973463e+01] [ 2.45230067e-02 9.99698984e-01 -7.50741463e-04 -7.02995667e-02] [ 6.20659329e-02 -7.72982124e-04 9.98071752e-01 -1.69937619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54771942099998 meters Centerline goodness [0,1] 0.9460144111686557 Centerline is valid? [False, False] Translation: X:33.20, Y:-0.07, Z:-1.70 [[ 9.97717982e-01 -2.52776889e-02 -6.26088321e-02 3.31986563e+01] [ 2.52876079e-02 9.99680016e-01 -6.34085417e-04 -7.00736165e-02] [ 6.26048265e-02 -9.50589175e-04 9.98037941e-01 -1.69861982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57771942099998 meters Centerline goodness [0,1] 0.9471601751038276 Centerline is valid? [False, False] Translation: X:33.20, Y:-0.07, Z:-1.70 [[ 9.97615505e-01 -2.75648608e-02 -6.32730823e-02 3.32011849e+01] [ 2.75480616e-02 9.99619832e-01 -1.13805394e-03 -6.83857155e-02] [ 6.32803982e-02 -6.07710516e-04 9.97995602e-01 -1.69772771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60771942099998 meters Centerline goodness [0,1] 0.9483813050552656 Centerline is valid? [False, False] Translation: X:33.20, Y:-0.07, Z:-1.70 [[ 9.97551806e-01 -2.84201401e-02 -6.38959265e-02 3.32027648e+01] [ 2.84077115e-02 9.99595811e-01 -1.10318497e-03 -6.75162120e-02] [ 6.39014532e-02 -7.14652889e-04 9.97955958e-01 -1.69701391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63771942099999 meters Centerline goodness [0,1] 0.949427268683274 Centerline is valid? [False, False] Translation: X:33.21, Y:-0.06, Z:-1.70 [[ 9.97387777e-01 -3.10988671e-02 -6.51957296e-02 3.32067125e+01] [ 3.10022556e-02 9.99516205e-01 -2.49327502e-03 -6.23664921e-02] [ 6.52417262e-02 4.65547357e-04 9.97869380e-01 -1.69659194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.667719421 meters Centerline goodness [0,1] 0.9494622764092782 Centerline is valid? [False, False] Translation: X:33.21, Y:-0.06, Z:-1.70 [[ 9.97405636e-01 -2.84316219e-02 -6.61335046e-02 3.32086469e+01] [ 2.85783249e-02 9.99590746e-01 1.27312528e-03 -6.06255298e-02] [ 6.60702421e-02 -3.15980712e-03 9.97809971e-01 -1.69526468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.697719421 meters Centerline goodness [0,1] 0.9472333688204624 Centerline is valid? [False, False] Translation: X:33.21, Y:-0.05, Z:-1.69 [[ 9.97414374e-01 -2.59070587e-02 -6.70327608e-02 3.32099724e+01] [ 2.62261006e-02 9.99648492e-01 3.88373691e-03 -5.39746925e-02] [ 6.69085820e-02 -5.63170295e-03 9.97743216e-01 -1.69386683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.727719421 meters Centerline goodness [0,1] 0.951086808672706 Centerline is valid? [False, True] Translation: X:33.21, Y:-0.05, Z:-1.69 [[ 9.97399324e-01 -2.57801814e-02 -6.73050524e-02 3.32097155e+01] [ 2.60771282e-02 9.99653677e-01 3.53698452e-03 -5.06415344e-02] [ 6.71905590e-02 -5.28290845e-03 9.97726175e-01 -1.69300536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.757719421 meters Centerline goodness [0,1] 0.9500321681321038 Centerline is valid? [True, True] Translation: X:33.24, Y:-0.04, Z:-1.69 [[ 9.97399381e-01 -2.50532106e-02 -6.75781846e-02 3.32373488e+01] [ 2.51322006e-02 9.99684086e-01 3.18821668e-04 -3.97444794e-02] [ 6.75488482e-02 -2.01638102e-03 9.97713931e-01 -1.69250527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.787719421 meters Centerline goodness [0,1] 0.9493822878031859 Centerline is valid? [True, False] Translation: X:33.24, Y:-0.04, Z:-1.69 [[ 9.97407087e-01 -2.21871076e-02 -6.84604582e-02 3.32395583e+01] [ 2.24561000e-02 9.99742830e-01 3.16199333e-03 -3.55233844e-02] [ 6.83726967e-02 -4.69114946e-03 9.97648820e-01 -1.69254348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.817719421 meters Centerline goodness [0,1] 0.9483547098402019 Centerline is valid? [False, False] Translation: X:33.24, Y:-0.03, Z:-1.69 [[ 9.97333388e-01 -2.07973891e-02 -6.99541372e-02 3.32442965e+01] [ 2.11931539e-02 9.99763294e-01 4.91999090e-03 -2.50025038e-02] [ 6.98352556e-02 -6.38941999e-03 9.97538076e-01 -1.69301595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.847719421 meters Centerline goodness [0,1] 0.9467562339902765 Centerline is valid? [False, False] Translation: X:33.25, Y:-0.02, Z:-1.69 [[ 9.97253292e-01 -2.19933822e-02 -7.07259627e-02 3.32464251e+01] [ 2.23092763e-02 9.99744346e-01 3.67955004e-03 -1.99097903e-02] [ 7.06269556e-02 -5.24728843e-03 9.97488997e-01 -1.69329452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.877719421 meters Centerline goodness [0,1] 0.9395715545412107 Centerline is valid? [False, False] Translation: X:33.25, Y:-0.01, Z:-1.69 [[ 9.97098816e-01 -2.48019212e-02 -7.19639833e-02 3.32495767e+01] [ 2.49767788e-02 9.99686860e-01 1.53079210e-03 -1.27576447e-02] [ 7.19034819e-02 -3.32377949e-03 9.97406057e-01 -1.69270782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.907719421 meters Centerline goodness [0,1] 0.9254406367912338 Centerline is valid? [False, False] Translation: X:33.25, Y:-0.01, Z:-1.69 [[ 9.96983748e-01 -2.64848558e-02 -7.29517608e-02 3.32521245e+01] [ 2.65912316e-02 9.99646272e-01 4.87148796e-04 -9.84308426e-03] [ 7.29130537e-02 -2.42555660e-03 9.97335351e-01 -1.69246771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.937719421 meters Centerline goodness [0,1] 0.8562907830342578 Centerline is valid? [False, False] Translation: X:33.26, Y:-0.00, Z:-1.69 [[ 9.96769594e-01 -3.04244717e-02 -7.43285090e-02 3.32574274e+01] [ 3.03407757e-02 9.99537069e-01 -2.25518425e-03 -6.60847204e-04] [ 7.43627128e-02 -7.28553448e-06 9.97231260e-01 -1.69327969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.967719421 meters Centerline goodness [0,1] 0.8562907830342578 Centerline is valid? [False, False] Translation: X:33.26, Y:-0.00, Z:-1.69 [[ 9.96769594e-01 -3.04244717e-02 -7.43285090e-02 3.32574274e+01] [ 3.03407757e-02 9.99537069e-01 -2.25518425e-03 -6.60847204e-04] [ 7.43627128e-02 -7.28553448e-06 9.97231260e-01 -1.69327969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.997719421 meters Centerline goodness [0,1] 0.8334430379746836 Centerline is valid? [False, False] Translation: X:33.26, Y:0.00, Z:-1.69 [[ 9.96738806e-01 -2.84914488e-02 -7.54982786e-02 3.32604554e+01] [ 2.86055487e-02 9.99590685e-01 4.30123959e-04 2.82473717e-03] [ 7.54551212e-02 -2.58839093e-03 9.97145839e-01 -1.69303991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.027719421 meters Centerline goodness [0,1] 0.8149124789673272 Centerline is valid? [False, False] Translation: X:33.26, Y:0.01, Z:-1.69 [[ 9.96731754e-01 -2.61314000e-02 -7.64392575e-02 3.32625749e+01] [ 2.64575981e-02 9.99644628e-01 3.25767827e-03 6.12561678e-03] [ 7.63269655e-02 -5.26943053e-03 9.97068918e-01 -1.69256305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.057719421 meters Centerline goodness [0,1] 0.7920892244676389 Centerline is valid? [False, False] Translation: X:33.26, Y:0.02, Z:-1.69 [[ 9.96685983e-01 -2.47638881e-02 -7.74841969e-02 3.32640651e+01] [ 2.51836140e-02 9.99672963e-01 4.44433361e-03 1.51430082e-02] [ 7.73487977e-02 -6.38093712e-03 9.96983674e-01 -1.69120846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.087719421 meters Centerline goodness [0,1] 0.8446486878703592 Centerline is valid? [False, False] Translation: X:33.27, Y:0.03, Z:-1.69 [[ 9.96682019e-01 -2.19711764e-02 -7.83723245e-02 3.32653860e+01] [ 2.25542909e-02 9.99724079e-01 6.56280274e-03 2.69245267e-02] [ 7.82065074e-02 -8.30865969e-03 9.96902557e-01 -1.69022431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.117719421 meters Centerline goodness [0,1] 0.8507002533339707 Centerline is valid? [False, False] Translation: X:33.27, Y:0.03, Z:-1.69 [[ 9.96696340e-01 -1.87195248e-02 -7.90315507e-02 3.32663871e+01] [ 1.94846241e-02 9.99770358e-01 8.92083577e-03 3.26333464e-02] [ 7.88464080e-02 -1.04312644e-02 9.96832199e-01 -1.68997279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.147719421 meters Centerline goodness [0,1] 0.8109791526250959 Centerline is valid? [False, False] Translation: X:33.27, Y:0.05, Z:-1.69 [[ 9.96716369e-01 -1.18608740e-02 -8.00986867e-02 3.32658712e+01] [ 1.30189953e-02 9.99817908e-01 1.39519336e-02 4.66713041e-02] [ 7.99186193e-02 -1.49489250e-02 9.96689292e-01 -1.68711633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.177719421 meters Centerline goodness [0,1] 0.9056443853942365 Centerline is valid? [False, False] Translation: X:33.27, Y:0.05, Z:-1.69 [[ 9.96723531e-01 -8.05148682e-03 -8.04821522e-02 3.32657056e+01] [ 9.40140084e-03 9.99821180e-01 1.64079905e-02 5.41309596e-02] [ 8.03356517e-02 -1.71108752e-02 9.96620992e-01 -1.68631729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.207719421 meters Centerline goodness [0,1] 0.8755313496280552 Centerline is valid? [False, False] Translation: X:33.27, Y:0.07, Z:-1.69 [[ 9.96699154e-01 -5.77307581e-04 -8.11816716e-02 3.32658672e+01] [ 2.29948952e-03 9.99774261e-01 2.11220337e-02 6.92763199e-02] [ 8.11511517e-02 -2.12389895e-02 9.96475487e-01 -1.68534338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.237719421 meters Centerline goodness [0,1] 0.872669523788805 Centerline is valid? [False, False] Translation: X:33.27, Y:0.08, Z:-1.69 [[ 9.96659805e-01 2.38939368e-03 -8.16304055e-02 3.32674644e+01] [-5.49902922e-04 9.99745578e-01 2.25494362e-02 7.68164705e-02] [ 8.16635164e-02 -2.24292279e-02 9.96407547e-01 -1.68635641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26771942099998 meters Centerline goodness [0,1] 0.8643520472773322 Centerline is valid? [False, False] Translation: X:33.27, Y:0.09, Z:-1.69 [[ 9.96592870e-01 8.73149068e-03 -8.20147083e-02 3.32688089e+01] [-6.63331270e-03 9.99644583e-01 2.58206760e-02 9.19625745e-02] [ 8.22110118e-02 -2.51886724e-02 9.96296583e-01 -1.68749713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29771942099998 meters Centerline goodness [0,1] 0.9153889597757651 Centerline is valid? [False, False] Translation: X:33.27, Y:0.10, Z:-1.69 [[ 9.96512108e-01 1.14038417e-02 -8.26654190e-02 3.32706000e+01] [-9.17117379e-03 9.99584173e-01 2.73380816e-02 9.82558531e-02] [ 8.29428036e-02 -2.64845904e-02 9.96202318e-01 -1.68806383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32771942099998 meters Centerline goodness [0,1] 0.8742208462332302 Centerline is valid? [False, False] Translation: X:33.28, Y:0.11, Z:-1.69 [[ 9.96329055e-01 1.58855726e-02 -8.41193361e-02 3.32753599e+01] [-1.34330507e-02 9.99470328e-01 2.96414580e-02 1.10675261e-01] [ 8.45456520e-02 -2.84026666e-02 9.96014719e-01 -1.69024070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35771942099998 meters Centerline goodness [0,1] 0.8629581609763125 Centerline is valid? [False, False] Translation: X:33.28, Y:0.12, Z:-1.69 [[ 9.96246057e-01 1.81273647e-02 -8.46474637e-02 3.32781490e+01] [-1.55486506e-02 9.99397672e-01 3.10247246e-02 1.16404717e-01] [ 8.51588747e-02 -2.95921057e-02 9.95927845e-01 -1.69197921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38771942099999 meters Centerline goodness [0,1] 0.8608365798646709 Centerline is valid? [False, False] Translation: X:33.29, Y:0.13, Z:-1.70 [[ 9.96446598e-01 2.00564590e-02 -8.18041257e-02 3.32902784e+01] [-1.84478958e-02 9.99622251e-01 2.03723186e-02 1.29599031e-01] [ 8.21818208e-02 -1.87908136e-02 9.96440191e-01 -1.69505170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.417719421 meters Centerline goodness [0,1] 0.8652506963788301 Centerline is valid? [False, False] Translation: X:33.30, Y:0.14, Z:-1.70 [[ 9.96792854e-01 2.10958860e-02 -7.71943661e-02 3.33011322e+01] [-2.03313905e-02 9.99736292e-01 1.06761441e-02 1.35144395e-01] [ 7.73992321e-02 -9.07243532e-03 9.96958901e-01 -1.69758476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.447719421 meters Centerline goodness [0,1] 0.8021691266411155 Centerline is valid? [False, False] Translation: X:33.31, Y:0.14, Z:-1.70 [[ 9.97118103e-01 2.06411360e-02 -7.30029643e-02 3.33145928e+01] [-2.06308523e-02 9.99786761e-01 8.95007101e-04 1.44021976e-01] [ 7.30058711e-02 6.13685594e-04 9.97331322e-01 -1.70031005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.477719421 meters Centerline goodness [0,1] 0.824549931544639 Centerline is valid? [False, False] Translation: X:33.32, Y:0.15, Z:-1.70 [[ 9.97113645e-01 1.96174558e-02 -7.33453032e-02 3.33161819e+01] [-1.97216845e-02 9.99805266e-01 -6.97047491e-04 1.48706200e-01] [ 7.33173461e-02 2.14152850e-03 9.97306362e-01 -1.70117631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.507719421 meters Centerline goodness [0,1] 0.778709085347201 Centerline is valid? [False, False] Translation: X:33.32, Y:0.16, Z:-1.70 [[ 9.97037769e-01 1.96680839e-02 -7.43562639e-02 3.33198089e+01] [-1.97883590e-02 9.99803803e-01 -8.81111486e-04 1.59418518e-01] [ 7.43243457e-02 2.34988987e-03 9.97231352e-01 -1.70153232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.537719421 meters Centerline goodness [0,1] 0.7914427576060972 Centerline is valid? [False, False] Translation: X:33.32, Y:0.16, Z:-1.70 [[ 9.96961413e-01 2.14850115e-02 -7.48754636e-02 3.33219399e+01] [-2.14990943e-02 9.99768677e-01 6.18013954e-04 1.63790916e-01] [ 7.48714212e-02 9.93618590e-04 9.97192701e-01 -1.70216526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.567719421 meters Centerline goodness [0,1] 0.7484269020184686 Centerline is valid? [False, False] Translation: X:33.32, Y:0.17, Z:-1.70 [[ 9.96895483e-01 2.17132066e-02 -7.56831006e-02 3.33248605e+01] [-2.17883704e-02 9.99762591e-01 -1.67491922e-04 1.73429719e-01] [ 7.56614959e-02 1.81598337e-03 9.97131907e-01 -1.70276145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.597719421 meters Centerline goodness [0,1] 0.7601283676055762 Centerline is valid? [False, False] Translation: X:33.33, Y:0.18, Z:-1.70 [[ 9.96824375e-01 2.32937805e-02 -7.61483116e-02 3.33273078e+01] [-2.32802498e-02 9.99728410e-01 1.06546956e-03 1.77590988e-01] [ 7.61524493e-02 7.10665687e-04 9.97095933e-01 -1.70391334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.627719421 meters Centerline goodness [0,1] 0.726887747795667 Centerline is valid? [False, False] Translation: X:33.33, Y:0.19, Z:-1.70 [[ 9.96763880e-01 2.31182951e-02 -7.69890381e-02 3.33308026e+01] [-2.31857121e-02 9.99731175e-01 1.81836975e-05 1.88763773e-01] [ 7.69687620e-02 1.76692082e-03 9.97031939e-01 -1.70483445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.657719421 meters Centerline goodness [0,1] 0.7343673369298676 Centerline is valid? [False, False] Translation: X:33.33, Y:0.19, Z:-1.71 [[ 9.96687925e-01 2.47321881e-02 -7.74693444e-02 3.33330983e+01] [-2.47162143e-02 9.99693829e-01 1.16515123e-03 1.93269379e-01] [ 7.74744422e-02 7.53456752e-04 9.96994054e-01 -1.70577548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.687719421 meters Centerline goodness [0,1] 0.7080266601243048 Centerline is valid? [False, False] Translation: X:33.34, Y:0.21, Z:-1.71 [[ 9.96622994e-01 2.49810339e-02 -7.82212036e-02 3.33364764e+01] [-2.50370726e-02 9.99686488e-01 2.64376475e-04 2.05503110e-01] [ 7.82032847e-02 1.69494628e-03 9.96935993e-01 -1.70685267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.717719421 meters Centerline goodness [0,1] 0.7172760996290408 Centerline is valid? [False, False] Translation: X:33.34, Y:0.21, Z:-1.71 [[ 9.96535161e-01 2.69013413e-02 -7.87019145e-02 3.33389964e+01] [-2.68655984e-02 9.99637909e-01 1.51314130e-03 2.10715335e-01] [ 7.87141228e-02 6.06475522e-04 9.96897045e-01 -1.70807213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.747719421 meters Centerline goodness [0,1] 0.7009515641591113 Centerline is valid? [False, False] Translation: X:33.34, Y:0.22, Z:-1.71 [[ 9.96457139e-01 2.81727842e-02 -7.92430763e-02 3.33425318e+01] [-2.82354523e-02 9.99601246e-01 3.29772176e-04 2.22388606e-01] [ 7.92207684e-02 1.90886026e-03 9.96855268e-01 -1.71056180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.777719421 meters Centerline goodness [0,1] 0.7352453139403872 Centerline is valid? [False, False] Translation: X:33.35, Y:0.23, Z:-1.71 [[ 9.96252285e-01 3.26198301e-02 -8.01082431e-02 3.33467016e+01] [-3.25011375e-02 9.99467817e-01 2.78545416e-03 2.33728120e-01] [ 8.01564719e-02 -1.71406052e-04 9.96782278e-01 -1.71242691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.807719421 meters Centerline goodness [0,1] 0.7026672944259074 Centerline is valid? [False, False] Translation: X:33.35, Y:0.24, Z:-1.71 [[ 9.96137601e-01 3.49287726e-02 -8.05596718e-02 3.33487212e+01] [-3.46962657e-02 9.99388719e-01 4.28460597e-03 2.38704694e-01] [ 8.06600832e-02 -1.47293734e-03 9.96740579e-01 -1.71316167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.837719421 meters Centerline goodness [0,1] 0.7002409343351845 Centerline is valid? [False, False] Translation: X:33.36, Y:0.25, Z:-1.72 [[ 9.96423825e-01 3.68874798e-02 -7.60189093e-02 3.33621766e+01] [-3.72088211e-02 9.99303548e-01 -2.81464627e-03 2.47966209e-01] [ 7.58621406e-02 5.63315460e-03 9.97102404e-01 -1.71607173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.867719421 meters Centerline goodness [0,1] 0.7228718284766449 Centerline is valid? [False, False] Translation: X:33.36, Y:0.25, Z:-1.72 [[ 9.96386010e-01 3.81232745e-02 -7.59047721e-02 3.33628258e+01] [-3.83782708e-02 9.99261471e-01 -1.90307827e-03 2.52145157e-01] [ 7.57761626e-02 4.80929446e-03 9.97113255e-01 -1.71646803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.897719421 meters Centerline goodness [0,1] 0.711282281791435 Centerline is valid? [False, False] Translation: X:33.37, Y:0.26, Z:-1.72 [[ 9.96295443e-01 3.93963733e-02 -7.64415855e-02 3.33658973e+01] [-3.96238659e-02 9.99213598e-01 -1.46105209e-03 2.61043897e-01] [ 7.63239116e-02 4.48455068e-03 9.97072991e-01 -1.71751863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.927719421 meters Centerline goodness [0,1] 0.7060895925933512 Centerline is valid? [False, False] Translation: X:33.37, Y:0.26, Z:-1.72 [[ 9.96284027e-01 3.89022583e-02 -7.68423859e-02 3.33671814e+01] [-3.92192004e-02 9.99227198e-01 -2.61923500e-03 2.64982481e-01] [ 7.66811079e-02 5.62319893e-03 9.97039812e-01 -1.71793296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.957719421 meters Centerline goodness [0,1] 0.6612441755906155 Centerline is valid? [False, False] Translation: X:33.37, Y:0.27, Z:-1.72 [[ 9.96226946e-01 3.91765467e-02 -7.74407576e-02 3.33711436e+01] [-3.95319606e-02 9.99213617e-01 -3.06124877e-03 2.71348751e-01] [ 7.72599304e-02 6.11108349e-03 9.96992256e-01 -1.72022016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.987719421 meters Centerline goodness [0,1] 0.694433639732225 Centerline is valid? [False, False] Translation: X:33.37, Y:0.28, Z:-1.72 [[ 9.96190154e-01 4.00679716e-02 -7.74579546e-02 3.33727672e+01] [-4.03822437e-02 9.99181190e-01 -2.49464299e-03 2.75229860e-01] [ 7.72945759e-02 5.61306478e-03 9.96992498e-01 -1.72143504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01771942099998 meters Centerline goodness [0,1] 0.6920573849333852 Centerline is valid? [False, False] Translation: X:33.38, Y:0.28, Z:-1.72 [[ 9.96080258e-01 4.20432780e-02 -7.78234074e-02 3.33753016e+01] [-4.22484023e-02 9.99106647e-01 -9.90460336e-04 2.79100670e-01] [ 7.77122414e-02 4.27449261e-03 9.96966668e-01 -1.72285552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04771942099998 meters Centerline goodness [0,1] 0.6879885702622717 Centerline is valid? [False, False] Translation: X:33.38, Y:0.29, Z:-1.72 [[ 9.95905438e-01 4.48900006e-02 -7.84681173e-02 3.33788366e+01] [-4.49844697e-02 9.98987527e-01 5.64211793e-04 2.89222926e-01] [ 7.84139979e-02 2.96794505e-03 9.96916464e-01 -1.72404572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07771942099998 meters Centerline goodness [0,1] 0.7122335969267863 Centerline is valid? [False, False] Translation: X:33.38, Y:0.30, Z:-1.72 [[ 9.95735646e-01 4.84239353e-02 -7.85216300e-02 3.33798935e+01] [-4.84017297e-02 9.98825555e-01 2.18712405e-03 3.01001520e-01] [ 7.85353198e-02 1.62278532e-03 9.96910011e-01 -1.72375603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10771942099998 meters Centerline goodness [0,1] 0.7200647580793902 Centerline is valid? [False, False] Translation: X:33.38, Y:0.31, Z:-1.72 [[ 9.95589950e-01 5.10517505e-02 -7.87043232e-02 3.33807013e+01] [-5.09114546e-02 9.98695982e-01 3.78944312e-03 3.05967991e-01] [ 7.87951490e-02 2.34220089e-04 9.96890801e-01 -1.72365969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13771942099999 meters Centerline goodness [0,1] 0.6901569186875891 Centerline is valid? [False, False] Translation: X:33.39, Y:0.32, Z:-1.73 [[ 9.95887992e-01 5.22341972e-02 -7.40182118e-02 3.33935403e+01] [-5.26469689e-02 9.98606570e-01 -3.63520886e-03 3.18373050e-01] [ 7.37251904e-02 7.51709535e-03 9.97250264e-01 -1.72505878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.167719421 meters Centerline goodness [0,1] 0.7121088490881645 Centerline is valid? [False, False] Translation: X:33.39, Y:0.32, Z:-1.72 [[ 9.95786713e-01 5.39771958e-02 -7.41301844e-02 3.33940995e+01] [-5.43246759e-02 9.98519734e-01 -2.67765769e-03 3.24077776e-01] [ 7.38759196e-02 6.69347419e-03 9.97244978e-01 -1.72474830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.197719421 meters Centerline goodness [0,1] 0.7146429733246584 Centerline is valid? [False, False] Translation: X:33.41, Y:0.34, Z:-1.73 [[ 9.96077546e-01 5.66971561e-02 -6.79334647e-02 3.34057517e+01] [-5.73548971e-02 9.98323620e-01 -7.76958828e-03 3.35516978e-01] [ 6.73790688e-02 1.16354293e-02 9.97659600e-01 -1.72627012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.227719421 meters Centerline goodness [0,1] 0.7158855751673767 Centerline is valid? [False, False] Translation: X:33.41, Y:0.34, Z:-1.73 [[ 9.95917987e-01 5.92235377e-02 -6.81170767e-02 3.34076989e+01] [-5.97789434e-02 9.98192740e-01 -6.14265496e-03 3.40287091e-01] [ 6.76301816e-02 1.01895474e-02 9.97658424e-01 -1.72725183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.257719421 meters Centerline goodness [0,1] 0.7331405177505754 Centerline is valid? [False, False] Translation: X:33.41, Y:0.35, Z:-1.73 [[ 9.95588494e-01 6.46486675e-02 -6.80007401e-02 3.34089480e+01] [-6.49808822e-02 9.97882903e-01 -2.68259741e-03 3.50949912e-01] [ 6.76833496e-02 7.08951120e-03 9.97681664e-01 -1.72719558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.287719421 meters Centerline goodness [0,1] 0.7482704434603376 Centerline is valid? [False, False] Translation: X:33.41, Y:0.36, Z:-1.73 [[ 9.95356139e-01 6.79632856e-02 -6.81699890e-02 3.34101591e+01] [-6.81590335e-02 9.97674319e-01 -5.46982070e-04 3.55652707e-01] [ 6.79742727e-02 5.19084253e-03 9.97673571e-01 -1.72734687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.317719421 meters Centerline goodness [0,1] 0.7761363867270843 Centerline is valid? [False, False] Translation: X:33.42, Y:0.36, Z:-1.73 [[ 9.94897906e-01 7.62928219e-02 -6.60118316e-02 3.34224866e+01] [-7.68289867e-02 9.97028455e-01 -5.61844266e-03 3.64641658e-01] [ 6.53870276e-02 1.06613990e-02 9.97803022e-01 -1.72972939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.347719421 meters Centerline goodness [0,1] 0.8204108275707321 Centerline is valid? [False, False] Translation: X:33.42, Y:0.37, Z:-1.73 [[ 9.94576928e-01 8.01263323e-02 -6.63061518e-02 3.34245005e+01] [-8.05150937e-02 9.96748229e-01 -3.20746609e-03 3.68938590e-01] [ 6.58335369e-02 8.52871780e-03 9.97794170e-01 -1.73037606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.377719421 meters Centerline goodness [0,1] 0.9031567792292486 Centerline is valid? [False, False] Translation: X:33.43, Y:0.38, Z:-1.73 [[ 9.93589610e-01 9.13456693e-02 -6.66007246e-02 3.34293834e+01] [-9.11995713e-02 9.95818865e-01 5.23709407e-03 3.76757773e-01] [ 6.68006438e-02 8.70435279e-04 9.97765963e-01 -1.73277125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.407719421 meters Centerline goodness [0,1] 0.9289992487767242 Centerline is valid? [False, False] Translation: X:33.44, Y:0.39, Z:-1.73 [[ 9.92125574e-01 1.03476632e-01 -7.05650853e-02 3.34399107e+01] [-1.03257422e-01 9.94631714e-01 6.75704229e-03 3.85206408e-01] [ 7.08854677e-02 5.82534299e-04 9.97484291e-01 -1.73031421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.437719421 meters Centerline goodness [0,1] 0.9357222844344905 Centerline is valid? [False, False] Translation: X:33.44, Y:0.39, Z:-1.73 [[ 9.91685756e-01 1.07624653e-01 -7.05428568e-02 3.34406279e+01] [-1.07206359e-01 9.94189471e-01 9.70016079e-03 3.88635112e-01] [ 7.11769419e-02 -2.05686846e-03 9.97461584e-01 -1.72993928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.467719421 meters Centerline goodness [0,1] 0.9371663746383603 Centerline is valid? [False, False] Translation: X:33.44, Y:0.39, Z:-1.73 [[ 9.91257154e-01 1.11542790e-01 -7.04802204e-02 3.34407701e+01] [-1.10920556e-01 9.93748208e-01 1.26936798e-02 3.91295174e-01] [ 7.14554812e-02 -4.76499568e-03 9.97432408e-01 -1.72905568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.497719421 meters Centerline goodness [0,1] 0.9382625372342596 Centerline is valid? [False, False] Translation: X:33.44, Y:0.40, Z:-1.73 [[ 9.90814353e-01 1.15584823e-01 -7.01930711e-02 3.34405413e+01] [-1.14803826e-01 9.93273805e-01 1.50741227e-02 3.95143794e-01] [ 7.14632786e-02 -6.87722401e-03 9.97419522e-01 -1.72782423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.527719421 meters Centerline goodness [0,1] 0.9379218925257469 Centerline is valid? [False, False] Translation: X:33.44, Y:0.40, Z:-1.73 [[ 9.90760282e-01 1.15767718e-01 -7.06533781e-02 3.34414585e+01] [-1.15018967e-01 9.93256157e-01 1.45891684e-02 3.96730450e-01] [ 7.18658575e-02 -6.32789006e-03 9.97394233e-01 -1.72769558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.557719421 meters Centerline goodness [0,1] 0.9393038876450234 Centerline is valid? [False, False] Translation: X:33.44, Y:0.40, Z:-1.73 [[ 9.90289776e-01 1.19798213e-01 -7.05304675e-02 3.34428186e+01] [-1.18828538e-01 9.92755183e-01 1.78023805e-02 3.98808081e-01] [ 7.21521805e-02 -9.24848310e-03 9.97350755e-01 -1.72822563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.587719421 meters Centerline goodness [0,1] 0.9393197944702716 Centerline is valid? [False, False] Translation: X:33.44, Y:0.40, Z:-1.73 [[ 9.90214454e-01 1.20192662e-01 -7.09158658e-02 3.34440561e+01] [-1.19244941e-01 9.92711247e-01 1.74649579e-02 4.00763011e-01] [ 7.24981373e-02 -8.83769554e-03 9.97329392e-01 -1.72850237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.617719421 meters Centerline goodness [0,1] 0.9396423703643428 Centerline is valid? [False, False] Translation: X:33.45, Y:0.40, Z:-1.73 [[ 9.90028898e-01 1.21474511e-01 -7.13212804e-02 3.34454482e+01] [-1.20510017e-01 9.92554483e-01 1.76899577e-02 4.02086574e-01] [ 7.29391355e-02 -8.91864053e-03 9.97296516e-01 -1.72866638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.647719421 meters Centerline goodness [0,1] 0.9371994399691577 Centerline is valid? [False, False] Translation: X:33.45, Y:0.40, Z:-1.73 [[ 9.90206316e-01 1.19424696e-01 -7.23131619e-02 3.34467120e+01] [-1.18610771e-01 9.92820425e-01 1.54625011e-02 3.98815502e-01] [ 7.36405887e-02 -6.73394630e-03 9.97262111e-01 -1.72864651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.677719421 meters Centerline goodness [0,1] 0.9367704874620603 Centerline is valid? [False, False] Translation: X:33.45, Y:0.40, Z:-1.73 [[ 9.90562343e-01 1.15967725e-01 -7.30597753e-02 3.34469087e+01] [-1.15377135e-01 9.93246009e-01 1.22671430e-02 3.96826309e-01] [ 7.39889229e-02 -3.72194235e-03 9.97252118e-01 -1.72827707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.707719421 meters Centerline goodness [0,1] 0.9410963360579073 Centerline is valid? [False, False] Translation: X:33.45, Y:0.39, Z:-1.73 [[ 9.91752639e-01 1.09135604e-01 -6.72021108e-02 3.34536376e+01] [-1.08321613e-01 9.93992701e-01 1.56505193e-02 3.88445572e-01] [ 6.85064365e-02 -8.24200273e-03 9.97616629e-01 -1.72841558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.737719421 meters Centerline goodness [0,1] 0.9404689464930429 Centerline is valid? [False, False] Translation: X:33.45, Y:0.39, Z:-1.73 [[ 9.92457646e-01 1.01892148e-01 -6.81601836e-02 3.34541873e+01] [-1.01518098e-01 9.94793537e-01 8.93831545e-03 3.86677946e-01] [ 6.87160543e-02 -1.95140729e-03 9.97634350e-01 -1.72858204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76771942099998 meters Centerline goodness [0,1] 0.9355323251801482 Centerline is valid? [False, False] Translation: X:33.46, Y:0.38, Z:-1.73 [[ 9.93105183e-01 9.46794549e-02 -6.91223293e-02 3.34556175e+01] [-9.46031311e-02 9.95505412e-01 4.38425572e-03 3.76950105e-01] [ 6.92267519e-02 2.18516171e-03 9.97598557e-01 -1.73006573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79771942099998 meters Centerline goodness [0,1] 0.9330109515004978 Centerline is valid? [False, False] Translation: X:33.46, Y:0.37, Z:-1.73 [[ 9.93661319e-01 8.82245230e-02 -6.96679059e-02 3.34562112e+01] [-8.84285436e-02 9.96082511e-01 1.56185432e-04 3.68101073e-01] [ 6.94087620e-02 6.00543604e-03 9.97570227e-01 -1.73121334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82771942099998 meters Centerline goodness [0,1] 0.9292777212614446 Centerline is valid? [False, False] Translation: X:33.46, Y:0.37, Z:-1.73 [[ 9.93909438e-01 8.50185810e-02 -7.01132641e-02 3.34567598e+01] [-8.53994136e-02 9.96343793e-01 -2.44672266e-03 3.65070305e-01] [ 6.96488986e-02 8.41945238e-03 9.97536036e-01 -1.73160995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85771942099998 meters Centerline goodness [0,1] 0.930743415031018 Centerline is valid? [False, False] Translation: X:33.46, Y:0.36, Z:-1.73 [[ 9.94076525e-01 8.26823397e-02 -7.05371752e-02 3.34578328e+01] [-8.31975111e-02 9.96523398e-01 -4.39210380e-03 3.62077825e-01] [ 6.99287961e-02 1.02346047e-02 9.97499482e-01 -1.73241551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88771942099999 meters Centerline goodness [0,1] 0.930743415031018 Centerline is valid? [False, False] Translation: X:33.46, Y:0.36, Z:-1.73 [[ 9.94076525e-01 8.26823397e-02 -7.05371752e-02 3.34578328e+01] [-8.31975111e-02 9.96523398e-01 -4.39210380e-03 3.62077825e-01] [ 6.99287961e-02 1.02346047e-02 9.97499482e-01 -1.73241551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.917719421 meters Centerline goodness [0,1] 0.9265037938119164 Centerline is valid? [False, False] Translation: X:33.46, Y:0.35, Z:-1.73 [[ 9.93955613e-01 8.37367889e-02 -7.09957018e-02 3.34605691e+01] [-8.41644145e-02 9.96447219e-01 -3.04809675e-03 3.54837216e-01] [ 7.04882318e-02 9.00498455e-03 9.97471964e-01 -1.73469034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.947719421 meters Centerline goodness [0,1] 0.9238779611473114 Centerline is valid? [False, False] Translation: X:33.46, Y:0.35, Z:-1.74 [[ 9.93827795e-01 8.50289195e-02 -7.12488318e-02 3.34624956e+01] [-8.53611102e-02 9.96348754e-01 -1.62509175e-03 3.51885054e-01] [ 7.08505050e-02 7.69694073e-03 9.97457249e-01 -1.73616962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.977719421 meters Centerline goodness [0,1] 0.920787844223562 Centerline is valid? [False, False] Translation: X:33.47, Y:0.35, Z:-1.74 [[ 9.93339207e-01 9.04558064e-02 -7.13790342e-02 3.34664480e+01] [-9.04235161e-02 9.95896566e-01 3.69020288e-03 3.47625559e-01] [ 7.14199353e-02 2.78872004e-03 9.97442437e-01 -1.73941516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.007719421 meters Centerline goodness [0,1] 0.9174461163074421 Centerline is valid? [False, False] Translation: X:33.47, Y:0.35, Z:-1.74 [[ 9.93209581e-01 9.16191210e-02 -7.16984276e-02 3.34677990e+01] [-9.15286422e-02 9.95792034e-01 4.55332831e-03 3.46346291e-01] [ 7.18138950e-02 2.04005042e-03 9.97415963e-01 -1.74011582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.037719421 meters Centerline goodness [0,1] 0.920264299323037 Centerline is valid? [False, False] Translation: X:33.47, Y:0.34, Z:-1.74 [[ 9.92996500e-01 9.74411089e-02 -6.68070470e-02 3.34730677e+01] [-9.77722230e-02 9.95207372e-01 -1.69690612e-03 3.41616160e-01] [ 6.63215173e-02 8.21689534e-03 9.97764471e-01 -1.74067365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.067719421 meters Centerline goodness [0,1] 0.9237493139267782 Centerline is valid? [False, False] Translation: X:33.47, Y:0.34, Z:-1.74 [[ 9.92870512e-01 9.87173712e-02 -6.68058941e-02 3.34717564e+01] [-9.89627075e-02 9.95091076e-01 -3.64922753e-04 3.39223335e-01] [ 6.64419248e-02 6.97361320e-03 9.97765924e-01 -1.73920078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.097719421 meters Centerline goodness [0,1] 0.9284858332487052 Centerline is valid? [False, False] Translation: X:33.47, Y:0.34, Z:-1.74 [[ 9.92648519e-01 1.01172490e-01 -6.64307591e-02 3.34696460e+01] [-1.01262994e-01 9.94857657e-01 2.01209819e-03 3.35366051e-01] [ 6.62927183e-02 4.72967130e-03 9.97789009e-01 -1.73735479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.127719421 meters Centerline goodness [0,1] 0.9280786372794432 Centerline is valid? [False, False] Translation: X:33.47, Y:0.33, Z:-1.74 [[ 9.92554575e-01 1.02004940e-01 -6.65613119e-02 3.34696857e+01] [-1.02034945e-01 9.94776419e-01 2.95753572e-03 3.33094337e-01] [ 6.65153067e-02 3.85606422e-03 9.97777954e-01 -1.73713958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.157719421 meters Centerline goodness [0,1] 0.9221045369694019 Centerline is valid? [False, False] Translation: X:33.47, Y:0.33, Z:-1.74 [[ 9.92271869e-01 1.04659389e-01 -6.66554522e-02 3.34707146e+01] [-1.04506798e-01 9.94507366e-01 5.78163489e-03 3.25058450e-01] [ 6.68944406e-02 1.22899424e-03 9.97759301e-01 -1.73810094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.187719421 meters Centerline goodness [0,1] 0.9111061579299304 Centerline is valid? [False, False] Translation: X:33.47, Y:0.32, Z:-1.74 [[ 9.92151563e-01 1.05812598e-01 -6.66255945e-02 3.34715414e+01] [-1.05556700e-01 9.94386053e-01 7.35943203e-03 3.20569101e-01] [ 6.70302826e-02 -2.68894106e-04 9.97750905e-01 -1.73913650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.217719421 meters Centerline goodness [0,1] 0.8660288057448284 Centerline is valid? [False, False] Translation: X:33.47, Y:0.31, Z:-1.74 [[ 9.91829652e-01 1.08848276e-01 -6.65281507e-02 3.34733704e+01] [-1.08363694e-01 9.94051992e-01 1.08603755e-02 3.13451149e-01] [ 6.73145739e-02 -3.56240633e-03 9.97725442e-01 -1.74125182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.247719421 meters Centerline goodness [0,1] 0.8743037202683472 Centerline is valid? [False, False] Translation: X:33.47, Y:0.31, Z:-1.74 [[ 9.91458030e-01 1.12190570e-01 -6.65150461e-02 3.34743053e+01] [-1.11455728e-01 9.93661125e-01 1.46693388e-02 3.05652475e-01] [ 6.77391771e-02 -7.13055091e-03 9.97677583e-01 -1.74216904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.277719421 meters Centerline goodness [0,1] 0.8249040738019431 Centerline is valid? [False, False] Translation: X:33.47, Y:0.30, Z:-1.74 [[ 9.91681444e-01 1.10020564e-01 -6.68085996e-02 3.34737301e+01] [-1.09414428e-01 9.93915388e-01 1.26761135e-02 3.01864159e-01] [ 6.77967283e-02 -5.26084179e-03 9.97685285e-01 -1.74183970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.307719421 meters Centerline goodness [0,1] 0.7949915713792473 Centerline is valid? [False, False] Translation: X:33.47, Y:0.29, Z:-1.74 [[ 9.91894992e-01 1.07752179e-01 -6.73334394e-02 3.34732513e+01] [-1.07255596e-01 9.94171096e-01 1.09576078e-02 2.89708384e-01] [ 6.81216653e-02 -3.64690814e-03 9.97670356e-01 -1.74188272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.337719421 meters Centerline goodness [0,1] 0.8059737934402214 Centerline is valid? [False, False] Translation: X:33.47, Y:0.29, Z:-1.74 [[ 9.92158139e-01 1.05055261e-01 -6.77171947e-02 3.34734310e+01] [-1.04688202e-01 9.94464762e-01 8.95642761e-03 2.85056883e-01] [ 6.82832838e-02 -1.79700122e-03 9.97664354e-01 -1.74222053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.367719421 meters Centerline goodness [0,1] 0.7753270799845362 Centerline is valid? [False, False] Translation: X:33.47, Y:0.27, Z:-1.74 [[ 9.92337565e-01 1.03234767e-01 -6.78876943e-02 3.34746709e+01] [-1.02896336e-01 9.94656001e-01 8.47253519e-03 2.74428843e-01] [ 6.83995627e-02 -1.42221995e-03 9.97656994e-01 -1.74430136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.397719421 meters Centerline goodness [0,1] 0.77751128094638 Centerline is valid? [False, False] Translation: X:33.47, Y:0.27, Z:-1.74 [[ 9.92570513e-01 1.00813453e-01 -6.81206676e-02 3.34745701e+01] [-1.00598126e-01 9.94905298e-01 6.59278710e-03 2.69827116e-01] [ 6.84382547e-02 3.09005439e-04 9.97655306e-01 -1.74459755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.427719421 meters Centerline goodness [0,1] 0.7762909031746354 Centerline is valid? [False, False] Translation: X:33.47, Y:0.26, Z:-1.74 [[ 9.92935800e-01 9.73959964e-02 -6.77681143e-02 3.34719530e+01] [-9.73307631e-02 9.95242923e-01 4.27158275e-03 2.57469024e-01] [ 6.78617712e-02 2.35451483e-03 9.97691955e-01 -1.74433970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.457719421 meters Centerline goodness [0,1] 0.7752641671086451 Centerline is valid? [False, False] Translation: X:33.47, Y:0.25, Z:-1.74 [[ 9.93173021e-01 9.47937280e-02 -6.79816099e-02 3.34712321e+01] [-9.48159718e-02 9.95490574e-01 2.90663310e-03 2.50721341e-01] [ 6.79505824e-02 3.55895283e-03 9.97682340e-01 -1.74397321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.487719421 meters Centerline goodness [0,1] 0.80720907538424 Centerline is valid? [False, False] Translation: X:33.47, Y:0.24, Z:-1.74 [[ 9.93680294e-01 8.90051529e-02 -6.83926590e-02 3.34706337e+01] [-8.91700463e-02 9.96016209e-01 6.44179064e-04 2.35851251e-01] [ 6.81775322e-02 5.45846853e-03 9.97658273e-01 -1.74352453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51771942099998 meters Centerline goodness [0,1] 0.8309549945115258 Centerline is valid? [False, False] Translation: X:33.47, Y:0.23, Z:-1.74 [[ 9.93962325e-01 8.56065949e-02 -6.86324147e-02 3.34705490e+01] [-8.59003675e-02 9.96302838e-01 -1.33516340e-03 2.29332546e-01] [ 6.82643707e-02 7.22265175e-03 9.97641122e-01 -1.74374598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54771942099998 meters Centerline goodness [0,1] 0.891845703125 Centerline is valid? [False, False] Translation: X:33.47, Y:0.22, Z:-1.74 [[ 9.94479059e-01 7.93315628e-02 -6.86870000e-02 3.34694968e+01] [-7.98282986e-02 9.96798412e-01 -4.51315982e-03 2.18651593e-01] [ 6.81090565e-02 9.97140927e-03 9.97628051e-01 -1.74327144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57771942099998 meters Centerline goodness [0,1] 0.911804723514002 Centerline is valid? [False, False] Translation: X:33.47, Y:0.21, Z:-1.74 [[ 9.94686728e-01 7.65476232e-02 -6.88387587e-02 3.34686365e+01] [-7.71487597e-02 9.97000853e-01 -6.11285869e-03 2.13617703e-01] [ 6.81643764e-02 1.13912043e-02 9.97609071e-01 -1.74257410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60771942099998 meters Centerline goodness [0,1] 0.9211556497981487 Centerline is valid? [False, False] Translation: X:33.47, Y:0.20, Z:-1.74 [[ 9.95094136e-01 7.11577565e-02 -6.87330646e-02 3.34650273e+01] [-7.19480920e-02 9.97366963e-01 -9.08920562e-03 2.02030464e-01] [ 6.79053204e-02 1.39898281e-02 9.97593681e-01 -1.73980707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63771942099999 meters Centerline goodness [0,1] 0.9241477561819477 Centerline is valid? [False, False] Translation: X:33.46, Y:0.20, Z:-1.74 [[ 9.95269364e-01 6.86284952e-02 -6.87678904e-02 3.34637764e+01] [-6.95224555e-02 9.97523119e-01 -1.06889918e-02 1.96437107e-01] [ 6.78639911e-02 1.54193387e-02 9.97575422e-01 -1.73903837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.667719421 meters Centerline goodness [0,1] 0.9363714355748018 Centerline is valid? [False, False] Translation: X:33.46, Y:0.19, Z:-1.74 [[ 9.95390608e-01 6.74589252e-02 -6.81676666e-02 3.34615749e+01] [-6.83298952e-02 9.97607269e-01 -1.05243709e-02 1.86971311e-01] [ 6.72945970e-02 1.51337495e-02 9.97618367e-01 -1.73847940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.697719421 meters Centerline goodness [0,1] 0.9338819523269013 Centerline is valid? [False, False] Translation: X:33.46, Y:0.18, Z:-1.74 [[ 9.95216203e-01 6.99985058e-02 -6.81536379e-02 3.34628901e+01] [-7.06278278e-02 9.97479110e-01 -6.86553679e-03 1.78560975e-01] [ 6.75012527e-02 1.16462369e-02 9.97651215e-01 -1.73974879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.727719421 meters Centerline goodness [0,1] 0.9295052967609443 Centerline is valid? [False, False] Translation: X:33.46, Y:0.17, Z:-1.74 [[ 9.95141728e-01 7.11644103e-02 -6.80335802e-02 3.34629191e+01] [-7.16893861e-02 9.97412907e-01 -5.30323718e-03 1.74472255e-01] [ 6.74801693e-02 1.01547582e-02 9.97668937e-01 -1.74008048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.757719421 meters Centerline goodness [0,1] 0.9037139486637107 Centerline is valid? [False, False] Translation: X:33.46, Y:0.17, Z:-1.74 [[ 9.94949765e-01 7.43682471e-02 -6.74116446e-02 3.34629371e+01] [-7.46553598e-02 9.97207866e-01 -1.74645833e-03 1.66160051e-01] [ 6.70935412e-02 6.77027888e-03 9.97723719e-01 -1.74151919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.787719421 meters Centerline goodness [0,1] 0.8784470837061742 Centerline is valid? [False, False] Translation: X:33.46, Y:0.16, Z:-1.74 [[ 9.94882618e-01 7.52526854e-02 -6.74211314e-02 3.34636250e+01] [-7.54630737e-02 9.97148431e-01 -5.75534672e-04 1.62377436e-01] [ 6.71855649e-02 5.66039525e-03 9.97724441e-01 -1.74237105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.817719421 meters Centerline goodness [0,1] 0.7482856154487922 Centerline is valid? [False, False] Translation: X:33.46, Y:0.15, Z:-1.74 [[ 9.94912187e-01 7.50539550e-02 -6.72059847e-02 3.34633443e+01] [-7.52503207e-02 9.97164598e-01 -3.91546684e-04 1.52334492e-01] [ 6.69860416e-02 5.44682647e-03 9.97739045e-01 -1.74340736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.847719421 meters Centerline goodness [0,1] 0.8238577335967896 Centerline is valid? [False, False] Translation: X:33.46, Y:0.15, Z:-1.74 [[ 9.95090871e-01 7.27293952e-02 -6.71162685e-02 3.34626635e+01] [-7.30450750e-02 9.97326084e-01 -2.25823635e-03 1.47533136e-01] [ 6.67725651e-02 7.14966325e-03 9.97742606e-01 -1.74357308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.877719421 meters Centerline goodness [0,1] 0.8250750904149895 Centerline is valid? [False, False] Translation: X:33.46, Y:0.14, Z:-1.75 [[ 9.95196604e-01 7.19138487e-02 -6.64237747e-02 3.34622724e+01] [-7.22080770e-02 9.97387511e-01 -2.03629504e-03 1.37775081e-01] [ 6.61038055e-02 6.82284695e-03 9.97789425e-01 -1.74520224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.907719421 meters Centerline goodness [0,1] 0.8539600930346432 Centerline is valid? [False, False] Translation: X:33.46, Y:0.13, Z:-1.75 [[ 9.95146326e-01 7.25670868e-02 -6.64665984e-02 3.34629277e+01] [-7.27783195e-02 9.97347853e-01 -7.59012904e-04 1.33371212e-01] [ 6.62352398e-02 5.59265624e-03 9.97788362e-01 -1.74582484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.937719421 meters Centerline goodness [0,1] 0.7809088861127609 Centerline is valid? [False, False] Translation: X:33.46, Y:0.12, Z:-1.75 [[ 9.95003636e-01 7.49417958e-02 -6.59658312e-02 3.34615402e+01] [-7.49705377e-02 9.97183656e-01 2.04312282e-03 1.23695316e-01] [ 6.59331640e-02 2.91257920e-03 9.97819791e-01 -1.74575900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.967719421 meters Centerline goodness [0,1] 0.755751154353562 Centerline is valid? [False, False] Translation: X:33.46, Y:0.12, Z:-1.75 [[ 9.95146521e-01 7.30791608e-02 -6.59002146e-02 3.34603937e+01] [-7.32301769e-02 9.97315058e-01 1.24305176e-04 1.19893141e-01] [ 6.57323605e-02 4.70218251e-03 9.97826210e-01 -1.74548146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.997719421 meters Centerline goodness [0,1] 0.7100668068013902 Centerline is valid? [False, False] Translation: X:33.47, Y:0.11, Z:-1.75 [[ 9.95172088e-01 7.71914357e-02 -6.06135057e-02 3.34675473e+01] [-7.77868261e-02 9.96941639e-01 -7.52178380e-03 1.10941694e-01] [ 5.98475105e-02 1.22004015e-02 9.98132970e-01 -1.74918246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.027719421 meters Centerline goodness [0,1] 0.7022966527284571 Centerline is valid? [False, False] Translation: X:33.47, Y:0.11, Z:-1.75 [[ 9.95106305e-01 7.80307803e-02 -6.06187954e-02 3.34684819e+01] [-7.85597510e-02 9.96888935e-01 -6.38881214e-03 1.07628616e-01] [ 5.99316823e-02 1.11197447e-02 9.98140544e-01 -1.75030002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.057719421 meters Centerline goodness [0,1] 0.6733407410573101 Centerline is valid? [False, False] Translation: X:33.47, Y:0.10, Z:-1.75 [[ 9.94987562e-01 7.96680067e-02 -6.04380672e-02 3.34690260e+01] [-8.00494266e-02 9.96783218e-01 -3.91229756e-03 9.80182889e-02] [ 5.99319661e-02 8.73072003e-03 9.98164282e-01 -1.75162822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.087719421 meters Centerline goodness [0,1] 0.6663429582631966 Centerline is valid? [False, False] Translation: X:33.47, Y:0.09, Z:-1.75 [[ 9.95122653e-01 7.79264518e-02 -6.04844888e-02 3.34692611e+01] [-7.83893247e-02 9.96908657e-01 -5.31439384e-03 9.29635946e-02] [ 5.98833787e-02 1.00298119e-02 9.98154990e-01 -1.75250325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.117719421 meters Centerline goodness [0,1] 0.654833078769365 Centerline is valid? [False, False] Translation: X:33.47, Y:0.08, Z:-1.76 [[ 9.95231418e-01 7.67192239e-02 -6.02377326e-02 3.34703786e+01] [-7.71934795e-02 9.97000503e-01 -5.58240228e-03 8.22399107e-02] [ 5.96287721e-02 1.02057423e-02 9.98168449e-01 -1.75515112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.147719421 meters Centerline goodness [0,1] 0.651354274740072 Centerline is valid? [False, False] Translation: X:33.47, Y:0.07, Z:-1.76 [[ 9.95346278e-01 7.53054747e-02 -6.01238052e-02 3.34702580e+01] [-7.57447577e-02 9.97114412e-01 -5.05770565e-03 6.90337799e-02] [ 5.95694398e-02 9.58823155e-03 9.98178114e-01 -1.75573537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.177719421 meters Centerline goodness [0,1] 0.6482051282051282 Centerline is valid? [False, False] Translation: X:33.47, Y:0.06, Z:-1.76 [[ 9.95541181e-01 7.28835733e-02 -5.98810678e-02 3.34699231e+01] [-7.34204388e-02 9.97277814e-01 -6.81183042e-03 6.33368340e-02] [ 5.92215899e-02 1.11779520e-02 9.98182276e-01 -1.75656859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.207719421 meters Centerline goodness [0,1] 0.6910146768595604 Centerline is valid? [False, False] Translation: X:33.47, Y:0.05, Z:-1.76 [[ 9.95724448e-01 7.04741793e-02 -5.97177858e-02 3.34707118e+01] [-7.09927766e-02 9.97454963e-01 -6.60478904e-03 5.16841936e-02] [ 5.91003347e-02 1.08160813e-02 9.98193450e-01 -1.75763084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.237719421 meters Centerline goodness [0,1] 0.646796542735629 Centerline is valid? [False, False] Translation: X:33.47, Y:0.05, Z:-1.76 [[ 9.95928762e-01 6.74688044e-02 -5.97817856e-02 3.34711828e+01] [-6.80986957e-02 9.97641865e-01 -8.56023009e-03 4.58127332e-02] [ 5.90632636e-02 1.25964410e-02 9.98174765e-01 -1.75853376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26771942099998 meters Centerline goodness [0,1] 0.7166878023578038 Centerline is valid? [False, False] Translation: X:33.47, Y:0.03, Z:-1.76 [[ 9.96342451e-01 6.06062832e-02 -6.02378574e-02 3.34713220e+01] [-6.14220161e-02 9.98042343e-01 -1.17820456e-02 3.10687858e-02] [ 5.94058664e-02 1.54388828e-02 9.98114514e-01 -1.75761913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29771942099998 meters Centerline goodness [0,1] 0.6980629827688651 Centerline is valid? [False, False] Translation: X:33.47, Y:0.02, Z:-1.76 [[ 9.96540363e-01 5.70225107e-02 -6.04627083e-02 3.34711976e+01] [-5.79529206e-02 9.98224671e-01 -1.37464487e-02 2.41926743e-02] [ 5.95715101e-02 1.72028816e-02 9.98075797e-01 -1.75726573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32771942099998 meters Centerline goodness [0,1] 0.7584219537485832 Centerline is valid? [False, False] Translation: X:33.47, Y:0.02, Z:-1.76 [[ 9.96742002e-01 5.33211139e-02 -6.05164384e-02 3.34710545e+01] [-5.43752119e-02 9.98393875e-01 -1.59061573e-02 1.78274063e-02] [ 5.95711074e-02 1.91449292e-02 9.98040458e-01 -1.75725728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35771942099998 meters Centerline goodness [0,1] 0.8287966317438559 Centerline is valid? [False, False] Translation: X:33.47, Y:0.01, Z:-1.76 [[ 9.97126754e-01 4.53373401e-02 -6.06857635e-02 3.34721857e+01] [-4.65944957e-02 9.98724262e-01 -1.94628303e-02 6.13102991e-03] [ 5.97259514e-02 2.22345314e-02 9.97967152e-01 -1.75688703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38771942099999 meters Centerline goodness [0,1] 0.9229889344771851 Centerline is valid? [False, False] Translation: X:33.47, Y:-0.01, Z:-1.76 [[ 9.97448472e-01 3.77377338e-02 -6.06004099e-02 3.34725203e+01] [-3.92142607e-02 9.98957663e-01 -2.33629780e-02 -5.36472936e-03] [ 5.96555780e-02 2.56797670e-02 9.97888652e-01 -1.75653607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.417719421 meters Centerline goodness [0,1] 0.9369342260337521 Centerline is valid? [False, False] Translation: X:33.47, Y:-0.01, Z:-1.76 [[ 9.97576280e-01 3.39632459e-02 -6.07294299e-02 3.34727348e+01] [-3.55818738e-02 9.99034374e-01 -2.57730601e-02 -1.08538048e-02] [ 5.97954512e-02 2.78714603e-02 9.97821470e-01 -1.75660161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.447719421 meters Centerline goodness [0,1] 0.941155564581641 Centerline is valid? [False, False] Translation: X:33.47, Y:-0.02, Z:-1.76 [[ 9.97824640e-01 2.63470155e-02 -6.04303187e-02 3.34737300e+01] [-2.82565476e-02 9.99120983e-01 -3.09649769e-02 -2.03878311e-02] [ 5.95613647e-02 3.26051691e-02 9.97692010e-01 -1.75827193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.477719421 meters Centerline goodness [0,1] 0.9418396105559825 Centerline is valid? [False, False] Translation: X:33.48, Y:-0.03, Z:-1.76 [[ 9.97833185e-01 2.53354726e-02 -6.07210731e-02 3.34754605e+01] [-2.72085597e-02 9.99172833e-01 -3.02215983e-02 -2.60610060e-02] [ 5.99051682e-02 3.18082466e-02 9.97697152e-01 -1.75874358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.507719421 meters Centerline goodness [0,1] 0.9380441803384576 Centerline is valid? [False, False] Translation: X:33.48, Y:-0.03, Z:-1.76 [[ 9.97921392e-01 2.04397029e-02 -6.11155810e-02 3.34787090e+01] [-2.24872325e-02 9.99202193e-01 -3.30045859e-02 -3.36198923e-02] [ 6.03922186e-02 3.43103026e-02 9.97584875e-01 -1.76110865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.537719421 meters Centerline goodness [0,1] 0.9397908469662456 Centerline is valid? [False, False] Translation: X:33.48, Y:-0.04, Z:-1.76 [[ 9.97891834e-01 2.00577997e-02 -6.17217324e-02 3.34801312e+01] [-2.20407185e-02 9.99257062e-01 -3.16153647e-02 -3.82541000e-02] [ 6.10417423e-02 3.29091056e-02 9.97592550e-01 -1.76031471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.567719421 meters Centerline goodness [0,1] 0.9395255159425597 Centerline is valid? [False, False] Translation: X:33.48, Y:-0.05, Z:-1.76 [[ 9.97959924e-01 1.62363305e-02 -6.17444085e-02 3.34793142e+01] [-1.81956865e-02 9.99344255e-01 -3.13045728e-02 -4.76141944e-02] [ 6.11956485e-02 3.23641910e-02 9.97600948e-01 -1.75621259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.597719421 meters Centerline goodness [0,1] 0.9428292528493035 Centerline is valid? [False, False] Translation: X:33.48, Y:-0.05, Z:-1.75 [[ 9.97949035e-01 1.57928857e-02 -6.20347311e-02 3.34798522e+01] [-1.76410758e-02 9.99413250e-01 -2.93589629e-02 -5.37620632e-02] [ 6.15346695e-02 3.03931081e-02 9.97642092e-01 -1.75442906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.627719421 meters Centerline goodness [0,1] 0.9415646620542842 Centerline is valid? [False, False] Translation: X:33.48, Y:-0.06, Z:-1.76 [[ 9.98012328e-01 9.53773418e-03 -6.22930500e-02 3.34831133e+01] [-1.16243085e-02 9.99380460e-01 -3.32200461e-02 -5.99808491e-02] [ 6.19376130e-02 3.38781292e-02 9.97504889e-01 -1.75642602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.657719421 meters Centerline goodness [0,1] 0.9411874983261469 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.06, Z:-1.76 [[ 9.97982704e-01 7.85031560e-03 -6.29991599e-02 3.34864941e+01] [-9.92894132e-03 9.99414270e-01 -3.27495523e-02 -6.41150926e-02] [ 6.27051651e-02 3.33090017e-02 9.97476101e-01 -1.75710082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.687719421 meters Centerline goodness [0,1] 0.9433543532977888 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.07, Z:-1.75 [[ 9.97897842e-01 -1.79119400e-03 -6.47818598e-02 3.34884201e+01] [ 4.19238095e-04 9.99775475e-01 -2.11854839e-02 -7.15789933e-02] [ 6.48052619e-02 2.11137896e-02 9.97674539e-01 -1.75415318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.717719421 meters Centerline goodness [0,1] 0.9437836959172062 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.07, Z:-1.76 [[ 9.97834337e-01 -3.51015099e-03 -6.56834505e-02 3.34924556e+01] [ 2.11502601e-03 9.99770943e-01 -2.12976234e-02 -7.44099864e-02] [ 6.57431631e-02 2.11125777e-02 9.97613199e-01 -1.75541293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.747719421 meters Centerline goodness [0,1] 0.9435591876896166 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.08, Z:-1.76 [[ 9.97769121e-01 -8.42502151e-03 -6.62253765e-02 3.34949523e+01] [ 6.78615863e-03 9.99666094e-01 -2.49328717e-02 -7.81081837e-02] [ 6.64133234e-02 2.44278336e-02 9.97493134e-01 -1.75643392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.777719421 meters Centerline goodness [0,1] 0.9435591876896166 Centerline is valid? [False, False] Translation: X:33.49, Y:-0.08, Z:-1.76 [[ 9.97769121e-01 -8.42502151e-03 -6.62253765e-02 3.34949523e+01] [ 6.78615863e-03 9.99666094e-01 -2.49328717e-02 -7.81081837e-02] [ 6.64133234e-02 2.44278336e-02 9.97493134e-01 -1.75643392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.807719421 meters Centerline goodness [0,1] 0.9446938999014347 Centerline is valid? [False, False] Translation: X:33.50, Y:-0.08, Z:-1.76 [[ 9.97737777e-01 -8.53318770e-03 -6.66821857e-02 3.34954340e+01] [ 6.95014035e-03 9.99689328e-01 -2.39362146e-02 -8.06572730e-02] [ 6.68657216e-02 2.34186150e-02 9.97487115e-01 -1.75508828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.837719421 meters Centerline goodness [0,1] 0.9478456186484784 Centerline is valid? [False, False] Translation: X:33.50, Y:-0.08, Z:-1.75 [[ 9.97724910e-01 -9.29790196e-03 -6.67723896e-02 3.34960398e+01] [ 7.73706780e-03 9.99691633e-01 -2.35961230e-02 -8.12987807e-02] [ 6.69711936e-02 2.30258172e-02 9.97489183e-01 -1.75451666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.867719421 meters Centerline goodness [0,1] 0.9496851902545853 Centerline is valid? [False, False] Translation: X:33.50, Y:-0.08, Z:-1.75 [[ 9.97705823e-01 -6.33786745e-03 -6.74012105e-02 3.34977156e+01] [ 5.07768440e-03 9.99809398e-01 -1.88516518e-02 -8.28790877e-02] [ 6.75078430e-02 1.84661607e-02 9.97547839e-01 -1.75304786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.897719421 meters Centerline goodness [0,1] 0.951454719300642 Centerline is valid? [False, True] Translation: X:33.50, Y:-0.08, Z:-1.75 [[ 9.97646126e-01 -7.67838811e-03 -6.81413995e-02 3.34995619e+01] [ 6.39392991e-03 9.99798125e-01 -1.90480183e-02 -8.25485046e-02] [ 6.82739016e-02 1.85674903e-02 9.97493821e-01 -1.75222432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.927719421 meters Centerline goodness [0,1] 0.9475532088617931 Centerline is valid? [True, False] Translation: X:33.50, Y:-0.08, Z:-1.75 [[ 9.97612630e-01 -5.58903269e-03 -6.88316959e-02 3.35020839e+01] [ 4.54560491e-03 9.99872517e-01 -1.53064267e-02 -8.44698540e-02] [ 6.89084691e-02 1.49570029e-02 9.97510858e-01 -1.75162558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.957719421 meters Centerline goodness [0,1] 0.9422153495564418 Centerline is valid? [False, False] Translation: X:33.50, Y:-0.08, Z:-1.75 [[ 9.97535691e-01 -7.23183892e-03 -6.97871516e-02 3.35047620e+01] [ 6.12524571e-03 9.99852305e-01 -1.60576779e-02 -8.25065703e-02] [ 6.98929710e-02 1.55906434e-02 9.97432657e-01 -1.75143442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98771942099998 meters Centerline goodness [0,1] 0.9255221791559001 Centerline is valid? [False, False] Translation: X:33.51, Y:-0.08, Z:-1.75 [[ 9.97483059e-01 -8.39777887e-03 -7.04061378e-02 3.35059647e+01] [ 7.22322857e-03 9.99830746e-01 -1.69205330e-02 -7.86167789e-02] [ 7.05363162e-02 1.63693854e-02 9.97374890e-01 -1.75066711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01771942099998 meters Centerline goodness [0,1] 0.8874010465584329 Centerline is valid? [False, False] Translation: X:33.51, Y:-0.08, Z:-1.75 [[ 9.97442285e-01 -5.26476948e-03 -7.12823324e-02 3.35074581e+01] [ 4.36861536e-03 9.99909529e-01 -1.27219672e-02 -7.81014587e-02] [ 7.13428616e-02 1.23780230e-02 9.97375045e-01 -1.74900750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04771942099998 meters Centerline goodness [0,1] 0.8998589938010483 Centerline is valid? [False, False] Translation: X:33.51, Y:-0.07, Z:-1.75 [[ 9.97398918e-01 -3.10881120e-03 -7.20120404e-02 3.35094176e+01] [ 2.39105100e-03 9.99946626e-01 -1.00512857e-02 -7.42543992e-02] [ 7.20394444e-02 9.85295702e-03 9.97353116e-01 -1.74833990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07771942099998 meters Centerline goodness [0,1] 0.9201282187135742 Centerline is valid? [False, False] Translation: X:33.51, Y:-0.07, Z:-1.75 [[ 9.97350599e-01 -7.47817738e-04 -7.27408019e-02 3.35117208e+01] [ 2.61352838e-04 9.99977541e-01 -6.69693654e-03 -7.41073030e-02] [ 7.27441763e-02 6.66018265e-03 9.97328395e-01 -1.74792553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10771942099998 meters Centerline goodness [0,1] 0.8946578947368421 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.07, Z:-1.75 [[ 9.97278565e-01 -2.39504066e-03 -7.36866880e-02 3.35151090e+01] [ 1.75308351e-03 9.99959958e-01 -8.77542704e-03 -6.76089518e-02] [ 7.37047550e-02 8.62236636e-03 9.97242831e-01 -1.74945832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13771942099999 meters Centerline goodness [0,1] 0.8800031330774654 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.07, Z:-1.75 [[ 9.97212098e-01 4.61324587e-04 -7.46178226e-02 3.35172830e+01] [-8.45717423e-04 9.99986535e-01 -5.11997344e-03 -6.64831623e-02] [ 7.46144559e-02 5.16880504e-03 9.97199061e-01 -1.74864700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.167719421 meters Centerline goodness [0,1] 0.8358382699123057 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.06, Z:-1.75 [[ 9.97203998e-01 6.43289714e-04 -7.47246432e-02 3.35161025e+01] [-1.04307373e-03 9.99985352e-01 -5.31119308e-03 -6.03938933e-02] [ 7.47201320e-02 5.37428629e-03 9.97190062e-01 -1.74684248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.197719421 meters Centerline goodness [0,1] 0.813508270369614 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.05, Z:-1.75 [[ 9.97134312e-01 2.82617690e-03 -7.55987809e-02 3.35179972e+01] [-3.07842139e-03 9.99990076e-01 -3.22029985e-03 -5.38404861e-02] [ 7.55889295e-02 3.44379638e-03 9.97133117e-01 -1.74627083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.227719421 meters Centerline goodness [0,1] 0.8063109872006082 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.05, Z:-1.75 [[ 9.97072468e-01 5.55896459e-03 -7.62600302e-02 3.35201740e+01] [-5.60520723e-03 9.99984214e-01 -3.92354615e-04 -5.12949525e-02] [ 7.62566453e-02 8.18659257e-04 9.97087887e-01 -1.74662926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.257719421 meters Centerline goodness [0,1] 0.7976472366366064 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.05, Z:-1.75 [[ 9.97039712e-01 5.25878266e-03 -7.67082670e-02 3.35208194e+01] [-5.37376588e-03 9.99984726e-01 -1.29263304e-03 -4.72885895e-02] [ 7.67002976e-02 1.70101874e-03 9.97052742e-01 -1.74656631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.287719421 meters Centerline goodness [0,1] 0.8813174190970835 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.04, Z:-1.74 [[ 9.96998821e-01 4.85440182e-03 -7.72643837e-02 3.35204447e+01] [-5.03589851e-03 9.99984999e-01 -2.15436754e-03 -4.31608432e-02] [ 7.72527665e-02 2.53699749e-03 9.97008312e-01 -1.74480583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.317719421 meters Centerline goodness [0,1] 0.8517551710421639 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.04, Z:-1.74 [[ 9.96968107e-01 4.43283758e-03 -7.76849002e-02 3.35212058e+01] [-4.67532757e-03 9.99984749e-01 -2.93985711e-03 -4.00890226e-02] [ 7.76706835e-02 3.29414614e-03 9.96973627e-01 -1.74475222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.347719421 meters Centerline goodness [0,1] 0.8277428969291281 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.03, Z:-1.75 [[ 9.96928465e-01 7.20035000e-03 -7.79858377e-02 3.35241539e+01] [-7.23830099e-03 9.99973782e-01 -2.03973934e-04 -3.08861317e-02] [ 7.79823244e-02 7.67832388e-04 9.96954446e-01 -1.74597986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.377719421 meters Centerline goodness [0,1] 0.7999514975142477 Centerline is valid? [False, False] Translation: X:33.53, Y:-0.03, Z:-1.75 [[ 9.96856484e-01 1.00317494e-02 -7.85908013e-02 3.35265178e+01] [-9.87424960e-03 9.99948386e-01 2.39241659e-03 -2.77624848e-02] [ 7.86107451e-02 -1.60887080e-03 9.96904089e-01 -1.74689863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.407719421 meters Centerline goodness [0,1] 0.8645580859590603 Centerline is valid? [False, False] Translation: X:33.53, Y:-0.02, Z:-1.75 [[ 9.96838910e-01 1.03276832e-02 -7.87751606e-02 3.35265661e+01] [-1.02015480e-02 9.99945956e-01 2.00348782e-03 -2.13422091e-02] [ 7.87915947e-02 -1.19352603e-03 9.96890395e-01 -1.74637788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.437719421 meters Centerline goodness [0,1] 0.7845974717232203 Centerline is valid? [False, False] Translation: X:33.52, Y:-0.02, Z:-1.74 [[ 9.96820822e-01 1.02693479e-02 -7.90113201e-02 3.35243613e+01] [-1.01993629e-02 9.99947154e-01 1.28928212e-03 -1.68404222e-02] [ 7.90203848e-02 -4.79318130e-04 9.96872885e-01 -1.74336290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.467719421 meters Centerline goodness [0,1] 0.7668931672329181 Centerline is valid? [False, False] Translation: X:33.53, Y:-0.01, Z:-1.74 [[ 9.96786824e-01 9.86332224e-03 -7.94905137e-02 3.35253310e+01] [-9.87270541e-03 9.99951226e-01 2.74982456e-04 -1.32991678e-02] [ 7.94893489e-02 5.10687536e-04 9.96835585e-01 -1.74358256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.497719421 meters Centerline goodness [0,1] 0.7922553152068184 Centerline is valid? [False, False] Translation: X:33.53, Y:-0.00, Z:-1.74 [[ 9.96738165e-01 1.34801329e-02 -7.95695755e-02 3.35259817e+01] [-1.32627020e-02 9.99906731e-01 3.26047294e-03 -4.73152485e-03] [ 7.96061057e-02 -2.19453025e-03 9.96823982e-01 -1.74342286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.527719421 meters Centerline goodness [0,1] 0.7878447722899294 Centerline is valid? [False, False] Translation: X:33.53, Y:-0.00, Z:-1.74 [[ 9.96659044e-01 1.68399334e-02 -7.99197520e-02 3.35266656e+01] [-1.64006670e-02 9.99846588e-01 6.14962964e-03 -1.03865272e-03] [ 8.00110507e-02 -4.81834676e-03 9.96782331e-01 -1.74310720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.557719421 meters Centerline goodness [0,1] 0.7930078826014857 Centerline is valid? [False, False] Translation: X:33.53, Y:0.00, Z:-1.74 [[ 9.96644361e-01 1.71735638e-02 -8.00317864e-02 3.35261689e+01] [-1.67630660e-02 9.99842677e-01 5.79828109e-03 3.18688346e-03] [ 8.01187727e-02 -4.43724603e-03 9.96775448e-01 -1.74241042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.587719421 meters Centerline goodness [0,1] 0.7814207650273224 Centerline is valid? [False, False] Translation: X:33.53, Y:0.01, Z:-1.74 [[ 9.96637139e-01 1.67648794e-02 -8.02081810e-02 3.35257621e+01] [-1.64545847e-02 9.99854361e-01 4.52806104e-03 8.22794322e-03] [ 8.02724119e-02 -3.19304149e-03 9.96767849e-01 -1.74170591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.617719421 meters Centerline goodness [0,1] 0.7852632978134207 Centerline is valid? [False, False] Translation: X:33.53, Y:0.01, Z:-1.74 [[ 9.96623154e-01 1.56602631e-02 -8.06042443e-02 3.35271669e+01] [-1.54686215e-02 9.99875849e-01 3.00148597e-03 1.27785486e-02] [ 8.06412413e-02 -1.74451387e-03 9.96741665e-01 -1.74235213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.647719421 meters Centerline goodness [0,1] 0.7703401959704943 Centerline is valid? [False, False] Translation: X:33.53, Y:0.02, Z:-1.74 [[ 9.96608548e-01 1.52020688e-02 -8.08721157e-02 3.35283864e+01] [-1.50650036e-02 9.99883860e-01 2.30477336e-03 1.52188252e-02] [ 8.08977605e-02 -1.07861812e-03 9.96721821e-01 -1.74307990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.677719421 meters Centerline goodness [0,1] 0.7426464170376189 Centerline is valid? [False, False] Translation: X:33.53, Y:0.02, Z:-1.74 [[ 9.96542914e-01 1.73471061e-02 -8.12483720e-02 3.35306858e+01] [-1.70569103e-02 9.99845426e-01 4.26447420e-03 1.95760256e-02] [ 8.13097894e-02 -2.86388536e-03 9.96684763e-01 -1.74424192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.707719421 meters Centerline goodness [0,1] 0.7399523603291468 Centerline is valid? [False, False] Translation: X:33.53, Y:0.02, Z:-1.74 [[ 9.96527658e-01 1.72909011e-02 -8.14472367e-02 3.35312423e+01] [-1.70326224e-02 9.99847465e-01 3.86488671e-03 2.25662413e-02] [ 8.15016405e-02 -2.46420647e-03 9.96670161e-01 -1.74437332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73771942099998 meters Centerline goodness [0,1] 0.7469814922044221 Centerline is valid? [False, False] Translation: X:33.53, Y:0.03, Z:-1.74 [[ 9.96509928e-01 1.91439372e-02 -8.12494542e-02 3.35290658e+01] [-1.87843378e-02 9.99810099e-01 5.18800610e-03 2.69637665e-02] [ 8.13333437e-02 -3.64368240e-03 9.96680295e-01 -1.74201923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76771942099998 meters Centerline goodness [0,1] 0.7640775869435188 Centerline is valid? [False, False] Translation: X:33.53, Y:0.03, Z:-1.74 [[ 9.96486862e-01 1.92623370e-02 -8.15039587e-02 3.35293083e+01] [-1.89562123e-02 9.99810061e-01 4.52814614e-03 2.91938096e-02] [ 8.15757006e-02 -2.96723180e-03 9.96662732e-01 -1.74191484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79771942099998 meters Centerline goodness [0,1] 0.7656395103419165 Centerline is valid? [False, False] Translation: X:33.53, Y:0.03, Z:-1.74 [[ 9.96367033e-01 2.36101141e-02 -8.18247994e-02 3.35308538e+01] [-2.31551221e-02 9.99710720e-01 6.50516488e-03 3.49812367e-02] [ 8.19547168e-02 -4.58686861e-03 9.96625499e-01 -1.74376657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82771942099998 meters Centerline goodness [0,1] 0.8043136185300968 Centerline is valid? [False, False] Translation: X:33.53, Y:0.04, Z:-1.74 [[ 9.96117836e-01 3.16670555e-02 -8.21367994e-02 3.35326941e+01] [-3.07222130e-02 9.99446740e-01 1.27420479e-02 4.01288532e-02] [ 8.24948595e-02 -1.01691569e-02 9.96539606e-01 -1.74491290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85771942099998 meters Centerline goodness [0,1] 0.8244585026603545 Centerline is valid? [False, False] Translation: X:33.53, Y:0.04, Z:-1.75 [[ 9.96072786e-01 3.22270226e-02 -8.24646885e-02 3.35334009e+01] [-3.13382305e-02 9.99436198e-01 1.20499379e-02 4.35941126e-02] [ 8.28065284e-02 -9.41831776e-03 9.96521136e-01 -1.74540864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88771942099999 meters Centerline goodness [0,1] 0.888877328061596 Centerline is valid? [False, False] Translation: X:33.54, Y:0.05, Z:-1.75 [[ 9.96177462e-01 3.93467549e-02 -7.79890866e-02 3.35412358e+01] [-3.90508266e-02 9.99223082e-01 5.31654335e-03 4.71032931e-02] [ 7.81376842e-02 -2.25068236e-03 9.96940037e-01 -1.74773596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.917719421 meters Centerline goodness [0,1] 0.9061144884536382 Centerline is valid? [False, False] Translation: X:33.55, Y:0.05, Z:-1.75 [[ 9.96313738e-01 4.39878228e-02 -7.36478633e-02 3.35505812e+01] [-4.42545349e-02 9.99018301e-01 -1.99274150e-03 4.81033434e-02] [ 7.34879069e-02 5.24464767e-03 9.97282318e-01 -1.75041186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.947719421 meters Centerline goodness [0,1] 0.9234891771280811 Centerline is valid? [False, False] Translation: X:33.55, Y:0.05, Z:-1.75 [[ 9.96033743e-01 5.00466798e-02 -7.35670661e-02 3.35500961e+01] [-5.00066949e-02 9.98746031e-01 2.38649319e-03 4.98218608e-02] [ 7.35942513e-02 1.30181808e-03 9.97287417e-01 -1.75009547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.977719421 meters Centerline goodness [0,1] 0.9184387504975802 Centerline is valid? [False, False] Translation: X:33.55, Y:0.05, Z:-1.75 [[ 9.95943756e-01 5.16157109e-02 -7.37011135e-02 3.35499361e+01] [-5.15404775e-02 9.98666627e-01 2.92358073e-03 5.09131469e-02] [ 7.37537451e-02 8.86868609e-04 9.97276089e-01 -1.74994069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.007719421 meters Centerline goodness [0,1] 0.9268904926262943 Centerline is valid? [False, False] Translation: X:33.56, Y:0.05, Z:-1.75 [[ 9.95740876e-01 6.15193395e-02 -6.86693492e-02 3.35581394e+01] [-6.16854250e-02 9.98095596e-01 -2.98783148e-04 5.04578041e-02] [ 6.85201941e-02 4.53340858e-03 9.97639429e-01 -1.75288263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.037719421 meters Centerline goodness [0,1] 0.9328603309613036 Centerline is valid? [False, False] Translation: X:33.56, Y:0.05, Z:-1.75 [[ 9.95656431e-01 6.34104762e-02 -6.81717133e-02 3.35566187e+01] [-6.34999332e-02 9.97981476e-01 8.56127211e-04 5.09604954e-02] [ 6.80883944e-02 3.47649068e-03 9.97673235e-01 -1.75237706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.067719421 meters Centerline goodness [0,1] 0.9339924890199656 Centerline is valid? [False, False] Translation: X:33.56, Y:0.05, Z:-1.75 [[ 9.95645299e-01 6.96777893e-02 -6.19309596e-02 3.35624337e+01] [-7.01475592e-02 9.97521786e-01 -5.44113527e-03 4.66166363e-02] [ 6.13983552e-02 9.76174641e-03 9.98065604e-01 -1.75488275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.097719421 meters Centerline goodness [0,1] 0.9357809983896941 Centerline is valid? [False, False] Translation: X:33.56, Y:0.04, Z:-1.75 [[ 9.95575973e-01 7.07384787e-02 -6.18429491e-02 3.35613870e+01] [-7.11303112e-02 9.97458379e-01 -4.15472418e-03 4.31140591e-02] [ 6.13918689e-02 8.53525179e-03 9.98077245e-01 -1.75393607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.127719421 meters Centerline goodness [0,1] 0.9381841038645773 Centerline is valid? [False, False] Translation: X:33.57, Y:0.04, Z:-1.76 [[ 9.95647048e-01 7.50302302e-02 -5.52939472e-02 3.35690289e+01] [-7.57622049e-02 9.97062338e-01 -1.12598022e-02 3.65136031e-02] [ 5.42866867e-02 1.53999802e-02 9.98406629e-01 -1.75823657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.157719421 meters Centerline goodness [0,1] 0.9382275132275132 Centerline is valid? [False, False] Translation: X:33.57, Y:0.03, Z:-1.76 [[ 9.95578562e-01 7.62816818e-02 -5.48126926e-02 3.35688221e+01] [-7.69100837e-02 9.96993295e-01 -9.44498986e-03 2.91253917e-02] [ 5.39274073e-02 1.36188782e-02 9.98451982e-01 -1.75936668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.187719421 meters Centerline goodness [0,1] 0.9374402100157957 Centerline is valid? [False, False] Translation: X:33.57, Y:0.02, Z:-1.76 [[ 9.95773107e-01 7.38211431e-02 -5.46475817e-02 3.35683329e+01] [-7.45512686e-02 9.97151537e-01 -1.14420804e-02 2.49561716e-02] [ 5.36472526e-02 1.54677625e-02 9.98440144e-01 -1.75983866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.217719421 meters Centerline goodness [0,1] 0.9392048291199564 Centerline is valid? [False, False] Translation: X:33.57, Y:0.01, Z:-1.76 [[ 9.95890685e-01 7.21530452e-02 -5.47328210e-02 3.35676099e+01] [-7.28535146e-02 9.97282978e-01 -1.09099580e-02 1.26005642e-02] [ 5.37969240e-02 1.48526039e-02 9.98441431e-01 -1.75876197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.247719421 meters Centerline goodness [0,1] 0.9371317207382781 Centerline is valid? [False, False] Translation: X:33.57, Y:0.01, Z:-1.76 [[ 9.96005119e-01 7.06089875e-02 -5.46641859e-02 3.35684176e+01] [-7.13558258e-02 9.97380759e-01 -1.18308220e-02 7.01043303e-03] [ 5.36856449e-02 1.56841674e-02 9.98434704e-01 -1.76020607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.277719421 meters Centerline goodness [0,1] 0.9377401818352236 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.00, Z:-1.76 [[ 9.96143179e-01 6.91935850e-02 -5.39538159e-02 3.35693631e+01] [-6.99529851e-02 9.97474288e-01 -1.23136246e-02 -4.54236999e-03] [ 5.29655202e-02 1.60403636e-02 9.98467506e-01 -1.76352233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.307719421 meters Centerline goodness [0,1] 0.9404648956356736 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.01, Z:-1.76 [[ 9.96119126e-01 6.97246325e-02 -5.37137072e-02 3.35699036e+01] [-7.04215024e-02 9.97454559e-01 -1.11899348e-02 -1.01203465e-02] [ 5.27967681e-02 1.49291081e-02 9.98493677e-01 -1.76483709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.337719421 meters Centerline goodness [0,1] 0.9420838254079198 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.02, Z:-1.76 [[ 9.95943556e-01 7.27962888e-02 -5.28879289e-02 3.35701911e+01] [-7.30844539e-02 9.97319499e-01 -3.53261499e-03 -2.49694434e-02] [ 5.24890015e-02 7.38357054e-03 9.98594206e-01 -1.76250702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.367719421 meters Centerline goodness [0,1] 0.9398534798534799 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.03, Z:-1.76 [[ 9.95887991e-01 7.38703628e-02 -5.24431059e-02 3.35692990e+01] [-7.40707828e-02 9.97251204e-01 -1.88575526e-03 -3.18233361e-02] [ 5.21596490e-02 5.76250292e-03 9.98622133e-01 -1.76268028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.397719421 meters Centerline goodness [0,1] 0.9100526472633357 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.05, Z:-1.77 [[ 9.96015858e-01 7.65270178e-02 -4.57823810e-02 3.35744704e+01] [-7.71495158e-02 9.96947492e-01 -1.19854555e-02 -4.52006440e-02] [ 4.47254187e-02 1.54697923e-02 9.98879534e-01 -1.76869620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.427719421 meters Centerline goodness [0,1] 0.8795542756980093 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.05, Z:-1.77 [[ 9.95909384e-01 7.81396910e-02 -4.53727675e-02 3.35731407e+01] [-7.86490353e-02 9.96856637e-01 -9.54851762e-03 -5.30222501e-02] [ 4.44840262e-02 1.30779827e-02 9.98924491e-01 -1.76815562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.457719421 meters Centerline goodness [0,1] 0.8455342577487766 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.07, Z:-1.76 [[ 9.95665767e-01 8.20492579e-02 -4.37903999e-02 3.35693424e+01] [-8.22116297e-02 9.96613051e-01 -1.91695261e-03 -7.02449455e-02] [ 4.34847995e-02 5.50872423e-03 9.99038901e-01 -1.76426617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48771942099998 meters Centerline goodness [0,1] 0.8241518829754124 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.09, Z:-1.76 [[ 9.95768013e-01 8.14642243e-02 -4.25399190e-02 3.35664262e+01] [-8.14787066e-02 9.96674105e-01 1.39617191e-03 -8.77525873e-02] [ 4.25121737e-02 2.07583425e-03 9.99093792e-01 -1.76142755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51771942099998 meters Centerline goodness [0,1] 0.8203523836950546 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.09, Z:-1.76 [[ 9.96043536e-01 7.82574251e-02 -4.21076065e-02 3.35657913e+01] [-7.83763259e-02 9.96923149e-01 -1.17779602e-03 -9.47339769e-02] [ 4.18858764e-02 4.47337560e-03 9.99112387e-01 -1.76283545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54771942099998 meters Centerline goodness [0,1] 0.8861229797510681 Centerline is valid? [False, False] Translation: X:33.56, Y:-0.10, Z:-1.76 [[ 9.96295355e-01 7.52821522e-02 -4.15711729e-02 3.35642457e+01] [-7.54842156e-02 9.97141502e-01 -3.31034779e-03 -1.02980252e-01] [ 4.12031316e-02 6.43605150e-03 9.99130061e-01 -1.76338091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57771942099998 meters Centerline goodness [0,1] 0.9226631345623615 Centerline is valid? [False, False] Translation: X:33.57, Y:-0.12, Z:-1.76 [[ 9.97046147e-01 6.71953758e-02 -3.71989474e-02 3.35732264e+01] [-6.73579072e-02 9.97723961e-01 -3.13195362e-03 -1.22844648e-01] [ 3.69038283e-02 5.62834553e-03 9.99302972e-01 -1.76350954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60771942099998 meters Centerline goodness [0,1] 0.9578702292192134 Centerline is valid? [False, True] Translation: X:33.57, Y:-0.14, Z:-1.77 [[ 9.97539161e-01 6.02258493e-02 -3.58952553e-02 3.35743748e+01] [-6.05258865e-02 9.98139710e-01 -7.33050392e-03 -1.38726595e-01] [ 3.53869939e-02 9.48505688e-03 9.99328672e-01 -1.76790600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63771942099999 meters Centerline goodness [0,1] 0.9600348500604255 Centerline is valid? [True, True] Translation: X:33.61, Y:-0.16, Z:-1.76 [[ 9.97758621e-01 5.62414939e-02 -3.62578155e-02 3.36050177e+01] [-5.62349755e-02 9.98416840e-01 1.20037462e-03 -1.56303346e-01] [ 3.62679245e-02 8.41273247e-04 9.99341748e-01 -1.76339820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.667719421 meters Centerline goodness [0,1] 0.9596119133574007 Centerline is valid? [True, True] Translation: X:33.64, Y:-0.17, Z:-1.76 [[ 9.97912159e-01 5.35505206e-02 -3.61062866e-02 3.36373343e+01] [-5.35422216e-02 9.98564869e-01 1.19742563e-03 -1.68949440e-01] [ 3.61185921e-02 7.38285207e-04 9.99347238e-01 -1.76388722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.697719421 meters Centerline goodness [0,1] 0.9596119133574007 Centerline is valid? [True, True] Translation: X:33.67, Y:-0.17, Z:-1.76 [[ 9.97896583e-01 5.38401371e-02 -3.61060859e-02 3.36696614e+01] [-5.38318096e-02 9.98549292e-01 1.20345006e-03 -1.70225990e-01] [ 3.61185005e-02 7.42737240e-04 9.99347238e-01 -1.76316313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.727719421 meters Centerline goodness [0,1] 0.9553436884200766 Centerline is valid? [True, True] Translation: X:33.70, Y:-0.20, Z:-1.76 [[ 9.98278687e-01 4.56682721e-02 -3.67977248e-02 3.36994256e+01] [-4.56538095e-02 9.98956560e-01 1.23363550e-03 -1.98601595e-01] [ 3.68156666e-02 4.48444292e-04 9.99321973e-01 -1.76396449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.757719421 meters Centerline goodness [0,1] 0.9532151629035599 Centerline is valid? [True, True] Translation: X:33.73, Y:-0.23, Z:-1.76 [[ 9.98637513e-01 3.73189654e-02 -3.64748153e-02 3.37295425e+01] [-3.72990862e-02 9.99303395e-01 1.22556084e-03 -2.27868231e-01] [ 3.64951434e-02 1.36586247e-04 9.99333821e-01 -1.76332284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.787719421 meters Centerline goodness [0,1] 0.9554951131302867 Centerline is valid? [True, True] Translation: X:33.76, Y:-0.24, Z:-1.76 [[ 9.98869333e-01 3.22535275e-02 -3.49251371e-02 3.37612392e+01] [-3.22319981e-02 9.99479718e-01 1.17944041e-03 -2.42950448e-01] [ 3.49450073e-02 -5.23999012e-05 9.99389235e-01 -1.76071203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.817719421 meters Centerline goodness [0,1] 0.9567139155616522 Centerline is valid? [True, True] Translation: X:33.79, Y:-0.27, Z:-1.76 [[ 9.99180015e-01 2.45152829e-02 -3.22226376e-02 3.37917885e+01] [-2.44927055e-02 9.99699409e-01 1.09525590e-03 -2.68394576e-01] [ 3.22398022e-02 -3.05138240e-04 9.99480116e-01 -1.75918492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.847719421 meters Centerline goodness [0,1] 0.9569481280453956 Centerline is valid? [True, True] Translation: X:33.82, Y:-0.28, Z:-1.76 [[ 9.99259253e-01 2.16652332e-02 -3.18050700e-02 3.38223604e+01] [-2.16415747e-02 9.99765202e-01 1.08795338e-03 -2.81599145e-01] [ 3.18211729e-02 -3.98835685e-04 9.99493499e-01 -1.75938870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.877719421 meters Centerline goodness [0,1] 0.9600595847686435 Centerline is valid? [True, True] Translation: X:33.85, Y:-0.29, Z:-1.75 [[ 9.99114077e-01 2.71534031e-02 -3.21520415e-02 3.38540309e+01] [-2.71318316e-02 9.99631251e-01 1.10709758e-03 -2.85672440e-01] [ 3.21702470e-02 -2.33773005e-04 9.99482376e-01 -1.75370559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.907719421 meters Centerline goodness [0,1] 0.9608872596228525 Centerline is valid? [True, True] Translation: X:33.89, Y:-0.29, Z:-1.75 [[ 9.99039015e-01 2.95351335e-02 -3.23839884e-02 3.38851534e+01] [-2.95142793e-02 9.99563729e-01 1.12190207e-03 -2.86660890e-01] [ 3.24029958e-02 -1.65033857e-04 9.99474871e-01 -1.75090670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.937719421 meters Centerline goodness [0,1] 0.9614953620120774 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.29, Z:-1.75 [[ 9.99187999e-01 2.48865902e-02 -3.16859607e-02 3.39167483e+01] [-2.48641230e-02 9.99690231e-01 1.10294206e-03 -2.91283386e-01] [ 3.17035939e-02 -3.14202841e-04 9.99497265e-01 -1.75129778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.967719421 meters Centerline goodness [0,1] 0.958709316074429 Centerline is valid? [True, True] Translation: X:33.95, Y:-0.29, Z:-1.75 [[ 9.99239292e-01 2.23364710e-02 -3.19674676e-02 3.39477657e+01] [-2.23120576e-02 9.99750427e-01 1.12025857e-03 -2.94306294e-01] [ 3.19845120e-02 -4.06146399e-04 9.99488282e-01 -1.75382779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.997719421 meters Centerline goodness [0,1] 0.9539418701829325 Centerline is valid? [True, True] Translation: X:33.98, Y:-0.30, Z:-1.76 [[ 9.99218641e-01 1.85131082e-02 -3.49195163e-02 3.39798325e+01] [-1.84814246e-02 9.99828447e-01 1.22992362e-03 -2.95425692e-01] [ 3.49362955e-02 -5.83600200e-04 9.99389371e-01 -1.75752520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.027719421 meters Centerline goodness [0,1] 0.9534121140877312 Centerline is valid? [True, True] Translation: X:34.01, Y:-0.30, Z:-1.76 [[ 9.99272871e-01 1.37650574e-02 -3.55563197e-02 3.40106016e+01] [-1.37291409e-02 9.99904964e-01 1.25410211e-03 -3.00047114e-01] [ 3.55702033e-02 -7.65032497e-04 9.99366887e-01 -1.75781995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.057719421 meters Centerline goodness [0,1] 0.9492529864944949 Centerline is valid? [True, False] Translation: X:34.01, Y:-0.30, Z:-1.76 [[ 9.99347439e-01 3.42212573e-03 -3.59580950e-02 3.40143149e+01] [-3.72890511e-03 9.99957193e-01 -8.46798280e-03 -2.98214534e-01] [ 3.59275772e-02 8.59654125e-03 9.99317421e-01 -1.76068996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.087719421 meters Centerline goodness [0,1] 0.9453579243513598 Centerline is valid? [False, False] Translation: X:34.02, Y:-0.30, Z:-1.76 [[ 9.99315778e-01 1.74448131e-03 -3.69449822e-02 3.40173044e+01] [-2.01543678e-03 9.99971338e-01 -7.29805374e-03 -3.00298912e-01] [ 3.69311920e-02 7.36752053e-03 9.99290652e-01 -1.75818913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.117719421 meters Centerline goodness [0,1] 0.9193865758815629 Centerline is valid? [False, False] Translation: X:34.02, Y:-0.30, Z:-1.75 [[ 9.99264089e-01 -2.93391932e-03 -3.82449045e-02 3.40249085e+01] [ 2.74220728e-03 9.99983417e-01 -5.06424088e-03 -3.02461782e-01] [ 3.82591283e-02 4.95563860e-03 9.99255563e-01 -1.75324253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.147719421 meters Centerline goodness [0,1] 0.9158796397979354 Centerline is valid? [False, False] Translation: X:34.03, Y:-0.30, Z:-1.76 [[ 9.99231229e-01 -4.56557026e-03 -3.89372091e-02 3.40287243e+01] [ 4.32586088e-03 9.99971185e-01 -6.23833655e-03 -3.01192601e-01] [ 3.89645687e-02 6.06510375e-03 9.99222186e-01 -1.75531113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.177719421 meters Centerline goodness [0,1] 0.9081664678927877 Centerline is valid? [False, False] Translation: X:34.03, Y:-0.30, Z:-1.76 [[ 9.99233156e-01 -4.25398747e-03 -3.89230370e-02 3.40322457e+01] [ 4.07893255e-03 9.99981212e-01 -4.57577087e-03 -3.01117856e-01] [ 3.89417710e-02 4.41349752e-03 9.99231735e-01 -1.75707451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.207719421 meters Centerline goodness [0,1] 0.9204176044011003 Centerline is valid? [False, False] Translation: X:34.04, Y:-0.30, Z:-1.76 [[ 9.99216211e-01 -9.25348238e-04 -3.95740650e-02 3.40353998e+01] [ 8.74681004e-04 9.99998776e-01 -1.29760906e-03 -3.00941647e-01] [ 3.95752173e-02 1.26197732e-03 9.99215797e-01 -1.75898822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23771942099998 meters Centerline goodness [0,1] 0.928393135725429 Centerline is valid? [False, False] Translation: X:34.04, Y:-0.30, Z:-1.76 [[ 9.99185650e-01 2.52833907e-03 -4.02696426e-02 3.40374287e+01] [-2.40381956e-03 9.99992180e-01 3.14026337e-03 -3.02642379e-01] [ 4.02772673e-02 -3.04090514e-03 9.99183914e-01 -1.75830811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26771942099998 meters Centerline goodness [0,1] 0.9382704461548088 Centerline is valid? [False, False] Translation: X:34.04, Y:-0.30, Z:-1.76 [[ 9.99188895e-01 3.12556977e-03 -4.01470257e-02 3.40368462e+01] [-3.00144367e-03 9.99990529e-01 3.15169005e-03 -3.03040009e-01] [ 4.01564963e-02 -3.02863466e-03 9.99188813e-01 -1.75861209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29771942099998 meters Centerline goodness [0,1] 0.9485836182827744 Centerline is valid? [False, False] Translation: X:34.05, Y:-0.30, Z:-1.76 [[ 9.99346154e-01 7.12601985e-03 -3.54469351e-02 3.40480799e+01] [-7.31578636e-03 9.99959580e-01 -5.22671823e-03 -3.04202521e-01] [ 3.54082566e-02 5.48262296e-03 9.99357892e-01 -1.76368991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32771942099998 meters Centerline goodness [0,1] 0.9473815617002684 Centerline is valid? [False, False] Translation: X:34.05, Y:-0.30, Z:-1.76 [[ 9.99258580e-01 1.43182889e-02 -3.57390104e-02 3.40450676e+01] [-1.43549439e-02 9.99896667e-01 -7.69228648e-04 -3.02557813e-01] [ 3.57243034e-02 1.28168982e-03 9.99360861e-01 -1.76246036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35771942099998 meters Centerline goodness [0,1] 0.9473832038198671 Centerline is valid? [False, False] Translation: X:34.04, Y:-0.30, Z:-1.76 [[ 9.99207171e-01 1.67986230e-02 -3.60948090e-02 3.40444692e+01] [-1.68133123e-02 9.99858641e-01 -1.03444964e-04 -3.00528808e-01] [ 3.60879690e-02 7.10236246e-04 9.99348365e-01 -1.76309835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38771942099999 meters Centerline goodness [0,1] 0.9425266080518279 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.30, Z:-1.77 [[ 9.99147749e-01 2.65909042e-02 -3.15705550e-02 3.40553737e+01] [-2.67530200e-02 9.99630913e-01 -4.72370025e-03 -2.96610696e-01] [ 3.14332953e-02 5.56428217e-03 9.99490363e-01 -1.76943000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.417719421 meters Centerline goodness [0,1] 0.9423520368946964 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.30, Z:-1.77 [[ 9.99009882e-01 3.11980559e-02 -3.17165071e-02 3.40554348e+01] [-3.12367707e-02 9.99511750e-01 -7.25777718e-04 -2.95666482e-01] [ 3.16783786e-02 1.71578037e-03 9.99496642e-01 -1.76929080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.447719421 meters Centerline goodness [0,1] 0.9422869968945055 Centerline is valid? [False, False] Translation: X:34.05, Y:-0.29, Z:-1.77 [[ 9.98943940e-01 3.32620062e-02 -3.16961183e-02 3.40530934e+01] [-3.32832743e-02 9.99445948e-01 -1.43482318e-04 -2.94526023e-01] [ 3.16737845e-02 1.19828139e-03 9.99497542e-01 -1.76815637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.477719421 meters Centerline goodness [0,1] 0.9437528957528958 Centerline is valid? [False, False] Translation: X:34.05, Y:-0.30, Z:-1.77 [[ 9.98943035e-01 3.29085789e-02 -3.20910817e-02 3.40542200e+01] [-3.29280735e-02 9.99457721e-01 -7.90402051e-05 -2.95441282e-01] [ 3.20710783e-02 1.13565416e-03 9.99484945e-01 -1.76808929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.507719421 meters Centerline goodness [0,1] 0.9407395993836671 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.30, Z:-1.77 [[ 9.98946567e-01 3.19232653e-02 -3.29645420e-02 3.40576572e+01] [-3.19466993e-02 9.99489557e-01 -1.84297510e-04 -2.96711553e-01] [ 3.29418321e-02 1.23721167e-03 9.99456505e-01 -1.76903642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.537719421 meters Centerline goodness [0,1] 0.944260877620974 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.30, Z:-1.77 [[ 9.98948462e-01 3.17465608e-02 -3.30775653e-02 3.40581989e+01] [-3.17765625e-02 9.99494925e-01 -3.81584714e-04 -2.96651301e-01] [ 3.30487446e-02 1.43227479e-03 9.99452715e-01 -1.76936948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.567719421 meters Centerline goodness [0,1] 0.9387931566919894 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.30, Z:-1.77 [[ 9.98957641e-01 3.13071809e-02 -3.32188484e-02 3.40598765e+01] [-3.13545398e-02 9.99507915e-01 -9.05572296e-04 -2.95699270e-01] [ 3.31741510e-02 1.94619007e-03 9.99447692e-01 -1.77089984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.597719421 meters Centerline goodness [0,1] 0.936077301867509 Centerline is valid? [False, False] Translation: X:34.06, Y:-0.30, Z:-1.77 [[ 9.98965514e-01 2.98810685e-02 -3.42786188e-02 3.40634982e+01] [-2.99357796e-02 9.99551237e-01 -1.08383749e-03 -2.97134958e-01] [ 3.42308496e-02 2.10887345e-03 9.99411728e-01 -1.77107927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.627719421 meters Centerline goodness [0,1] 0.9433190856718082 Centerline is valid? [False, False] Translation: X:34.07, Y:-0.30, Z:-1.77 [[ 9.98957451e-01 2.93828406e-02 -3.49379321e-02 3.40651178e+01] [-2.94255454e-02 9.99566724e-01 -7.08632095e-04 -2.98472147e-01] [ 3.49019727e-02 1.73596102e-03 9.99389233e-01 -1.77033769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.657719421 meters Centerline goodness [0,1] 0.943158484226246 Centerline is valid? [False, False] Translation: X:34.07, Y:-0.30, Z:-1.77 [[ 9.98950971e-01 2.90788807e-02 -3.53748046e-02 3.40658586e+01] [-2.91051594e-02 9.99576329e-01 -2.28028543e-04 -2.99781181e-01] [ 3.53531865e-02 1.25737866e-03 9.99374090e-01 -1.76924507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.687719421 meters Centerline goodness [0,1] 0.9444029386128752 Centerline is valid? [False, False] Translation: X:34.07, Y:-0.30, Z:-1.77 [[ 9.98954962e-01 2.79208569e-02 -3.61857635e-02 3.40685590e+01] [-2.79451961e-02 9.99609443e-01 -1.66919602e-04 -3.00624561e-01] [ 3.61669704e-02 1.17796342e-03 9.99345067e-01 -1.76885567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.717719421 meters Centerline goodness [0,1] 0.9393619334596627 Centerline is valid? [False, False] Translation: X:34.07, Y:-0.30, Z:-1.77 [[ 9.98958556e-01 2.64576441e-02 -3.71725308e-02 3.40729817e+01] [-2.65435823e-02 9.99646000e-01 -1.82017371e-03 -2.98014274e-01] [ 3.71112142e-02 2.80497023e-03 9.99307205e-01 -1.77177290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.747719421 meters Centerline goodness [0,1] 0.9377381284267261 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.30, Z:-1.77 [[ 9.98950551e-01 2.57936920e-02 -3.78481444e-02 3.40754225e+01] [-2.59012028e-02 9.99661739e-01 -2.35292465e-03 -2.96747432e-01] [ 3.77746512e-02 3.33076784e-03 9.99280732e-01 -1.77262558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.777719421 meters Centerline goodness [0,1] 0.9375388054141314 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.30, Z:-1.77 [[ 9.98943782e-01 2.53958658e-02 -3.82932111e-02 3.40767994e+01] [-2.55199780e-02 9.99670514e-01 -2.75571387e-03 -2.96209163e-01] [ 3.82106103e-02 3.73004514e-03 9.99262746e-01 -1.77310652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.807719421 meters Centerline goodness [0,1] 0.9340796019900497 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.30, Z:-1.77 [[ 9.98927325e-01 2.39986936e-02 -3.96012841e-02 3.40809601e+01] [-2.41581639e-02 9.99701834e-01 -3.55321990e-03 -2.95012969e-01] [ 3.95042037e-02 4.50610276e-03 9.99209244e-01 -1.77393477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.837719421 meters Centerline goodness [0,1] 0.9310323421689739 Centerline is valid? [False, False] Translation: X:34.08, Y:-0.29, Z:-1.77 [[ 9.98918711e-01 2.32171616e-02 -4.02786742e-02 3.40833834e+01] [-2.33962084e-02 9.99718351e-01 -3.97947109e-03 -2.94097355e-01] [ 4.01749377e-02 4.91753638e-03 9.99180560e-01 -1.77454846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.867719421 meters Centerline goodness [0,1] 0.9324341085271318 Centerline is valid? [False, False] Translation: X:34.09, Y:-0.29, Z:-1.77 [[ 9.98908608e-01 2.12209918e-02 -4.16084501e-02 3.40880960e+01] [-2.14146945e-02 9.99761793e-01 -4.21514920e-03 -2.93434809e-01] [ 4.15090891e-02 5.10158107e-03 9.99125102e-01 -1.77430077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.897719421 meters Centerline goodness [0,1] 0.9351537959132896 Centerline is valid? [False, False] Translation: X:34.09, Y:-0.29, Z:-1.77 [[ 9.98900886e-01 2.00478821e-02 -4.23686371e-02 3.40905528e+01] [-2.02442580e-02 9.99786196e-01 -4.21093352e-03 -2.94358490e-01] [ 4.22751583e-02 5.06402685e-03 9.99093172e-01 -1.77389054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.927719421 meters Centerline goodness [0,1] 0.9293442674066914 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.30, Z:-1.77 [[ 9.98920971e-01 1.53136656e-02 -4.38450262e-02 3.40977614e+01] [-1.55046983e-02 9.99871713e-01 -4.02023125e-03 -2.95280275e-01] [ 4.37778370e-02 4.69569720e-03 9.99030256e-01 -1.77130280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.957719421 meters Centerline goodness [0,1] 0.9364429299402882 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.30, Z:-1.77 [[ 9.98890170e-01 1.32345818e-02 -4.52025989e-02 3.41019304e+01] [-1.33974473e-02 9.99904798e-01 -3.30194601e-03 -2.96090059e-01] [ 4.51545956e-02 3.90388084e-03 9.98972383e-01 -1.76885936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98771942099998 meters Centerline goodness [0,1] 0.9353960705794018 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.30, Z:-1.77 [[ 9.98877771e-01 1.26425563e-02 -4.56438938e-02 3.41033109e+01] [-1.28060848e-02 9.99912579e-01 -3.29205913e-03 -2.95578470e-01] [ 4.55982835e-02 3.87288426e-03 9.98952350e-01 -1.76852254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01771942099998 meters Centerline goodness [0,1] 0.9357399593686514 Centerline is valid? [False, False] Translation: X:34.10, Y:-0.29, Z:-1.77 [[ 9.98875334e-01 1.22029897e-02 -4.58165374e-02 3.41040969e+01] [-1.23707292e-02 9.99917769e-01 -3.37934902e-03 -2.94113579e-01] [ 4.57715317e-02 3.94233236e-03 9.98944155e-01 -1.76823057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04771942099998 meters Centerline goodness [0,1] 0.934634815692634 Centerline is valid? [False, False] Translation: X:34.11, Y:-0.29, Z:-1.77 [[ 9.98866886e-01 1.10951725e-02 -4.62800197e-02 3.41058002e+01] [-1.12775511e-02 9.99929629e-01 -3.68151469e-03 -2.90890835e-01] [ 4.62359159e-02 4.19926840e-03 9.98921722e-01 -1.76751391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07771942099998 meters Centerline goodness [0,1] 0.9336486991161459 Centerline is valid? [False, False] Translation: X:34.11, Y:-0.29, Z:-1.77 [[ 9.98826814e-01 8.86113847e-03 -4.76075274e-02 3.41104154e+01] [-9.05810921e-03 9.99951278e-01 -3.92323723e-03 -2.89747026e-01] [ 4.75704435e-02 4.34986872e-03 9.98858414e-01 -1.76672800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10771942099998 meters Centerline goodness [0,1] 0.9295357465781187 Centerline is valid? [False, False] Translation: X:34.11, Y:-0.29, Z:-1.77 [[ 9.98794583e-01 7.40788909e-03 -4.85232387e-02 3.41133492e+01] [-7.60681125e-03 9.99963399e-01 -3.91614237e-03 -2.90032224e-01] [ 4.84924524e-02 4.28052890e-03 9.98814377e-01 -1.76606609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13771942099999 meters Centerline goodness [0,1] 0.9076665322205331 Centerline is valid? [False, False] Translation: X:34.12, Y:-0.29, Z:-1.77 [[ 9.98746370e-01 3.88380411e-03 -4.99059493e-02 3.41197430e+01] [-4.13991259e-03 9.99978783e-01 -5.02947984e-03 -2.88109616e-01] [ 4.98853569e-02 5.22978100e-03 9.98741258e-01 -1.76644963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.167719421 meters Centerline goodness [0,1] 0.8815417585489331 Centerline is valid? [False, False] Translation: X:34.13, Y:-0.29, Z:-1.77 [[ 9.98701499e-01 9.87423074e-04 -5.09346796e-02 3.41252580e+01] [-1.26017844e-03 9.99985038e-01 -5.32316673e-03 -2.88870850e-01] [ 5.09286613e-02 5.38044138e-03 9.98687800e-01 -1.76695072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.197719421 meters Centerline goodness [0,1] 0.7831306516994075 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.29, Z:-1.77 [[ 9.98710083e-01 -1.56649898e-02 -4.82988351e-02 3.41357164e+01] [ 1.57511850e-02 9.99874956e-01 1.40451207e-03 -2.91876390e-01] [ 4.82707939e-02 -2.16346425e-03 9.98831943e-01 -1.76800476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.227719421 meters Centerline goodness [0,1] 0.7483674494537235 Centerline is valid? [False, False] Translation: X:34.14, Y:-0.29, Z:-1.77 [[ 9.98565526e-01 -2.16542649e-02 -4.89692016e-02 3.41409089e+01] [ 2.15376630e-02 9.99763810e-01 -2.90759511e-03 -2.94439832e-01] [ 4.90205973e-02 1.84874208e-03 9.98796057e-01 -1.77049100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.257719421 meters Centerline goodness [0,1] 0.6926698905573938 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.30, Z:-1.77 [[ 9.98213661e-01 -3.33909849e-02 -4.95431970e-02 3.41534705e+01] [ 3.30582807e-02 9.99425135e-01 -7.51994650e-03 -3.01468090e-01] [ 4.97658148e-02 5.86870042e-03 9.98743672e-01 -1.77223707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.287719421 meters Centerline goodness [0,1] 0.7279227175950935 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.31, Z:-1.77 [[ 9.98306882e-01 -2.90520030e-02 -5.03919734e-02 3.41534209e+01] [ 2.90434425e-02 9.99577743e-01 -9.02268986e-04 -3.05324423e-01] [ 5.03969078e-02 -5.62815042e-04 9.98729110e-01 -1.76721881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.317719421 meters Centerline goodness [0,1] 0.7035835797640624 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.31, Z:-1.76 [[ 9.98384598e-01 -2.47967327e-02 -5.11206035e-02 3.41539412e+01] [ 2.51023784e-02 9.99670594e-01 5.34546592e-03 -3.09164188e-01] [ 5.09712139e-02 -6.62007958e-03 9.98678181e-01 -1.76321530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.347719421 meters Centerline goodness [0,1] 0.7354949894683092 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.31, Z:-1.76 [[ 9.98395194e-01 -2.44273737e-02 -5.10914794e-02 3.41537413e+01] [ 2.47493888e-02 9.99677554e-01 5.67949316e-03 -3.09961865e-01] [ 5.09362700e-02 -6.93486157e-03 9.98677828e-01 -1.76315281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.377719421 meters Centerline goodness [0,1] 0.7087168381158635 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.31, Z:-1.76 [[ 9.98446513e-01 -2.31604788e-02 -5.06769546e-02 3.41531986e+01] [ 2.34940580e-02 9.99705992e-01 5.99662834e-03 -3.10873708e-01] [ 5.05231703e-02 -7.17791997e-03 9.98697095e-01 -1.76477100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.407719421 meters Centerline goodness [0,1] 0.7182834039030912 Centerline is valid? [False, False] Translation: X:34.15, Y:-0.31, Z:-1.77 [[ 9.98471926e-01 -2.24679355e-02 -5.04876643e-02 3.41528851e+01] [ 2.27777724e-02 9.99725037e-01 5.56984720e-03 -3.10241378e-01] [ 5.03486391e-02 -6.71133259e-03 9.98709153e-01 -1.76630264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.437719421 meters Centerline goodness [0,1] 0.7542117452964878 Centerline is valid? [False, False] Translation: X:34.16, Y:-0.31, Z:-1.77 [[ 9.98833396e-01 -1.73287193e-02 -4.50728534e-02 3.41624129e+01] [ 1.72510919e-02 9.99848961e-01 -2.11070095e-03 -3.10070042e-01] [ 4.51026213e-02 1.33068266e-03 9.98981473e-01 -1.77046159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.467719421 meters Centerline goodness [0,1] 0.7481575603557815 Centerline is valid? [False, False] Translation: X:34.16, Y:-0.31, Z:-1.77 [[ 9.98825058e-01 -1.70759977e-02 -4.53532147e-02 3.41625178e+01] [ 1.70437968e-02 9.99854143e-01 -1.09663099e-03 -3.11238987e-01] [ 4.53653257e-02 3.22351540e-04 9.98970412e-01 -1.76874661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.497719421 meters Centerline goodness [0,1] 0.8287130588532458 Centerline is valid? [False, False] Translation: X:34.16, Y:-0.31, Z:-1.77 [[ 9.98860158e-01 -1.30933760e-02 -4.59014961e-02 3.41628259e+01] [ 1.32704448e-02 9.99905624e-01 3.55496679e-03 -3.10159139e-01] [ 4.58506176e-02 -4.16004796e-03 9.98939645e-01 -1.76624180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.527719421 meters Centerline goodness [0,1] 0.8299231523354733 Centerline is valid? [False, False] Translation: X:34.16, Y:-0.31, Z:-1.77 [[ 9.98844094e-01 -1.37019180e-02 -4.60731267e-02 3.41641637e+01] [ 1.38342537e-02 9.99901039e-01 2.55464660e-03 -3.08226007e-01] [ 4.60335637e-02 -3.18908099e-03 9.98934803e-01 -1.76763500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.557719421 meters Centerline goodness [0,1] 0.8051431098755292 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.31, Z:-1.77 [[ 9.98777496e-01 -1.80482979e-02 -4.60192612e-02 3.41699943e+01] [ 1.81131152e-02 9.99835452e-01 9.91841084e-04 -3.07963770e-01] [ 4.59937877e-02 -1.82418073e-03 9.98940060e-01 -1.76971614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.587719421 meters Centerline goodness [0,1] 0.8051431098755292 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.31, Z:-1.77 [[ 9.98777496e-01 -1.80482979e-02 -4.60192612e-02 3.41699943e+01] [ 1.81131152e-02 9.99835452e-01 9.91841084e-04 -3.07963770e-01] [ 4.59937877e-02 -1.82418073e-03 9.98940060e-01 -1.76971614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.617719421 meters Centerline goodness [0,1] 0.7505989911727616 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.31, Z:-1.77 [[ 9.98739722e-01 -1.93755407e-02 -4.62985512e-02 3.41712506e+01] [ 1.94494272e-02 9.99810185e-01 1.14587934e-03 -3.06732005e-01] [ 4.62675611e-02 -2.04491552e-03 9.98926990e-01 -1.76783247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.647719421 meters Centerline goodness [0,1] 0.7539990534784666 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.31, Z:-1.77 [[ 9.98684315e-01 -2.04824508e-02 -4.70117856e-02 3.41735735e+01] [ 2.05841832e-02 9.99786710e-01 1.68082857e-03 -3.07339967e-01] [ 4.69673310e-02 -2.64631634e-03 9.98892921e-01 -1.76641873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.677719421 meters Centerline goodness [0,1] 0.7371648963075367 Centerline is valid? [False, False] Translation: X:34.17, Y:-0.31, Z:-1.76 [[ 9.98652664e-01 -2.09699271e-02 -4.74670291e-02 3.41740590e+01] [ 2.11003438e-02 9.99774835e-01 2.24806674e-03 -3.07224234e-01] [ 4.74091994e-02 -3.24660847e-03 9.98870276e-01 -1.76432146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.707719421 meters Centerline goodness [0,1] 0.6945957932083122 Centerline is valid? [False, False] Translation: X:34.18, Y:-0.31, Z:-1.77 [[ 9.98426286e-01 -2.93549499e-02 -4.77832335e-02 3.41846514e+01] [ 2.93774423e-02 9.99568363e-01 -2.31642136e-04 -3.07753674e-01] [ 4.77694083e-02 -1.17247159e-03 9.98857702e-01 -1.76553606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73771942099998 meters Centerline goodness [0,1] 0.6854271038112754 Centerline is valid? [False, False] Translation: X:34.19, Y:-0.31, Z:-1.77 [[ 9.98320269e-01 -3.15049129e-02 -4.86218119e-02 3.41897512e+01] [ 3.15376808e-02 9.99502559e-01 -9.32732343e-05 -3.10296226e-01] [ 4.86005640e-02 -1.44030262e-03 9.98817256e-01 -1.76647398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76771942099998 meters Centerline goodness [0,1] 0.6558027853369617 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.31, Z:-1.77 [[ 9.98037690e-01 -3.93871754e-02 -4.86766934e-02 3.41964497e+01] [ 3.92064013e-02 9.99220252e-01 -4.66336297e-03 -3.14041902e-01] [ 4.88224145e-02 2.74577403e-03 9.98803701e-01 -1.76894399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79771942099998 meters Centerline goodness [0,1] 0.6457436556376486 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.31, Z:-1.77 [[ 9.98020582e-01 -3.94246785e-02 -4.89960510e-02 3.41968878e+01] [ 3.92840166e-02 9.99220741e-01 -3.83090784e-03 -3.14550550e-01] [ 4.91089027e-02 1.89856320e-03 9.98791625e-01 -1.76724533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82771942099998 meters Centerline goodness [0,1] 0.6442563560001282 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.32, Z:-1.77 [[ 9.98106689e-01 -3.60615274e-02 -4.98257263e-02 3.41987854e+01] [ 3.61754087e-02 9.99344495e-01 1.38539897e-03 -3.17565252e-01] [ 4.97431057e-02 -3.18524199e-03 9.98756966e-01 -1.76500932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85771942099998 meters Centerline goodness [0,1] 0.6785531041559774 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.32, Z:-1.76 [[ 9.98112895e-01 -3.57823924e-02 -4.99025977e-02 3.41986950e+01] [ 3.58968274e-02 9.99354523e-01 1.39853686e-03 -3.16896498e-01] [ 4.98203437e-02 -3.18724261e-03 9.98753110e-01 -1.76490603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88771942099999 meters Centerline goodness [0,1] 0.6286563728781049 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.32, Z:-1.76 [[ 9.98222634e-01 -3.17710368e-02 -5.04199705e-02 3.41994141e+01] [ 3.20875045e-02 9.99470043e-01 5.47944970e-03 -3.16004759e-01] [ 5.02191623e-02 -7.08756175e-03 9.98713073e-01 -1.76405022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.917719421 meters Centerline goodness [0,1] 0.6482279005965483 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.31, Z:-1.77 [[ 9.98202971e-01 -3.18878526e-02 -5.07345335e-02 3.42008979e+01] [ 3.21683677e-02 9.99471310e-01 4.72195819e-03 -3.13598665e-01] [ 5.05571375e-02 -6.34551982e-03 9.98701011e-01 -1.76562311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.947719421 meters Centerline goodness [0,1] 0.6793052993192952 Centerline is valid? [False, False] Translation: X:34.21, Y:-0.31, Z:-1.77 [[ 9.98229759e-01 -2.99432677e-02 -5.13882151e-02 3.42060886e+01] [ 3.03699378e-02 9.99510272e-01 7.54204102e-03 -3.14325184e-01] [ 5.11372155e-02 -9.08934668e-03 9.98650274e-01 -1.76840069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.977719421 meters Centerline goodness [0,1] 0.662879268757141 Centerline is valid? [False, False] Translation: X:34.21, Y:-0.31, Z:-1.77 [[ 9.98200151e-01 -3.02237153e-02 -5.17975461e-02 3.42078058e+01] [ 3.06408668e-02 9.99503959e-01 7.27823611e-03 -3.14390935e-01] [ 5.15518771e-02 -8.85225810e-03 9.98631084e-01 -1.76922421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.007719421 meters Centerline goodness [0,1] 0.6757378305864317 Centerline is valid? [False, False] Translation: X:34.21, Y:-0.32, Z:-1.77 [[ 9.98217053e-01 -2.98188186e-02 -5.17064089e-02 3.42079633e+01] [ 3.02466742e-02 9.99514237e-01 7.51187897e-03 -3.15987085e-01] [ 5.14572965e-02 -9.06243259e-03 9.98634077e-01 -1.76951857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.037719421 meters Centerline goodness [0,1] 0.6971019108280254 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.32, Z:-1.78 [[ 9.98515321e-01 -2.63300772e-02 -4.76852187e-02 3.42210699e+01] [ 2.63051002e-02 9.99653298e-01 -1.15136110e-03 -3.15094484e-01] [ 4.76990016e-02 -1.04712761e-04 9.98861749e-01 -1.77556431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.067719421 meters Centerline goodness [0,1] 0.6637417268126142 Centerline is valid? [False, False] Translation: X:34.26, Y:-0.32, Z:-1.77 [[ 9.98790501e-01 -1.23955557e-02 -4.75803048e-02 3.42571253e+01] [ 1.24923719e-02 9.99920457e-01 1.73796013e-03 -3.18762490e-01] [ 4.75549771e-02 -2.33024893e-03 9.98865904e-01 -1.77108646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.097719421 meters Centerline goodness [0,1] 0.7542835505348522 Centerline is valid? [False, False] Translation: X:34.20, Y:-0.31, Z:-1.78 [[ 9.99042549e-01 -1.02602018e-02 -4.25289761e-02 3.41989873e+01] [ 1.02551355e-02 9.99947358e-01 -3.37300293e-04 -3.09513019e-01] [ 4.25301981e-02 -9.91630664e-05 9.99095177e-01 -1.77764226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.127719421 meters Centerline goodness [0,1] 0.8261383061383061 Centerline is valid? [False, False] Translation: X:34.21, Y:-0.30, Z:-1.78 [[ 9.99320000e-01 1.67272988e-03 -3.68339382e-02 3.42103069e+01] [-1.73571487e-03 9.99997086e-01 -1.67806045e-03 -3.04212826e-01] [ 3.68310240e-02 1.74085258e-03 9.99319991e-01 -1.78365246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.157719421 meters Centerline goodness [0,1] 0.8300102012426969 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.30, Z:-1.79 [[ 9.99505169e-01 5.55179451e-03 -3.09611901e-02 3.42231728e+01] [-5.82120934e-03 9.99945917e-01 -8.61835621e-03 -3.02289902e-01] [ 3.09116683e-02 8.79432314e-03 9.99483431e-01 -1.78924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.187719421 meters Centerline goodness [0,1] 0.8739248741125325 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.31, Z:-1.79 [[ 9.99545359e-01 5.76029853e-03 -2.95955121e-02 3.42177276e+01] [-5.98952293e-03 9.99952705e-01 -7.66243693e-03 -3.07962029e-01] [ 2.95499744e-02 7.83621627e-03 9.99532587e-01 -1.78519542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.217719421 meters Centerline goodness [0,1] 0.89331494656345 Centerline is valid? [False, False] Translation: X:34.22, Y:-0.31, Z:-1.78 [[ 9.99544030e-01 6.44953164e-03 -2.94980738e-02 3.42172973e+01] [-6.62224515e-03 9.99961477e-01 -5.76113596e-03 -3.11498467e-01] [ 2.94597808e-02 5.95385253e-03 9.99548234e-01 -1.78324138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.247719421 meters Centerline goodness [0,1] 0.928244514106583 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.31, Z:-1.79 [[ 9.99644650e-01 1.17330663e-02 -2.39355201e-02 3.42269806e+01] [-1.20308848e-02 9.99851521e-01 -1.23367075e-02 -3.12109933e-01] [ 2.37872188e-02 1.26202891e-02 9.99637383e-01 -1.78559852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.277719421 meters Centerline goodness [0,1] 0.9386664165806996 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.31, Z:-1.79 [[ 9.99585313e-01 1.50687171e-02 -2.45384372e-02 3.42295642e+01] [-1.52607584e-02 9.99854223e-01 -7.65776273e-03 -3.14150700e-01] [ 2.44194674e-02 8.02906231e-03 9.99669557e-01 -1.78501335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.307719421 meters Centerline goodness [0,1] 0.9399718618102235 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.31, Z:-1.79 [[ 9.99537220e-01 1.78667521e-02 -2.46195906e-02 3.42339454e+01] [-1.79892283e-02 9.99826839e-01 -4.76226419e-03 -3.14321525e-01] [ 2.45302413e-02 5.20294775e-03 9.99685549e-01 -1.78891387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.337719421 meters Centerline goodness [0,1] 0.9423670668953688 Centerline is valid? [False, False] Translation: X:34.23, Y:-0.31, Z:-1.79 [[ 9.99526247e-01 1.85270197e-02 -2.45770345e-02 3.42336254e+01] [-1.86517165e-02 9.99814258e-01 -4.85419731e-03 -3.12525747e-01] [ 2.44825357e-02 5.31030150e-03 9.99686154e-01 -1.78916727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.367719421 meters Centerline goodness [0,1] 0.9467748931160542 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.31, Z:-1.79 [[ 9.99614957e-01 2.04816983e-02 -1.87199846e-02 3.42508353e+01] [-2.06976805e-02 9.99720584e-01 -1.14175154e-02 -3.10362648e-01] [ 1.84809039e-02 1.18005794e-02 9.99759572e-01 -1.79433597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.397719421 meters Centerline goodness [0,1] 0.9457340316732266 Centerline is valid? [False, False] Translation: X:34.25, Y:-0.31, Z:-1.79 [[ 9.99609364e-01 2.07725175e-02 -1.86981977e-02 3.42507418e+01] [-2.09863392e-02 9.99715757e-01 -1.13127580e-02 -3.08992228e-01] [ 1.84578884e-02 1.17007456e-02 9.99761171e-01 -1.79412958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.427719421 meters Centerline goodness [0,1] 0.9464224951279117 Centerline is valid? [False, False] Translation: X:34.26, Y:-0.31, Z:-1.80 [[ 9.99616058e-01 2.04084892e-02 -1.87411592e-02 3.42567708e+01] [-2.05852729e-02 9.99744949e-01 -9.28893470e-03 -3.07775395e-01] [ 1.85468062e-02 9.67116016e-03 9.99781218e-01 -1.79616178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.457719421 meters Centerline goodness [0,1] 0.9461328536872791 Centerline is valid? [False, False] Translation: X:34.26, Y:-0.31, Z:-1.80 [[ 9.99631497e-01 1.90512544e-02 -1.93370317e-02 3.42602020e+01] [-1.92464837e-02 9.99765151e-01 -9.96073667e-03 -3.07576146e-01] [ 1.91427259e-02 1.03292360e-02 9.99763403e-01 -1.79773425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48771942099998 meters Centerline goodness [0,1] 0.9418727148788498 Centerline is valid? [False, False] Translation: X:34.27, Y:-0.31, Z:-1.80 [[ 9.99714554e-01 1.29224251e-02 -2.00952869e-02 3.42707272e+01] [-1.31245452e-02 9.99864274e-01 -9.95893940e-03 -3.08165946e-01] [ 1.99638658e-02 1.02198382e-02 9.99748468e-01 -1.79735266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51771942099998 meters Centerline goodness [0,1] 0.9151784318018328 Centerline is valid? [False, False] Translation: X:34.28, Y:-0.31, Z:-1.79 [[ 9.99781970e-01 4.16542166e-03 -2.04612361e-02 3.42823927e+01] [-4.37935759e-03 9.99936099e-01 -1.04220130e-02 -3.09599826e-01] [ 2.04165165e-02 1.05093478e-02 9.99736325e-01 -1.79485729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54771942099998 meters Centerline goodness [0,1] 0.833814122663991 Centerline is valid? [False, False] Translation: X:34.29, Y:-0.31, Z:-1.80 [[ 9.99776132e-01 1.59994723e-03 -2.10980275e-02 3.42867659e+01] [-1.83404122e-03 9.99936923e-01 -1.10808618e-02 -3.10098068e-01] [ 2.10789679e-02 1.11170758e-02 9.99716004e-01 -1.79564400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57771942099998 meters Centerline goodness [0,1] 0.7733450792851749 Centerline is valid? [False, False] Translation: X:34.30, Y:-0.31, Z:-1.80 [[ 9.99732685e-01 -8.57383530e-03 -2.14720196e-02 3.43032662e+01] [ 8.30241472e-03 9.99884908e-01 -1.26980680e-02 -3.09009895e-01] [ 2.15784195e-02 1.25164040e-02 9.99688807e-01 -1.79781224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60771942099998 meters Centerline goodness [0,1] 0.7503708145296178 Centerline is valid? [False, False] Translation: X:34.31, Y:-0.31, Z:-1.80 [[ 9.99698649e-01 -1.01691811e-02 -2.23427492e-02 3.43070659e+01] [ 9.88749220e-03 9.99870692e-01 -1.26821244e-02 -3.09153864e-01] [ 2.24688269e-02 1.24573889e-02 9.99669928e-01 -1.79792852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63771942099999 meters Centerline goodness [0,1] 0.6970910824988078 Centerline is valid? [False, False] Translation: X:34.32, Y:-0.31, Z:-1.80 [[ 9.99511010e-01 -2.18823532e-02 -2.23361268e-02 3.43188070e+01] [ 2.15020102e-02 9.99622065e-01 -1.71286264e-02 -3.09321591e-01] [ 2.27024999e-02 1.66399791e-02 9.99603775e-01 -1.79860940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.667719421 meters Centerline goodness [0,1] 0.6601315496806583 Centerline is valid? [False, False] Translation: X:34.33, Y:-0.31, Z:-1.80 [[ 9.99402445e-01 -2.58167887e-02 -2.29835888e-02 3.43256496e+01] [ 2.54368122e-02 9.99537363e-01 -1.66741864e-02 -3.11310959e-01] [ 2.34034297e-02 1.60795934e-02 9.99596782e-01 -1.79854806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.697719421 meters Centerline goodness [0,1] 0.6470307579757626 Centerline is valid? [False, False] Translation: X:34.33, Y:-0.31, Z:-1.79 [[ 9.99404194e-01 -2.50501002e-02 -2.37434161e-02 3.43301915e+01] [ 2.47925717e-02 9.99631220e-01 -1.10793673e-02 -3.13730088e-01] [ 2.40121992e-02 1.04841058e-02 9.99656690e-01 -1.79485284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.727719421 meters Centerline goodness [0,1] 0.650044410607791 Centerline is valid? [False, False] Translation: X:34.34, Y:-0.31, Z:-1.79 [[ 9.99286775e-01 -2.81870047e-02 -2.51283641e-02 3.43370552e+01] [ 2.79277490e-02 9.99553643e-01 -1.06092449e-02 -3.13768293e-01] [ 2.54161907e-02 9.89989947e-03 9.99627935e-01 -1.79333014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.757719421 meters Centerline goodness [0,1] 0.6258643008240456 Centerline is valid? [False, False] Translation: X:34.34, Y:-0.31, Z:-1.79 [[ 9.99311599e-01 -2.69503468e-02 -2.54952387e-02 3.43415665e+01] [ 2.67947368e-02 9.99620305e-01 -6.42561774e-03 -3.14637246e-01] [ 2.56587309e-02 5.73805613e-03 9.99654292e-01 -1.79263718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.787719421 meters Centerline goodness [0,1] 0.626378821304759 Centerline is valid? [False, False] Translation: X:34.34, Y:-0.32, Z:-1.79 [[ 9.99380606e-01 -2.35876704e-02 -2.61156443e-02 3.43437057e+01] [ 2.35442605e-02 9.99720857e-01 -1.96850161e-03 -3.15038093e-01] [ 2.61547867e-02 1.35240880e-03 9.99656990e-01 -1.79200012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.817719421 meters Centerline goodness [0,1] 0.6484112794454377 Centerline is valid? [False, False] Translation: X:34.35, Y:-0.32, Z:-1.79 [[ 9.99407609e-01 -2.20741665e-02 -2.64038260e-02 3.43490796e+01] [ 2.21179195e-02 9.99754436e-01 1.36613564e-03 -3.16267483e-01] [ 2.63671858e-02 -1.94932405e-03 9.99650425e-01 -1.79433939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.847719421 meters Centerline goodness [0,1] 0.6367045920136153 Centerline is valid? [False, False] Translation: X:34.35, Y:-0.32, Z:-1.79 [[ 9.99385353e-01 -2.26566468e-02 -2.67505454e-02 3.43512814e+01] [ 2.27138844e-02 9.99740317e-01 1.83772237e-03 -3.18369803e-01] [ 2.67019622e-02 -2.44420161e-03 9.99640451e-01 -1.79466149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.877719421 meters Centerline goodness [0,1] 0.6404970436652228 Centerline is valid? [False, False] Translation: X:34.35, Y:-0.32, Z:-1.79 [[ 9.99360668e-01 -2.33499768e-02 -2.70745924e-02 3.43536192e+01] [ 2.34351377e-02 9.99721347e-01 2.83234590e-03 -3.22231243e-01] [ 2.70009128e-02 -3.46503190e-03 9.99629403e-01 -1.79432400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.907719421 meters Centerline goodness [0,1] 0.6274142906980432 Centerline is valid? [False, False] Translation: X:34.37, Y:-0.33, Z:-1.80 [[ 9.99482699e-01 -2.17165781e-02 -2.37218338e-02 3.43674872e+01] [ 2.15687055e-02 9.99746421e-01 -6.47180951e-03 -3.25018912e-01] [ 2.38563640e-02 5.95681239e-03 9.99697649e-01 -1.79797243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.937719421 meters Centerline goodness [0,1] 0.6041534155959802 Centerline is valid? [False, False] Translation: X:34.37, Y:-0.33, Z:-1.80 [[ 9.99549624e-01 -1.88830486e-02 -2.33233734e-02 3.43687676e+01] [ 1.88600741e-02 9.99821407e-01 -1.20463775e-03 -3.30085732e-01] [ 2.33419552e-02 7.64214657e-04 9.99727247e-01 -1.79610523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.967719421 meters Centerline goodness [0,1] 0.6272496025437202 Centerline is valid? [False, False] Translation: X:34.37, Y:-0.33, Z:-1.80 [[ 9.99597898e-01 -1.57089072e-02 -2.36066115e-02 3.43708040e+01] [ 1.57958937e-02 9.99869101e-01 3.50288210e-03 -3.32226056e-01] [ 2.35484950e-02 -3.87436111e-03 9.99715188e-01 -1.79564142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.997719421 meters Centerline goodness [0,1] 0.6634130882585961 Centerline is valid? [False, False] Translation: X:34.37, Y:-0.33, Z:-1.80 [[ 9.99674837e-01 -1.06020601e-02 -2.31908781e-02 3.43691617e+01] [ 1.07813783e-02 9.99912838e-01 7.62094969e-03 -3.29914826e-01] [ 2.31080590e-02 -7.86850127e-03 9.99702008e-01 -1.79507507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.027719421 meters Centerline goodness [0,1] 0.6422905539929842 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.33, Z:-1.80 [[ 9.99798268e-01 -9.06886716e-03 -1.79214502e-02 3.43816499e+01] [ 9.02467594e-03 9.99956038e-01 -2.54516715e-03 -3.27885516e-01] [ 1.79437441e-02 2.38291843e-03 9.99836158e-01 -1.80129886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.057719421 meters Centerline goodness [0,1] 0.6372335386072951 Centerline is valid? [False, False] Translation: X:34.38, Y:-0.33, Z:-1.80 [[ 9.99824520e-01 -5.71044997e-03 -1.78415338e-02 3.43826251e+01] [ 5.74537649e-03 9.99981677e-01 1.90695196e-03 -3.28051237e-01] [ 1.78303174e-02 -2.00912366e-03 9.99839009e-01 -1.80014249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.087719421 meters Centerline goodness [0,1] 0.6323719872382095 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.33, Z:-1.80 [[ 9.99810742e-01 -6.54503938e-03 -1.83205326e-02 3.43854350e+01] [ 6.56503513e-03 9.99977918e-01 1.03150887e-03 -3.26865443e-01] [ 1.83133768e-02 -1.15158859e-03 9.99831633e-01 -1.80225117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.117719421 meters Centerline goodness [0,1] 0.6358188241231391 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.33, Z:-1.81 [[ 9.99802393e-01 -7.69606842e-03 -1.83288069e-02 3.43914350e+01] [ 7.71742487e-03 9.99969621e-01 1.09473791e-03 -3.26909668e-01] [ 1.83198249e-02 -1.23597277e-03 9.99831414e-01 -1.80671342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.147719421 meters Centerline goodness [0,1] 0.6694259096059423 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.33, Z:-1.81 [[ 9.99826307e-01 -2.94640895e-03 -1.84031069e-02 3.43908467e+01] [ 3.03975010e-03 9.99982648e-01 5.04612064e-03 -3.25251062e-01] [ 1.83879196e-02 -5.10118501e-03 9.99817915e-01 -1.80581333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.177719421 meters Centerline goodness [0,1] 0.6767942808766814 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.32, Z:-1.81 [[ 9.99826054e-01 -2.38860652e-03 -1.84974661e-02 3.43911291e+01] [ 2.46459734e-03 9.99988613e-01 4.08646837e-03 -3.22473827e-01] [ 1.84874945e-02 -4.13134635e-03 9.99820556e-01 -1.80760827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.207719421 meters Centerline goodness [0,1] 0.7074531064996572 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.32, Z:-1.81 [[ 9.99818961e-01 8.18035344e-04 -1.90098826e-02 3.43945791e+01] [-7.06086025e-04 9.99982375e-01 5.89497220e-03 -3.18834344e-01] [ 1.90143699e-02 -5.88048236e-03 9.99801917e-01 -1.81151888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23771942099998 meters Centerline goodness [0,1] 0.693686113188731 Centerline is valid? [False, False] Translation: X:34.39, Y:-0.32, Z:-1.81 [[ 9.99816578e-01 1.50782332e-03 -1.90928569e-02 3.43944623e+01] [-1.40360084e-03 9.99984049e-01 5.47094035e-03 -3.16810779e-01] [ 1.91008015e-02 -5.44313811e-03 9.99802746e-01 -1.81229996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26771942099998 meters Centerline goodness [0,1] 0.7062825754502045 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.32, Z:-1.82 [[ 9.99895768e-01 3.98624665e-03 -1.38767050e-02 3.44071595e+01] [-4.04339518e-03 9.99983450e-01 -4.09268926e-03 -3.16143137e-01] [ 1.38601608e-02 4.14837168e-03 9.99895338e-01 -1.81843253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29771942099998 meters Centerline goodness [0,1] 0.7064981608978591 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.32, Z:-1.82 [[ 9.99895451e-01 3.88443721e-03 -1.39283148e-02 3.44079260e+01] [-3.93323332e-03 9.99986218e-01 -3.47769501e-03 -3.18350098e-01] [ 1.39146140e-02 3.53211473e-03 9.99896949e-01 -1.81813518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32771942099998 meters Centerline goodness [0,1] 0.7215205980594879 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.33, Z:-1.82 [[ 9.99982072e-01 8.17385586e-04 -5.93198096e-03 3.44147618e+01] [-8.97498697e-04 9.99908263e-01 -1.35152161e-02 -3.25976828e-01] [ 5.92038963e-03 1.35202978e-02 9.99891069e-01 -1.81530427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35771942099998 meters Centerline goodness [0,1] 0.6668695930791413 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.33, Z:-1.80 [[ 9.99992048e-01 1.20655090e-03 -3.80103560e-03 3.44113883e+01] [-1.22708934e-03 9.99984636e-01 -5.40568881e-03 -3.34991232e-01] [ 3.79445496e-03 5.41031003e-03 9.99978165e-01 -1.80258819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38771942099999 meters Centerline goodness [0,1] 0.6905053105889927 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.34, Z:-1.79 [[ 9.99994128e-01 -2.31325567e-03 -2.52855598e-03 3.44090575e+01] [ 2.30533156e-03 9.99992437e-01 -3.13228022e-03 -3.40668890e-01] [ 2.53578262e-03 3.12643266e-03 9.99991898e-01 -1.79238309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.417719421 meters Centerline goodness [0,1] 0.6730806296177321 Centerline is valid? [False, False] Translation: X:34.41, Y:-0.34, Z:-1.79 [[ 9.99987638e-01 -3.65197311e-03 -3.37459024e-03 3.44128468e+01] [ 3.64019119e-03 9.99987281e-01 -3.49093436e-03 -3.40652138e-01] [ 3.38729612e-03 3.47860705e-03 9.99988213e-01 -1.79372408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.447719421 meters Centerline goodness [0,1] 0.6392350597609562 Centerline is valid? [False, False] Translation: X:34.43, Y:-0.34, Z:-1.80 [[ 9.99953001e-01 -8.42677280e-03 -4.79428287e-03 3.44277992e+01] [ 8.41281308e-03 9.99960335e-01 -2.92449772e-03 -3.40126653e-01] [ 4.81873678e-03 2.88402686e-03 9.99984231e-01 -1.79912915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.477719421 meters Centerline goodness [0,1] 0.6209869865410926 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.34, Z:-1.80 [[ 9.99935799e-01 -9.82048528e-03 -5.65296849e-03 3.44360746e+01] [ 9.81521642e-03 9.99951370e-01 -9.59041071e-04 -3.40852177e-01] [ 5.66211183e-03 9.03494390e-04 9.99983562e-01 -1.80209754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.507719421 meters Centerline goodness [0,1] 0.6209869865410926 Centerline is valid? [False, False] Translation: X:34.44, Y:-0.34, Z:-1.80 [[ 9.99935799e-01 -9.82048528e-03 -5.65296849e-03 3.44360746e+01] [ 9.81521642e-03 9.99951370e-01 -9.59041071e-04 -3.40852177e-01] [ 5.66211183e-03 9.03494390e-04 9.99983562e-01 -1.80209754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.537719421 meters Centerline goodness [0,1] 0.5974054808424258 Centerline is valid? [False, False] Translation: X:34.46, Y:-0.34, Z:-1.81 [[ 9.99811746e-01 -1.72252052e-02 -8.93106744e-03 3.44575948e+01] [ 1.72275544e-02 9.99851577e-01 1.86167432e-04 -3.40670634e-01] [ 8.92653510e-03 -3.39992836e-04 9.99960100e-01 -1.80700108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.567719421 meters Centerline goodness [0,1] 0.5851915380217267 Centerline is valid? [False, False] Translation: X:34.47, Y:-0.34, Z:-1.81 [[ 9.99732009e-01 -2.04535751e-02 -1.08425908e-02 3.44656774e+01] [ 2.04462867e-02 9.99790647e-01 -7.82639342e-04 -3.41129963e-01] [ 1.08563286e-02 5.60738881e-04 9.99940911e-01 -1.80921560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.597719421 meters Centerline goodness [0,1] 0.5732402893286175 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.34, Z:-1.81 [[ 9.99518994e-01 -2.80639978e-02 -1.31982351e-02 3.44802485e+01] [ 2.80340889e-02 9.99603976e-01 -2.44573755e-03 -3.41256114e-01] [ 1.32616455e-02 2.07456064e-03 9.99909908e-01 -1.81125685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.627719421 meters Centerline goodness [0,1] 0.565780699247404 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.34, Z:-1.81 [[ 9.99570503e-01 -2.56743563e-02 -1.41293109e-02 3.44830023e+01] [ 2.57118656e-02 9.99666320e-01 2.47946639e-03 -3.42819465e-01] [ 1.40609375e-02 -2.84169241e-03 9.99897102e-01 -1.80895036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.657719421 meters Centerline goodness [0,1] 0.5674653215636822 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.34, Z:-1.80 [[ 9.99654042e-01 -2.17879925e-02 -1.47336071e-02 3.44824751e+01] [ 2.19077019e-02 9.99727886e-01 8.01291545e-03 -3.39920381e-01] [ 1.45550126e-02 -8.33292279e-03 9.99859347e-01 -1.80356460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.687719421 meters Centerline goodness [0,1] 0.588439089859234 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.34, Z:-1.80 [[ 9.99715656e-01 -1.81671974e-02 -1.54454182e-02 3.44828507e+01] [ 1.83479833e-02 9.99763847e-01 1.16448163e-02 -3.35805037e-01] [ 1.52302171e-02 -1.19248974e-02 9.99812901e-01 -1.80175357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.717719421 meters Centerline goodness [0,1] 0.5921088851506346 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.32, Z:-1.80 [[ 9.99825516e-01 -7.56931927e-03 -1.70775700e-02 3.44822939e+01] [ 7.92645533e-03 9.99749255e-01 2.09427330e-02 -3.22780058e-01] [ 1.69147656e-02 -2.10744434e-02 9.99634813e-01 -1.79670494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.747719421 meters Centerline goodness [0,1] 0.650890077674011 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.31, Z:-1.80 [[ 9.99833077e-01 -3.17495881e-03 -1.79927061e-02 3.44823485e+01] [ 3.59942298e-03 9.99714817e-01 2.36078321e-02 -3.13415708e-01] [ 1.79126210e-02 -2.36686547e-02 9.99559369e-01 -1.79564310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.777719421 meters Centerline goodness [0,1] 0.6608774601686973 Centerline is valid? [False, False] Translation: X:34.48, Y:-0.29, Z:-1.80 [[ 9.99826997e-01 6.17506647e-03 -1.75455018e-02 3.44827769e+01] [-5.86241287e-03 9.99824105e-01 1.78154865e-02 -2.87514393e-01] [ 1.76524275e-02 -1.77095454e-02 9.99687333e-01 -1.80048499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.807719421 meters Centerline goodness [0,1] 0.6862818698928768 Centerline is valid? [False, False] Translation: X:34.49, Y:-0.28, Z:-1.80 [[ 9.99782438e-01 9.21330214e-03 -1.87134033e-02 3.44850983e+01] [-8.85304605e-03 9.99775627e-01 1.92436914e-02 -2.76011623e-01] [ 1.88865024e-02 -1.90738340e-02 9.99639680e-01 -1.80097319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.837719421 meters Centerline goodness [0,1] 0.71553480475382 Centerline is valid? [False, False] Translation: X:34.49, Y:-0.26, Z:-1.80 [[ 9.99726530e-01 8.16879613e-03 -2.19119882e-02 3.44939368e+01] [-7.79058577e-03 9.99820155e-01 1.72906138e-02 -2.56934227e-01] [ 2.20492910e-02 -1.71151782e-02 9.99610374e-01 -1.80294652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.867719421 meters Centerline goodness [0,1] 0.6963012852893304 Centerline is valid? [False, False] Translation: X:34.50, Y:-0.25, Z:-1.81 [[ 9.99697121e-01 3.75188117e-03 -2.43226321e-02 3.45032795e+01] [-3.43887742e-03 9.99910905e-01 1.28979069e-02 -2.48481613e-01] [ 2.43688565e-02 -1.28103578e-02 9.99620955e-01 -1.80783988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.897719421 meters Centerline goodness [0,1] 0.6660061101477995 Centerline is valid? [False, False] Translation: X:34.52, Y:-0.23, Z:-1.81 [[ 9.99441589e-01 -9.21092028e-03 -3.21196184e-02 3.45177386e+01] [ 9.85705317e-03 9.99751059e-01 2.00164763e-02 -2.34510931e-01] [ 3.19272523e-02 -2.03219037e-02 9.99283579e-01 -1.81032606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7655.64 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%| | 0/5830 [00:00